diff --git a/GPU_version/vio/depth_filter_log.txt b/GPU_version/vio/depth_filter_log.txt index f56307a..49e36e3 100755 --- a/GPU_version/vio/depth_filter_log.txt +++ b/GPU_version/vio/depth_filter_log.txt @@ -1,3341 +1,64161 @@ -[18:02:31.993] init depth filter -[18:02:38.331] init depth filter -[18:02:41.647] DepthFilter: RESET. -[18:02:56.319] add key frame -[18:02:56.319] init seeds -[18:02:56.319] update seed -[18:02:56.319] init seeds -[18:02:56.322] DepthFilter: Initialized 109 new seeds -[18:02:56.322] add key frame -[18:02:56.322] update seed -[18:02:56.322] init seeds -[18:02:56.327] DepthFilter: Initialized 114 new seeds -[18:02:56.331] DepthFilter: Initialized 112 new seeds -[18:03:05.736] add new frame -[18:03:05.736] add key frame -[18:03:05.736] update seed -[18:03:05.737] init seeds -[18:03:05.739] DepthFilter: Initialized 26 new seeds -[18:03:05.901] add new frame -[18:03:05.901] add key frame -[18:03:05.902] update seed -[18:03:05.902] init seeds -[18:03:05.904] DepthFilter: Initialized 17 new seeds -[18:03:06.054] add new frame -[18:03:06.054] add key frame -[18:03:06.054] update seed -[18:03:06.054] init seeds -[18:03:06.054] update seed -[18:03:06.054] init seeds -[18:03:06.056] DepthFilter: Initialized 20 new seeds -[18:03:06.059] DepthFilter: Initialized 110 new seeds -[18:03:06.234] add new frame -[18:03:06.234] add key frame -[18:03:06.234] update seed -[18:03:06.234] init seeds -[18:03:06.237] DepthFilter: Initialized 24 new seeds -[18:03:06.406] add new frame -[18:03:06.406] add key frame -[18:03:06.406] update seed -[18:03:06.406] init seeds -[18:03:06.408] DepthFilter: Initialized 21 new seeds -[18:03:06.576] add new frame -[18:03:06.576] add key frame -[18:03:06.576] update seed -[18:03:06.576] init seeds -[18:03:06.579] DepthFilter: Initialized 42 new seeds -[18:03:06.758] add new frame -[18:03:06.758] add key frame -[18:03:06.758] update seed -[18:03:06.758] init seeds -[18:03:06.761] DepthFilter: Initialized 24 new seeds -[18:03:06.939] add new frame -[18:03:06.939] add key frame -[18:03:06.939] update seed -[18:03:06.939] init seeds -[18:03:06.941] DepthFilter: Initialized 20 new seeds -[18:03:07.125] add new frame -[18:03:07.125] add key frame -[18:03:07.125] update seed -[18:03:07.125] init seeds -[18:03:07.128] DepthFilter: Initialized 38 new seeds -[18:03:07.340] add new frame -[18:03:07.340] add key frame -[18:03:07.340] update seed -[18:03:07.340] init seeds -[18:03:07.342] DepthFilter: Initialized 24 new seeds -[18:03:07.555] add new frame -[18:03:07.555] add key frame -[18:03:07.555] update seed -[18:03:07.555] init seeds -[18:03:07.558] DepthFilter: Initialized 20 new seeds -[18:03:07.766] add new frame -[18:03:07.766] add key frame -[18:03:07.766] update seed -[18:03:07.766] init seeds -[18:03:07.769] DepthFilter: Initialized 12 new seeds -[18:03:07.992] add new frame -[18:03:07.992] update seed -[18:03:07.992] If point is visible? -1.324802, -1.191725, -2.110570 mu:0.439455 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.992] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.992] If point is visible? -1.289437, -1.178512, -2.157383 mu:0.439455 unit_bearing:0.561608 -0.439274 0.701167 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.992] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.992] If point is visible? -1.290358, -1.170300, -2.163383 mu:0.439455 unit_bearing:0.561903 -0.435371 0.703361 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.992] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.992] If point is visible? -1.289899, -1.174409, -2.160389 mu:0.439455 unit_bearing:0.561756 -0.437323 0.702267 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.992] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.992] If point is visible? -0.952457, -1.142569, -2.444504 mu:0.439455 unit_bearing:0.407511 -0.408219 0.816879 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.992] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.992] If point is visible? -0.958451, -1.141930, -2.441293 mu:0.439455 unit_bearing:0.410214 -0.408113 0.815579 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.992] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.992] If point is visible? -0.900405, -1.113160, -2.494201 mu:0.439455 unit_bearing:0.383655 -0.392730 0.835806 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.992] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.906468, -1.112576, -2.491178 mu:0.439455 unit_bearing:0.386384 -0.392637 0.834592 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.721424, -1.007659, -2.643053 mu:0.439455 unit_bearing:0.302121 -0.338741 0.891054 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.727492, -1.011765, -2.638291 mu:0.439455 unit_bearing:0.304878 -0.340787 0.889333 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.666294, -0.974855, -2.682219 mu:0.439455 unit_bearing:0.277155 -0.322335 0.905144 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.789015, -0.866084, -2.683566 mu:0.439455 unit_bearing:0.331280 -0.274819 0.902623 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.789169, -0.861461, -2.685573 mu:0.439455 unit_bearing:0.331316 -0.272695 0.903254 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? 0.986123, -0.774609, -2.693533 mu:0.439455 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.260370, -0.781370, -2.873259 mu:0.439455 unit_bearing:0.095327 -0.227709 0.969052 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.266886, -0.781229, -2.872290 mu:0.439455 unit_bearing:0.098209 -0.227700 0.968766 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.273400, -0.781084, -2.871303 mu:0.439455 unit_bearing:0.101090 -0.227690 0.968472 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.273549, -0.771607, -2.874763 mu:0.439455 unit_bearing:0.101105 -0.223370 0.969476 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.565741, -0.690864, -2.835031 mu:0.439455 unit_bearing:0.230437 -0.190280 0.954302 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.565987, -0.676577, -2.839662 mu:0.439455 unit_bearing:0.230481 -0.183800 0.955560 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.476225, -0.660998, -2.869859 mu:0.439455 unit_bearing:0.190465 -0.175388 0.965900 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.482606, -0.665548, -2.866772 mu:0.439455 unit_bearing:0.193321 -0.177538 0.964939 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.801841, -0.607324, -2.774815 mu:0.439455 unit_bearing:0.335605 -0.157067 0.928816 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.797254, -0.492684, -2.807833 mu:0.439455 unit_bearing:0.333177 -0.105295 0.936966 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.791124, -0.478576, -2.813752 mu:0.439455 unit_bearing:0.330395 -0.098824 0.938655 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.822701, -0.462329, -2.804006 mu:0.439455 unit_bearing:0.344511 -0.092259 0.934238 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.810545, -0.419534, -2.818452 mu:0.439455 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.348762, -0.422968, -2.958184 mu:0.439455 unit_bearing:0.133226 -0.066834 0.988830 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.276945, -0.429422, -2.969325 mu:0.439455 unit_bearing:0.101444 -0.069052 0.992442 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.283481, -0.429292, -2.968322 mu:0.439455 unit_bearing:0.104335 -0.069049 0.992142 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.276967, -0.424534, -2.970267 mu:0.439455 unit_bearing:0.101446 -0.066870 0.992591 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.283503, -0.424404, -2.969264 mu:0.439455 unit_bearing:0.104337 -0.066867 0.992292 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.741183, -0.418341, -2.846920 mu:0.439455 unit_bearing:0.307911 -0.070774 0.948779 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.747513, -0.418022, -2.844520 mu:0.439455 unit_bearing:0.310742 -0.070764 0.947856 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.747548, -0.413169, -2.845474 mu:0.439455 unit_bearing:0.310750 -0.068596 0.948013 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.993] If point is visible? -0.316387, -0.360042, -2.975222 mu:0.439455 unit_bearing:0.118812 -0.038474 0.992171 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.993] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -1.194421, 0.009077, -2.655137 mu:0.439455 unit_bearing:0.512191 0.105385 0.852382 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? 0.839727, 0.134828, -2.897422 mu:0.439455 unit_bearing:-0.385568 0.173211 0.906275 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -1.563855, 0.274217, -2.324285 mu:0.439455 unit_bearing:0.682302 0.203315 0.702230 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -1.569221, 0.269881, -2.319424 mu:0.439455 unit_bearing:0.684752 0.201163 0.700463 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -0.505665, 0.541097, -2.896083 mu:0.439455 unit_bearing:0.206047 0.350345 0.913675 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] calculated Z= 0.736064 -[18:03:07.994] update seeds 305 -[18:03:07.994] If point is visible? -0.511887, 0.546214, -2.893099 mu:0.439455 unit_bearing:0.208857 0.352418 0.912239 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -0.866674, 0.604656, -2.746394 mu:0.439455 unit_bearing:0.367945 0.370052 0.853040 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -0.872788, 0.604832, -2.743452 mu:0.439455 unit_bearing:0.370694 0.369971 0.851885 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? 0.091398, 0.594441, -2.957705 mu:0.439455 unit_bearing:-0.057211 0.376913 0.924480 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? 0.098085, 0.604422, -2.954895 mu:0.439455 unit_bearing:-0.060058 0.381116 0.922574 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -1.325787, -1.183608, -2.116685 mu:0.439455 unit_bearing:0.578441 -0.443677 0.684513 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -0.900139, -1.117544, -2.491526 mu:0.439455 unit_bearing:0.383585 -0.394785 0.834869 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -1.324802, -1.191725, -2.110570 mu:0.439455 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -0.859167, -0.970338, -2.599400 mu:0.439455 unit_bearing:0.363634 -0.324800 0.873084 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -0.871469, -0.969328, -2.593684 mu:0.439455 unit_bearing:0.369161 -0.324666 0.870811 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? 1.172717, -0.831028, -2.568272 mu:0.439455 unit_bearing:-0.527101 -0.265703 0.807196 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? 1.159548, -0.877364, -2.554324 mu:0.439455 unit_bearing:-0.521140 -0.286661 0.803889 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -0.836390, -0.926810, -2.632895 mu:0.439455 unit_bearing:0.353020 -0.304020 0.884844 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -0.859566, -0.961276, -2.603955 mu:0.439455 unit_bearing:0.363734 -0.320604 0.874592 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? 0.870265, -0.938929, -2.672186 mu:0.439455 unit_bearing:-0.396924 -0.307202 0.864915 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? 1.036172, -0.816552, -2.651350 mu:0.439455 unit_bearing:-0.468954 -0.254940 0.845629 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? 0.986123, -0.774609, -2.693533 mu:0.439455 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? 0.935969, -0.666361, -2.756087 mu:0.439455 unit_bearing:-0.426867 -0.183820 0.885435 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] calculated Z= 0.758612 -[18:03:07.994] update seeds 305 -[18:03:07.994] If point is visible? -0.565573, -0.700376, -2.831889 mu:0.439455 unit_bearing:0.230406 -0.194597 0.953439 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -0.553079, -0.681884, -2.841818 mu:0.439455 unit_bearing:0.224754 -0.185999 0.956499 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? -0.565906, -0.681342, -2.838129 mu:0.439455 unit_bearing:0.230467 -0.185961 0.955146 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.994] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.994] If point is visible? 1.250401, -0.547723, -2.626225 mu:0.439455 unit_bearing:-0.561705 -0.139028 0.815573 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -0.810545, -0.419534, -2.818452 mu:0.439455 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -0.296399, -0.458316, -2.960382 mu:0.439455 unit_bearing:0.110100 -0.082134 0.990521 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -0.948367, -0.275535, -2.778984 mu:0.439455 unit_bearing:0.400717 -0.012124 0.916122 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -0.296852, -0.212554, -2.997481 mu:0.439455 unit_bearing:0.110147 0.027049 0.993547 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? 1.274502, 0.114513, -2.686713 mu:0.439455 unit_bearing:-0.571826 0.153065 0.805969 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? 1.200840, 0.110547, -2.731214 mu:0.439455 unit_bearing:-0.540482 0.153719 0.827194 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? 1.188467, 0.109911, -2.738319 mu:0.439455 unit_bearing:-0.535209 0.153822 0.830596 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? 1.200744, 0.120295, -2.730697 mu:0.439455 unit_bearing:-0.540403 0.157943 0.826450 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -0.437469, 0.129149, -2.976447 mu:0.439455 unit_bearing:0.173245 0.174966 0.969213 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -1.569466, 0.265131, -2.319982 mu:0.439455 unit_bearing:0.684834 0.199121 0.700966 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -1.764801, 0.366433, -2.060529 mu:0.439455 unit_bearing:0.776527 0.229412 0.586836 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -1.562221, 0.388466, -2.301605 mu:0.439455 unit_bearing:0.682389 0.251933 0.686203 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? 0.311399, 0.354386, -2.995775 mu:0.439455 unit_bearing:-0.155250 0.274245 0.949045 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -1.793884, 0.433476, -1.997004 mu:0.439455 unit_bearing:0.790864 0.255252 0.556219 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -1.064837, 0.507946, -2.668877 mu:0.439455 unit_bearing:0.456358 0.323717 0.828821 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -1.491796, 0.507993, -2.339248 mu:0.439455 unit_bearing:0.650976 0.306084 0.694653 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -0.505973, 0.531120, -2.898504 mu:0.439455 unit_bearing:0.206102 0.346123 0.915271 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -0.866435, 0.609579, -2.745000 mu:0.439455 unit_bearing:0.367885 0.372125 0.852164 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -0.313013, 0.537746, -2.939485 mu:0.439455 unit_bearing:0.120531 0.351208 0.928507 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -0.506277, 0.521139, -2.900879 mu:0.439455 unit_bearing:0.206156 0.341897 0.916846 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -0.064891, 0.605173, -2.950932 mu:0.439455 unit_bearing:0.011561 0.381231 0.924407 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -1.149250, 0.667029, -2.565102 mu:0.439455 unit_bearing:0.496110 0.387548 0.776969 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -1.160757, 0.667390, -2.557155 mu:0.439455 unit_bearing:0.501336 0.387280 0.773742 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? -0.866910, 0.599732, -2.747776 mu:0.439455 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? 0.248849, 0.654232, -2.933187 mu:0.439455 unit_bearing:-0.125618 0.401680 0.907124 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.995] If point is visible? 0.235811, 0.654220, -2.934242 mu:0.439455 unit_bearing:-0.119919 0.401731 0.907872 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.995] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? 0.276971, 0.822763, -2.872499 mu:0.439455 unit_bearing:-0.136177 0.471939 0.871051 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? 1.010555, -0.855231, -2.647200 mu:0.439455 unit_bearing:-0.457724 -0.272033 0.846455 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? 1.010767, -0.836966, -2.655271 mu:0.439455 unit_bearing:-0.457945 -0.263634 0.848990 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -0.293867, -0.718863, -2.889934 mu:0.439455 unit_bearing:0.109832 -0.199552 0.973712 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -0.296223, -0.487545, -2.954116 mu:0.439455 unit_bearing:0.110082 -0.095219 0.989351 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -0.270313, -0.449087, -2.966435 mu:0.439455 unit_bearing:0.098543 -0.077785 0.992088 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -0.323023, -0.291047, -2.984190 mu:0.439455 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -1.561587, 0.397935, -2.299857 mu:0.439455 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -1.570419, 0.246131, -2.322095 mu:0.439455 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -1.802319, 0.434134, -1.983972 mu:0.439455 unit_bearing:0.794854 0.254841 0.550694 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] calculated Z= 0.888481 -[18:03:07.996] update seeds 305 -[18:03:07.996] If point is visible? -1.719075, 0.371891, -2.121229 mu:0.439455 unit_bearing:0.755142 0.235043 0.611977 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? 0.288064, 0.664248, -2.926501 mu:0.439455 unit_bearing:-0.142656 0.405690 0.902809 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -1.300608, 0.440316, -2.525849 mu:0.439455 unit_bearing:0.562791 0.286559 0.775339 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? 0.314320, 0.684192, -2.917433 mu:0.439455 unit_bearing:-0.153927 0.413904 0.897212 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -0.866910, 0.599732, -2.747776 mu:0.439455 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -1.053477, 0.703005, -2.612847 mu:0.439455 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? 0.418740, 0.743958, -2.882861 mu:0.439455 unit_bearing:-0.198838 0.438121 0.876649 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -0.796423, 0.518509, -2.801795 mu:0.439455 unit_bearing:0.335666 0.335443 0.880231 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] calculated Z= 0.744212 -[18:03:07.996] update seeds 305 -[18:03:07.996] If point is visible? -0.821192, 0.519257, -2.790943 mu:0.439455 unit_bearing:0.346777 0.335188 0.876010 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? 0.289440, 0.783280, -2.886196 mu:0.439455 unit_bearing:-0.142056 0.455451 0.878854 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:07.996] If point is visible? -1.775918, -1.577963, -2.547866 mu:0.331889 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.996] If point is visible? -1.729702, -1.555034, -2.613831 mu:0.331889 unit_bearing:0.561756 -0.437323 0.702267 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.996] If point is visible? -1.221647, -1.478964, -3.048286 mu:0.331889 unit_bearing:0.386313 -0.394692 0.833655 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.996] If point is visible? -1.213973, -1.473935, -3.055832 mu:0.331889 unit_bearing:0.383655 -0.392730 0.835806 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.996] If point is visible? -1.222002, -1.473162, -3.051828 mu:0.331889 unit_bearing:0.386384 -0.392637 0.834592 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.996] If point is visible? -1.214323, -1.468125, -3.059358 mu:0.331889 unit_bearing:0.383724 -0.390674 0.836738 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.996] If point is visible? -1.072965, -1.392683, -3.177743 mu:0.331889 unit_bearing:0.335062 -0.361034 0.870281 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.996] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.237591, -1.337447, -3.125094 mu:0.331889 unit_bearing:0.390614 -0.344968 0.853474 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.245647, -1.336708, -3.121049 mu:0.331889 unit_bearing:0.393353 -0.344888 0.852248 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.245951, -1.330780, -3.124228 mu:0.331889 unit_bearing:0.393413 -0.342806 0.853059 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.976985, -1.334241, -3.252926 mu:0.331889 unit_bearing:0.302121 -0.338741 0.891054 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.985020, -1.339677, -3.246621 mu:0.331889 unit_bearing:0.304878 -0.340787 0.889333 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.903988, -1.290806, -3.304786 mu:0.331889 unit_bearing:0.277155 -0.322335 0.905144 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.066482, -1.146782, -3.306569 mu:0.331889 unit_bearing:0.331280 -0.274819 0.902623 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.066686, -1.140661, -3.309227 mu:0.331889 unit_bearing:0.331316 -0.272695 0.903254 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? 1.283978, -1.025660, -3.319766 mu:0.331889 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.366503, -1.034612, -3.557741 mu:0.331889 unit_bearing:0.095327 -0.227709 0.969052 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.375131, -1.034425, -3.556459 mu:0.331889 unit_bearing:0.098209 -0.227700 0.968766 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.383756, -1.034234, -3.555152 mu:0.331889 unit_bearing:0.101090 -0.227690 0.968472 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.383954, -1.021684, -3.559733 mu:0.331889 unit_bearing:0.101105 -0.223370 0.969476 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.771171, -0.895856, -3.513256 mu:0.331889 unit_bearing:0.230481 -0.183800 0.955560 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.652316, -0.875228, -3.553241 mu:0.331889 unit_bearing:0.190465 -0.175388 0.965900 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.660766, -0.881252, -3.549153 mu:0.331889 unit_bearing:0.193321 -0.177538 0.964939 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.083465, -0.804158, -3.427392 mu:0.331889 unit_bearing:0.335605 -0.157067 0.928816 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.077391, -0.652363, -3.471111 mu:0.331889 unit_bearing:0.333177 -0.105295 0.936966 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.069205, -0.640067, -3.477481 mu:0.331889 unit_bearing:0.330383 -0.100987 0.938429 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.069275, -0.633682, -3.478948 mu:0.331889 unit_bearing:0.330395 -0.098824 0.938655 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.111085, -0.612170, -3.466044 mu:0.331889 unit_bearing:0.344511 -0.092259 0.934238 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.095041, -0.549091, -3.486450 mu:0.331889 unit_bearing:0.338983 -0.070655 0.938136 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.094990, -0.555505, -3.485172 mu:0.331889 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.388450, -0.568598, -3.684943 mu:0.331889 unit_bearing:0.101444 -0.069052 0.992442 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.397105, -0.568426, -3.683615 mu:0.331889 unit_bearing:0.104335 -0.069049 0.992142 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.388479, -0.562125, -3.686190 mu:0.331889 unit_bearing:0.101446 -0.066870 0.992591 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.397134, -0.561954, -3.684862 mu:0.331889 unit_bearing:0.104337 -0.066867 0.992292 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.440675, -0.476732, -3.692752 mu:0.331889 unit_bearing:0.118812 -0.038474 0.992171 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -1.185809, -0.077882, -3.500400 mu:0.331889 unit_bearing:0.369797 0.085133 0.925204 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] calculated Z= 0.829881 -[18:03:07.997] update seeds 305 -[18:03:07.997] If point is visible? 1.090135, 0.178525, -3.589736 mu:0.331889 unit_bearing:-0.385568 0.173211 0.906275 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -2.099552, 0.357349, -2.824409 mu:0.331889 unit_bearing:0.684752 0.201163 0.700463 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.997] If point is visible? -0.606431, 0.721440, -3.608122 mu:0.331889 unit_bearing:0.177592 0.352799 0.918691 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.997] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -0.691093, 0.723071, -3.586336 mu:0.331889 unit_bearing:0.206019 0.352455 0.912870 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -0.699537, 0.723242, -3.584012 mu:0.331889 unit_bearing:0.208857 0.352418 0.912239 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 0.108022, 0.793697, -3.667654 mu:0.331889 unit_bearing:-0.060066 0.379010 0.923441 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 0.108127, 0.800315, -3.665837 mu:0.331889 unit_bearing:-0.060058 0.381116 0.922574 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -1.177722, 0.794339, -3.387696 mu:0.331889 unit_bearing:0.370755 0.367898 0.852755 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -1.185812, 0.794575, -3.383775 mu:0.331889 unit_bearing:0.373502 0.367817 0.851591 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -1.169310, 0.800625, -3.389760 mu:0.331889 unit_bearing:0.367945 0.370052 0.853040 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -1.177406, 0.800858, -3.385865 mu:0.331889 unit_bearing:0.370694 0.369971 0.851885 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 0.099272, 0.787099, -3.669557 mu:0.331889 unit_bearing:-0.057211 0.376913 0.924480 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -1.775918, -1.577963, -2.547866 mu:0.331889 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -1.213621, -1.479739, -3.052290 mu:0.331889 unit_bearing:0.383585 -0.394785 0.834869 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -1.159899, -1.272825, -3.201156 mu:0.331889 unit_bearing:0.363734 -0.320604 0.874592 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -1.237591, -1.337447, -3.125094 mu:0.331889 unit_bearing:0.390614 -0.344968 0.853474 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 1.130570, -1.243235, -3.291501 mu:0.331889 unit_bearing:-0.396924 -0.307202 0.864915 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 1.513609, -1.161718, -3.135440 mu:0.331889 unit_bearing:-0.521140 -0.286661 0.803889 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 1.350247, -1.081196, -3.263912 mu:0.331889 unit_bearing:-0.468954 -0.254940 0.845629 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 1.283978, -1.025660, -3.319766 mu:0.331889 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -0.770622, -0.927368, -3.502965 mu:0.331889 unit_bearing:0.230406 -0.194597 0.953439 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -0.754289, -0.890258, -3.520154 mu:0.331889 unit_bearing:0.224783 -0.181678 0.957322 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -0.770846, -0.914773, -3.507125 mu:0.331889 unit_bearing:0.230437 -0.190280 0.954302 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 1.217568, -0.882328, -3.402595 mu:0.331889 unit_bearing:-0.426867 -0.183820 0.885435 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] calculated Z= 0.760188 -[18:03:07.998] update seeds 305 -[18:03:07.998] If point is visible? -0.754079, -0.902882, -3.516111 mu:0.331889 unit_bearing:0.224754 -0.185999 0.956499 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -0.771064, -0.902164, -3.511227 mu:0.331889 unit_bearing:0.230467 -0.185961 0.955146 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 1.633907, -0.725240, -3.230644 mu:0.331889 unit_bearing:-0.561705 -0.139028 0.815573 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -0.994279, -0.612088, -3.513996 mu:0.331889 unit_bearing:0.305000 -0.090293 0.948062 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -1.011043, -0.611231, -3.507665 mu:0.331889 unit_bearing:0.310663 -0.090267 0.946224 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -0.414209, -0.606856, -3.673101 mu:0.331889 unit_bearing:0.110100 -0.082134 0.990521 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -1.094990, -0.555505, -3.485172 mu:0.331889 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? -0.414809, -0.281442, -3.722224 mu:0.331889 unit_bearing:0.110147 0.027049 0.993547 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 1.746182, 0.143451, -3.259024 mu:0.331889 unit_bearing:-0.597624 0.148281 0.787946 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 1.665966, 0.138776, -3.311377 mu:0.331889 unit_bearing:-0.571911 0.148858 0.806696 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 1.665820, 0.151626, -3.310736 mu:0.331889 unit_bearing:-0.571826 0.153065 0.805969 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.998] If point is visible? 1.568284, 0.146376, -3.369660 mu:0.331889 unit_bearing:-0.540482 0.153719 0.827194 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.998] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? 1.551901, 0.145533, -3.379068 mu:0.331889 unit_bearing:-0.535209 0.153822 0.830596 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? 1.568158, 0.159283, -3.368976 mu:0.331889 unit_bearing:-0.540403 0.157943 0.826450 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -0.601000, 0.171006, -3.694373 mu:0.331889 unit_bearing:0.173245 0.174966 0.969213 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -2.100515, 0.338482, -2.826579 mu:0.331889 unit_bearing:0.684997 0.195036 0.701955 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -2.099877, 0.351060, -2.825148 mu:0.331889 unit_bearing:0.684834 0.199121 0.700966 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -2.358520, 0.485194, -2.481606 mu:0.331889 unit_bearing:0.776527 0.229412 0.586836 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? 0.390576, 0.469242, -3.719965 mu:0.331889 unit_bearing:-0.155250 0.274245 0.949045 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -2.397029, 0.573966, -2.397493 mu:0.331889 unit_bearing:0.790864 0.255252 0.556219 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -2.089445, 0.526906, -2.798500 mu:0.331889 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -2.090284, 0.514367, -2.800815 mu:0.331889 unit_bearing:0.682389 0.251933 0.686203 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -0.691707, 0.703255, -3.591169 mu:0.331889 unit_bearing:0.206102 0.346123 0.915271 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -1.997034, 0.672633, -2.850658 mu:0.331889 unit_bearing:0.650976 0.306084 0.694653 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -1.431698, 0.672572, -3.287119 mu:0.331889 unit_bearing:0.456358 0.323717 0.828821 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -1.542573, 0.896001, -3.145549 mu:0.331889 unit_bearing:0.495908 0.391592 0.775068 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -0.692109, 0.690040, -3.594313 mu:0.331889 unit_bearing:0.206156 0.341897 0.916846 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] calculated Z= 0.876770 -[18:03:07.999] update seeds 305 -[18:03:07.999] If point is visible? -1.543469, 0.883213, -3.149712 mu:0.331889 unit_bearing:0.496110 0.387548 0.776969 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -1.558706, 0.883691, -3.139188 mu:0.331889 unit_bearing:0.501336 0.387280 0.773742 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -0.436208, 0.712029, -3.645431 mu:0.331889 unit_bearing:0.120531 0.351208 0.928507 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -1.169623, 0.794105, -3.391590 mu:0.331889 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? 0.307753, 0.866269, -3.637093 mu:0.331889 unit_bearing:-0.125618 0.401680 0.907124 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? 0.290490, 0.866253, -3.638490 mu:0.331889 unit_bearing:-0.119919 0.401731 0.907872 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -0.107670, 0.801309, -3.660589 mu:0.331889 unit_bearing:0.011561 0.381231 0.924407 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? 0.344990, 1.089420, -3.556736 mu:0.331889 unit_bearing:-0.136177 0.471939 0.871051 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? 1.316609, -1.108226, -3.269104 mu:0.331889 unit_bearing:-0.457945 -0.263634 0.848990 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -0.993893, -0.650476, -3.505328 mu:0.331889 unit_bearing:0.304937 -0.103289 0.946755 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? 1.316328, -1.132412, -3.258417 mu:0.331889 unit_bearing:-0.457724 -0.272033 0.846455 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -0.410856, -0.951846, -3.579822 mu:0.331889 unit_bearing:0.109832 -0.199552 0.973712 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -0.379529, -0.620470, -3.675757 mu:0.331889 unit_bearing:0.098533 -0.086511 0.991366 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -0.379668, -0.594636, -3.681116 mu:0.331889 unit_bearing:0.098543 -0.077785 0.992088 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:07.999] If point is visible? -0.449462, -0.385375, -3.704626 mu:0.331889 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:07.999] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -2.297974, 0.492420, -2.561979 mu:0.331889 unit_bearing:0.755142 0.235043 0.611977 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -2.408197, 0.574837, -2.380238 mu:0.331889 unit_bearing:0.794854 0.254841 0.550694 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -2.091108, 0.501825, -2.803066 mu:0.331889 unit_bearing:0.682600 0.247892 0.687464 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -2.101140, 0.325902, -2.827946 mu:0.331889 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.076291, 0.686558, -3.463116 mu:0.331889 unit_bearing:0.335666 0.335443 0.880231 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.109088, 0.687548, -3.448747 mu:0.331889 unit_bearing:0.346777 0.335188 0.876010 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -2.089445, 0.526906, -2.798500 mu:0.331889 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? 0.359678, 0.879530, -3.628240 mu:0.331889 unit_bearing:-0.142656 0.405690 0.902809 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.416657, 0.930849, -3.212931 mu:0.331889 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.743883, 0.583023, -3.097736 mu:0.331889 unit_bearing:0.562791 0.286559 0.775339 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? 0.532706, 0.985075, -3.570456 mu:0.331889 unit_bearing:-0.198838 0.438121 0.876649 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? 0.361499, 1.037141, -3.574872 mu:0.331889 unit_bearing:-0.142056 0.455451 0.878854 T_cur_ref: x=0.067102 y=0.000000 z=-0.761307 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.097990, -1.772185, -3.588101 mu:0.331889 unit_bearing:0.387379 -0.497267 0.776314 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.223622, -1.670926, -3.597335 mu:0.331889 unit_bearing:0.429075 -0.463537 0.775260 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.215921, -1.666307, -3.605528 mu:0.331889 unit_bearing:0.426518 -0.461685 0.777772 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.223935, -1.665391, -3.601441 mu:0.331889 unit_bearing:0.429178 -0.461548 0.776389 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.129950, -1.619896, -3.688802 mu:0.331889 unit_bearing:0.397986 -0.443028 0.803327 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.138075, -1.619079, -3.685024 mu:0.331889 unit_bearing:0.400682 -0.442911 0.802049 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.186673, -1.614039, -3.661780 mu:0.331889 unit_bearing:0.416812 -0.442192 0.794188 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -0.825664, -1.616984, -3.828776 mu:0.331889 unit_bearing:0.296996 -0.436407 0.849319 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -0.817473, -1.611805, -3.835347 mu:0.331889 unit_bearing:0.294278 -0.434435 0.851274 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -0.994152, -1.541176, -3.809680 mu:0.331889 unit_bearing:0.352916 -0.412207 0.839962 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.002222, -1.546271, -3.802689 mu:0.331889 unit_bearing:0.355594 -0.414168 0.837865 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.000] If point is visible? -1.046154, -1.467457, -3.832550 mu:0.331889 unit_bearing:0.370175 -0.386998 0.844514 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.000] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.200076, -1.192782, -4.202826 mu:0.331889 unit_bearing:0.089370 -0.281539 0.955379 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.191359, -1.205269, -4.198224 mu:0.331889 unit_bearing:0.086477 -0.285839 0.954368 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.200050, -1.198963, -4.200144 mu:0.331889 unit_bearing:0.089362 -0.283683 0.954745 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.615021, -1.094914, -4.171462 mu:0.331889 unit_bearing:0.227086 -0.250568 0.941088 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.174985, -0.885949, -4.318544 mu:0.331889 unit_bearing:0.081043 -0.175783 0.981087 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.093018, -0.858474, -4.093060 mu:0.331889 unit_bearing:0.385728 -0.175852 0.905698 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.941625, -0.848588, -4.157676 mu:0.331889 unit_bearing:0.335483 -0.169982 0.926584 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.068535, -0.803575, -4.120819 mu:0.331889 unit_bearing:0.377603 -0.156645 0.912622 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.093975, -0.776848, -4.117767 mu:0.331889 unit_bearing:0.386046 -0.147964 0.910536 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.119491, -0.737451, -4.117701 mu:0.331889 unit_bearing:0.394515 -0.134989 0.908920 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.227494, -0.744938, -4.353455 mu:0.331889 unit_bearing:0.098470 -0.127920 0.986884 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.968110, -0.727187, -4.182858 mu:0.331889 unit_bearing:0.344273 -0.128973 0.929969 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.993778, -0.687742, -4.183206 mu:0.331889 unit_bearing:0.352792 -0.115964 0.928488 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.002231, -0.687289, -4.180019 mu:0.331889 unit_bearing:0.355597 -0.115944 0.927420 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.993685, -0.700449, -4.180015 mu:0.331889 unit_bearing:0.352761 -0.120279 0.927951 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.210184, -0.680967, -4.370823 mu:0.331889 unit_bearing:0.092725 -0.106144 0.990018 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.210175, -0.687399, -4.369317 mu:0.331889 unit_bearing:0.092722 -0.108324 0.989782 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.279857, -0.667097, -4.366526 mu:0.331889 unit_bearing:0.115849 -0.101749 0.988042 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.245128, -0.603140, -4.384343 mu:0.331889 unit_bearing:0.104323 -0.079960 0.991324 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.245143, -0.590215, -4.386968 mu:0.331889 unit_bearing:0.104328 -0.075596 0.991666 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.171492, -0.447941, -4.158026 mu:0.331889 unit_bearing:0.411773 -0.037989 0.910494 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.227821, -0.460722, -4.411826 mu:0.331889 unit_bearing:0.098578 -0.031934 0.994617 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.179954, -0.396079, -4.162214 mu:0.331889 unit_bearing:0.414581 -0.020735 0.909776 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.188345, -0.337664, -4.166233 mu:0.331889 unit_bearing:0.417366 -0.001330 0.908737 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.020377, -0.339869, -4.237568 mu:0.331889 unit_bearing:0.361620 0.000829 0.932325 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.028771, -0.268174, -4.242089 mu:0.331889 unit_bearing:0.364405 0.024629 0.930915 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -0.401855, -0.255521, -4.414070 mu:0.331889 unit_bearing:0.156338 0.035754 0.987056 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.212926, -0.155226, -4.171288 mu:0.331889 unit_bearing:0.425524 0.058973 0.903023 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.001] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.001] If point is visible? -1.053039, -0.019448, -4.245248 mu:0.331889 unit_bearing:0.372460 0.106691 0.921895 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.228655, -0.017914, -4.168199 mu:0.331889 unit_bearing:0.430745 0.104080 0.896452 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.943906, 0.087652, -3.689191 mu:0.331889 unit_bearing:0.668129 0.119481 0.734390 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.236135, 0.067172, -4.163845 mu:0.331889 unit_bearing:0.433227 0.131933 0.891576 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.218893, 0.125111, -4.170021 mu:0.331889 unit_bearing:0.427505 0.151269 0.891267 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.110536, 0.126953, -4.218640 mu:0.331889 unit_bearing:0.391542 0.153842 0.907208 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.118902, 0.127299, -4.215045 mu:0.331889 unit_bearing:0.394319 0.153811 0.906010 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.127262, 0.127647, -4.211423 mu:0.331889 unit_bearing:0.397094 0.153779 0.904803 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.218972, 0.118583, -4.170276 mu:0.331889 unit_bearing:0.427531 0.149129 0.891615 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.102093, 0.133159, -4.221930 mu:0.331889 unit_bearing:0.388740 0.156019 0.908041 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.085191, 0.145587, -4.228386 mu:0.331889 unit_bearing:0.383131 0.160374 0.909665 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.093573, 0.145922, -4.224872 mu:0.331889 unit_bearing:0.385912 0.160343 0.908494 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.085119, 0.152141, -4.228065 mu:0.331889 unit_bearing:0.383107 0.162520 0.909294 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.093499, 0.152474, -4.224551 mu:0.331889 unit_bearing:0.385888 0.162488 0.908123 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? 1.862545, 0.416590, -3.834190 mu:0.331889 unit_bearing:-0.595192 0.233703 0.768850 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? 1.000348, 0.407973, -4.285430 mu:0.331889 unit_bearing:-0.309038 0.249116 0.917844 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? 0.991867, 0.407746, -4.288233 mu:0.331889 unit_bearing:-0.306223 0.249154 0.918776 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? 1.854462, 0.428975, -3.838055 mu:0.331889 unit_bearing:-0.592509 0.237939 0.769622 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] calculated Z= 0.781191 -[18:03:08.002] update seeds 305 -[18:03:08.002] If point is visible? 1.862321, 0.422988, -3.833231 mu:0.331889 unit_bearing:-0.595118 0.235772 0.768275 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -0.606266, 0.421932, -4.354948 mu:0.331889 unit_bearing:0.224181 0.256526 0.940180 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -0.536742, 0.506836, -4.356708 mu:0.331889 unit_bearing:0.201106 0.284566 0.937325 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -0.596899, 0.501237, -4.344495 mu:0.331889 unit_bearing:0.221072 0.282227 0.933528 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -0.605260, 0.521251, -4.339020 mu:0.331889 unit_bearing:0.223847 0.288599 0.930915 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -0.269202, 0.523382, -4.396945 mu:0.331889 unit_bearing:0.112312 0.291644 0.949910 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -0.277853, 0.523461, -4.395925 mu:0.331889 unit_bearing:0.115184 0.291628 0.949571 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -0.596760, 0.514479, -4.342203 mu:0.331889 unit_bearing:0.221025 0.286497 0.932238 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.264244, 0.915025, -3.991327 mu:0.331889 unit_bearing:0.442556 0.404251 0.800453 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.145655, -1.629508, -3.673313 mu:0.331889 unit_bearing:0.403198 -0.446821 0.798613 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.002] If point is visible? -1.146194, -1.618256, -3.681219 mu:0.331889 unit_bearing:0.403377 -0.442794 0.800762 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.002] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] calculated Z= 0.768707 -[18:03:08.003] update seeds 305 -[18:03:08.003] If point is visible? -1.193017, -1.646762, -3.633882 mu:0.331889 unit_bearing:0.418917 -0.454099 0.786322 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.767499, -1.603554, -3.858836 mu:0.331889 unit_bearing:0.277692 -0.430767 0.858677 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? 1.363617, -1.632095, -3.626036 mu:0.331889 unit_bearing:-0.429603 -0.449585 0.783144 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -1.018538, -1.550659, -3.792295 mu:0.331889 unit_bearing:0.361009 -0.416034 0.834619 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? 1.435247, -1.477862, -3.691450 mu:0.331889 unit_bearing:-0.453376 -0.396133 0.798454 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.684649, -1.550361, -3.920206 mu:0.331889 unit_bearing:0.250195 -0.410762 0.876742 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.640223, -1.143408, -4.144947 mu:0.331889 unit_bearing:0.235450 -0.267616 0.934315 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.657350, -1.142697, -4.140684 mu:0.331889 unit_bearing:0.241135 -0.267554 0.932882 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.208795, -1.180277, -4.207345 mu:0.331889 unit_bearing:0.092264 -0.277237 0.956361 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.985321, -0.688191, -4.186366 mu:0.331889 unit_bearing:0.349985 -0.115984 0.929547 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -1.002137, -0.699994, -4.176827 mu:0.331889 unit_bearing:0.355566 -0.120258 0.926882 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -1.287103, -0.568243, -4.078890 mu:0.331889 unit_bearing:0.450143 -0.080819 0.889291 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.227818, -0.467228, -4.410807 mu:0.331889 unit_bearing:0.098577 -0.034118 0.994544 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -1.303680, -0.554405, -4.073237 mu:0.331889 unit_bearing:0.455645 -0.076489 0.886869 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.747507, -0.467721, -4.311348 mu:0.331889 unit_bearing:0.271057 -0.038303 0.961801 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -1.369560, -0.126981, -4.093358 mu:0.331889 unit_bearing:0.477510 0.065125 0.876210 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -1.762069, 0.181834, -3.834821 mu:0.331889 unit_bearing:0.607779 0.156396 0.778553 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -1.118973, 0.120753, -4.215308 mu:0.331889 unit_bearing:0.394343 0.151665 0.906362 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.277992, 0.496893, -4.400504 mu:0.331889 unit_bearing:0.115230 0.283062 0.952154 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.277923, 0.510177, -4.398245 mu:0.331889 unit_bearing:0.115207 0.287347 0.950873 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.295224, 0.510341, -4.396129 mu:0.331889 unit_bearing:0.120949 0.287315 0.950169 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -1.444667, -1.636819, -3.475757 mu:0.331889 unit_bearing:0.502437 -0.457220 0.733831 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.640223, -1.143408, -4.144947 mu:0.331889 unit_bearing:0.235450 -0.267616 0.934315 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.191558, -1.155749, -4.219388 mu:0.331889 unit_bearing:0.086543 -0.268670 0.959337 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.003] If point is visible? -0.733563, -1.617160, -3.861285 mu:0.331889 unit_bearing:0.266429 -0.435150 0.860035 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.003] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] calculated Z= 0.785667 -[18:03:08.004] update seeds 305 -[18:03:08.004] If point is visible? -1.478718, -1.588497, -3.488446 mu:0.331889 unit_bearing:0.513738 -0.440788 0.736056 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -1.723711, -1.006433, -3.651566 mu:0.331889 unit_bearing:0.595049 -0.242450 0.766248 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -0.190539, -1.376543, -4.116668 mu:0.331889 unit_bearing:0.086205 -0.345558 0.934430 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -0.639939, -1.168070, -4.134428 mu:0.331889 unit_bearing:0.235356 -0.276165 0.931848 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -0.640495, -1.118685, -4.155228 mu:0.331889 unit_bearing:0.235541 -0.259056 0.936702 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -0.909252, -1.300002, -3.985020 mu:0.331889 unit_bearing:0.324738 -0.325669 0.887967 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -0.227786, -0.519203, -4.402142 mu:0.331889 unit_bearing:0.098567 -0.051590 0.993792 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -0.262633, -0.518731, -4.398513 mu:0.331889 unit_bearing:0.110132 -0.051581 0.992578 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -0.678699, -0.483030, -4.327566 mu:0.331889 unit_bearing:0.248220 -0.042690 0.967763 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -1.353398, -0.166717, -4.099887 mu:0.331889 unit_bearing:0.472146 0.052299 0.879968 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -1.386117, -0.164713, -4.082193 mu:0.331889 unit_bearing:0.483005 0.052244 0.874058 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -1.353108, -0.115026, -4.102789 mu:0.331889 unit_bearing:0.472049 0.069445 0.878833 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -1.734137, 0.039062, -3.862546 mu:0.331889 unit_bearing:0.598509 0.110486 0.793461 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -1.385977, -0.138906, -4.083758 mu:0.331889 unit_bearing:0.482958 0.060808 0.873529 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? 0.881463, 0.385155, -4.324882 mu:0.331889 unit_bearing:-0.269581 0.243195 0.931763 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -1.082554, 0.342372, -4.212158 mu:0.331889 unit_bearing:0.382255 0.224542 0.896360 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -1.115939, 0.343561, -4.197856 mu:0.331889 unit_bearing:0.393336 0.224355 0.891601 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] If point is visible? -0.502746, 0.459888, -4.371362 mu:0.331889 unit_bearing:0.189823 0.269693 0.944051 T_cur_ref: x=0.069201 y=0.000000 z=-1.449058 -[18:03:08.004] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.004] calculated Z= 0.828390 -[18:03:08.004] update seeds 305 -[18:03:08.004] If point is visible? 0.232546, 0.095272, 0.281547 mu:-2.369580 unit_bearing:0.369531 -0.124459 0.920846 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.004] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.004] If point is visible? 0.150730, 0.103297, 0.320399 mu:-2.369580 unit_bearing:0.161910 -0.132112 0.977922 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.004] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.004] If point is visible? 0.198637, 0.096089, 0.301088 mu:-2.369580 unit_bearing:0.282150 -0.120737 0.951743 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.004] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.004] If point is visible? -0.273125, -0.020883, 0.249872 mu:-2.369580 unit_bearing:-0.789382 0.139583 0.597823 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.004] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.004] If point is visible? -0.255707, -0.024924, 0.264433 mu:-2.369580 unit_bearing:-0.754774 0.153292 0.637823 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.004] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.004] If point is visible? -0.254599, -0.025724, 0.265262 mu:-2.369580 unit_bearing:-0.752504 0.155413 0.639988 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.004] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.004] If point is visible? 0.323811, -0.072555, 0.207975 mu:-2.369580 unit_bearing:0.622293 0.249012 0.742122 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.004] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.004] If point is visible? 0.324765, -0.071744, 0.207079 mu:-2.369580 unit_bearing:0.624856 0.246846 0.740690 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.004] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.288159, -0.077802, 0.243261 mu:-2.369580 unit_bearing:0.524468 0.271541 0.806969 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.189464, 0.103821, 0.303619 mu:-2.369580 unit_bearing:0.259291 -0.138192 0.955861 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.181337, -0.006049, 0.313271 mu:-2.369580 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.255709, -0.024059, 0.264496 mu:-2.369580 unit_bearing:-0.754851 0.151273 0.638213 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.246802, -0.027013, 0.271263 mu:-2.369580 unit_bearing:-0.736817 0.160177 0.656844 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.244557, -0.026889, 0.272976 mu:-2.369580 unit_bearing:-0.732321 0.160379 0.661804 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.242305, -0.028511, 0.274528 mu:-2.369580 unit_bearing:-0.727647 0.164641 0.665900 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.202598, -0.140775, 0.284088 mu:-2.369580 unit_bearing:0.310988 0.431439 0.846845 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.229372, 0.093769, 0.283994 mu:-2.369580 unit_bearing:0.361171 -0.120216 0.924718 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.020316, 0.083609, 0.349219 mu:-2.369580 unit_bearing:-0.247942 -0.077485 0.965671 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.253492, -0.025659, 0.266152 mu:-2.369580 unit_bearing:-0.750304 0.155516 0.642540 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.249041, -0.025400, 0.269667 mu:-2.369580 unit_bearing:-0.741440 0.155923 0.652652 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.257920, -0.022464, 0.262814 mu:-2.369580 unit_bearing:-0.759370 0.147037 0.633828 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.210760, -0.102572, 0.292712 mu:-2.369580 unit_bearing:0.324344 0.344080 0.881141 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.187507, -0.057035, 0.314664 mu:-2.369580 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.021120, -0.133487, 0.335822 mu:-2.369580 unit_bearing:-0.232774 0.429237 0.872681 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.183193, -0.116139, 0.302960 mu:-2.369580 unit_bearing:0.256448 0.378946 0.889176 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.084909, -0.136586, 0.324732 mu:-2.369580 unit_bearing:-0.376554 0.433323 0.818803 T_cur_ref: x=0.008869 y=0.000000 z=-0.063401 -[18:03:08.005] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.282292, 0.154852, 0.495529 mu:-1.561331 unit_bearing:0.259315 -0.133860 0.956471 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.412839, -0.007288, 0.434110 mu:-1.561331 unit_bearing:0.482598 0.105720 0.869438 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.432780, -0.026144, 0.401794 mu:-1.561331 unit_bearing:-0.806139 0.128792 0.577539 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.352774, 0.249064, 0.416723 mu:-1.561331 unit_bearing:0.386414 -0.294854 0.873925 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.282206, 0.157559, 0.494813 mu:-1.561331 unit_bearing:0.259291 -0.138192 0.955861 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.251068, -0.099407, 0.522022 mu:-1.561331 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.251231, -0.096592, 0.522427 mu:-1.561331 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.301339, -0.155071, 0.485689 mu:-1.561331 unit_bearing:0.302005 0.344553 0.888863 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? -0.036156, 0.126891, 0.564083 mu:-1.561331 unit_bearing:-0.247942 -0.077485 0.965671 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.276542, 0.037012, 0.518140 mu:-1.561331 unit_bearing:0.248201 0.053058 0.967254 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.021749, -0.062626, 0.575117 mu:-1.561331 unit_bearing:-0.155594 0.218308 0.963396 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.244329, -0.096306, 0.525298 mu:-1.561331 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.251856, -0.085334, 0.523916 mu:-1.561331 unit_bearing:0.212892 0.243756 0.946182 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.005] If point is visible? 0.251549, -0.090963, 0.523197 mu:-1.561331 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.005] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.539810, -0.127387, 0.271274 mu:-1.561331 unit_bearing:0.727405 0.260853 0.634695 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.006] If point is visible? 0.060738, -0.170317, 0.553017 mu:-1.561331 unit_bearing:-0.085811 0.380991 0.920588 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.006] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.301339, -0.155071, 0.485689 mu:-1.561331 unit_bearing:0.302005 0.344553 0.888863 T_cur_ref: x=0.008004 y=0.000000 z=-0.062145 -[18:03:08.006] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.429583, 0.088212, 0.626338 mu:-1.240737 unit_bearing:0.358812 -0.005665 0.933392 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.000277, -0.087499, 0.746546 mu:-1.240737 unit_bearing:-0.187077 0.228898 0.955305 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.290498, -0.131284, 0.688546 mu:-1.240737 unit_bearing:0.181212 0.274049 0.944489 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.349638, 0.201869, 0.646678 mu:-1.240737 unit_bearing:0.253566 -0.142556 0.956756 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.468221, 0.055730, 0.604377 mu:-1.240737 unit_bearing:0.411791 0.031016 0.910750 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.472237, 0.055397, 0.601579 mu:-1.240737 unit_bearing:0.417330 0.031003 0.908226 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.289972, 0.031719, 0.699583 mu:-1.240737 unit_bearing:0.173571 0.074981 0.981963 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? -0.354134, -0.011456, 0.665529 mu:-1.240737 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? -0.091548, -0.078594, 0.741354 mu:-1.240737 unit_bearing:-0.298160 0.217147 0.929488 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.360677, -0.201513, 0.641288 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.569629, -0.181844, 0.493656 mu:-1.240737 unit_bearing:0.567021 0.306844 0.764418 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.421918, 0.179653, 0.612929 mu:-1.240737 unit_bearing:0.349954 -0.120300 0.929010 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.293215, 0.201686, 0.671540 mu:-1.240737 unit_bearing:0.179144 -0.138571 0.974015 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.298062, -0.113818, 0.688508 mu:-1.240737 unit_bearing:0.189964 0.252534 0.948757 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.306776, -0.114175, 0.684987 mu:-1.240737 unit_bearing:0.201397 0.252441 0.946421 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.695956, -0.089087, 0.354985 mu:-1.240737 unit_bearing:0.749802 0.171646 0.639011 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] If point is visible? 0.305963, -0.128348, 0.682989 mu:-1.240737 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.306377, -0.121262, 0.684020 mu:-1.240737 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.360677, -0.201513, 0.641288 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? -0.028551, -0.241115, 0.713583 mu:-1.240737 unit_bearing:-0.210559 0.413090 0.886014 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.542312, 0.318835, 0.457219 mu:-1.240737 unit_bearing:0.528055 -0.315247 0.788528 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.544123, 0.318534, 0.455509 mu:-1.240737 unit_bearing:0.530659 -0.315134 0.786824 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.544303, 0.316961, 0.456298 mu:-1.240737 unit_bearing:0.530744 -0.313078 0.787587 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.449246, 0.306180, 0.546012 mu:-1.240737 unit_bearing:0.394870 -0.286236 0.873010 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.447380, 0.304775, 0.548092 mu:-1.240737 unit_bearing:0.392164 -0.284191 0.874896 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.432156, 0.295050, 0.563647 mu:-1.240737 unit_bearing:0.370358 -0.269862 0.888825 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.416773, 0.283496, 0.579229 mu:-1.240737 unit_bearing:0.348401 -0.253278 0.902478 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.457657, 0.274525, 0.555003 mu:-1.240737 unit_bearing:0.403980 -0.245893 0.881100 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.459654, 0.274310, 0.553620 mu:-1.240737 unit_bearing:0.406733 -0.245838 0.879848 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.459536, 0.275951, 0.552966 mu:-1.240737 unit_bearing:0.406691 -0.247957 0.879272 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.440434, 0.263204, 0.572224 mu:-1.240737 unit_bearing:0.379403 -0.229348 0.896355 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.442460, 0.263004, 0.570905 mu:-1.240737 unit_bearing:0.382177 -0.229301 0.895188 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.272621, 0.224805, 0.672560 mu:-1.240737 unit_bearing:0.153154 -0.166888 0.974008 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.006] If point is visible? 0.274834, 0.224700, 0.671782 mu:-1.240737 unit_bearing:0.156031 -0.166876 0.973554 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.006] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.274895, 0.223000, 0.672283 mu:-1.240737 unit_bearing:0.156040 -0.164707 0.973922 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.277166, 0.221194, 0.671996 mu:-1.240737 unit_bearing:0.158925 -0.162527 0.973821 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.281583, 0.220980, 0.670407 mu:-1.240737 unit_bearing:0.164677 -0.162504 0.972869 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.347915, 0.188367, 0.651257 mu:-1.240737 unit_bearing:0.250807 -0.125236 0.959902 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.274536, 0.149346, 0.691037 mu:-1.240737 unit_bearing:0.153413 -0.071167 0.985596 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? -0.050976, 0.140665, 0.736811 mu:-1.240737 unit_bearing:-0.253715 -0.053555 0.965795 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.281577, 0.107397, 0.695690 mu:-1.240737 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.283790, 0.107298, 0.694892 mu:-1.240737 unit_bearing:0.164996 -0.018803 0.986115 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.285994, 0.108939, 0.693839 mu:-1.240737 unit_bearing:0.167876 -0.020983 0.985585 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.286028, 0.096741, 0.695501 mu:-1.240737 unit_bearing:0.167881 -0.005710 0.985791 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.288238, 0.096641, 0.694690 mu:-1.240737 unit_bearing:0.170762 -0.005710 0.985296 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.429583, 0.088212, 0.626338 mu:-1.240737 unit_bearing:0.358812 -0.005665 0.933392 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.303656, 0.090687, 0.689482 mu:-1.240737 unit_bearing:0.190908 0.000835 0.981608 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.351019, 0.030485, 0.673867 mu:-1.240737 unit_bearing:0.253866 0.072612 0.964510 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.414380, 0.017896, 0.640913 mu:-1.240737 unit_bearing:0.338929 0.083132 0.937132 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.508234, -0.018862, 0.576698 mu:-1.240737 unit_bearing:0.468902 0.118690 0.875239 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.354517, -0.006647, 0.672816 mu:-1.240737 unit_bearing:0.259397 0.118182 0.958513 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.415606, -0.015511, 0.640252 mu:-1.240737 unit_bearing:0.341497 0.124174 0.931644 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.470733, -0.017605, 0.604737 mu:-1.240737 unit_bearing:0.416803 0.121382 0.900856 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.415659, -0.013758, 0.640257 mu:-1.240737 unit_bearing:0.341513 0.122015 0.931923 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.468673, -0.019199, 0.606135 mu:-1.240737 unit_bearing:0.414020 0.123556 0.901844 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.470675, -0.019350, 0.604729 mu:-1.240737 unit_bearing:0.416783 0.123529 0.900574 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.468614, -0.020944, 0.606123 mu:-1.240737 unit_bearing:0.413999 0.125703 0.901556 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.415712, -0.012005, 0.640259 mu:-1.240737 unit_bearing:0.341528 0.119856 0.932198 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.470241, -0.031565, 0.604562 mu:-1.240737 unit_bearing:0.416630 0.138547 0.898456 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.472239, -0.031714, 0.603148 mu:-1.240737 unit_bearing:0.419390 0.138516 0.897176 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.472173, -0.033459, 0.603108 mu:-1.240737 unit_bearing:0.419366 0.140660 0.896854 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? -0.475049, -0.052889, 0.588698 mu:-1.240737 unit_bearing:-0.732244 0.162408 0.661394 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.417856, -0.064934, 0.636053 mu:-1.240737 unit_bearing:0.346556 0.184403 0.919725 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.419920, -0.065061, 0.634811 mu:-1.240737 unit_bearing:0.349358 0.184370 0.918671 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.421982, -0.065187, 0.633561 mu:-1.240737 unit_bearing:0.352158 0.184337 0.917608 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.419838, -0.066818, 0.634692 mu:-1.240737 unit_bearing:0.349333 0.186516 0.918247 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.423619, -0.074099, 0.631670 mu:-1.240737 unit_bearing:0.354828 0.195026 0.914364 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.425674, -0.074226, 0.630406 mu:-1.240737 unit_bearing:0.357623 0.194991 0.913282 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.000277, -0.087499, 0.746546 mu:-1.240737 unit_bearing:-0.187077 0.228898 0.955305 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.602802, -0.144936, 0.469095 mu:-1.240737 unit_bearing:0.611999 0.257678 0.747703 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.290498, -0.131284, 0.688546 mu:-1.240737 unit_bearing:0.181212 0.274049 0.944489 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.338105, -0.133274, 0.668266 mu:-1.240737 unit_bearing:0.243908 0.273433 0.930453 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.353040, -0.133957, 0.661122 mu:-1.240737 unit_bearing:0.263755 0.273193 0.925094 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.355165, -0.134056, 0.660074 mu:-1.240737 unit_bearing:0.266586 0.273157 0.924293 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.353153, -0.132190, 0.661396 mu:-1.240737 unit_bearing:0.263782 0.271059 0.925714 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.007] If point is visible? 0.355278, -0.132290, 0.660348 mu:-1.240737 unit_bearing:0.266613 0.271023 0.924913 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.007] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.532521, -0.153242, 0.537433 mu:-1.240737 unit_bearing:0.511097 0.278240 0.813242 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.418093, 0.451428, 0.471942 mu:-1.240737 unit_bearing:0.369548 -0.476306 0.797851 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] If point is visible? 0.544482, 0.315387, 0.457084 mu:-1.240737 unit_bearing:0.530828 -0.311021 0.788345 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.431905, 0.298318, 0.562250 mu:-1.240737 unit_bearing:0.370275 -0.274098 0.887562 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.442566, 0.261351, 0.571524 mu:-1.240737 unit_bearing:0.382213 -0.227171 0.895716 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.283967, 0.215767, 0.671072 mu:-1.240737 unit_bearing:0.167579 -0.155983 0.973441 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.288374, 0.215549, 0.669443 mu:-1.240737 unit_bearing:0.173328 -0.155960 0.972437 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.345662, 0.191915, 0.651384 mu:-1.240737 unit_bearing:0.247931 -0.129586 0.960072 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.349750, 0.198464, 0.647594 mu:-1.240737 unit_bearing:0.253591 -0.138224 0.957385 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.349638, 0.201869, 0.646678 mu:-1.240737 unit_bearing:0.253566 -0.142556 0.956756 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.290374, 0.115695, 0.691179 mu:-1.240737 unit_bearing:0.173631 -0.029705 0.984363 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? -0.051020, 0.145846, 0.735869 mu:-1.240737 unit_bearing:-0.253701 -0.060078 0.965415 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? -0.050990, 0.142392, 0.736500 mu:-1.240737 unit_bearing:-0.253710 -0.055730 0.965673 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.290394, 0.112217, 0.691702 mu:-1.240737 unit_bearing:0.173634 -0.025343 0.984484 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.281570, 0.109138, 0.695441 mu:-1.240737 unit_bearing:0.162113 -0.020986 0.986549 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.290448, 0.091306, 0.694528 mu:-1.240737 unit_bearing:0.173642 0.000836 0.984808 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.286030, 0.094997, 0.695723 mu:-1.240737 unit_bearing:0.167881 -0.003528 0.985801 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.290447, 0.094796, 0.694094 mu:-1.240737 unit_bearing:0.173642 -0.003528 0.984803 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.468221, 0.055730, 0.604377 mu:-1.240737 unit_bearing:0.411791 0.031016 0.910750 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.472237, 0.055397, 0.601579 mu:-1.240737 unit_bearing:0.417330 0.031003 0.908226 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.289972, 0.031719, 0.699583 mu:-1.240737 unit_bearing:0.173571 0.074981 0.981963 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.506466, -0.013490, 0.578233 mu:-1.240737 unit_bearing:0.466251 0.112307 0.877495 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? -0.354134, -0.011456, 0.665529 mu:-1.240737 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? -0.525609, -0.037822, 0.548594 mu:-1.240737 unit_bearing:-0.785293 0.137789 0.603597 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.474234, -0.031863, 0.601727 mu:-1.240737 unit_bearing:0.422147 0.138485 0.895887 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.506352, -0.016962, 0.578240 mu:-1.240737 unit_bearing:0.466206 0.116584 0.876961 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.470370, -0.028074, 0.604629 mu:-1.240737 unit_bearing:0.416676 0.134258 0.899086 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? -0.091548, -0.078594, 0.741354 mu:-1.240737 unit_bearing:-0.298160 0.217147 0.929488 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.603953, -0.112415, 0.475733 mu:-1.240737 unit_bearing:0.611006 0.218633 0.760836 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.607334, -0.112738, 0.471838 mu:-1.240737 unit_bearing:0.616018 0.218441 0.756839 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.344741, -0.130028, 0.665788 mu:-1.240737 unit_bearing:0.252472 0.269061 0.929443 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.349007, -0.130225, 0.663741 mu:-1.240737 unit_bearing:0.258142 0.268994 0.927904 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.349227, -0.126691, 0.664268 mu:-1.240737 unit_bearing:0.258194 0.264721 0.929117 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.569629, -0.181844, 0.493656 mu:-1.240737 unit_bearing:0.567021 0.306844 0.764418 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.422355, -0.158654, 0.617960 mu:-1.240737 unit_bearing:0.358716 0.297081 0.884910 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.422079, -0.162162, 0.617293 mu:-1.240737 unit_bearing:0.358627 0.301300 0.883518 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.360677, -0.201513, 0.641288 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.008] If point is visible? 0.421918, 0.179653, 0.612929 mu:-1.240737 unit_bearing:0.349954 -0.120300 0.929010 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.008] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.293215, 0.201686, 0.671540 mu:-1.240737 unit_bearing:0.179144 -0.138571 0.974015 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.338295, 0.046959, 0.678862 mu:-1.240737 unit_bearing:0.236763 0.053081 0.970116 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? -0.457734, -0.053644, 0.601270 mu:-1.240737 unit_bearing:-0.713937 0.165239 0.680434 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.297666, -0.120908, 0.687542 mu:-1.240737 unit_bearing:0.189895 0.261119 0.946444 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.306377, -0.121262, 0.684020 mu:-1.240737 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.486866, -0.011875, 0.593235 mu:-1.240737 unit_bearing:0.438916 0.112586 0.891446 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.338205, 0.039947, 0.679317 mu:-1.240737 unit_bearing:0.236745 0.061784 0.969605 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.470495, -0.024584, 0.604681 mu:-1.240737 unit_bearing:0.416720 0.129967 0.899696 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.607872, -0.105921, 0.472640 mu:-1.240737 unit_bearing:0.616304 0.210168 0.758946 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.470733, -0.017605, 0.604737 mu:-1.240737 unit_bearing:0.416803 0.121382 0.900856 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.478711, -0.018216, 0.599043 mu:-1.240737 unit_bearing:0.427836 0.121273 0.895684 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.534132, -0.134228, 0.540610 mu:-1.240737 unit_bearing:0.511820 0.255305 0.820280 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.695956, -0.089087, 0.354985 mu:-1.240737 unit_bearing:0.749802 0.171646 0.639011 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] If point is visible? 0.594795, -0.173420, 0.469477 mu:-1.240737 unit_bearing:0.602934 0.292813 0.742112 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? -0.028551, -0.241115, 0.713583 mu:-1.240737 unit_bearing:-0.210559 0.413090 0.886014 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? 0.360677, -0.201513, 0.641288 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.007572 y=0.000000 z=-0.054630 -[18:03:08.009] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.009] If point is visible? -35.137682, -20.373755, -31.915167 mu:0.019370 unit_bearing:0.546112 -0.316486 0.775628 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -34.053450, -19.963188, -33.321514 mu:0.019370 unit_bearing:0.520632 -0.305272 0.797340 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -34.064532, -19.861844, -33.370790 mu:0.019370 unit_bearing:0.520711 -0.303208 0.798076 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -28.254061, -19.824288, -38.442403 mu:0.019370 unit_bearing:0.392021 -0.290514 0.872881 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -21.235783, -12.100790, -45.525544 mu:0.019370 unit_bearing:0.236528 -0.125305 0.963511 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? 3.930071, -10.443584, -50.460680 mu:0.019370 unit_bearing:-0.259347 -0.081794 0.962314 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -21.017770, -1.891612, -47.167980 mu:0.019370 unit_bearing:0.230989 0.074850 0.970073 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -21.013884, -1.666616, -47.178209 mu:0.019370 unit_bearing:0.230978 0.079199 0.969730 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? 11.078383, 5.071310, -50.223541 mu:0.019370 unit_bearing:-0.387745 0.215929 0.896119 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -0.124491, 5.493942, -51.387234 mu:0.019370 unit_bearing:-0.178497 0.226801 0.957445 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -25.842137, 10.804411, -43.418070 mu:0.019370 unit_bearing:0.341775 0.310086 0.887151 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -25.860241, 10.579539, -43.462697 mu:0.019370 unit_bearing:0.341862 0.305868 0.888581 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -20.435305, 11.005178, -46.166286 mu:0.019370 unit_bearing:0.229139 0.320433 0.919140 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -20.983113, 11.028234, -45.913994 mu:0.019370 unit_bearing:0.240477 0.320281 0.916292 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -21.072207, 13.297929, -45.266586 mu:0.019370 unit_bearing:0.245481 0.362389 0.899118 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? 3.726150, 16.100285, -48.964542 mu:0.019370 unit_bearing:-0.238477 0.424995 0.873217 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -17.874691, -12.502694, -46.843604 mu:0.019370 unit_bearing:0.167673 -0.129920 0.977244 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -17.296106, -12.968000, -46.934395 mu:0.019370 unit_bearing:0.156132 -0.138652 0.977956 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -17.861787, -12.940801, -46.729275 mu:0.019370 unit_bearing:0.167643 -0.138613 0.976054 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? 7.111976, 4.584929, -50.983199 mu:0.019370 unit_bearing:-0.315181 0.208371 0.925874 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -30.304068, 0.730870, -41.840003 mu:0.019370 unit_bearing:0.427916 0.112691 0.896766 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -0.124491, 5.493942, -51.387234 mu:0.019370 unit_bearing:-0.178497 0.226801 0.957445 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -43.773336, 6.096313, -26.728089 mu:0.019370 unit_bearing:0.740612 0.180171 0.647326 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.009] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.009] If point is visible? -40.581101, 11.358622, -29.869627 mu:0.019370 unit_bearing:0.670941 0.288758 0.682976 T_cur_ref: x=0.005899 y=0.000000 z=-0.054159 -[18:03:08.010] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.010] If point is visible? 0.294973, 0.601262, 0.839100 mu:-0.900527 unit_bearing:0.082773 -0.439992 0.894179 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] If point is visible? 0.608666, 0.413949, 0.787120 mu:-0.900527 unit_bearing:0.372962 -0.278274 0.885135 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.598344, 0.406089, 0.798282 mu:-0.900527 unit_bearing:0.362029 -0.270023 0.892201 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.557198, 0.302759, 0.866556 mu:-0.900527 unit_bearing:0.315770 -0.170172 0.933451 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.581382, -0.102457, 0.895553 mu:-0.900527 unit_bearing:0.340825 0.195198 0.919639 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.554936, -0.117893, 0.909398 mu:-0.900527 unit_bearing:0.315352 0.210514 0.925331 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.567281, 0.602831, 0.696085 mu:-0.900527 unit_bearing:0.348603 -0.457090 0.818257 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] If point is visible? 0.484287, 0.644577, 0.718715 mu:-0.900527 unit_bearing:0.270408 -0.491919 0.827584 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] If point is visible? 0.605523, 0.418729, 0.786999 mu:-0.900527 unit_bearing:0.370105 -0.282559 0.884976 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.633307, 0.005322, 0.867608 mu:-0.900527 unit_bearing:0.389271 0.095797 0.916128 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? -0.184004, -0.118061, 1.039083 mu:-0.900527 unit_bearing:-0.359810 0.224897 0.905515 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? -0.157782, -0.117899, 1.043355 mu:-0.900527 unit_bearing:-0.337444 0.225221 0.914006 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.155855, -0.193543, 1.034510 mu:-0.900527 unit_bearing:-0.057488 0.291862 0.954731 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.772734, -0.260248, 0.711240 mu:-0.900527 unit_bearing:0.546133 0.316006 0.775809 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.033535, -0.308708, 1.017704 mu:-0.900527 unit_bearing:-0.159862 0.392954 0.905556 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.369395, 0.269966, 0.965341 mu:-0.900527 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.369106, 0.279398, 0.962887 mu:-0.900527 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.383448, 0.174334, 0.981037 mu:-0.900527 unit_bearing:0.144796 -0.042820 0.988535 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.660186, -0.016040, 0.848484 mu:-0.900527 unit_bearing:0.416881 0.112792 0.901936 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.869931, -0.253672, 0.601193 mu:-0.900527 unit_bearing:0.651454 0.298051 0.697691 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? -0.078180, -0.341123, 1.004789 mu:-0.900527 unit_bearing:-0.255397 0.420510 0.870600 T_cur_ref: x=0.005924 y=0.000000 z=-0.048626 -[18:03:08.010] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.596934, 0.356513, 0.972158 mu:-0.814727 unit_bearing:0.298662 -0.187558 0.935747 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.415986, 0.308402, 1.072359 mu:-0.814727 unit_bearing:0.138848 -0.138704 0.980552 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.523562, 0.253106, 1.041022 mu:-0.814727 unit_bearing:0.230922 -0.097100 0.968115 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? -0.106539, 0.200738, 1.163283 mu:-0.814727 unit_bearing:-0.290769 -0.042613 0.955844 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.621595, 0.120411, 1.012181 mu:-0.814727 unit_bearing:0.316530 0.007340 0.948554 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.442147, 0.130789, 1.097126 mu:-0.814727 unit_bearing:0.159235 0.007383 0.987213 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.592701, 0.082556, 1.032125 mu:-0.814727 unit_bearing:0.290972 0.039933 0.955898 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.642966, 0.047233, 1.005269 mu:-0.814727 unit_bearing:0.336184 0.065830 0.939493 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? -0.615567, -0.087224, 1.012784 mu:-0.814727 unit_bearing:-0.666443 0.175306 0.724653 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? -0.618987, -0.084791, 1.010962 mu:-0.814727 unit_bearing:-0.668922 0.173157 0.722883 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.640490, -0.113224, 1.001713 mu:-0.814727 unit_bearing:0.338019 0.195232 0.920667 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.640348, -0.115903, 1.001506 mu:-0.814727 unit_bearing:0.337994 0.197377 0.920219 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.470404, -0.212349, 1.073417 mu:-0.814727 unit_bearing:0.192566 0.282509 0.939738 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.476973, -0.212629, 1.070602 mu:-0.814727 unit_bearing:0.198274 0.282456 0.938566 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.499678, -0.216328, 1.059985 mu:-0.814727 unit_bearing:0.218202 0.284393 0.933546 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.502935, -0.216474, 1.058490 mu:-0.814727 unit_bearing:0.221049 0.284362 0.932886 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.499865, -0.213633, 1.060427 mu:-0.814727 unit_bearing:0.218225 0.282258 0.934189 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.503122, -0.213780, 1.058932 mu:-0.814727 unit_bearing:0.221072 0.282227 0.933528 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.569269, 0.695405, 0.797136 mu:-0.814727 unit_bearing:0.298445 -0.478983 0.825534 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] If point is visible? 0.583023, 0.596993, 0.861094 mu:-0.814727 unit_bearing:0.300920 -0.393050 0.868883 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] If point is visible? 0.653059, 0.449603, 0.898200 mu:-0.814727 unit_bearing:0.353683 -0.270179 0.895495 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.010] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.010] If point is visible? 0.658795, 0.453970, 0.892115 mu:-0.814727 unit_bearing:0.359169 -0.274315 0.892048 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.409254, 0.308713, 1.074730 mu:-0.814727 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? -0.110208, 0.205950, 1.162057 mu:-0.814727 unit_bearing:-0.293601 -0.046950 0.954775 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.621184, 0.191575, 1.001844 mu:-0.814727 unit_bearing:0.316463 -0.051233 0.947220 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.677623, 0.071259, 0.981984 mu:-0.814727 unit_bearing:0.367166 0.044090 0.929110 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] calculated Z= 0.996093 -[18:03:08.011] update seeds 305 -[18:03:08.011] If point is visible? 0.683798, 0.070782, 0.977937 mu:-0.814727 unit_bearing:0.372765 0.044073 0.926878 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.677482, 0.060659, 0.982759 mu:-0.814727 unit_bearing:0.367140 0.052738 0.928670 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.677555, 0.065960, 0.982383 mu:-0.814727 unit_bearing:0.367153 0.048414 0.928900 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.683730, 0.065485, 0.978336 mu:-0.814727 unit_bearing:0.372753 0.048396 0.926668 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.402772, -0.020302, 1.118662 mu:-0.814727 unit_bearing:0.127332 0.131701 0.983077 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.627983, -0.112453, 1.009303 mu:-0.814727 unit_bearing:0.326781 0.195361 0.924688 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.487170, -0.207663, 1.067167 mu:-0.814727 unit_bearing:0.206872 0.278099 0.938011 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.494070, -0.202560, 1.065090 mu:-0.814727 unit_bearing:0.212615 0.273766 0.938002 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.493341, -0.213343, 1.063385 mu:-0.814727 unit_bearing:0.212529 0.282316 0.935483 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.493709, -0.207952, 1.064250 mu:-0.814727 unit_bearing:0.212573 0.278043 0.936752 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.838529, -0.286741, 0.811983 mu:-0.814727 unit_bearing:0.530593 0.316708 0.786236 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.841477, -0.307989, 0.801645 mu:-0.814727 unit_bearing:0.535065 0.332864 0.776471 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.581849, 0.606549, 0.855462 mu:-0.814727 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] If point is visible? 0.646491, 0.455197, 0.900008 mu:-0.814727 unit_bearing:0.348034 -0.274523 0.896387 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? -0.070204, -0.366536, 1.126542 mu:-0.814727 unit_bearing:-0.244351 0.412468 0.877589 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.942785, -0.279037, 0.699032 mu:-0.814727 unit_bearing:0.632120 0.299264 0.714749 T_cur_ref: x=0.005285 y=0.000000 z=-0.042421 -[18:03:08.011] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.388177, 0.411570, 0.480002 mu:-1.306765 unit_bearing:0.337872 -0.451414 0.825874 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] If point is visible? 0.409009, 0.283253, 0.546012 mu:-1.306765 unit_bearing:0.350821 -0.274472 0.895316 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.403647, 0.279155, 0.551669 mu:-1.306765 unit_bearing:0.342568 -0.268255 0.900381 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.366100, 0.066570, 0.632811 mu:-1.306765 unit_bearing:0.279623 0.020395 0.959893 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.459815, -0.001654, 0.576396 mu:-1.306765 unit_bearing:0.416986 0.099898 0.903406 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? -0.447220, -0.049145, 0.579538 mu:-1.306765 unit_bearing:-0.741209 0.161996 0.651435 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? -0.459560, -0.045079, 0.570660 mu:-1.306765 unit_bearing:-0.754696 0.155309 0.637427 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? -0.457508, -0.044968, 0.572223 mu:-1.306765 unit_bearing:-0.752504 0.155413 0.639988 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? -0.145800, -0.076396, 0.709355 mu:-1.306765 unit_bearing:-0.390481 0.218015 0.894424 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.547383, -0.116809, 0.487391 mu:-1.306765 unit_bearing:0.556927 0.235083 0.796598 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.550679, -0.117104, 0.483883 mu:-1.306765 unit_bearing:0.562104 0.234907 0.793006 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? -0.148010, -0.074752, 0.709078 mu:-1.306765 unit_bearing:-0.393284 0.215838 0.893723 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.549173, -0.115324, 0.485856 mu:-1.306765 unit_bearing:0.559583 0.232913 0.795373 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.297768, -0.159633, 0.650427 mu:-1.306765 unit_bearing:0.195077 0.316591 0.928286 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.374157, -0.156514, 0.613138 mu:-1.306765 unit_bearing:0.302719 0.306607 0.902415 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? -0.047343, -0.218394, 0.694282 mu:-1.306765 unit_bearing:-0.255840 0.399790 0.880178 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.359411, 0.147519, 0.623408 mu:-1.306765 unit_bearing:0.270930 -0.086096 0.958741 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.452235, -0.004355, 0.581953 mu:-1.306765 unit_bearing:0.405880 0.104287 0.907957 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.302747, 0.031931, 0.665883 mu:-1.306765 unit_bearing:0.190838 0.070590 0.979080 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.452023, -0.010978, 0.582025 mu:-1.306765 unit_bearing:0.405811 0.112889 0.906958 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.011] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.011] If point is visible? 0.255461, -0.114042, 0.675866 mu:-1.306765 unit_bearing:0.132579 0.261509 0.956052 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.012] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.279157, -0.229500, 0.638286 mu:-1.306765 unit_bearing:0.176935 0.405276 0.896909 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.012] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.481745, -0.133056, 0.544426 mu:-1.306765 unit_bearing:0.458091 0.265238 0.848411 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.012] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.488882, -0.133573, 0.538357 mu:-1.306765 unit_bearing:0.468877 0.264943 0.842591 T_cur_ref: x=0.002835 y=0.000000 z=-0.037422 -[18:03:08.012] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.395404, 0.480092, 0.542901 mu:-1.183338 unit_bearing:0.295618 -0.481086 0.825328 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] If point is visible? 0.416639, 0.297226, 0.643053 mu:-1.183338 unit_bearing:0.300750 -0.251864 0.919845 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.462580, 0.052937, 0.675929 mu:-1.183338 unit_bearing:0.353149 0.039800 0.934720 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.403877, 0.042367, 0.711475 mu:-1.183338 unit_bearing:0.276714 0.057340 0.959240 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? -0.505610, -0.040916, 0.642537 mu:-1.183338 unit_bearing:-0.755076 0.145216 0.639353 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.388273, 0.485492, 0.543190 mu:-1.183338 unit_bearing:0.287135 -0.487387 0.824626 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] If point is visible? 0.608881, -0.116772, 0.546105 mu:-1.183338 unit_bearing:0.559965 0.220403 0.798662 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.604943, -0.120043, 0.549545 mu:-1.183338 unit_bearing:0.554652 0.224741 0.801157 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.411742, -0.161693, 0.690497 mu:-1.183338 unit_bearing:0.297313 0.293987 0.908392 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.324554, -0.198466, 0.724642 mu:-1.183338 unit_bearing:0.189098 0.342102 0.920439 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.441806, 0.327372, 0.612483 mu:-1.183338 unit_bearing:0.336565 -0.291679 0.895347 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.279997, 0.212617, 0.738319 mu:-1.183338 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.605809, -0.109217, 0.550782 mu:-1.183338 unit_bearing:0.555012 0.212204 0.804320 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.707790, -0.098987, 0.424273 mu:-1.183338 unit_bearing:0.704232 0.181944 0.686260 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.605237, -0.116435, 0.549974 mu:-1.183338 unit_bearing:0.554774 0.220565 0.802232 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.285181, -0.111157, 0.757540 mu:-1.183338 unit_bearing:0.132671 0.244300 0.960581 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] calculated Z= 1.038111 -[18:03:08.012] update seeds 305 -[18:03:08.012] If point is visible? 0.330818, -0.113077, 0.739404 mu:-1.183338 unit_bearing:0.190030 0.243940 0.950990 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? -0.039449, -0.230232, 0.780812 mu:-1.183338 unit_bearing:-0.244839 0.387512 0.888757 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.359138, -0.292289, 0.677182 mu:-1.183338 unit_bearing:0.243827 0.445454 0.861463 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.627653, -0.311342, 0.445115 mu:-1.183338 unit_bearing:0.612884 0.434365 0.660076 T_cur_ref: x=0.002880 y=0.000000 z=-0.031186 -[18:03:08.012] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.416618, 0.266758, 0.449646 mu:-1.454452 unit_bearing:0.430070 -0.300031 0.851482 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.448870, 0.259570, 0.424007 mu:-1.454452 unit_bearing:0.484070 -0.294198 0.824090 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.441289, 0.257991, 0.432214 mu:-1.454452 unit_bearing:0.470829 -0.290464 0.833037 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.440852, 0.262092, 0.430319 mu:-1.454452 unit_bearing:0.470636 -0.296721 0.830938 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.440999, 0.260726, 0.430954 mu:-1.454452 unit_bearing:0.470701 -0.294636 0.831643 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.358468, 0.223279, 0.514132 mu:-1.454452 unit_bearing:0.329219 -0.225834 0.916850 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.361845, 0.224379, 0.511457 mu:-1.454452 unit_bearing:0.334800 -0.227896 0.914315 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.348966, 0.208544, 0.525973 mu:-1.454452 unit_bearing:0.312625 -0.202463 0.928049 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.275137, 0.174940, 0.576326 mu:-1.454452 unit_bearing:0.193477 -0.145026 0.970327 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.320366, 0.030520, 0.578787 mu:-1.454452 unit_bearing:0.262450 0.063895 0.962828 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.347209, 0.031790, 0.563953 mu:-1.454452 unit_bearing:0.305114 0.059433 0.950459 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.216414, 0.023640, 0.622833 mu:-1.454452 unit_bearing:0.101430 0.081635 0.991488 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.218340, 0.025070, 0.622146 mu:-1.454452 unit_bearing:0.104323 0.079449 0.991365 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? -0.283635, -0.061066, 0.591796 mu:-1.454452 unit_bearing:-0.596342 0.198417 0.777822 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? -0.287554, -0.058260, 0.590246 mu:-1.454452 unit_bearing:-0.601541 0.194091 0.774905 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.419252, -0.132094, 0.500621 mu:-1.454452 unit_bearing:0.433196 0.284791 0.855123 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.012] If point is visible? 0.340154, 0.374693, 0.437194 mu:-1.454452 unit_bearing:0.321173 -0.458054 0.828875 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.012] If point is visible? 0.439268, 0.262320, 0.431690 mu:-1.454452 unit_bearing:0.467954 -0.296807 0.832421 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.442432, 0.261863, 0.428941 mu:-1.454452 unit_bearing:0.473315 -0.296634 0.829446 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.442726, 0.259131, 0.430208 mu:-1.454452 unit_bearing:0.473445 -0.292465 0.830851 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.445879, 0.258670, 0.427435 mu:-1.454452 unit_bearing:0.478797 -0.292292 0.827840 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.214543, 0.025217, 0.623383 mu:-1.454452 unit_bearing:0.098541 0.079456 0.991956 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? -0.291583, -0.061296, 0.588052 mu:-1.454452 unit_bearing:-0.606474 0.198085 0.770034 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? -0.287612, -0.061180, 0.589938 mu:-1.454452 unit_bearing:-0.601417 0.198252 0.773947 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? -0.287554, -0.058260, 0.590246 mu:-1.454452 unit_bearing:-0.601541 0.194091 0.774905 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? -0.065037, -0.063760, 0.650958 mu:-1.454452 unit_bearing:-0.303855 0.212791 0.928651 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.486704, -0.100104, 0.447788 mu:-1.454452 unit_bearing:0.544110 0.229245 0.807088 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.328510, -0.134214, 0.560178 mu:-1.454452 unit_bearing:0.285988 0.298409 0.910584 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.205747, -0.156230, 0.607803 mu:-1.454452 unit_bearing:0.097708 0.338633 0.935832 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.221101, 0.173303, 0.598254 mu:-1.454452 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.618036, -0.069825, 0.268603 mu:-1.454452 unit_bearing:0.784787 0.153774 0.600386 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] If point is visible? 0.566160, -0.085017, 0.354590 mu:-1.454452 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.217480, -0.095940, 0.615827 mu:-1.454452 unit_bearing:0.109626 0.253021 0.961230 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.225006, -0.096222, 0.613235 mu:-1.454452 unit_bearing:0.121130 0.252968 0.959862 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.441892, -0.114283, 0.486317 mu:-1.454452 unit_bearing:0.469099 0.256545 0.845062 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] calculated Z= 0.995389 -[18:03:08.013] update seeds 305 -[18:03:08.013] If point is visible? 0.224639, -0.102280, 0.612426 mu:-1.454452 unit_bearing:0.121087 0.261570 0.957559 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.487644, -0.088342, 0.449151 mu:-1.454452 unit_bearing:0.544580 0.212508 0.811340 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.330178, -0.221466, 0.532318 mu:-1.454452 unit_bearing:0.300242 0.419429 0.856700 T_cur_ref: x=0.002792 y=0.000000 z=-0.030255 -[18:03:08.013] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.176861, 0.189171, 0.215796 mu:-2.858248 unit_bearing:0.324063 -0.453909 0.830030 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] If point is visible? 0.187604, 0.116893, 0.251562 mu:-2.858248 unit_bearing:0.337481 -0.236401 0.911165 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.186776, 0.116256, 0.252390 mu:-2.858248 unit_bearing:0.334710 -0.234306 0.912726 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.187656, 0.116174, 0.251834 mu:-2.858248 unit_bearing:0.337512 -0.234266 0.911704 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.186827, 0.115536, 0.252660 mu:-2.858248 unit_bearing:0.334741 -0.232170 0.913261 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.142830, 0.091177, 0.285755 mu:-2.858248 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.141978, 0.089012, 0.286774 mu:-2.858248 unit_bearing:0.190607 -0.145038 0.970893 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.173496, 0.081755, 0.272670 mu:-2.858248 unit_bearing:0.287780 -0.129363 0.948919 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.168888, -0.030641, 0.284805 mu:-2.858248 unit_bearing:0.275947 0.193725 0.941448 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.166318, -0.068950, 0.279922 mu:-2.858248 unit_bearing:0.274679 0.300704 0.913307 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.176224, 0.127900, 0.254064 mu:-2.858248 unit_bearing:0.303356 -0.266756 0.914777 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? -0.026873, 0.073669, 0.318909 mu:-2.858248 unit_bearing:-0.299134 -0.090319 0.949927 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? -0.200487, -0.017237, 0.262175 mu:-2.858248 unit_bearing:-0.741735 0.147816 0.654202 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.119130, -0.052171, 0.304146 mu:-2.858248 unit_bearing:0.126834 0.261540 0.956823 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.166381, -0.068185, 0.280062 mu:-2.858248 unit_bearing:0.274711 0.298581 0.913993 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.168180, -0.068278, 0.279062 mu:-2.858248 unit_bearing:0.280352 0.298496 0.912306 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.285780, -0.107290, 0.154334 mu:-2.858248 unit_bearing:0.688216 0.365724 0.626581 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? -0.200487, -0.017237, 0.262175 mu:-2.858248 unit_bearing:-0.741735 0.147816 0.654202 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.132768, -0.046553, 0.299830 mu:-2.858248 unit_bearing:0.167118 0.244100 0.955242 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.013] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.013] If point is visible? 0.290531, -0.043391, 0.172991 mu:-2.858248 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.014] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.113587, -0.048870, 0.306573 mu:-2.858248 unit_bearing:0.109626 0.253021 0.961230 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.014] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.117412, -0.049015, 0.305241 mu:-2.858248 unit_bearing:0.121130 0.252968 0.959862 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.014] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.243749, -0.125253, 0.199193 mu:-2.858248 unit_bearing:0.544682 0.432310 0.718631 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.014] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? -0.008682, -0.092308, 0.315470 mu:-2.858248 unit_bearing:-0.233713 0.379351 0.895249 T_cur_ref: x=0.003159 y=0.000000 z=-0.021790 -[18:03:08.014] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.226401, -0.118029, 0.665063 mu:-1.388332 unit_bearing:0.109517 0.276658 0.954707 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.438297, -0.141622, 0.545787 mu:-1.388332 unit_bearing:0.433086 0.288988 0.853770 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? -0.272258, -0.057067, 0.655167 mu:-1.388332 unit_bearing:-0.565775 0.190979 0.802138 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? -0.043014, -0.069945, 0.706722 mu:-1.388332 unit_bearing:-0.269854 0.217447 0.938028 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.533681, -0.138125, 0.455996 mu:-1.388332 unit_bearing:0.588954 0.268976 0.762093 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? -0.043138, -0.073103, 0.706398 mu:-1.388332 unit_bearing:-0.269811 0.221744 0.937034 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.269108, -0.172103, 0.637212 mu:-1.388332 unit_bearing:0.177663 0.346459 0.921087 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.261136, -0.174954, 0.639700 mu:-1.388332 unit_bearing:0.166221 0.350808 0.921577 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.250769, -0.203050, 0.635574 mu:-1.388332 unit_bearing:0.154419 0.388825 0.908278 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.231520, 0.175371, 0.650696 mu:-1.388332 unit_bearing:0.110019 -0.130074 0.985381 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.231323, 0.181492, 0.649107 mu:-1.388332 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.227107, -0.106921, 0.666679 mu:-1.388332 unit_bearing:0.109588 0.261625 0.958928 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.234982, -0.107217, 0.663945 mu:-1.388332 unit_bearing:0.121087 0.261570 0.957559 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.586341, -0.094591, 0.400220 mu:-1.388332 unit_bearing:0.675331 0.199550 0.710005 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.603241, -0.168938, 0.348464 mu:-1.388332 unit_bearing:0.716338 0.293243 0.633142 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.242426, -0.113865, 0.660213 mu:-1.388332 unit_bearing:0.132531 0.270099 0.953668 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.331516, -0.225239, 0.590255 mu:-1.388332 unit_bearing:0.278162 0.411734 0.867814 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.441528, -0.124606, 0.547312 mu:-1.388332 unit_bearing:0.436392 0.265798 0.859601 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.448316, -0.125089, 0.541758 mu:-1.388332 unit_bearing:0.447262 0.265523 0.854081 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? -0.015861, -0.190150, 0.685723 mu:-1.388332 unit_bearing:-0.222415 0.379535 0.898045 T_cur_ref: x=0.001051 y=0.000000 z=-0.008808 -[18:03:08.014] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.458043, 0.189010, 0.860830 mu:-1.000543 unit_bearing:0.256692 -0.081803 0.963025 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.494214, 0.197096, 0.838969 mu:-1.000543 unit_bearing:0.296485 -0.092498 0.950547 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? -0.080881, 0.163549, 0.974915 mu:-1.000543 unit_bearing:-0.293610 -0.042607 0.954975 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? -0.132134, -0.097135, 0.978114 mu:-1.000543 unit_bearing:-0.337559 0.216664 0.916030 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? -0.012608, -0.272736, 0.953763 mu:-1.000543 unit_bearing:-0.210972 0.388082 0.897153 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.482320, 0.545728, 0.677468 mu:-1.000543 unit_bearing:0.310150 -0.458413 0.832865 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] If point is visible? 0.492226, 0.544610, 0.671299 mu:-1.000543 unit_bearing:0.321173 -0.458054 0.828875 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] If point is visible? -0.069121, 0.172251, 0.974338 mu:-1.000543 unit_bearing:-0.282222 -0.051319 0.957976 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.611289, -0.172812, 0.764717 mu:-1.000543 unit_bearing:0.436392 0.265798 0.859601 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.620716, -0.173480, 0.757023 mu:-1.000543 unit_bearing:0.447262 0.265523 0.854081 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.827762, -0.124620, 0.539890 mu:-1.000543 unit_bearing:0.694578 0.190525 0.693730 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.014] If point is visible? 0.649315, -0.166916, 0.734438 mu:-1.000543 unit_bearing:0.479850 0.256251 0.839095 T_cur_ref: x=0.000981 y=0.000000 z=-0.007665 -[18:03:08.014] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.236] add new frame -[18:03:08.236] update seed -[18:03:08.236] add key frame -[18:03:08.236] If point is visible? -1.324265, -1.191725, -2.113943 mu:0.439455 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067638 y=0.000000 z=-0.764680 -[18:03:08.236] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.236] init seeds -[18:03:08.236] update seed -[18:03:08.236] init seeds -[18:03:08.239] DepthFilter: Initialized 19 new seeds -[18:03:08.241] DepthFilter: Initialized 138 new seeds -[18:03:08.462] add new frame -[18:03:08.462] add key frame -[18:03:08.462] update seed -[18:03:08.462] init seeds -[18:03:08.465] DepthFilter: Initialized 11 new seeds -[18:03:08.706] add new frame -[18:03:08.707] update seed -[18:03:08.707] If point is visible? -1.324170, -1.191725, -2.113865 mu:0.439455 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -1.288804, -1.178512, -2.160678 mu:0.439455 unit_bearing:0.561608 -0.439274 0.701167 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -1.289726, -1.170300, -2.166678 mu:0.439455 unit_bearing:0.561903 -0.435371 0.703361 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -1.289266, -1.174409, -2.163684 mu:0.439455 unit_bearing:0.561756 -0.437323 0.702267 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.951825, -1.142569, -2.447799 mu:0.439455 unit_bearing:0.407511 -0.408219 0.816879 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.957818, -1.141930, -2.444588 mu:0.439455 unit_bearing:0.410214 -0.408113 0.815579 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.899772, -1.113160, -2.497496 mu:0.439455 unit_bearing:0.383655 -0.392730 0.835806 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.905836, -1.112576, -2.494473 mu:0.439455 unit_bearing:0.386384 -0.392637 0.834592 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.720791, -1.007659, -2.646348 mu:0.439455 unit_bearing:0.302121 -0.338741 0.891054 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.726860, -1.011765, -2.641586 mu:0.439455 unit_bearing:0.304878 -0.340787 0.889333 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.665662, -0.974855, -2.685514 mu:0.439455 unit_bearing:0.277155 -0.322335 0.905144 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.788383, -0.866084, -2.686861 mu:0.439455 unit_bearing:0.331280 -0.274819 0.902623 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.788536, -0.861461, -2.688868 mu:0.439455 unit_bearing:0.331316 -0.272695 0.903254 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? 0.986756, -0.774609, -2.696828 mu:0.439455 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.259737, -0.781370, -2.876554 mu:0.439455 unit_bearing:0.095327 -0.227709 0.969052 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.266253, -0.781229, -2.875585 mu:0.439455 unit_bearing:0.098209 -0.227700 0.968766 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.272767, -0.781084, -2.874598 mu:0.439455 unit_bearing:0.101090 -0.227690 0.968472 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.272917, -0.771607, -2.878058 mu:0.439455 unit_bearing:0.101105 -0.223370 0.969476 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.565109, -0.690864, -2.838326 mu:0.439455 unit_bearing:0.230437 -0.190280 0.954302 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.565355, -0.676577, -2.842957 mu:0.439455 unit_bearing:0.230481 -0.183800 0.955560 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.475592, -0.660998, -2.873155 mu:0.439455 unit_bearing:0.190465 -0.175388 0.965900 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.481974, -0.665548, -2.870067 mu:0.439455 unit_bearing:0.193321 -0.177538 0.964939 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.801208, -0.607324, -2.778110 mu:0.439455 unit_bearing:0.335605 -0.157067 0.928816 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.707] If point is visible? -0.796621, -0.492684, -2.811128 mu:0.439455 unit_bearing:0.333177 -0.105295 0.936966 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.707] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.790492, -0.478576, -2.817047 mu:0.439455 unit_bearing:0.330395 -0.098824 0.938655 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.822068, -0.462329, -2.807301 mu:0.439455 unit_bearing:0.344511 -0.092259 0.934238 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.809912, -0.419534, -2.821747 mu:0.439455 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.348130, -0.422968, -2.961480 mu:0.439455 unit_bearing:0.133226 -0.066834 0.988830 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.276312, -0.429422, -2.972620 mu:0.439455 unit_bearing:0.101444 -0.069052 0.992442 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.282849, -0.429292, -2.971617 mu:0.439455 unit_bearing:0.104335 -0.069049 0.992142 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.276334, -0.424534, -2.973562 mu:0.439455 unit_bearing:0.101446 -0.066870 0.992591 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.282871, -0.424404, -2.972559 mu:0.439455 unit_bearing:0.104337 -0.066867 0.992292 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.740550, -0.418341, -2.850216 mu:0.439455 unit_bearing:0.307911 -0.070774 0.948779 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.746881, -0.418022, -2.847815 mu:0.439455 unit_bearing:0.310742 -0.070764 0.947856 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.746916, -0.413169, -2.848769 mu:0.439455 unit_bearing:0.310750 -0.068596 0.948013 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.315754, -0.360042, -2.978518 mu:0.439455 unit_bearing:0.118812 -0.038474 0.992171 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -1.193789, 0.009077, -2.658433 mu:0.439455 unit_bearing:0.512191 0.105385 0.852382 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? 0.840360, 0.134828, -2.900717 mu:0.439455 unit_bearing:-0.385568 0.173211 0.906275 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -1.563223, 0.274217, -2.327580 mu:0.439455 unit_bearing:0.682302 0.203315 0.702230 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -1.568588, 0.269881, -2.322719 mu:0.439455 unit_bearing:0.684752 0.201163 0.700463 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.504996, 0.541062, -2.899240 mu:0.439483 unit_bearing:0.206047 0.350345 0.913675 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629448, Z inverse max: 0.249519 -[18:03:08.708] If point is visible? -0.511254, 0.546214, -2.896394 mu:0.439455 unit_bearing:0.208857 0.352418 0.912239 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.866041, 0.604656, -2.749689 mu:0.439455 unit_bearing:0.367945 0.370052 0.853040 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.872156, 0.604832, -2.746748 mu:0.439455 unit_bearing:0.370694 0.369971 0.851885 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? 0.092030, 0.594441, -2.961000 mu:0.439455 unit_bearing:-0.057211 0.376913 0.924480 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? 0.098718, 0.604422, -2.958191 mu:0.439455 unit_bearing:-0.060058 0.381116 0.922574 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -1.325154, -1.183608, -2.119980 mu:0.439455 unit_bearing:0.578441 -0.443677 0.684513 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.899506, -1.117544, -2.494821 mu:0.439455 unit_bearing:0.383585 -0.394785 0.834869 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -1.324170, -1.191725, -2.113865 mu:0.439455 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.858535, -0.970338, -2.602695 mu:0.439455 unit_bearing:0.363634 -0.324800 0.873084 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? -0.870837, -0.969328, -2.596979 mu:0.439455 unit_bearing:0.369161 -0.324666 0.870811 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? 1.173350, -0.831028, -2.571567 mu:0.439455 unit_bearing:-0.527101 -0.265703 0.807196 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.708] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.708] If point is visible? 1.160180, -0.877364, -2.557619 mu:0.439455 unit_bearing:-0.521140 -0.286661 0.803889 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -0.835757, -0.926810, -2.636190 mu:0.439455 unit_bearing:0.353020 -0.304020 0.884844 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -0.858934, -0.961276, -2.607250 mu:0.439455 unit_bearing:0.363734 -0.320604 0.874592 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? 0.870897, -0.938929, -2.675481 mu:0.439455 unit_bearing:-0.396924 -0.307202 0.864915 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? 1.036804, -0.816552, -2.654645 mu:0.439455 unit_bearing:-0.468954 -0.254940 0.845629 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? 0.986756, -0.774609, -2.696828 mu:0.439455 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? 0.936467, -0.666258, -2.759075 mu:0.439523 unit_bearing:-0.426867 -0.183820 0.885435 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629568, Z inverse max: 0.249477 -[18:03:08.709] If point is visible? -0.564940, -0.700376, -2.835185 mu:0.439455 unit_bearing:0.230406 -0.194597 0.953439 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -0.552446, -0.681884, -2.845113 mu:0.439455 unit_bearing:0.224754 -0.185999 0.956499 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -0.565274, -0.681342, -2.841424 mu:0.439455 unit_bearing:0.230467 -0.185961 0.955146 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? 1.251033, -0.547723, -2.629520 mu:0.439455 unit_bearing:-0.561705 -0.139028 0.815573 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -0.809912, -0.419534, -2.821747 mu:0.439455 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -0.295766, -0.458316, -2.963677 mu:0.439455 unit_bearing:0.110100 -0.082134 0.990521 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -0.947735, -0.275535, -2.782279 mu:0.439455 unit_bearing:0.400717 -0.012124 0.916122 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -0.296220, -0.212554, -3.000776 mu:0.439455 unit_bearing:0.110147 0.027049 0.993547 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? 1.275134, 0.114513, -2.690008 mu:0.439455 unit_bearing:-0.571826 0.153065 0.805969 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? 1.201472, 0.110547, -2.734509 mu:0.439455 unit_bearing:-0.540482 0.153719 0.827194 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] calculated Z= 0.692647 -[18:03:08.709] update seeds 305 -[18:03:08.709] If point is visible? 1.189099, 0.109911, -2.741614 mu:0.439455 unit_bearing:-0.535209 0.153822 0.830596 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? 1.201377, 0.120295, -2.733993 mu:0.439455 unit_bearing:-0.540403 0.157943 0.826450 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -0.436836, 0.129149, -2.979742 mu:0.439455 unit_bearing:0.173245 0.174966 0.969213 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -1.568833, 0.265131, -2.323277 mu:0.439455 unit_bearing:0.684834 0.199121 0.700966 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -1.764168, 0.366433, -2.063824 mu:0.439455 unit_bearing:0.776527 0.229412 0.586836 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -1.561589, 0.388466, -2.304900 mu:0.439455 unit_bearing:0.682389 0.251933 0.686203 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? 0.312032, 0.354386, -2.999070 mu:0.439455 unit_bearing:-0.155250 0.274245 0.949045 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -1.793251, 0.433476, -2.000299 mu:0.439455 unit_bearing:0.790864 0.255252 0.556219 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -1.064204, 0.507946, -2.672172 mu:0.439455 unit_bearing:0.456358 0.323717 0.828821 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -1.491163, 0.507993, -2.342543 mu:0.439455 unit_bearing:0.650976 0.306084 0.694653 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -0.505341, 0.531120, -2.901800 mu:0.439455 unit_bearing:0.206102 0.346123 0.915271 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.709] If point is visible? -0.865803, 0.609579, -2.748295 mu:0.439455 unit_bearing:0.367885 0.372125 0.852164 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.709] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -0.312381, 0.537746, -2.942780 mu:0.439455 unit_bearing:0.120531 0.351208 0.928507 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -0.505645, 0.521139, -2.904174 mu:0.439455 unit_bearing:0.206156 0.341897 0.916846 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -0.064259, 0.605173, -2.954228 mu:0.439455 unit_bearing:0.011561 0.381231 0.924407 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -1.148617, 0.667029, -2.568397 mu:0.439455 unit_bearing:0.496110 0.387548 0.776969 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -1.160125, 0.667390, -2.560450 mu:0.439455 unit_bearing:0.501336 0.387280 0.773742 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -0.866278, 0.599732, -2.751071 mu:0.439455 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? 0.249481, 0.654232, -2.936482 mu:0.439455 unit_bearing:-0.125618 0.401680 0.907124 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? 0.236444, 0.654220, -2.937538 mu:0.439455 unit_bearing:-0.119919 0.401731 0.907872 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? 0.277603, 0.822763, -2.875794 mu:0.439455 unit_bearing:-0.136177 0.471939 0.871051 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? 1.011187, -0.855231, -2.650495 mu:0.439455 unit_bearing:-0.457724 -0.272033 0.846455 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? 1.011400, -0.836966, -2.658566 mu:0.439455 unit_bearing:-0.457945 -0.263634 0.848990 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -0.293234, -0.718863, -2.893229 mu:0.439455 unit_bearing:0.109832 -0.199552 0.973712 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -0.295591, -0.487545, -2.957411 mu:0.439455 unit_bearing:0.110082 -0.095219 0.989351 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -0.269680, -0.449087, -2.969730 mu:0.439455 unit_bearing:0.098543 -0.077785 0.992088 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -0.322390, -0.291047, -2.987485 mu:0.439455 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -1.560955, 0.397935, -2.303152 mu:0.439455 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -1.569787, 0.246131, -2.325390 mu:0.439455 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -1.791340, 0.431731, -1.980501 mu:0.441900 unit_bearing:0.794854 0.254841 0.550694 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.635806, Z inverse max: 0.247995 -[18:03:08.710] calculated Z= 0.796368 -[18:03:08.710] update seeds 305 -[18:03:08.710] If point is visible? -1.718442, 0.371891, -2.124524 mu:0.439455 unit_bearing:0.755142 0.235043 0.611977 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? 0.288696, 0.664248, -2.929796 mu:0.439455 unit_bearing:-0.142656 0.405690 0.902809 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -1.299976, 0.440316, -2.529144 mu:0.439455 unit_bearing:0.562791 0.286559 0.775339 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? 0.314952, 0.684192, -2.920728 mu:0.439455 unit_bearing:-0.153927 0.413904 0.897212 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -0.866278, 0.599732, -2.751071 mu:0.439455 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -1.052845, 0.703005, -2.616143 mu:0.439455 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? 0.419372, 0.743958, -2.886156 mu:0.439455 unit_bearing:-0.198838 0.438121 0.876649 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -0.795724, 0.518469, -2.804934 mu:0.439488 unit_bearing:0.335666 0.335443 0.880231 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629465, Z inverse max: 0.249512 -[18:03:08.710] If point is visible? -0.820560, 0.519257, -2.794238 mu:0.439455 unit_bearing:0.346777 0.335188 0.876010 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? 0.290072, 0.783280, -2.889491 mu:0.439455 unit_bearing:-0.142056 0.455451 0.878854 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.629357, Z inverse max: 0.249553 -[18:03:08.710] If point is visible? -1.775285, -1.577963, -2.551161 mu:0.331889 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.710] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.729070, -1.555034, -2.617126 mu:0.331889 unit_bearing:0.561756 -0.437323 0.702267 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.221015, -1.478964, -3.051581 mu:0.331889 unit_bearing:0.386313 -0.394692 0.833655 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.213341, -1.473935, -3.059127 mu:0.331889 unit_bearing:0.383655 -0.392730 0.835806 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.221369, -1.473162, -3.055123 mu:0.331889 unit_bearing:0.386384 -0.392637 0.834592 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.213691, -1.468125, -3.062654 mu:0.331889 unit_bearing:0.383724 -0.390674 0.836738 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.072332, -1.392683, -3.181038 mu:0.331889 unit_bearing:0.335062 -0.361034 0.870281 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.236959, -1.337447, -3.128390 mu:0.331889 unit_bearing:0.390614 -0.344968 0.853474 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.245015, -1.336708, -3.124344 mu:0.331889 unit_bearing:0.393353 -0.344888 0.852248 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.245319, -1.330780, -3.127523 mu:0.331889 unit_bearing:0.393413 -0.342806 0.853059 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -0.976352, -1.334241, -3.256221 mu:0.331889 unit_bearing:0.302121 -0.338741 0.891054 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -0.984388, -1.339677, -3.249916 mu:0.331889 unit_bearing:0.304878 -0.340787 0.889333 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -0.903355, -1.290806, -3.308081 mu:0.331889 unit_bearing:0.277155 -0.322335 0.905144 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.065850, -1.146782, -3.309864 mu:0.331889 unit_bearing:0.331280 -0.274819 0.902623 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.066053, -1.140661, -3.312523 mu:0.331889 unit_bearing:0.331316 -0.272695 0.903254 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? 1.284611, -1.025660, -3.323061 mu:0.331889 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -0.365870, -1.034612, -3.561037 mu:0.331889 unit_bearing:0.095327 -0.227709 0.969052 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -0.374498, -1.034425, -3.559754 mu:0.331889 unit_bearing:0.098209 -0.227700 0.968766 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -0.383124, -1.034234, -3.558447 mu:0.331889 unit_bearing:0.101090 -0.227690 0.968472 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -0.383321, -1.021684, -3.563028 mu:0.331889 unit_bearing:0.101105 -0.223370 0.969476 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -0.770539, -0.895856, -3.516551 mu:0.331889 unit_bearing:0.230481 -0.183800 0.955560 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -0.651684, -0.875228, -3.556536 mu:0.331889 unit_bearing:0.190465 -0.175388 0.965900 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -0.660134, -0.881252, -3.552448 mu:0.331889 unit_bearing:0.193321 -0.177538 0.964939 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.082832, -0.804158, -3.430687 mu:0.331889 unit_bearing:0.335605 -0.157067 0.928816 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.076759, -0.652363, -3.474406 mu:0.331889 unit_bearing:0.333177 -0.105295 0.936966 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.068573, -0.640067, -3.480776 mu:0.331889 unit_bearing:0.330383 -0.100987 0.938429 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.068643, -0.633682, -3.482243 mu:0.331889 unit_bearing:0.330395 -0.098824 0.938655 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.110453, -0.612170, -3.469339 mu:0.331889 unit_bearing:0.344511 -0.092259 0.934238 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.711] If point is visible? -1.094408, -0.549091, -3.489745 mu:0.331889 unit_bearing:0.338983 -0.070655 0.938136 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.711] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -1.094357, -0.555505, -3.488467 mu:0.331889 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -0.387818, -0.568598, -3.688238 mu:0.331889 unit_bearing:0.101444 -0.069052 0.992442 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -0.396472, -0.568426, -3.686910 mu:0.331889 unit_bearing:0.104335 -0.069049 0.992142 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -0.387847, -0.562125, -3.689485 mu:0.331889 unit_bearing:0.101446 -0.066870 0.992591 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -0.396502, -0.561954, -3.688157 mu:0.331889 unit_bearing:0.104337 -0.066867 0.992292 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -0.440043, -0.476732, -3.696047 mu:0.331889 unit_bearing:0.118812 -0.038474 0.992171 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -1.185177, -0.077882, -3.503695 mu:0.331889 unit_bearing:0.369797 0.085133 0.925204 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? 1.090768, 0.178525, -3.593031 mu:0.331889 unit_bearing:-0.385568 0.173211 0.906275 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -2.098920, 0.357349, -2.827705 mu:0.331889 unit_bearing:0.684752 0.201163 0.700463 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -0.605799, 0.721440, -3.611417 mu:0.331889 unit_bearing:0.177592 0.352799 0.918691 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -0.690460, 0.723071, -3.589631 mu:0.331889 unit_bearing:0.206019 0.352455 0.912870 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] calculated Z= 0.834909 -[18:03:08.712] update seeds 305 -[18:03:08.712] If point is visible? -0.698904, 0.723242, -3.587308 mu:0.331889 unit_bearing:0.208857 0.352418 0.912239 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? 0.108654, 0.793697, -3.670949 mu:0.331889 unit_bearing:-0.060066 0.379010 0.923441 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? 0.108760, 0.800315, -3.669132 mu:0.331889 unit_bearing:-0.060058 0.381116 0.922574 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -1.177089, 0.794339, -3.390991 mu:0.331889 unit_bearing:0.370755 0.367898 0.852755 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -1.185180, 0.794575, -3.387070 mu:0.331889 unit_bearing:0.373502 0.367817 0.851591 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -1.168677, 0.800625, -3.393055 mu:0.331889 unit_bearing:0.367945 0.370052 0.853040 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -1.176774, 0.800858, -3.389160 mu:0.331889 unit_bearing:0.370694 0.369971 0.851885 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? 0.099905, 0.787099, -3.672852 mu:0.331889 unit_bearing:-0.057211 0.376913 0.924480 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -1.775285, -1.577963, -2.551161 mu:0.331889 unit_bearing:0.578121 -0.447544 0.682261 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -1.212989, -1.479739, -3.055585 mu:0.331889 unit_bearing:0.383585 -0.394785 0.834869 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -1.159267, -1.272825, -3.204452 mu:0.331889 unit_bearing:0.363734 -0.320604 0.874592 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -1.236959, -1.337447, -3.128390 mu:0.331889 unit_bearing:0.390614 -0.344968 0.853474 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? 1.131202, -1.243235, -3.294796 mu:0.331889 unit_bearing:-0.396924 -0.307202 0.864915 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? 1.514242, -1.161718, -3.138735 mu:0.331889 unit_bearing:-0.521140 -0.286661 0.803889 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] calculated Z= 0.888441 -[18:03:08.712] update seeds 305 -[18:03:08.712] If point is visible? 1.350880, -1.081196, -3.267207 mu:0.331889 unit_bearing:-0.468954 -0.254940 0.845629 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? 1.284611, -1.025660, -3.323061 mu:0.331889 unit_bearing:-0.447800 -0.234386 0.862867 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.712] If point is visible? -0.769990, -0.927368, -3.506260 mu:0.331889 unit_bearing:0.230406 -0.194597 0.953439 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.712] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -0.753657, -0.890258, -3.523449 mu:0.331889 unit_bearing:0.224783 -0.181678 0.957322 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -0.770213, -0.914773, -3.510420 mu:0.331889 unit_bearing:0.230437 -0.190280 0.954302 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? 1.218201, -0.882328, -3.405890 mu:0.331889 unit_bearing:-0.426867 -0.183820 0.885435 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] calculated Z= 0.762210 -[18:03:08.713] update seeds 305 -[18:03:08.713] If point is visible? -0.753447, -0.902882, -3.519406 mu:0.331889 unit_bearing:0.224754 -0.185999 0.956499 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -0.770431, -0.902164, -3.514522 mu:0.331889 unit_bearing:0.230467 -0.185961 0.955146 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? 1.634540, -0.725240, -3.233939 mu:0.331889 unit_bearing:-0.561705 -0.139028 0.815573 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] calculated Z= 0.874708 -[18:03:08.713] update seeds 305 -[18:03:08.713] If point is visible? -0.993647, -0.612088, -3.517292 mu:0.331889 unit_bearing:0.305000 -0.090293 0.948062 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -1.010410, -0.611231, -3.510960 mu:0.331889 unit_bearing:0.310663 -0.090267 0.946224 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -0.413576, -0.606856, -3.676396 mu:0.331889 unit_bearing:0.110100 -0.082134 0.990521 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -1.094357, -0.555505, -3.488467 mu:0.331889 unit_bearing:0.338974 -0.072819 0.937973 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -0.414177, -0.281442, -3.725520 mu:0.331889 unit_bearing:0.110147 0.027049 0.993547 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? 1.746814, 0.143451, -3.262319 mu:0.331889 unit_bearing:-0.597624 0.148281 0.787946 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? 1.666598, 0.138776, -3.314672 mu:0.331889 unit_bearing:-0.571911 0.148858 0.806696 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? 1.666453, 0.151626, -3.314031 mu:0.331889 unit_bearing:-0.571826 0.153065 0.805969 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? 1.568917, 0.146376, -3.372955 mu:0.331889 unit_bearing:-0.540482 0.153719 0.827194 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? 1.552533, 0.145533, -3.382363 mu:0.331889 unit_bearing:-0.535209 0.153822 0.830596 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? 1.568790, 0.159283, -3.372271 mu:0.331889 unit_bearing:-0.540403 0.157943 0.826450 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -0.600367, 0.171006, -3.697668 mu:0.331889 unit_bearing:0.173245 0.174966 0.969213 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -2.099883, 0.338482, -2.829874 mu:0.331889 unit_bearing:0.684997 0.195036 0.701955 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -2.099244, 0.351060, -2.828443 mu:0.331889 unit_bearing:0.684834 0.199121 0.700966 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -2.357887, 0.485194, -2.484901 mu:0.331889 unit_bearing:0.776527 0.229412 0.586836 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? 0.391209, 0.469242, -3.723260 mu:0.331889 unit_bearing:-0.155250 0.274245 0.949045 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -2.396396, 0.573966, -2.400788 mu:0.331889 unit_bearing:0.790864 0.255252 0.556219 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -2.088812, 0.526906, -2.801796 mu:0.331889 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -2.089652, 0.514367, -2.804110 mu:0.331889 unit_bearing:0.682389 0.251933 0.686203 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -0.691074, 0.703255, -3.594465 mu:0.331889 unit_bearing:0.206102 0.346123 0.915271 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -1.996402, 0.672633, -2.853953 mu:0.331889 unit_bearing:0.650976 0.306084 0.694653 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -1.431065, 0.672572, -3.290414 mu:0.331889 unit_bearing:0.456358 0.323717 0.828821 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.713] If point is visible? -1.541940, 0.896001, -3.148844 mu:0.331889 unit_bearing:0.495908 0.391592 0.775068 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.713] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -0.691476, 0.690040, -3.597607 mu:0.331890 unit_bearing:0.206156 0.341897 0.916846 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -1.542836, 0.883213, -3.153007 mu:0.331889 unit_bearing:0.496110 0.387548 0.776969 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -1.558073, 0.883691, -3.142484 mu:0.331889 unit_bearing:0.501336 0.387280 0.773742 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -0.435576, 0.712029, -3.648727 mu:0.331889 unit_bearing:0.120531 0.351208 0.928507 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -1.168991, 0.794105, -3.394885 mu:0.331889 unit_bearing:0.368006 0.367978 0.853911 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] calculated Z= 0.783783 -[18:03:08.714] update seeds 305 -[18:03:08.714] If point is visible? 0.308386, 0.866269, -3.640388 mu:0.331889 unit_bearing:-0.125618 0.401680 0.907124 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? 0.291122, 0.866253, -3.641785 mu:0.331889 unit_bearing:-0.119919 0.401731 0.907872 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -0.107038, 0.801309, -3.663885 mu:0.331889 unit_bearing:0.011561 0.381231 0.924407 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? 0.345622, 1.089420, -3.560031 mu:0.331889 unit_bearing:-0.136177 0.471939 0.871051 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? 1.317241, -1.108226, -3.272399 mu:0.331889 unit_bearing:-0.457945 -0.263634 0.848990 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -0.993260, -0.650476, -3.508623 mu:0.331889 unit_bearing:0.304937 -0.103289 0.946755 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? 1.316960, -1.132412, -3.261712 mu:0.331889 unit_bearing:-0.457724 -0.272033 0.846455 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -0.410224, -0.951846, -3.583117 mu:0.331889 unit_bearing:0.109832 -0.199552 0.973712 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -0.378896, -0.620470, -3.679052 mu:0.331889 unit_bearing:0.098533 -0.086511 0.991366 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -0.379036, -0.594636, -3.684411 mu:0.331889 unit_bearing:0.098543 -0.077785 0.992088 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -0.448830, -0.385375, -3.707921 mu:0.331889 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -2.297342, 0.492420, -2.565274 mu:0.331889 unit_bearing:0.755142 0.235043 0.611977 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -2.407565, 0.574837, -2.383533 mu:0.331889 unit_bearing:0.794854 0.254841 0.550694 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -2.090476, 0.501825, -2.806361 mu:0.331889 unit_bearing:0.682600 0.247892 0.687464 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -2.100507, 0.325902, -2.831241 mu:0.331889 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -1.075658, 0.686558, -3.466411 mu:0.331889 unit_bearing:0.335666 0.335443 0.880231 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -1.108456, 0.687548, -3.452042 mu:0.331889 unit_bearing:0.346777 0.335188 0.876010 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -2.088812, 0.526906, -2.801796 mu:0.331889 unit_bearing:0.682175 0.255970 0.684921 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? 0.360310, 0.879530, -3.631535 mu:0.331889 unit_bearing:-0.142656 0.405690 0.902809 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -1.416024, 0.930849, -3.216226 mu:0.331889 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -1.743250, 0.583023, -3.101031 mu:0.331889 unit_bearing:0.562791 0.286559 0.775339 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? 0.533338, 0.985075, -3.573751 mu:0.331889 unit_bearing:-0.198838 0.438121 0.876649 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? 0.362132, 1.037141, -3.578167 mu:0.331889 unit_bearing:-0.142056 0.455451 0.878854 T_cur_ref: x=0.067734 y=0.000000 z=-0.764602 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -1.097358, -1.772185, -3.591396 mu:0.331889 unit_bearing:0.387379 -0.497267 0.776314 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -1.222990, -1.670926, -3.600630 mu:0.331889 unit_bearing:0.429075 -0.463537 0.775260 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.714] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.714] If point is visible? -1.215288, -1.666307, -3.608823 mu:0.331889 unit_bearing:0.426518 -0.461685 0.777772 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -1.223303, -1.665391, -3.604736 mu:0.331889 unit_bearing:0.429178 -0.461548 0.776389 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -1.129317, -1.619896, -3.692097 mu:0.331889 unit_bearing:0.397986 -0.443028 0.803327 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -1.137443, -1.619079, -3.688320 mu:0.331889 unit_bearing:0.400682 -0.442911 0.802049 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -1.186041, -1.614039, -3.665075 mu:0.331889 unit_bearing:0.416812 -0.442192 0.794188 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.825032, -1.616984, -3.832072 mu:0.331889 unit_bearing:0.296996 -0.436407 0.849319 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.816840, -1.611805, -3.838642 mu:0.331889 unit_bearing:0.294278 -0.434435 0.851274 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.993520, -1.541176, -3.812975 mu:0.331889 unit_bearing:0.352916 -0.412207 0.839962 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -1.001590, -1.546271, -3.805984 mu:0.331889 unit_bearing:0.355594 -0.414168 0.837865 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -1.045522, -1.467457, -3.835845 mu:0.331889 unit_bearing:0.370175 -0.386998 0.844514 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.199443, -1.192782, -4.206122 mu:0.331889 unit_bearing:0.089370 -0.281539 0.955379 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.190726, -1.205269, -4.201519 mu:0.331889 unit_bearing:0.086477 -0.285839 0.954368 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.199417, -1.198963, -4.203439 mu:0.331889 unit_bearing:0.089362 -0.283683 0.954745 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.614389, -1.094914, -4.174757 mu:0.331889 unit_bearing:0.227086 -0.250568 0.941088 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.174353, -0.885949, -4.321839 mu:0.331889 unit_bearing:0.081043 -0.175783 0.981087 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -1.092386, -0.858474, -4.096356 mu:0.331889 unit_bearing:0.385728 -0.175852 0.905698 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.940993, -0.848588, -4.160971 mu:0.331889 unit_bearing:0.335483 -0.169982 0.926584 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -1.067902, -0.803575, -4.124114 mu:0.331889 unit_bearing:0.377603 -0.156645 0.912622 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -1.093343, -0.776848, -4.121062 mu:0.331889 unit_bearing:0.386046 -0.147964 0.910536 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -1.118859, -0.737451, -4.120996 mu:0.331889 unit_bearing:0.394515 -0.134989 0.908920 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.226862, -0.744938, -4.356750 mu:0.331889 unit_bearing:0.098470 -0.127920 0.986884 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.967477, -0.727187, -4.186154 mu:0.331889 unit_bearing:0.344273 -0.128973 0.929969 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.993146, -0.687742, -4.186501 mu:0.331889 unit_bearing:0.352792 -0.115964 0.928488 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -1.001598, -0.687289, -4.183314 mu:0.331889 unit_bearing:0.355597 -0.115944 0.927420 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.993053, -0.700449, -4.183310 mu:0.331889 unit_bearing:0.352761 -0.120279 0.927951 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.715] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.715] If point is visible? -0.209552, -0.680967, -4.374118 mu:0.331889 unit_bearing:0.092725 -0.106144 0.990018 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -0.209543, -0.687399, -4.372612 mu:0.331889 unit_bearing:0.092722 -0.108324 0.989782 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -0.279224, -0.667097, -4.369821 mu:0.331889 unit_bearing:0.115849 -0.101749 0.988042 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -0.244496, -0.603140, -4.387638 mu:0.331889 unit_bearing:0.104323 -0.079960 0.991324 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -0.244511, -0.590215, -4.390263 mu:0.331889 unit_bearing:0.104328 -0.075596 0.991666 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.170859, -0.447941, -4.161322 mu:0.331889 unit_bearing:0.411773 -0.037989 0.910494 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -0.227188, -0.460722, -4.415121 mu:0.331889 unit_bearing:0.098578 -0.031934 0.994617 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.179321, -0.396079, -4.165509 mu:0.331889 unit_bearing:0.414581 -0.020735 0.909776 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.187712, -0.337664, -4.169528 mu:0.331889 unit_bearing:0.417366 -0.001330 0.908737 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.019745, -0.339869, -4.240863 mu:0.331889 unit_bearing:0.361620 0.000829 0.932325 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.028139, -0.268174, -4.245384 mu:0.331889 unit_bearing:0.364405 0.024629 0.930915 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -0.401222, -0.255521, -4.417365 mu:0.331889 unit_bearing:0.156338 0.035754 0.987056 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.212293, -0.155226, -4.174583 mu:0.331889 unit_bearing:0.425524 0.058973 0.903023 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] calculated Z= 0.773392 -[18:03:08.716] update seeds 305 -[18:03:08.716] If point is visible? -1.052406, -0.019448, -4.248543 mu:0.331889 unit_bearing:0.372460 0.106691 0.921895 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.228023, -0.017914, -4.171494 mu:0.331889 unit_bearing:0.430745 0.104080 0.896452 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.943273, 0.087652, -3.692487 mu:0.331889 unit_bearing:0.668129 0.119481 0.734390 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.235502, 0.067172, -4.167140 mu:0.331889 unit_bearing:0.433227 0.131933 0.891576 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.218261, 0.125111, -4.173316 mu:0.331889 unit_bearing:0.427505 0.151269 0.891267 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.109904, 0.126953, -4.221935 mu:0.331889 unit_bearing:0.391542 0.153842 0.907208 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.118270, 0.127299, -4.218340 mu:0.331889 unit_bearing:0.394319 0.153811 0.906010 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.126630, 0.127647, -4.214718 mu:0.331889 unit_bearing:0.397094 0.153779 0.904803 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.218339, 0.118583, -4.173571 mu:0.331889 unit_bearing:0.427531 0.149129 0.891615 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.101461, 0.133159, -4.225225 mu:0.331889 unit_bearing:0.388740 0.156019 0.908041 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.084559, 0.145587, -4.231681 mu:0.331889 unit_bearing:0.383131 0.160374 0.909665 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.092940, 0.145922, -4.228167 mu:0.331889 unit_bearing:0.385912 0.160343 0.908494 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.084486, 0.152141, -4.231360 mu:0.331889 unit_bearing:0.383107 0.162520 0.909294 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? -1.092867, 0.152474, -4.227846 mu:0.331889 unit_bearing:0.385888 0.162488 0.908123 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? 1.863177, 0.416590, -3.837485 mu:0.331889 unit_bearing:-0.595192 0.233703 0.768850 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.716] If point is visible? 1.000980, 0.407973, -4.288725 mu:0.331889 unit_bearing:-0.309038 0.249116 0.917844 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.716] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? 0.992499, 0.407746, -4.291528 mu:0.331889 unit_bearing:-0.306223 0.249154 0.918776 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? 1.855094, 0.428975, -3.841350 mu:0.331889 unit_bearing:-0.592509 0.237939 0.769622 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? 1.862954, 0.422988, -3.836526 mu:0.331889 unit_bearing:-0.595118 0.235772 0.768275 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.605634, 0.421932, -4.358243 mu:0.331889 unit_bearing:0.224181 0.256526 0.940180 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.536109, 0.506836, -4.360004 mu:0.331889 unit_bearing:0.201106 0.284566 0.937325 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.596266, 0.501237, -4.347790 mu:0.331889 unit_bearing:0.221072 0.282227 0.933528 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.604627, 0.521251, -4.342315 mu:0.331889 unit_bearing:0.223847 0.288599 0.930915 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.268569, 0.523382, -4.400240 mu:0.331889 unit_bearing:0.112312 0.291644 0.949910 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.277220, 0.523461, -4.399220 mu:0.331889 unit_bearing:0.115184 0.291628 0.949571 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.596127, 0.514479, -4.345498 mu:0.331889 unit_bearing:0.221025 0.286497 0.932238 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -1.263611, 0.915025, -3.994622 mu:0.331889 unit_bearing:0.442556 0.404251 0.800453 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -1.145022, -1.629508, -3.676608 mu:0.331889 unit_bearing:0.403198 -0.446821 0.798613 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -1.145561, -1.618256, -3.684514 mu:0.331889 unit_bearing:0.403377 -0.442794 0.800762 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -1.192385, -1.646762, -3.637178 mu:0.331889 unit_bearing:0.418917 -0.454099 0.786322 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.766867, -1.603554, -3.862131 mu:0.331889 unit_bearing:0.277692 -0.430767 0.858677 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? 1.364250, -1.632095, -3.629331 mu:0.331889 unit_bearing:-0.429603 -0.449585 0.783144 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -1.017906, -1.550659, -3.795590 mu:0.331889 unit_bearing:0.361009 -0.416034 0.834619 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? 1.435880, -1.477862, -3.694745 mu:0.331889 unit_bearing:-0.453376 -0.396133 0.798454 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.684017, -1.550361, -3.923501 mu:0.331889 unit_bearing:0.250195 -0.410762 0.876742 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.639590, -1.143408, -4.148242 mu:0.331889 unit_bearing:0.235450 -0.267616 0.934315 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.656718, -1.142697, -4.143979 mu:0.331889 unit_bearing:0.241135 -0.267554 0.932882 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.208162, -1.180277, -4.210640 mu:0.331889 unit_bearing:0.092264 -0.277237 0.956361 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -0.984688, -0.688191, -4.189662 mu:0.331889 unit_bearing:0.349985 -0.115984 0.929547 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -1.001504, -0.699994, -4.180122 mu:0.331889 unit_bearing:0.355566 -0.120258 0.926882 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.717] If point is visible? -1.286471, -0.568243, -4.082185 mu:0.331889 unit_bearing:0.450143 -0.080819 0.889291 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.717] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.227185, -0.467228, -4.414102 mu:0.331889 unit_bearing:0.098577 -0.034118 0.994544 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -1.303047, -0.554405, -4.076532 mu:0.331889 unit_bearing:0.455645 -0.076489 0.886869 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.746875, -0.467721, -4.314643 mu:0.331889 unit_bearing:0.271057 -0.038303 0.961801 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -1.368927, -0.126981, -4.096653 mu:0.331889 unit_bearing:0.477510 0.065125 0.876210 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -1.761436, 0.181834, -3.838116 mu:0.331889 unit_bearing:0.607779 0.156396 0.778553 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -1.118341, 0.120753, -4.218603 mu:0.331889 unit_bearing:0.394343 0.151665 0.906362 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.277360, 0.496893, -4.403799 mu:0.331889 unit_bearing:0.115230 0.283062 0.952154 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.277291, 0.510177, -4.401540 mu:0.331889 unit_bearing:0.115207 0.287347 0.950873 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.294592, 0.510341, -4.399424 mu:0.331889 unit_bearing:0.120949 0.287315 0.950169 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -1.444034, -1.636819, -3.479052 mu:0.331889 unit_bearing:0.502437 -0.457220 0.733831 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.639590, -1.143408, -4.148242 mu:0.331889 unit_bearing:0.235450 -0.267616 0.934315 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.190925, -1.155749, -4.222683 mu:0.331889 unit_bearing:0.086543 -0.268670 0.959337 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.732931, -1.617160, -3.864581 mu:0.331889 unit_bearing:0.266429 -0.435150 0.860035 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -1.478086, -1.588497, -3.491741 mu:0.331889 unit_bearing:0.513738 -0.440788 0.736056 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -1.723078, -1.006433, -3.654861 mu:0.331889 unit_bearing:0.595049 -0.242450 0.766248 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.189907, -1.376543, -4.119964 mu:0.331889 unit_bearing:0.086205 -0.345558 0.934430 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.639307, -1.168070, -4.137723 mu:0.331889 unit_bearing:0.235356 -0.276165 0.931848 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.639863, -1.118685, -4.158523 mu:0.331889 unit_bearing:0.235541 -0.259056 0.936702 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.908620, -1.300002, -3.988315 mu:0.331889 unit_bearing:0.324738 -0.325669 0.887967 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.227154, -0.519203, -4.405437 mu:0.331889 unit_bearing:0.098567 -0.051590 0.993792 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.262001, -0.518731, -4.401808 mu:0.331889 unit_bearing:0.110132 -0.051581 0.992578 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -0.678067, -0.483030, -4.330861 mu:0.331889 unit_bearing:0.248220 -0.042690 0.967763 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -1.352766, -0.166717, -4.103183 mu:0.331889 unit_bearing:0.472146 0.052299 0.879968 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -1.385484, -0.164713, -4.085488 mu:0.331889 unit_bearing:0.483005 0.052244 0.874058 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -1.352476, -0.115026, -4.106084 mu:0.331889 unit_bearing:0.472049 0.069445 0.878833 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.718] If point is visible? -1.733504, 0.039062, -3.865841 mu:0.331889 unit_bearing:0.598509 0.110486 0.793461 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.718] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.719] If point is visible? -1.385344, -0.138906, -4.087053 mu:0.331889 unit_bearing:0.482958 0.060808 0.873529 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.719] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.719] If point is visible? 0.882096, 0.385155, -4.328178 mu:0.331889 unit_bearing:-0.269581 0.243195 0.931763 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.719] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.719] If point is visible? -1.081922, 0.342372, -4.215453 mu:0.331889 unit_bearing:0.382255 0.224542 0.896360 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.719] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.719] If point is visible? -1.115306, 0.343561, -4.201151 mu:0.331889 unit_bearing:0.393336 0.224355 0.891601 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.719] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.719] If point is visible? -0.502113, 0.459888, -4.374657 mu:0.331889 unit_bearing:0.189823 0.269693 0.944051 T_cur_ref: x=0.069834 y=0.000000 z=-1.452353 -[18:03:08.719] Z inverse min: 0.467202, Z inverse max: 0.196577 -[18:03:08.719] If point is visible? 0.233178, 0.095272, 0.278252 mu:-2.369580 unit_bearing:0.369531 -0.124459 0.920846 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? 0.151362, 0.103297, 0.317104 mu:-2.369580 unit_bearing:0.161910 -0.132112 0.977922 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? 0.199270, 0.096089, 0.297793 mu:-2.369580 unit_bearing:0.282150 -0.120737 0.951743 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.272493, -0.020883, 0.246577 mu:-2.369580 unit_bearing:-0.789382 0.139583 0.597823 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.255075, -0.024924, 0.261138 mu:-2.369580 unit_bearing:-0.754774 0.153292 0.637823 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.253967, -0.025724, 0.261967 mu:-2.369580 unit_bearing:-0.752504 0.155413 0.639988 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? 0.324443, -0.072555, 0.204680 mu:-2.369580 unit_bearing:0.622293 0.249012 0.742122 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? 0.325398, -0.071744, 0.203784 mu:-2.369580 unit_bearing:0.624856 0.246846 0.740690 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? 0.288791, -0.077802, 0.239966 mu:-2.369580 unit_bearing:0.524468 0.271541 0.806969 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? 0.190096, 0.103821, 0.300324 mu:-2.369580 unit_bearing:0.259291 -0.138192 0.955861 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] calculated Z= 1.117711 -[18:03:08.719] update seeds 305 -[18:03:08.719] If point is visible? -0.180705, -0.006049, 0.309976 mu:-2.369580 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.255077, -0.024059, 0.261201 mu:-2.369580 unit_bearing:-0.754851 0.151273 0.638213 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.246169, -0.027013, 0.267967 mu:-2.369580 unit_bearing:-0.736817 0.160177 0.656844 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.243924, -0.026889, 0.269680 mu:-2.369580 unit_bearing:-0.732321 0.160379 0.661804 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.241672, -0.028511, 0.271233 mu:-2.369580 unit_bearing:-0.727647 0.164641 0.665900 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? 0.203230, -0.140775, 0.280793 mu:-2.369580 unit_bearing:0.310988 0.431439 0.846845 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? 0.230004, 0.093769, 0.280699 mu:-2.369580 unit_bearing:0.361171 -0.120216 0.924718 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.019683, 0.083609, 0.345924 mu:-2.369580 unit_bearing:-0.247942 -0.077485 0.965671 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.252859, -0.025659, 0.262857 mu:-2.369580 unit_bearing:-0.750304 0.155516 0.642540 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.248408, -0.025400, 0.266372 mu:-2.369580 unit_bearing:-0.741440 0.155923 0.652652 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.257287, -0.022464, 0.259519 mu:-2.369580 unit_bearing:-0.759370 0.147037 0.633828 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] calculated Z= 1.140253 -[18:03:08.719] update seeds 305 -[18:03:08.719] If point is visible? 0.211392, -0.102572, 0.289417 mu:-2.369580 unit_bearing:0.324344 0.344080 0.881141 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? 0.188140, -0.057035, 0.311368 mu:-2.369580 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? -0.020487, -0.133487, 0.332527 mu:-2.369580 unit_bearing:-0.232774 0.429237 0.872681 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.719] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.719] If point is visible? 0.183825, -0.116139, 0.299665 mu:-2.369580 unit_bearing:0.256448 0.378946 0.889176 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.720] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? -0.084276, -0.136586, 0.321437 mu:-2.369580 unit_bearing:-0.376554 0.433323 0.818803 T_cur_ref: x=0.009502 y=0.000000 z=-0.066696 -[18:03:08.720] Z inverse min: -2.116264, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.282924, 0.154852, 0.492234 mu:-1.561331 unit_bearing:0.259315 -0.133860 0.956471 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.413471, -0.007288, 0.430815 mu:-1.561331 unit_bearing:0.482598 0.105720 0.869438 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? -0.432148, -0.026144, 0.398499 mu:-1.561331 unit_bearing:-0.806139 0.128792 0.577539 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.353407, 0.249064, 0.413428 mu:-1.561331 unit_bearing:0.386414 -0.294854 0.873925 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.282838, 0.157559, 0.491518 mu:-1.561331 unit_bearing:0.259291 -0.138192 0.955861 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.251701, -0.099407, 0.518727 mu:-1.561331 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.251864, -0.096592, 0.519131 mu:-1.561331 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.301971, -0.155071, 0.482393 mu:-1.561331 unit_bearing:0.302005 0.344553 0.888863 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? -0.035524, 0.126891, 0.560788 mu:-1.561331 unit_bearing:-0.247942 -0.077485 0.965671 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.277174, 0.037012, 0.514845 mu:-1.561331 unit_bearing:0.248201 0.053058 0.967254 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.022381, -0.062626, 0.571822 mu:-1.561331 unit_bearing:-0.155594 0.218308 0.963396 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.244961, -0.096306, 0.522003 mu:-1.561331 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.252489, -0.085334, 0.520621 mu:-1.561331 unit_bearing:0.212892 0.243756 0.946182 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.252182, -0.090963, 0.519902 mu:-1.561331 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.540443, -0.127387, 0.267979 mu:-1.561331 unit_bearing:0.727405 0.260853 0.634695 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] If point is visible? 0.061371, -0.170317, 0.549722 mu:-1.561331 unit_bearing:-0.085811 0.380991 0.920588 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.301971, -0.155071, 0.482393 mu:-1.561331 unit_bearing:0.302005 0.344553 0.888863 T_cur_ref: x=0.008637 y=0.000000 z=-0.065440 -[18:03:08.720] Z inverse min: -1.432729, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.430216, 0.088212, 0.623043 mu:-1.240737 unit_bearing:0.358812 -0.005665 0.933392 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.000910, -0.087499, 0.743251 mu:-1.240737 unit_bearing:-0.187077 0.228898 0.955305 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.291130, -0.131284, 0.685251 mu:-1.240737 unit_bearing:0.181212 0.274049 0.944489 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.350270, 0.201869, 0.643383 mu:-1.240737 unit_bearing:0.253566 -0.142556 0.956756 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.468853, 0.055730, 0.601082 mu:-1.240737 unit_bearing:0.411791 0.031016 0.910750 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.472870, 0.055397, 0.598284 mu:-1.240737 unit_bearing:0.417330 0.031003 0.908226 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.290604, 0.031719, 0.696288 mu:-1.240737 unit_bearing:0.173571 0.074981 0.981963 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? -0.353502, -0.011456, 0.662234 mu:-1.240737 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? -0.090916, -0.078594, 0.738059 mu:-1.240737 unit_bearing:-0.298160 0.217147 0.929488 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.361310, -0.201513, 0.637993 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.570262, -0.181844, 0.490360 mu:-1.240737 unit_bearing:0.567021 0.306844 0.764418 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.422550, 0.179653, 0.609634 mu:-1.240737 unit_bearing:0.349954 -0.120300 0.929010 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.293848, 0.201686, 0.668245 mu:-1.240737 unit_bearing:0.179144 -0.138571 0.974015 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.298694, -0.113818, 0.685213 mu:-1.240737 unit_bearing:0.189964 0.252534 0.948757 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.307409, -0.114175, 0.681692 mu:-1.240737 unit_bearing:0.201397 0.252441 0.946421 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.696588, -0.089087, 0.351690 mu:-1.240737 unit_bearing:0.749802 0.171646 0.639011 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] If point is visible? 0.306595, -0.128348, 0.679694 mu:-1.240737 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.307009, -0.121262, 0.680725 mu:-1.240737 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.720] If point is visible? 0.361310, -0.201513, 0.637993 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.720] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? -0.027918, -0.241115, 0.710288 mu:-1.240737 unit_bearing:-0.210559 0.413090 0.886014 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.542945, 0.318835, 0.453924 mu:-1.240737 unit_bearing:0.528055 -0.315247 0.788528 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.544756, 0.318534, 0.452214 mu:-1.240737 unit_bearing:0.530659 -0.315134 0.786824 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.544936, 0.316961, 0.453003 mu:-1.240737 unit_bearing:0.530744 -0.313078 0.787587 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.449878, 0.306180, 0.542717 mu:-1.240737 unit_bearing:0.394870 -0.286236 0.873010 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.448012, 0.304775, 0.544797 mu:-1.240737 unit_bearing:0.392164 -0.284191 0.874896 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.432789, 0.295050, 0.560352 mu:-1.240737 unit_bearing:0.370358 -0.269862 0.888825 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.417406, 0.283496, 0.575934 mu:-1.240737 unit_bearing:0.348401 -0.253278 0.902478 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.458290, 0.274525, 0.551708 mu:-1.240737 unit_bearing:0.403980 -0.245893 0.881100 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.460286, 0.274310, 0.550325 mu:-1.240737 unit_bearing:0.406733 -0.245838 0.879848 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.460168, 0.275951, 0.549671 mu:-1.240737 unit_bearing:0.406691 -0.247957 0.879272 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.441067, 0.263204, 0.568929 mu:-1.240737 unit_bearing:0.379403 -0.229348 0.896355 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.443093, 0.263004, 0.567610 mu:-1.240737 unit_bearing:0.382177 -0.229301 0.895188 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.273253, 0.224805, 0.669264 mu:-1.240737 unit_bearing:0.153154 -0.166888 0.974008 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.275466, 0.224700, 0.668487 mu:-1.240737 unit_bearing:0.156031 -0.166876 0.973554 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.275527, 0.223000, 0.668988 mu:-1.240737 unit_bearing:0.156040 -0.164707 0.973922 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.277798, 0.221194, 0.668701 mu:-1.240737 unit_bearing:0.158925 -0.162527 0.973821 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.282216, 0.220980, 0.667112 mu:-1.240737 unit_bearing:0.164677 -0.162504 0.972869 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.348548, 0.188367, 0.647962 mu:-1.240737 unit_bearing:0.250807 -0.125236 0.959902 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.275168, 0.149346, 0.687742 mu:-1.240737 unit_bearing:0.153413 -0.071167 0.985596 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? -0.050343, 0.140665, 0.733515 mu:-1.240737 unit_bearing:-0.253715 -0.053555 0.965795 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.282210, 0.107397, 0.692395 mu:-1.240737 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.284423, 0.107298, 0.691597 mu:-1.240737 unit_bearing:0.164996 -0.018803 0.986115 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.286626, 0.108939, 0.690544 mu:-1.240737 unit_bearing:0.167876 -0.020983 0.985585 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.286661, 0.096741, 0.692205 mu:-1.240737 unit_bearing:0.167881 -0.005710 0.985791 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.288870, 0.096641, 0.691395 mu:-1.240737 unit_bearing:0.170762 -0.005710 0.985296 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.430216, 0.088212, 0.623043 mu:-1.240737 unit_bearing:0.358812 -0.005665 0.933392 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.304289, 0.090687, 0.686187 mu:-1.240737 unit_bearing:0.190908 0.000835 0.981608 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.351652, 0.030485, 0.670571 mu:-1.240737 unit_bearing:0.253866 0.072612 0.964510 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.415012, 0.017896, 0.637618 mu:-1.240737 unit_bearing:0.338929 0.083132 0.937132 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.508866, -0.018862, 0.573403 mu:-1.240737 unit_bearing:0.468902 0.118690 0.875239 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.355149, -0.006647, 0.669521 mu:-1.240737 unit_bearing:0.259397 0.118182 0.958513 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.416238, -0.015511, 0.636957 mu:-1.240737 unit_bearing:0.341497 0.124174 0.931644 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.471365, -0.017605, 0.601442 mu:-1.240737 unit_bearing:0.416803 0.121382 0.900856 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.416292, -0.013758, 0.636962 mu:-1.240737 unit_bearing:0.341513 0.122015 0.931923 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.469305, -0.019199, 0.602840 mu:-1.240737 unit_bearing:0.414020 0.123556 0.901844 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.471307, -0.019350, 0.601434 mu:-1.240737 unit_bearing:0.416783 0.123529 0.900574 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.469246, -0.020944, 0.602828 mu:-1.240737 unit_bearing:0.413999 0.125703 0.901556 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.416344, -0.012005, 0.636964 mu:-1.240737 unit_bearing:0.341528 0.119856 0.932198 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.721] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.721] If point is visible? 0.470874, -0.031565, 0.601266 mu:-1.240737 unit_bearing:0.416630 0.138547 0.898456 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.472872, -0.031714, 0.599852 mu:-1.240737 unit_bearing:0.419390 0.138516 0.897176 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.472805, -0.033459, 0.599813 mu:-1.240737 unit_bearing:0.419366 0.140660 0.896854 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? -0.474417, -0.052889, 0.585403 mu:-1.240737 unit_bearing:-0.732244 0.162408 0.661394 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.418488, -0.064934, 0.632758 mu:-1.240737 unit_bearing:0.346556 0.184403 0.919725 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.420553, -0.065061, 0.631516 mu:-1.240737 unit_bearing:0.349358 0.184370 0.918671 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.422615, -0.065187, 0.630266 mu:-1.240737 unit_bearing:0.352158 0.184337 0.917608 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.420471, -0.066818, 0.631397 mu:-1.240737 unit_bearing:0.349333 0.186516 0.918247 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.424251, -0.074099, 0.628374 mu:-1.240737 unit_bearing:0.354828 0.195026 0.914364 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.426307, -0.074226, 0.627111 mu:-1.240737 unit_bearing:0.357623 0.194991 0.913282 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.000910, -0.087499, 0.743251 mu:-1.240737 unit_bearing:-0.187077 0.228898 0.955305 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.603434, -0.144936, 0.465800 mu:-1.240737 unit_bearing:0.611999 0.257678 0.747703 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.291130, -0.131284, 0.685251 mu:-1.240737 unit_bearing:0.181212 0.274049 0.944489 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.338737, -0.133274, 0.664971 mu:-1.240737 unit_bearing:0.243908 0.273433 0.930453 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.353672, -0.133957, 0.657826 mu:-1.240737 unit_bearing:0.263755 0.273193 0.925094 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.355797, -0.134056, 0.656778 mu:-1.240737 unit_bearing:0.266586 0.273157 0.924293 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.353785, -0.132190, 0.658100 mu:-1.240737 unit_bearing:0.263782 0.271059 0.925714 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.355910, -0.132290, 0.657052 mu:-1.240737 unit_bearing:0.266613 0.271023 0.924913 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.533154, -0.153242, 0.534137 mu:-1.240737 unit_bearing:0.511097 0.278240 0.813242 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.418726, 0.451428, 0.468647 mu:-1.240737 unit_bearing:0.369548 -0.476306 0.797851 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] If point is visible? 0.545115, 0.315387, 0.453789 mu:-1.240737 unit_bearing:0.530828 -0.311021 0.788345 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.432537, 0.298318, 0.558955 mu:-1.240737 unit_bearing:0.370275 -0.274098 0.887562 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.443199, 0.261351, 0.568229 mu:-1.240737 unit_bearing:0.382213 -0.227171 0.895716 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.284599, 0.215767, 0.667777 mu:-1.240737 unit_bearing:0.167579 -0.155983 0.973441 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.289007, 0.215549, 0.666148 mu:-1.240737 unit_bearing:0.173328 -0.155960 0.972437 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.346295, 0.191915, 0.648089 mu:-1.240737 unit_bearing:0.247931 -0.129586 0.960072 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.350382, 0.198464, 0.644299 mu:-1.240737 unit_bearing:0.253591 -0.138224 0.957385 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.350270, 0.201869, 0.643383 mu:-1.240737 unit_bearing:0.253566 -0.142556 0.956756 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.291006, 0.115695, 0.687884 mu:-1.240737 unit_bearing:0.173631 -0.029705 0.984363 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? -0.050388, 0.145846, 0.732574 mu:-1.240737 unit_bearing:-0.253701 -0.060078 0.965415 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? -0.050357, 0.142392, 0.733205 mu:-1.240737 unit_bearing:-0.253710 -0.055730 0.965673 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.291026, 0.112217, 0.688407 mu:-1.240737 unit_bearing:0.173634 -0.025343 0.984484 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.282202, 0.109138, 0.692146 mu:-1.240737 unit_bearing:0.162113 -0.020986 0.986549 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.291081, 0.091306, 0.691232 mu:-1.240737 unit_bearing:0.173642 0.000836 0.984808 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.286662, 0.094997, 0.692428 mu:-1.240737 unit_bearing:0.167881 -0.003528 0.985801 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.291080, 0.094796, 0.690799 mu:-1.240737 unit_bearing:0.173642 -0.003528 0.984803 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.468853, 0.055730, 0.601082 mu:-1.240737 unit_bearing:0.411791 0.031016 0.910750 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.722] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.722] If point is visible? 0.472870, 0.055397, 0.598284 mu:-1.240737 unit_bearing:0.417330 0.031003 0.908226 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.290604, 0.031719, 0.696288 mu:-1.240737 unit_bearing:0.173571 0.074981 0.981963 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.507099, -0.013490, 0.574938 mu:-1.240737 unit_bearing:0.466251 0.112307 0.877495 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? -0.353502, -0.011456, 0.662234 mu:-1.240737 unit_bearing:-0.603221 0.123002 0.788032 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? -0.524977, -0.037822, 0.545299 mu:-1.240737 unit_bearing:-0.785293 0.137789 0.603597 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.474866, -0.031863, 0.598432 mu:-1.240737 unit_bearing:0.422147 0.138485 0.895887 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.506984, -0.016962, 0.574944 mu:-1.240737 unit_bearing:0.466206 0.116584 0.876961 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.471003, -0.028074, 0.601334 mu:-1.240737 unit_bearing:0.416676 0.134258 0.899086 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? -0.090916, -0.078594, 0.738059 mu:-1.240737 unit_bearing:-0.298160 0.217147 0.929488 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.604586, -0.112415, 0.472438 mu:-1.240737 unit_bearing:0.611006 0.218633 0.760836 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.607967, -0.112738, 0.468543 mu:-1.240737 unit_bearing:0.616018 0.218441 0.756839 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.345373, -0.130028, 0.662493 mu:-1.240737 unit_bearing:0.252472 0.269061 0.929443 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.349640, -0.130225, 0.660445 mu:-1.240737 unit_bearing:0.258142 0.268994 0.927904 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.349859, -0.126691, 0.660973 mu:-1.240737 unit_bearing:0.258194 0.264721 0.929117 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.570262, -0.181844, 0.490360 mu:-1.240737 unit_bearing:0.567021 0.306844 0.764418 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.422987, -0.158654, 0.614665 mu:-1.240737 unit_bearing:0.358716 0.297081 0.884910 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.422711, -0.162162, 0.613998 mu:-1.240737 unit_bearing:0.358627 0.301300 0.883518 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.361310, -0.201513, 0.637993 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.422550, 0.179653, 0.609634 mu:-1.240737 unit_bearing:0.349954 -0.120300 0.929010 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.293848, 0.201686, 0.668245 mu:-1.240737 unit_bearing:0.179144 -0.138571 0.974015 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.338927, 0.046959, 0.675567 mu:-1.240737 unit_bearing:0.236763 0.053081 0.970116 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? -0.457102, -0.053644, 0.597975 mu:-1.240737 unit_bearing:-0.713937 0.165239 0.680434 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.298299, -0.120908, 0.684247 mu:-1.240737 unit_bearing:0.189895 0.261119 0.946444 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.307009, -0.121262, 0.680725 mu:-1.240737 unit_bearing:0.201323 0.261022 0.944106 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.487498, -0.011875, 0.589940 mu:-1.240737 unit_bearing:0.438916 0.112586 0.891446 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.338838, 0.039947, 0.676022 mu:-1.240737 unit_bearing:0.236745 0.061784 0.969605 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.471128, -0.024584, 0.601386 mu:-1.240737 unit_bearing:0.416720 0.129967 0.899696 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.608504, -0.105921, 0.469345 mu:-1.240737 unit_bearing:0.616304 0.210168 0.758946 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.471365, -0.017605, 0.601442 mu:-1.240737 unit_bearing:0.416803 0.121382 0.900856 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.479344, -0.018216, 0.595748 mu:-1.240737 unit_bearing:0.427836 0.121273 0.895684 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.534765, -0.134228, 0.537314 mu:-1.240737 unit_bearing:0.511820 0.255305 0.820280 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.696588, -0.089087, 0.351690 mu:-1.240737 unit_bearing:0.749802 0.171646 0.639011 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] If point is visible? 0.595427, -0.173420, 0.466182 mu:-1.240737 unit_bearing:0.602934 0.292813 0.742112 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? -0.027918, -0.241115, 0.710288 mu:-1.240737 unit_bearing:-0.210559 0.413090 0.886014 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? 0.361310, -0.201513, 0.637993 mu:-1.240737 unit_bearing:0.279411 0.353389 0.892774 T_cur_ref: x=0.008205 y=0.000000 z=-0.057925 -[18:03:08.723] Z inverse min: -1.088850, Z inverse max: 0.000000 -[18:03:08.723] If point is visible? -35.137050, -20.373755, -31.918462 mu:0.019370 unit_bearing:0.546112 -0.316486 0.775628 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.723] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.723] If point is visible? -34.052817, -19.963188, -33.324809 mu:0.019370 unit_bearing:0.520632 -0.305272 0.797340 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.723] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.723] If point is visible? -34.063899, -19.861844, -33.374085 mu:0.019370 unit_bearing:0.520711 -0.303208 0.798076 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.723] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -28.253428, -19.824288, -38.445698 mu:0.019370 unit_bearing:0.392021 -0.290514 0.872881 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -21.235151, -12.100790, -45.528839 mu:0.019370 unit_bearing:0.236528 -0.125305 0.963511 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? 3.930704, -10.443584, -50.463976 mu:0.019370 unit_bearing:-0.259347 -0.081794 0.962314 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -21.017138, -1.891612, -47.171275 mu:0.019370 unit_bearing:0.230989 0.074850 0.970073 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -21.013251, -1.666616, -47.181504 mu:0.019370 unit_bearing:0.230978 0.079199 0.969730 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? 11.079015, 5.071310, -50.226836 mu:0.019370 unit_bearing:-0.387745 0.215929 0.896119 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -0.123859, 5.493942, -51.390529 mu:0.019370 unit_bearing:-0.178497 0.226801 0.957445 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -25.841504, 10.804411, -43.421365 mu:0.019370 unit_bearing:0.341775 0.310086 0.887151 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -25.859608, 10.579539, -43.465992 mu:0.019370 unit_bearing:0.341862 0.305868 0.888581 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -20.434672, 11.005178, -46.169581 mu:0.019370 unit_bearing:0.229139 0.320433 0.919140 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -20.982481, 11.028234, -45.917289 mu:0.019370 unit_bearing:0.240477 0.320281 0.916292 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -21.071575, 13.297929, -45.269881 mu:0.019370 unit_bearing:0.245481 0.362389 0.899118 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? 3.726782, 16.100285, -48.967837 mu:0.019370 unit_bearing:-0.238477 0.424995 0.873217 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -17.874059, -12.502694, -46.846899 mu:0.019370 unit_bearing:0.167673 -0.129920 0.977244 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -17.295474, -12.968000, -46.937691 mu:0.019370 unit_bearing:0.156132 -0.138652 0.977956 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -17.861155, -12.940801, -46.732570 mu:0.019370 unit_bearing:0.167643 -0.138613 0.976054 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? 7.112608, 4.584929, -50.986494 mu:0.019370 unit_bearing:-0.315181 0.208371 0.925874 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -30.303435, 0.730870, -41.843298 mu:0.019370 unit_bearing:0.427916 0.112691 0.896766 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -0.123859, 5.493942, -51.390529 mu:0.019370 unit_bearing:-0.178497 0.226801 0.957445 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -43.772703, 6.096313, -26.731384 mu:0.019370 unit_bearing:0.740612 0.180171 0.647326 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? -40.580469, 11.358622, -29.872922 mu:0.019370 unit_bearing:0.670941 0.288758 0.682976 T_cur_ref: x=0.006531 y=0.000000 z=-0.057454 -[18:03:08.724] Z inverse min: 0.031834, Z inverse max: 0.006906 -[18:03:08.724] If point is visible? 0.295606, 0.601262, 0.835805 mu:-0.900527 unit_bearing:0.082773 -0.439992 0.894179 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] If point is visible? 0.609299, 0.413949, 0.783825 mu:-0.900527 unit_bearing:0.372962 -0.278274 0.885135 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.598977, 0.406089, 0.794987 mu:-0.900527 unit_bearing:0.362029 -0.270023 0.892201 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.557830, 0.302759, 0.863260 mu:-0.900527 unit_bearing:0.315770 -0.170172 0.933451 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.582014, -0.102457, 0.892258 mu:-0.900527 unit_bearing:0.340825 0.195198 0.919639 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.555569, -0.117893, 0.906103 mu:-0.900527 unit_bearing:0.315352 0.210514 0.925331 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.567914, 0.602831, 0.692790 mu:-0.900527 unit_bearing:0.348603 -0.457090 0.818257 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] If point is visible? 0.484919, 0.644577, 0.715420 mu:-0.900527 unit_bearing:0.270408 -0.491919 0.827584 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] If point is visible? 0.606155, 0.418729, 0.783704 mu:-0.900527 unit_bearing:0.370105 -0.282559 0.884976 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.633940, 0.005322, 0.864313 mu:-0.900527 unit_bearing:0.389271 0.095797 0.916128 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? -0.183372, -0.118061, 1.035788 mu:-0.900527 unit_bearing:-0.359810 0.224897 0.905515 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? -0.157150, -0.117899, 1.040060 mu:-0.900527 unit_bearing:-0.337444 0.225221 0.914006 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.156487, -0.193543, 1.031215 mu:-0.900527 unit_bearing:-0.057488 0.291862 0.954731 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.773366, -0.260248, 0.707945 mu:-0.900527 unit_bearing:0.546133 0.316006 0.775809 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.034168, -0.308708, 1.014409 mu:-0.900527 unit_bearing:-0.159862 0.392954 0.905556 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.370027, 0.269966, 0.962046 mu:-0.900527 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.369738, 0.279398, 0.959592 mu:-0.900527 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.384081, 0.174334, 0.977742 mu:-0.900527 unit_bearing:0.144796 -0.042820 0.988535 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.660818, -0.016040, 0.845189 mu:-0.900527 unit_bearing:0.416881 0.112792 0.901936 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? 0.870564, -0.253672, 0.597898 mu:-0.900527 unit_bearing:0.651454 0.298051 0.697691 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.724] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.724] If point is visible? -0.077547, -0.341123, 1.001494 mu:-0.900527 unit_bearing:-0.255397 0.420510 0.870600 T_cur_ref: x=0.006557 y=0.000000 z=-0.051921 -[18:03:08.725] Z inverse min: -0.879126, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.597567, 0.356513, 0.968863 mu:-0.814727 unit_bearing:0.298662 -0.187558 0.935747 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.416618, 0.308402, 1.069064 mu:-0.814727 unit_bearing:0.138848 -0.138704 0.980552 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.524194, 0.253106, 1.037727 mu:-0.814727 unit_bearing:0.230922 -0.097100 0.968115 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? -0.105906, 0.200738, 1.159988 mu:-0.814727 unit_bearing:-0.290769 -0.042613 0.955844 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.622227, 0.120411, 1.008886 mu:-0.814727 unit_bearing:0.316530 0.007340 0.948554 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.442779, 0.130789, 1.093831 mu:-0.814727 unit_bearing:0.159235 0.007383 0.987213 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.593334, 0.082556, 1.028829 mu:-0.814727 unit_bearing:0.290972 0.039933 0.955898 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.643598, 0.047233, 1.001974 mu:-0.814727 unit_bearing:0.336184 0.065830 0.939493 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? -0.614934, -0.087224, 1.009489 mu:-0.814727 unit_bearing:-0.666443 0.175306 0.724653 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? -0.618355, -0.084791, 1.007667 mu:-0.814727 unit_bearing:-0.668922 0.173157 0.722883 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.641123, -0.113224, 0.998418 mu:-0.814727 unit_bearing:0.338019 0.195232 0.920667 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.640981, -0.115903, 0.998210 mu:-0.814727 unit_bearing:0.337994 0.197377 0.920219 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.471036, -0.212349, 1.070122 mu:-0.814727 unit_bearing:0.192566 0.282509 0.939738 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.477606, -0.212629, 1.067307 mu:-0.814727 unit_bearing:0.198274 0.282456 0.938566 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.500311, -0.216328, 1.056690 mu:-0.814727 unit_bearing:0.218202 0.284393 0.933546 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.503567, -0.216474, 1.055195 mu:-0.814727 unit_bearing:0.221049 0.284362 0.932886 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.500498, -0.213633, 1.057131 mu:-0.814727 unit_bearing:0.218225 0.282258 0.934189 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.503755, -0.213780, 1.055637 mu:-0.814727 unit_bearing:0.221072 0.282227 0.933528 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.569902, 0.695405, 0.793841 mu:-0.814727 unit_bearing:0.298445 -0.478983 0.825534 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] If point is visible? 0.583656, 0.596993, 0.857799 mu:-0.814727 unit_bearing:0.300920 -0.393050 0.868883 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] If point is visible? 0.653691, 0.449603, 0.894905 mu:-0.814727 unit_bearing:0.353683 -0.270179 0.895495 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.659428, 0.453970, 0.888819 mu:-0.814727 unit_bearing:0.359169 -0.274315 0.892048 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.409886, 0.308713, 1.071435 mu:-0.814727 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? -0.109575, 0.205950, 1.158762 mu:-0.814727 unit_bearing:-0.293601 -0.046950 0.954775 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.621816, 0.191575, 0.998549 mu:-0.814727 unit_bearing:0.316463 -0.051233 0.947220 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.678255, 0.071259, 0.978689 mu:-0.814727 unit_bearing:0.367166 0.044090 0.929110 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.684431, 0.070782, 0.974642 mu:-0.814727 unit_bearing:0.372765 0.044073 0.926878 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.678114, 0.060659, 0.979464 mu:-0.814727 unit_bearing:0.367140 0.052738 0.928670 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.678188, 0.065960, 0.979088 mu:-0.814727 unit_bearing:0.367153 0.048414 0.928900 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.684363, 0.065485, 0.975041 mu:-0.814727 unit_bearing:0.372753 0.048396 0.926668 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.403405, -0.020302, 1.115367 mu:-0.814727 unit_bearing:0.127332 0.131701 0.983077 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.628615, -0.112453, 1.006008 mu:-0.814727 unit_bearing:0.326781 0.195361 0.924688 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.487802, -0.207663, 1.063872 mu:-0.814727 unit_bearing:0.206872 0.278099 0.938011 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.494703, -0.202560, 1.061795 mu:-0.814727 unit_bearing:0.212615 0.273766 0.938002 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.493973, -0.213343, 1.060090 mu:-0.814727 unit_bearing:0.212529 0.282316 0.935483 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.494341, -0.207952, 1.060955 mu:-0.814727 unit_bearing:0.212573 0.278043 0.936752 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.839162, -0.286741, 0.808687 mu:-0.814727 unit_bearing:0.530593 0.316708 0.786236 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.842109, -0.307989, 0.798350 mu:-0.814727 unit_bearing:0.535065 0.332864 0.776471 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.582482, 0.606549, 0.852166 mu:-0.814727 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] If point is visible? 0.647123, 0.455197, 0.896713 mu:-0.814727 unit_bearing:0.348034 -0.274523 0.896387 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? -0.069572, -0.366536, 1.123247 mu:-0.814727 unit_bearing:-0.244351 0.412468 0.877589 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.943418, -0.279037, 0.695737 mu:-0.814727 unit_bearing:0.632120 0.299264 0.714749 T_cur_ref: x=0.005917 y=0.000000 z=-0.045716 -[18:03:08.725] Z inverse min: -0.742640, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.388809, 0.411570, 0.476707 mu:-1.306765 unit_bearing:0.337872 -0.451414 0.825874 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.725] If point is visible? 0.409641, 0.283253, 0.542717 mu:-1.306765 unit_bearing:0.350821 -0.274472 0.895316 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.725] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.725] If point is visible? 0.404279, 0.279155, 0.548373 mu:-1.306765 unit_bearing:0.342568 -0.268255 0.900381 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.725] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.366733, 0.066570, 0.629516 mu:-1.306765 unit_bearing:0.279623 0.020395 0.959893 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.460447, -0.001654, 0.573100 mu:-1.306765 unit_bearing:0.416986 0.099898 0.903406 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? -0.446588, -0.049145, 0.576243 mu:-1.306765 unit_bearing:-0.741209 0.161996 0.651435 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? -0.458927, -0.045079, 0.567365 mu:-1.306765 unit_bearing:-0.754696 0.155309 0.637427 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? -0.456876, -0.044968, 0.568927 mu:-1.306765 unit_bearing:-0.752504 0.155413 0.639988 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? -0.145168, -0.076396, 0.706060 mu:-1.306765 unit_bearing:-0.390481 0.218015 0.894424 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] calculated Z= 4.268810 -[18:03:08.726] update seeds 305 -[18:03:08.726] If point is visible? 0.548015, -0.116809, 0.484096 mu:-1.306765 unit_bearing:0.556927 0.235083 0.796598 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.551312, -0.117104, 0.480587 mu:-1.306765 unit_bearing:0.562104 0.234907 0.793006 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? -0.147377, -0.074752, 0.705783 mu:-1.306765 unit_bearing:-0.393284 0.215838 0.893723 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.549806, -0.115324, 0.482561 mu:-1.306765 unit_bearing:0.559583 0.232913 0.795373 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.298400, -0.159633, 0.647132 mu:-1.306765 unit_bearing:0.195077 0.316591 0.928286 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.374790, -0.156514, 0.609843 mu:-1.306765 unit_bearing:0.302719 0.306607 0.902415 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? -0.046711, -0.218394, 0.690987 mu:-1.306765 unit_bearing:-0.255840 0.399790 0.880178 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.360043, 0.147519, 0.620113 mu:-1.306765 unit_bearing:0.270930 -0.086096 0.958741 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.452868, -0.004355, 0.578658 mu:-1.306765 unit_bearing:0.405880 0.104287 0.907957 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.303379, 0.031931, 0.662588 mu:-1.306765 unit_bearing:0.190838 0.070590 0.979080 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] calculated Z= 1.075924 -[18:03:08.726] update seeds 305 -[18:03:08.726] If point is visible? 0.452656, -0.010978, 0.578730 mu:-1.306765 unit_bearing:0.405811 0.112889 0.906958 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.256093, -0.114042, 0.672571 mu:-1.306765 unit_bearing:0.132579 0.261509 0.956052 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.279790, -0.229500, 0.634990 mu:-1.306765 unit_bearing:0.176935 0.405276 0.896909 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.482377, -0.133056, 0.541131 mu:-1.306765 unit_bearing:0.458091 0.265238 0.848411 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.489514, -0.133573, 0.535062 mu:-1.306765 unit_bearing:0.468877 0.264943 0.842591 T_cur_ref: x=0.003468 y=0.000000 z=-0.040717 -[18:03:08.726] Z inverse min: -1.267089, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.396036, 0.480092, 0.539605 mu:-1.183338 unit_bearing:0.295618 -0.481086 0.825328 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] If point is visible? 0.417271, 0.297226, 0.639758 mu:-1.183338 unit_bearing:0.300750 -0.251864 0.919845 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.463213, 0.052937, 0.672634 mu:-1.183338 unit_bearing:0.353149 0.039800 0.934720 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.404510, 0.042367, 0.708179 mu:-1.183338 unit_bearing:0.276714 0.057340 0.959240 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? -0.504977, -0.040916, 0.639242 mu:-1.183338 unit_bearing:-0.755076 0.145216 0.639353 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.388905, 0.485492, 0.539895 mu:-1.183338 unit_bearing:0.287135 -0.487387 0.824626 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] If point is visible? 0.609514, -0.116772, 0.542810 mu:-1.183338 unit_bearing:0.559965 0.220403 0.798662 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.605575, -0.120043, 0.546250 mu:-1.183338 unit_bearing:0.554652 0.224741 0.801157 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.412374, -0.161693, 0.687202 mu:-1.183338 unit_bearing:0.297313 0.293987 0.908392 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.325187, -0.198466, 0.721347 mu:-1.183338 unit_bearing:0.189098 0.342102 0.920439 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.442439, 0.327372, 0.609188 mu:-1.183338 unit_bearing:0.336565 -0.291679 0.895347 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.280630, 0.212617, 0.735024 mu:-1.183338 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.606442, -0.109217, 0.547486 mu:-1.183338 unit_bearing:0.555012 0.212204 0.804320 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.708422, -0.098987, 0.420977 mu:-1.183338 unit_bearing:0.704232 0.181944 0.686260 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.605870, -0.116435, 0.546679 mu:-1.183338 unit_bearing:0.554774 0.220565 0.802232 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.285814, -0.111157, 0.754245 mu:-1.183338 unit_bearing:0.132671 0.244300 0.960581 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.726] If point is visible? 0.331450, -0.113077, 0.736109 mu:-1.183338 unit_bearing:0.190030 0.243940 0.950990 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.726] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? -0.038817, -0.230232, 0.777516 mu:-1.183338 unit_bearing:-0.244839 0.387512 0.888757 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.727] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.359771, -0.292289, 0.673887 mu:-1.183338 unit_bearing:0.243827 0.445454 0.861463 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.727] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.628286, -0.311342, 0.441820 mu:-1.183338 unit_bearing:0.612884 0.434365 0.660076 T_cur_ref: x=0.003512 y=0.000000 z=-0.034481 -[18:03:08.727] Z inverse min: -1.125069, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.417250, 0.266758, 0.446351 mu:-1.454452 unit_bearing:0.430070 -0.300031 0.851482 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.449503, 0.259570, 0.420712 mu:-1.454452 unit_bearing:0.484070 -0.294198 0.824090 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.441922, 0.257991, 0.428919 mu:-1.454452 unit_bearing:0.470829 -0.290464 0.833037 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.441484, 0.262092, 0.427024 mu:-1.454452 unit_bearing:0.470636 -0.296721 0.830938 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.441631, 0.260726, 0.427659 mu:-1.454452 unit_bearing:0.470701 -0.294636 0.831643 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.359100, 0.223279, 0.510837 mu:-1.454452 unit_bearing:0.329219 -0.225834 0.916850 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.362478, 0.224379, 0.508162 mu:-1.454452 unit_bearing:0.334800 -0.227896 0.914315 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.349598, 0.208544, 0.522678 mu:-1.454452 unit_bearing:0.312625 -0.202463 0.928049 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.275770, 0.174940, 0.573031 mu:-1.454452 unit_bearing:0.193477 -0.145026 0.970327 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.320999, 0.030520, 0.575491 mu:-1.454452 unit_bearing:0.262450 0.063895 0.962828 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.347841, 0.031790, 0.560658 mu:-1.454452 unit_bearing:0.305114 0.059433 0.950459 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.217047, 0.023640, 0.619537 mu:-1.454452 unit_bearing:0.101430 0.081635 0.991488 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.218972, 0.025070, 0.618851 mu:-1.454452 unit_bearing:0.104323 0.079449 0.991365 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? -0.283002, -0.061066, 0.588501 mu:-1.454452 unit_bearing:-0.596342 0.198417 0.777822 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? -0.286922, -0.058260, 0.586951 mu:-1.454452 unit_bearing:-0.601541 0.194091 0.774905 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.419884, -0.132094, 0.497326 mu:-1.454452 unit_bearing:0.433196 0.284791 0.855123 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.340787, 0.374693, 0.433899 mu:-1.454452 unit_bearing:0.321173 -0.458054 0.828875 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] If point is visible? 0.439900, 0.262320, 0.428395 mu:-1.454452 unit_bearing:0.467954 -0.296807 0.832421 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.443065, 0.261863, 0.425646 mu:-1.454452 unit_bearing:0.473315 -0.296634 0.829446 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.443358, 0.259131, 0.426913 mu:-1.454452 unit_bearing:0.473445 -0.292465 0.830851 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.446511, 0.258670, 0.424140 mu:-1.454452 unit_bearing:0.478797 -0.292292 0.827840 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.215175, 0.025217, 0.620088 mu:-1.454452 unit_bearing:0.098541 0.079456 0.991956 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? -0.290950, -0.061296, 0.584757 mu:-1.454452 unit_bearing:-0.606474 0.198085 0.770034 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? -0.286979, -0.061180, 0.586643 mu:-1.454452 unit_bearing:-0.601417 0.198252 0.773947 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? -0.286922, -0.058260, 0.586951 mu:-1.454452 unit_bearing:-0.601541 0.194091 0.774905 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? -0.064405, -0.063760, 0.647663 mu:-1.454452 unit_bearing:-0.303855 0.212791 0.928651 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.487337, -0.100104, 0.444492 mu:-1.454452 unit_bearing:0.544110 0.229245 0.807088 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.329143, -0.134214, 0.556882 mu:-1.454452 unit_bearing:0.285988 0.298409 0.910584 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.206380, -0.156230, 0.604508 mu:-1.454452 unit_bearing:0.097708 0.338633 0.935832 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.221733, 0.173303, 0.594959 mu:-1.454452 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.618668, -0.069825, 0.265307 mu:-1.454452 unit_bearing:0.784787 0.153774 0.600386 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] If point is visible? 0.566792, -0.085017, 0.351294 mu:-1.454452 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.218112, -0.095940, 0.612531 mu:-1.454452 unit_bearing:0.109626 0.253021 0.961230 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.225639, -0.096222, 0.609940 mu:-1.454452 unit_bearing:0.121130 0.252968 0.959862 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.442525, -0.114283, 0.483022 mu:-1.454452 unit_bearing:0.469099 0.256545 0.845062 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.225272, -0.102280, 0.609131 mu:-1.454452 unit_bearing:0.121087 0.261570 0.957559 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.488277, -0.088342, 0.445856 mu:-1.454452 unit_bearing:0.544580 0.212508 0.811340 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.727] If point is visible? 0.330810, -0.221466, 0.529022 mu:-1.454452 unit_bearing:0.300242 0.419429 0.856700 T_cur_ref: x=0.003424 y=0.000000 z=-0.033550 -[18:03:08.727] Z inverse min: -1.351774, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.177493, 0.189171, 0.212501 mu:-2.858248 unit_bearing:0.324063 -0.453909 0.830030 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] If point is visible? 0.188236, 0.116893, 0.248267 mu:-2.858248 unit_bearing:0.337481 -0.236401 0.911165 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.187409, 0.116256, 0.249095 mu:-2.858248 unit_bearing:0.334710 -0.234306 0.912726 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.188288, 0.116174, 0.248539 mu:-2.858248 unit_bearing:0.337512 -0.234266 0.911704 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.187460, 0.115536, 0.249365 mu:-2.858248 unit_bearing:0.334741 -0.232170 0.913261 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.143463, 0.091177, 0.282460 mu:-2.858248 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.142610, 0.089012, 0.283478 mu:-2.858248 unit_bearing:0.190607 -0.145038 0.970893 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.174129, 0.081755, 0.269375 mu:-2.858248 unit_bearing:0.287780 -0.129363 0.948919 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.169520, -0.030641, 0.281510 mu:-2.858248 unit_bearing:0.275947 0.193725 0.941448 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.166950, -0.068950, 0.276627 mu:-2.858248 unit_bearing:0.274679 0.300704 0.913307 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.176856, 0.127900, 0.250769 mu:-2.858248 unit_bearing:0.303356 -0.266756 0.914777 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? -0.026241, 0.073669, 0.315614 mu:-2.858248 unit_bearing:-0.299134 -0.090319 0.949927 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? -0.199855, -0.017237, 0.258880 mu:-2.858248 unit_bearing:-0.741735 0.147816 0.654202 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.119762, -0.052171, 0.300851 mu:-2.858248 unit_bearing:0.126834 0.261540 0.956823 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.167013, -0.068185, 0.276767 mu:-2.858248 unit_bearing:0.274711 0.298581 0.913993 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.168812, -0.068278, 0.275766 mu:-2.858248 unit_bearing:0.280352 0.298496 0.912306 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.286412, -0.107290, 0.151039 mu:-2.858248 unit_bearing:0.688216 0.365724 0.626581 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? -0.199855, -0.017237, 0.258880 mu:-2.858248 unit_bearing:-0.741735 0.147816 0.654202 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.133400, -0.046553, 0.296535 mu:-2.858248 unit_bearing:0.167118 0.244100 0.955242 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.291164, -0.043391, 0.169696 mu:-2.858248 unit_bearing:0.685155 0.190947 0.702924 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] If point is visible? 0.114220, -0.048870, 0.303278 mu:-2.858248 unit_bearing:0.109626 0.253021 0.961230 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.118045, -0.049015, 0.301945 mu:-2.858248 unit_bearing:0.121130 0.252968 0.959862 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.244381, -0.125253, 0.195898 mu:-2.858248 unit_bearing:0.544682 0.432310 0.718631 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? -0.008049, -0.092308, 0.312175 mu:-2.858248 unit_bearing:-0.233713 0.379351 0.895249 T_cur_ref: x=0.003792 y=0.000000 z=-0.025085 -[18:03:08.728] Z inverse min: -2.667194, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.227034, -0.118029, 0.661768 mu:-1.388332 unit_bearing:0.109517 0.276658 0.954707 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.728] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.438929, -0.141622, 0.542492 mu:-1.388332 unit_bearing:0.433086 0.288988 0.853770 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.728] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? -0.271625, -0.057067, 0.651872 mu:-1.388332 unit_bearing:-0.565775 0.190979 0.802138 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.728] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? -0.042382, -0.069945, 0.703426 mu:-1.388332 unit_bearing:-0.269854 0.217447 0.938028 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.728] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.534313, -0.138125, 0.452701 mu:-1.388332 unit_bearing:0.588954 0.268976 0.762093 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.728] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? -0.042506, -0.073103, 0.703103 mu:-1.388332 unit_bearing:-0.269811 0.221744 0.937034 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.728] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.269740, -0.172103, 0.633917 mu:-1.388332 unit_bearing:0.177663 0.346459 0.921087 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.728] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.261768, -0.174954, 0.636405 mu:-1.388332 unit_bearing:0.166221 0.350808 0.921577 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.728] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.728] If point is visible? 0.251402, -0.203050, 0.632279 mu:-1.388332 unit_bearing:0.154419 0.388825 0.908278 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.728] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.232153, 0.175371, 0.647401 mu:-1.388332 unit_bearing:0.110019 -0.130074 0.985381 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.729] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.231955, 0.181492, 0.645812 mu:-1.388332 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.729] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.227739, -0.106921, 0.663384 mu:-1.388332 unit_bearing:0.109588 0.261625 0.958928 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.729] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.235615, -0.107217, 0.660650 mu:-1.388332 unit_bearing:0.121087 0.261570 0.957559 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.729] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.586973, -0.094591, 0.396925 mu:-1.388332 unit_bearing:0.675331 0.199550 0.710005 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.729] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.603873, -0.168938, 0.345169 mu:-1.388332 unit_bearing:0.716338 0.293243 0.633142 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.729] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.243059, -0.113865, 0.656918 mu:-1.388332 unit_bearing:0.132531 0.270099 0.953668 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.729] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.332148, -0.225239, 0.586960 mu:-1.388332 unit_bearing:0.278162 0.411734 0.867814 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.729] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.442161, -0.124606, 0.544017 mu:-1.388332 unit_bearing:0.436392 0.265798 0.859601 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.729] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.448948, -0.125089, 0.538463 mu:-1.388332 unit_bearing:0.447262 0.265523 0.854081 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.729] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? -0.015229, -0.190150, 0.682428 mu:-1.388332 unit_bearing:-0.222415 0.379535 0.898045 T_cur_ref: x=0.001683 y=0.000000 z=-0.012103 -[18:03:08.729] Z inverse min: -1.153099, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.458675, 0.189010, 0.857535 mu:-1.000543 unit_bearing:0.256692 -0.081803 0.963025 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.494846, 0.197096, 0.835674 mu:-1.000543 unit_bearing:0.296485 -0.092498 0.950547 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? -0.080248, 0.163549, 0.971620 mu:-1.000543 unit_bearing:-0.293610 -0.042607 0.954975 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? -0.131502, -0.097135, 0.974818 mu:-1.000543 unit_bearing:-0.337559 0.216664 0.916030 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? -0.011976, -0.272736, 0.950468 mu:-1.000543 unit_bearing:-0.210972 0.388082 0.897153 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.482953, 0.545728, 0.674173 mu:-1.000543 unit_bearing:0.310150 -0.458413 0.832865 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] If point is visible? 0.492858, 0.544610, 0.668004 mu:-1.000543 unit_bearing:0.321173 -0.458054 0.828875 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] If point is visible? -0.068489, 0.172251, 0.971043 mu:-1.000543 unit_bearing:-0.282222 -0.051319 0.957976 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.611921, -0.172812, 0.761422 mu:-1.000543 unit_bearing:0.436392 0.265798 0.859601 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.621349, -0.173480, 0.753728 mu:-1.000543 unit_bearing:0.447262 0.265523 0.854081 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.828395, -0.124620, 0.536595 mu:-1.000543 unit_bearing:0.694578 0.190525 0.693730 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.649947, -0.166916, 0.731143 mu:-1.000543 unit_bearing:0.479850 0.256251 0.839095 T_cur_ref: x=0.001614 y=0.000000 z=-0.010960 -[18:03:08.729] Z inverse min: -0.898607, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.517444, -0.017661, 1.126086 mu:-0.806909 unit_bearing:0.219364 0.124873 0.967619 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? -0.708540, -0.086256, 1.013118 mu:-0.806909 unit_bearing:-0.727492 0.168702 0.665053 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? -0.156648, -0.134029, 1.222094 mu:-0.806909 unit_bearing:-0.326194 0.227513 0.917516 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.636078, 0.197690, 1.045210 mu:-0.806909 unit_bearing:0.322107 -0.055553 0.945072 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? -0.070749, 0.197801, 1.221434 mu:-0.806909 unit_bearing:-0.265158 -0.038313 0.963444 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.993088, -0.291400, 0.681920 mu:-0.806909 unit_bearing:0.674893 0.300431 0.673989 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.471123, -0.453521, 1.052840 mu:-0.806909 unit_bearing:0.204115 0.466748 0.860513 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.679088, -0.440427, 0.938614 mu:-0.806909 unit_bearing:0.387110 0.445029 0.807524 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.402871, 0.311959, 1.129817 mu:-0.806909 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.416463, 0.311336, 1.125051 mu:-0.806909 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? -0.674513, -0.089830, 1.035785 mu:-0.806909 unit_bearing:-0.704380 0.173793 0.688218 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.727598, -0.017784, 1.003213 mu:-0.806909 unit_bearing:0.405811 0.112889 0.906958 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 1.022073, -0.153917, 0.683984 mu:-0.806909 unit_bearing:0.694578 0.190525 0.693730 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 1.040562, -0.145944, 0.657335 mu:-0.806909 unit_bearing:0.713477 0.181519 0.676758 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.775726, -0.215485, 0.942320 mu:-0.806909 unit_bearing:0.458091 0.265238 0.848411 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.787283, -0.216323, 0.932492 mu:-0.806909 unit_bearing:0.468877 0.264943 0.842591 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.577805, -0.366187, 1.033526 mu:-0.806909 unit_bearing:0.289725 0.394904 0.871843 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.679846, -0.435149, 0.940525 mu:-0.806909 unit_bearing:0.387278 0.440989 0.809657 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.678322, -0.445700, 0.936676 mu:-0.806909 unit_bearing:0.386939 0.449062 0.805370 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.729] If point is visible? 0.359804, 0.721140, 0.941579 mu:-0.806909 unit_bearing:0.110750 -0.484972 0.867489 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] If point is visible? 0.565763, 0.691354, 0.859093 mu:-0.806909 unit_bearing:0.287714 -0.469228 0.834892 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] If point is visible? 0.635500, 0.651371, 0.841406 mu:-0.806909 unit_bearing:0.346530 -0.438946 0.829002 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] If point is visible? 0.635857, 0.649021, 0.842951 mu:-0.806909 unit_bearing:0.346601 -0.436911 0.830046 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.729] If point is visible? 0.756709, 0.484181, 0.853870 mu:-0.806909 unit_bearing:0.443514 -0.303818 0.843202 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.808349, 0.450152, 0.824666 mu:-0.806909 unit_bearing:0.489864 -0.279436 0.825802 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.660246, 0.385390, 0.975543 mu:-0.806909 unit_bearing:0.349006 -0.212732 0.912655 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.663195, 0.387656, 0.972640 mu:-0.806909 unit_bearing:0.351773 -0.214833 0.911100 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.666302, 0.387361, 0.970633 mu:-0.806909 unit_bearing:0.354568 -0.214794 0.910025 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.565693, 0.380477, 1.035062 mu:-0.806909 unit_bearing:0.264510 -0.202944 0.942788 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.625379, 0.337163, 1.015557 mu:-0.806909 unit_bearing:0.315770 -0.170172 0.933451 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.402234, 0.330343, 1.124806 mu:-0.806909 unit_bearing:0.121505 -0.153967 0.980577 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.405635, 0.330188, 1.123630 mu:-0.806909 unit_bearing:0.124389 -0.153959 0.980216 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.429922, 0.313318, 1.119424 mu:-0.806909 unit_bearing:0.144605 -0.140861 0.979412 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.517508, 0.287527, 1.088870 mu:-0.806909 unit_bearing:0.219371 -0.123210 0.967830 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.635360, 0.234671, 1.037972 mu:-0.806909 unit_bearing:0.321993 -0.085883 0.942839 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.401786, 0.208771, 1.153731 mu:-0.806909 unit_bearing:0.118800 -0.053757 0.991462 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.415790, 0.160039, 1.156556 mu:-0.806909 unit_bearing:0.130379 -0.014449 0.991359 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.425979, 0.159588, 1.152905 mu:-0.806909 unit_bearing:0.139041 -0.014447 0.990181 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.415798, 0.157358, 1.156921 mu:-0.806909 unit_bearing:0.130379 -0.012266 0.991388 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.425988, 0.156907, 1.153270 mu:-0.806909 unit_bearing:0.139041 -0.012264 0.990211 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.429379, 0.156754, 1.152033 mu:-0.806909 unit_bearing:0.141928 -0.012263 0.989801 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.456403, 0.155486, 1.141771 mu:-0.806909 unit_bearing:0.164999 -0.012257 0.986218 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.415805, 0.154675, 1.157280 mu:-0.806909 unit_bearing:0.130380 -0.010082 0.991413 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.456410, 0.152806, 1.142130 mu:-0.806909 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.412408, 0.152139, 1.158831 mu:-0.806909 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.419215, 0.135730, 1.158427 mu:-0.806909 unit_bearing:0.133268 0.005204 0.991066 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.442916, 0.126598, 1.150617 mu:-0.806909 unit_bearing:0.153468 0.011749 0.988084 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.651686, 0.047111, 1.053200 mu:-0.806909 unit_bearing:0.336184 0.065830 0.939493 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.603734, 0.039592, 1.081701 mu:-0.806909 unit_bearing:0.293719 0.074655 0.952972 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.603680, 0.036899, 1.081827 mu:-0.806909 unit_bearing:0.293711 0.076824 0.952802 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.512092, 0.031423, 1.128230 mu:-0.806909 unit_bearing:0.213769 0.085773 0.973111 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.651734, 0.049796, 1.053047 mu:-0.806909 unit_bearing:0.336192 0.063665 0.939639 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.349852, 0.046631, 1.188081 mu:-0.806909 unit_bearing:0.075400 0.079479 0.993981 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.421449, 0.030297, 1.165153 mu:-0.806909 unit_bearing:0.136076 0.090306 0.986574 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.605404, -0.019963, 1.081308 mu:-0.806909 unit_bearing:0.296331 0.122313 0.947221 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.517444, -0.017661, 1.126086 mu:-0.806909 unit_bearing:0.219364 0.124873 0.967619 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.699423, -0.034475, 1.022628 mu:-0.806909 unit_bearing:0.380665 0.128166 0.915788 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.745051, -0.038011, 0.989751 mu:-0.806909 unit_bearing:0.422260 0.127765 0.897425 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.686977, -0.036261, 1.030968 mu:-0.806909 unit_bearing:0.369482 0.130417 0.920041 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? -0.823402, -0.054873, 0.924576 mu:-0.806909 unit_bearing:-0.803886 0.134860 0.579293 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.741835, -0.043133, 0.991954 mu:-0.806909 unit_bearing:0.419458 0.132084 0.898114 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.686774, -0.041646, 1.030900 mu:-0.806909 unit_bearing:0.369444 0.134723 0.919435 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.741940, -0.040451, 0.991988 mu:-0.806909 unit_bearing:0.419480 0.129939 0.898417 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.683573, -0.044117, 1.032922 mu:-0.806909 unit_bearing:0.366630 0.136901 0.920239 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? -0.807441, -0.058820, 0.938311 mu:-0.806909 unit_bearing:-0.793519 0.139372 0.592371 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.686013, -0.060503, 1.030473 mu:-0.806909 unit_bearing:0.369304 0.149783 0.917158 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.689103, -0.060723, 1.028395 mu:-0.806909 unit_bearing:0.372096 0.149755 0.916034 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.730] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.730] If point is visible? 0.606426, -0.076971, 1.078175 mu:-0.806909 unit_bearing:0.298840 0.167663 0.939459 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? -0.708540, -0.086256, 1.013118 mu:-0.806909 unit_bearing:-0.727492 0.168702 0.665053 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.608469, -0.101541, 1.074986 mu:-0.806909 unit_bearing:0.301494 0.187028 0.934945 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.611656, -0.101732, 1.073158 mu:-0.806909 unit_bearing:0.304320 0.187000 0.934035 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.614840, -0.101923, 1.071319 mu:-0.806909 unit_bearing:0.307144 0.186972 0.933115 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.652721, -0.104284, 1.048439 mu:-0.806909 unit_bearing:0.340923 0.186614 0.921383 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.611382, -0.107150, 1.072786 mu:-0.806909 unit_bearing:0.304277 0.191303 0.933176 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.614565, -0.107340, 1.070947 mu:-0.806909 unit_bearing:0.307101 0.191275 0.932257 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.649447, -0.106786, 1.050219 mu:-0.806909 unit_bearing:0.338093 0.188793 0.921982 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.620199, -0.121265, 1.066203 mu:-0.806909 unit_bearing:0.312631 0.201961 0.928156 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? -0.156648, -0.134029, 1.222094 mu:-0.806909 unit_bearing:-0.326194 0.227513 0.917516 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? -0.061927, -0.139483, 1.229937 mu:-0.806909 unit_bearing:-0.252668 0.232652 0.939165 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.887586, -0.187011, 0.844616 mu:-0.806909 unit_bearing:0.562170 0.232826 0.793572 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.887358, -0.189653, 0.844266 mu:-0.806909 unit_bearing:0.562104 0.234907 0.793006 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.514501, -0.208294, 1.108164 mu:-0.806909 unit_bearing:0.223986 0.275788 0.934757 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.514691, -0.205574, 1.108585 mu:-0.806909 unit_bearing:0.224008 0.273651 0.935380 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.819660, -0.237508, 0.898832 mu:-0.806909 unit_bearing:0.500513 0.278600 0.819676 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.607810, -0.253805, 1.049898 mu:-0.806909 unit_bearing:0.308330 0.306508 0.900547 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.610874, 0.674956, 0.841053 mu:-0.806909 unit_bearing:0.326674 -0.457869 0.826825 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] If point is visible? 0.331393, 0.653939, 0.999308 mu:-0.806909 unit_bearing:0.080023 -0.425474 0.901425 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] If point is visible? 0.349449, 0.724004, 0.943278 mu:-0.806909 unit_bearing:0.102236 -0.487099 0.867342 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] If point is visible? 0.356139, 0.723656, 0.941041 mu:-0.806909 unit_bearing:0.107897 -0.487040 0.866689 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] If point is visible? 0.584771, 0.687042, 0.849774 mu:-0.806909 unit_bearing:0.304366 -0.466691 0.830398 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] If point is visible? 0.807841, 0.455088, 0.822452 mu:-0.806909 unit_bearing:0.489733 -0.283607 0.824457 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.642849, 0.363980, 0.995187 mu:-0.806909 unit_bearing:0.332422 -0.193653 0.923035 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.409497, 0.316908, 1.126051 mu:-0.806909 unit_bearing:0.127303 -0.143084 0.981489 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.416287, 0.316593, 1.123648 mu:-0.806909 unit_bearing:0.133070 -0.143068 0.980726 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.423065, 0.316272, 1.121204 mu:-0.806909 unit_bearing:0.138835 -0.143052 0.979929 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.511136, 0.280029, 1.093822 mu:-0.806909 unit_bearing:0.213667 -0.116718 0.969909 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.517254, 0.295414, 1.086878 mu:-0.806909 unit_bearing:0.219343 -0.129722 0.966985 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.636078, 0.197690, 1.045210 mu:-0.806909 unit_bearing:0.322107 -0.055553 0.945072 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.419215, 0.135730, 1.158427 mu:-0.806909 unit_bearing:0.133268 0.005204 0.991066 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? -0.070749, 0.197801, 1.221434 mu:-0.806909 unit_bearing:-0.265158 -0.038313 0.963444 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.425970, 0.162268, 1.152534 mu:-0.806909 unit_bearing:0.139040 -0.016630 0.990147 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.636589, 0.123230, 1.056272 mu:-0.806909 unit_bearing:0.322187 0.005169 0.946662 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.686529, 0.071339, 1.029435 mu:-0.806909 unit_bearing:0.367166 0.044090 0.929110 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.692733, 0.070852, 1.025304 mu:-0.806909 unit_bearing:0.372765 0.044073 0.926878 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.412396, 0.157505, 1.158118 mu:-0.806909 unit_bearing:0.127491 -0.012266 0.991764 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.419197, 0.157209, 1.155714 mu:-0.806909 unit_bearing:0.133267 -0.012265 0.991004 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.512148, 0.034127, 1.128126 mu:-0.806909 unit_bearing:0.213775 0.083597 0.973299 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.733092, -0.034363, 0.998773 mu:-0.806909 unit_bearing:0.411234 0.125730 0.902817 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.739132, -0.034844, 0.994294 mu:-0.806909 unit_bearing:0.416762 0.125675 0.900286 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.738928, -0.040210, 0.994244 mu:-0.806909 unit_bearing:0.416720 0.129967 0.899696 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.689441, -0.052641, 1.028615 mu:-0.806909 unit_bearing:0.372159 0.143304 0.917040 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.689218, -0.058029, 1.028474 mu:-0.806909 unit_bearing:0.372117 0.147605 0.916374 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? -0.667691, -0.094690, 1.039765 mu:-0.806909 unit_bearing:-0.699567 0.178077 0.692022 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.618551, -0.091283, 1.070142 mu:-0.806909 unit_bearing:0.310050 0.178336 0.933844 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? -0.368468, -0.117381, 1.177464 mu:-0.806909 unit_bearing:-0.486157 0.209791 0.848316 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.618288, -0.096699, 1.069818 mu:-0.806909 unit_bearing:0.310009 0.182641 0.933026 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.731] If point is visible? 0.032468, -0.137389, 1.231310 mu:-0.806909 unit_bearing:-0.178469 0.231110 0.956419 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.731] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? -0.032500, -0.131448, 1.231952 mu:-0.806909 unit_bearing:-0.229957 0.226415 0.946497 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.032700, -0.131936, 1.231900 mu:-0.806909 unit_bearing:-0.178497 0.226801 0.957445 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? -0.347508, -0.149139, 1.180241 mu:-0.806909 unit_bearing:-0.469432 0.235499 0.850984 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.891137, -0.176686, 0.843098 mu:-0.806909 unit_bearing:0.565014 0.224407 0.793978 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.884920, -0.186770, 0.847462 mu:-0.806909 unit_bearing:0.559583 0.232913 0.795373 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.890696, -0.181969, 0.842441 mu:-0.806909 unit_bearing:0.564885 0.228574 0.792880 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.502301, -0.194079, 1.116312 mu:-0.806909 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.501937, -0.199523, 1.115516 mu:-0.806909 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.508507, -0.199826, 1.112482 mu:-0.806909 unit_bearing:0.218357 0.269431 0.937938 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.607810, -0.253805, 1.049898 mu:-0.806909 unit_bearing:0.308330 0.306508 0.900547 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.993088, -0.291400, 0.681920 mu:-0.806909 unit_bearing:0.674893 0.300431 0.673989 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.608265, -0.248394, 1.050928 mu:-0.806909 unit_bearing:0.308404 0.302276 0.901951 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.614564, -0.248731, 1.047178 mu:-0.806909 unit_bearing:0.314010 0.302176 0.900048 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.035850, -0.328185, 1.194595 mu:-0.806909 unit_bearing:-0.165697 0.380308 0.909896 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.471123, -0.453521, 1.052840 mu:-0.806909 unit_bearing:0.204115 0.466748 0.860513 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.679088, -0.440427, 0.938614 mu:-0.806909 unit_bearing:0.387110 0.445029 0.807524 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.416800, 0.300809, 1.127787 mu:-0.806909 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.430350, 0.300166, 1.122859 mu:-0.806909 unit_bearing:0.144637 -0.129990 0.980909 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.590601, 0.602252, 0.908071 mu:-0.806909 unit_bearing:0.300920 -0.393050 0.868883 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.603255, 0.684970, 0.838452 mu:-0.806909 unit_bearing:0.320894 -0.466146 0.824461 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] If point is visible? 0.616988, 0.674242, 0.837155 mu:-0.806909 unit_bearing:0.332168 -0.457681 0.824738 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] If point is visible? 0.629160, 0.672783, 0.829232 mu:-0.806909 unit_bearing:0.343132 -0.457291 0.820454 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] If point is visible? 0.416463, 0.311336, 1.125051 mu:-0.806909 unit_bearing:0.133082 -0.138720 0.981349 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.432525, 0.194063, 1.145154 mu:-0.806909 unit_bearing:0.144796 -0.042820 0.988535 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.727227, -0.028517, 1.003234 mu:-0.806909 unit_bearing:0.405737 0.121487 0.905880 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? -0.674513, -0.089830, 1.035785 mu:-0.806909 unit_bearing:-0.704380 0.173793 0.688218 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.727598, -0.017784, 1.003213 mu:-0.806909 unit_bearing:0.405811 0.112889 0.906958 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.689657, -0.047255, 1.028731 mu:-0.806909 unit_bearing:0.372199 0.139001 0.917685 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.690070, -0.036486, 1.028893 mu:-0.806909 unit_bearing:0.372275 0.130392 0.918917 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.702398, -0.037393, 1.020484 mu:-0.806909 unit_bearing:0.383433 0.130292 0.914332 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.726828, -0.039255, 1.003160 mu:-0.806909 unit_bearing:0.405656 0.130080 0.904722 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 1.040562, -0.145944, 0.657335 mu:-0.806909 unit_bearing:0.713477 0.181519 0.676758 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.612931, -0.074651, 1.074655 mu:-0.806909 unit_bearing:0.304515 0.165459 0.938027 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 1.022073, -0.153917, 0.683984 mu:-0.806909 unit_bearing:0.694578 0.190525 0.693730 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.775726, -0.215485, 0.942320 mu:-0.806909 unit_bearing:0.458091 0.265238 0.848411 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.787283, -0.216323, 0.932492 mu:-0.806909 unit_bearing:0.468877 0.264943 0.842591 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.611924, -0.096314, 1.073505 mu:-0.806909 unit_bearing:0.304361 0.182695 0.934873 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.577805, -0.366187, 1.033526 mu:-0.806909 unit_bearing:0.289725 0.394904 0.871843 T_cur_ref: x=0.000096 y=0.000000 z=0.000078 -[18:03:08.732] Z inverse min: -0.773154, Z inverse max: 0.000000 -[18:03:08.732] If point is visible? 0.679846, -0.435149, 0.940525 mu:-0.806909 unit_bearing:0.387278 0.440989 0.809657 T_ \ No newline at end of file +[21:39:24.277] init depth filter +[21:39:26.190] init depth filter +[21:39:29.276] DepthFilter: RESET. +[21:39:40.647] add key frame +[21:39:40.647] init seeds +[21:39:40.647] update seed +[21:39:40.647] init seeds +[21:39:40.650] DepthFilter: Initialized 126 new seeds +[21:39:40.650] add key frame +[21:39:40.650] update seed +[21:39:40.650] init seeds +[21:39:40.655] DepthFilter: Initialized 140 new seeds +[21:39:40.660] DepthFilter: Initialized 130 new seeds +[21:40:34.530] add new frame +[21:40:34.530] add key frame +[21:40:34.530] update seed +[21:40:34.530] init seeds +[21:40:34.534] DepthFilter: Initialized 135 new seeds +[21:40:34.685] add new frame +[21:40:34.685] add key frame +[21:40:34.685] update seed +[21:40:34.685] init seeds +[21:40:34.689] DepthFilter: Initialized 115 new seeds +[21:40:34.837] add new frame +[21:40:34.837] add key frame +[21:40:34.837] update seed +[21:40:34.837] init seeds +[21:40:34.840] DepthFilter: Initialized 106 new seeds +[21:40:35.004] add new frame +[21:40:35.004] add key frame +[21:40:35.004] update seed +[21:40:35.004] init seeds +[21:40:35.007] DepthFilter: Initialized 92 new seeds +[21:40:35.173] add new frame +[21:40:35.173] add key frame +[21:40:35.173] update seed +[21:40:35.173] init seeds +[21:40:35.173] update seed +[21:40:35.173] init seeds +[21:40:35.176] DepthFilter: Initialized 78 new seeds +[21:40:35.179] DepthFilter: Initialized 162 new seeds +[21:40:35.344] add new frame +[21:40:35.344] add key frame +[21:40:35.344] update seed +[21:40:35.344] init seeds +[21:40:35.347] DepthFilter: Initialized 82 new seeds +[21:40:35.683] add new frame +[21:40:35.683] add key frame +[21:40:35.683] update seed +[21:40:35.683] init seeds +[21:40:35.686] DepthFilter: Initialized 64 new seeds +[21:40:35.852] add new frame +[21:40:35.852] add key frame +[21:40:35.852] update seed +[21:40:35.852] init seeds +[21:40:35.855] DepthFilter: Initialized 38 new seeds +[21:40:36.217] add new frame +[21:40:36.217] add key frame +[21:40:36.217] update seed +[21:40:36.217] init seeds +[21:40:36.220] DepthFilter: Initialized 23 new seeds +[21:40:36.398] add new frame +[21:40:36.398] update seed +[21:40:36.398] If point is visible? -0.884071, 0.564681, 1.813577 mu:-1.048557 unit_bearing:-0.322325 -0.496156 0.806186 T_cur_ref: x=-0.605494 y=0.000000 z=1.097297 +[21:40:36.398] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:36.398] add key frame +[21:40:36.398] init seeds +[21:40:36.398] update seed +[21:40:36.398] init seeds +[21:40:36.401] DepthFilter: Initialized 29 new seeds +[21:40:36.404] DepthFilter: Initialized 189 new seeds +[21:40:36.570] add new frame +[21:40:36.570] add key frame +[21:40:36.570] update seed +[21:40:36.570] init seeds +[21:40:36.570] update seed +[21:40:36.570] init seeds +[21:40:36.573] DepthFilter: Initialized 7 new seeds +[21:40:36.576] DepthFilter: Initialized 165 new seeds +[21:40:36.748] add new frame +[21:40:36.748] update seed +[21:40:36.748] add key frame +[21:40:36.748] If point is visible? -0.884064, 0.564681, 1.813567 mu:-1.048557 unit_bearing:-0.322325 -0.496156 0.806186 T_cur_ref: x=-0.605487 y=0.000000 z=1.097287 +[21:40:36.748] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:36.748] init seeds +[21:40:36.748] update seed +[21:40:36.748] init seeds +[21:40:36.751] DepthFilter: Initialized 11 new seeds +[21:40:36.754] DepthFilter: Initialized 201 new seeds +[21:40:36.941] add new frame +[21:40:36.941] update seed +[21:40:36.941] If point is visible? -0.884064, 0.564681, 1.813567 mu:-1.048557 unit_bearing:-0.322325 -0.496156 0.806186 T_cur_ref: x=-0.605487 y=0.000000 z=1.097287 +[21:40:36.941] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:36.941] add key frame +[21:40:36.941] init seeds +[21:40:36.941] update seed +[21:40:36.941] init seeds +[21:40:36.944] DepthFilter: Initialized 9 new seeds +[21:40:36.946] DepthFilter: Initialized 186 new seeds +[21:40:37.132] add new frame +[21:40:37.132] update seed +[21:40:37.132] If point is visible? -0.884065, 0.564681, 1.813567 mu:-1.048557 unit_bearing:-0.322325 -0.496156 0.806186 T_cur_ref: x=-0.605488 y=0.000000 z=1.097287 +[21:40:37.132] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:37.132] add key frame +[21:40:37.132] init seeds +[21:40:37.132] update seed +[21:40:37.132] init seeds +[21:40:37.135] DepthFilter: Initialized 15 new seeds +[21:40:37.138] DepthFilter: Initialized 189 new seeds +[21:40:37.330] add new frame +[21:40:37.330] update seed +[21:40:37.330] If point is visible? -0.884066, 0.564681, 1.813567 mu:-1.048557 unit_bearing:-0.322325 -0.496156 0.806186 T_cur_ref: x=-0.605489 y=0.000000 z=1.097287 +[21:40:37.330] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:37.330] add key frame +[21:40:37.330] init seeds +[21:40:37.330] update seed +[21:40:37.330] init seeds +[21:40:37.333] DepthFilter: Initialized 9 new seeds +[21:40:37.336] DepthFilter: Initialized 187 new seeds +[21:40:37.534] add new frame +[21:40:37.534] update seed +[21:40:37.534] If point is visible? -0.884067, 0.564681, 1.813567 mu:-1.048557 unit_bearing:-0.322325 -0.496156 0.806186 T_cur_ref: x=-0.605490 y=0.000000 z=1.097287 +[21:40:37.534] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:37.534] If point is visible? -0.889616, 0.550218, 1.822587 mu:-1.048557 unit_bearing:-0.328420 -0.479950 0.813504 T_cur_ref: x=-0.605490 y=0.000000 z=1.097287 +[21:40:37.534] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:37.534] add key frame +[21:40:37.534] init seeds +[21:40:37.534] update seed +[21:40:37.534] init seeds +[21:40:37.537] DepthFilter: Initialized 7 new seeds +[21:40:37.540] DepthFilter: Initialized 175 new seeds +[21:40:37.745] add new frame +[21:40:37.745] update seed +[21:40:37.745] If point is visible? -0.884067, 0.564681, 1.813567 mu:-1.048557 unit_bearing:-0.322325 -0.496156 0.806186 T_cur_ref: x=-0.605490 y=0.000000 z=1.097287 +[21:40:37.745] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:37.746] add key frame +[21:40:37.746] init seeds +[21:40:37.746] update seed +[21:40:37.746] init seeds +[21:40:37.748] DepthFilter: Initialized 5 new seeds +[21:40:37.751] DepthFilter: Initialized 176 new seeds +[21:40:38.179] add new frame +[21:40:38.179] update seed +[21:40:38.179] If point is visible? -0.884070, 0.564681, 1.813568 mu:-1.048557 unit_bearing:-0.322325 -0.496156 0.806186 T_cur_ref: x=-0.605493 y=0.000000 z=1.097288 +[21:40:38.179] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.179] add key frame +[21:40:38.179] init seeds +[21:40:38.179] update seed +[21:40:38.179] init seeds +[21:40:38.182] DepthFilter: Initialized 3 new seeds +[21:40:38.185] DepthFilter: Initialized 163 new seeds +[21:40:38.406] add new frame +[21:40:38.406] update seed +[21:40:38.406] If point is visible? -0.884071, 0.564681, 1.813568 mu:-1.048557 unit_bearing:-0.322325 -0.496156 0.806186 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.406] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.406] add key frame +[21:40:38.406] If point is visible? -0.889620, 0.550218, 1.822588 mu:-1.048557 unit_bearing:-0.328420 -0.479950 0.813504 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.406] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.406] remove key frame +[21:40:38.406] init seeds +[21:40:38.406] update seed +[21:40:38.406] If point is visible? -0.884071, 0.564681, 1.813568 mu:-1.048557 unit_bearing:-0.322325 -0.496156 0.806186 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.406] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.406] If point is visible? -0.889620, 0.550218, 1.822588 mu:-1.048557 unit_bearing:-0.328420 -0.479950 0.813504 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.406] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.406] If point is visible? -0.550350, 0.573540, 1.857248 mu:-1.048557 unit_bearing:0.025625 -0.499794 0.865765 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.406] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.406] If point is visible? -0.555796, 0.575379, 1.856233 mu:-1.048557 unit_bearing:0.019949 -0.501837 0.864732 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.406] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.563943, 0.577229, 1.855317 mu:-1.048557 unit_bearing:0.011439 -0.503880 0.863698 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.820482, 0.536974, 1.855554 mu:-1.048557 unit_bearing:-0.257188 -0.461955 0.848795 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.498253, 0.543846, 1.873341 mu:-1.048557 unit_bearing:0.079732 -0.466834 0.880743 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.495555, 0.543785, 1.873006 mu:-1.048557 unit_bearing:0.082573 -0.466813 0.880493 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.897975, 0.526489, 1.836741 mu:-1.048557 unit_bearing:-0.337609 -0.453447 0.824867 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.831501, 0.496307, 1.879674 mu:-1.048557 unit_bearing:-0.269475 -0.416549 0.868257 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.839813, 0.458698, 1.899920 mu:-1.048557 unit_bearing:-0.278790 -0.374820 0.884187 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.842577, 0.447276, 1.905535 mu:-1.048557 unit_bearing:-0.281849 -0.362216 0.888460 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.758312, 0.426091, 1.936705 mu:-1.048557 unit_bearing:-0.194660 -0.336184 0.921460 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.761047, 0.427917, 1.935272 mu:-1.048557 unit_bearing:-0.197479 -0.338268 0.920096 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.419096, 0.410242, 1.937814 mu:-1.048557 unit_bearing:0.160814 -0.319547 0.933825 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.407] If point is visible? -0.472933, 0.386554, 1.958990 mu:-1.048557 unit_bearing:0.103694 -0.292189 0.950723 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.407] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.508124, 0.365699, 1.972680 mu:-1.048557 unit_bearing:0.066389 -0.268735 0.960924 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.518977, 0.357991, 1.976995 mu:-1.048557 unit_bearing:0.054886 -0.260161 0.964004 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.683511, 0.250099, 2.014289 mu:-1.048557 unit_bearing:-0.118448 -0.143107 0.982594 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.680749, 0.250133, 2.014511 mu:-1.048557 unit_bearing:-0.115563 -0.143114 0.982936 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.683505, 0.248077, 2.014839 mu:-1.048557 unit_bearing:-0.118454 -0.140933 0.982907 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.680742, 0.248110, 2.015060 mu:-1.048557 unit_bearing:-0.115568 -0.140940 0.983250 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.677980, 0.248143, 2.015274 mu:-1.048557 unit_bearing:-0.112682 -0.140946 0.983584 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.680736, 0.246088, 2.015605 mu:-1.048557 unit_bearing:-0.115573 -0.138765 0.983558 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.677974, 0.246120, 2.015819 mu:-1.048557 unit_bearing:-0.112687 -0.138771 0.983892 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.677968, 0.244096, 2.016359 mu:-1.048557 unit_bearing:-0.112692 -0.136596 0.984196 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.705537, 0.219383, 2.019996 mu:-1.048557 unit_bearing:-0.141604 -0.110411 0.983747 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.702767, 0.215357, 2.021240 mu:-1.048557 unit_bearing:-0.138729 -0.106062 0.984634 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -1.179949, 0.184671, 1.835817 mu:-1.048557 unit_bearing:-0.631410 -0.097820 0.769255 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.658469, 0.183188, 2.031720 mu:-1.048557 unit_bearing:-0.092565 -0.071244 0.993155 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.408] If point is visible? -0.691662, 0.186947, 2.028499 mu:-1.048557 unit_bearing:-0.127240 -0.075567 0.988989 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.408] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.409] If point is visible? -0.688897, 0.186981, 2.028744 mu:-1.048557 unit_bearing:-0.124352 -0.075571 0.989356 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.409] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.409] If point is visible? -0.688894, 0.184935, 2.029152 mu:-1.048557 unit_bearing:-0.124355 -0.073390 0.989520 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.409] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.409] If point is visible? -0.658458, 0.177041, 2.032905 mu:-1.048557 unit_bearing:-0.092571 -0.064695 0.993602 T_cur_ref: x=-0.605494 y=0.000000 z=1.097288 +[21:40:38.409] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.409] init seeds +[21:40:38.409] DepthFilter: Initialized 6 new seeds +[21:40:38.412] DepthFilter: Initialized 6 new seeds +[21:40:38.872] add new frame +[21:40:38.872] update seed +[21:40:38.872] If point is visible? -0.884075, 0.564681, 1.813569 mu:-1.048557 unit_bearing:-0.322325 -0.496156 0.806186 T_cur_ref: x=-0.605498 y=0.000000 z=1.097289 +[21:40:38.872] Z inverse min: -0.822827, Z inverse max: 0.000000 +[21:40:38.872] add key frame +[21:40:38.872] init seeds +[21:40:38.872] remove key frame +[21:40:38.872] update seed +[21:40:38.872] If point is visible? -0.954445, -0.547626, 0.969743 mu:0.678603 unit_bearing:0.661636 -0.451940 0.598322 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.872] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.872] If point is visible? -0.971701, -0.818959, -0.813572 mu:0.678603 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.872] If point is visible? -1.060777, -0.570331, 0.845531 mu:0.678603 unit_bearing:0.579747 -0.456960 0.674597 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.872] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.872] If point is visible? -1.004851, -0.564438, 0.910862 mu:0.678603 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.872] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.872] If point is visible? -1.081565, -0.556368, 0.829642 mu:0.678603 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.872] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.086705, -0.531212, 0.839120 mu:0.678603 unit_bearing:0.579530 -0.430081 0.692224 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.042157, -0.518968, 0.897460 mu:0.678603 unit_bearing:0.618302 -0.426659 0.660048 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.043434, -0.522585, 0.894041 mu:0.678603 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.027715, -0.508619, 0.918553 mu:0.678603 unit_bearing:0.632865 -0.421433 0.649519 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.116160, -0.698387, -0.738560 mu:0.678603 unit_bearing:-0.494649 -0.412206 0.765120 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.095717, -0.714023, -0.754076 mu:0.678603 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.318272, -0.561895, 0.395776 mu:0.678603 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.321813, -0.571567, 0.371739 mu:0.678603 unit_bearing:0.269621 -0.418610 0.867220 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.103173, -0.657798, -0.795386 mu:0.678603 unit_bearing:-0.529958 -0.380168 0.758035 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.371911, -0.591309, -0.135335 mu:0.678603 unit_bearing:-0.071463 -0.389971 0.918050 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.372431, -0.590818, -0.131170 mu:0.678603 unit_bearing:-0.068603 -0.389985 0.918262 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.372938, -0.590326, -0.127004 mu:0.678603 unit_bearing:-0.065742 -0.389998 0.918466 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.370793, -0.595958, -0.121926 mu:0.678603 unit_bearing:-0.062863 -0.394212 0.916867 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.371275, -0.595465, -0.117759 mu:0.678603 unit_bearing:-0.060003 -0.394224 0.917054 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.371622, -0.593389, -0.126548 mu:0.678603 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.101802, -0.655113, -0.799633 mu:0.678603 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.104433, -0.643655, -0.805634 mu:0.678603 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.103100, -0.646581, -0.805049 mu:0.678603 unit_bearing:-0.535535 -0.371813 0.758260 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.348940, -0.525985, 0.345022 mu:0.678603 unit_bearing:0.256318 -0.385698 0.886306 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.106928, -0.632172, -0.811618 mu:0.678603 unit_bearing:-0.538636 -0.361565 0.761014 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.105626, -0.635105, -0.811037 mu:0.678603 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.356052, -0.514945, 0.335186 mu:0.678603 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.108223, -0.629237, -0.812198 mu:0.678603 unit_bearing:-0.538741 -0.359540 0.761899 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.378873, -0.551797, -0.225872 mu:0.678603 unit_bearing:-0.128873 -0.355871 0.925607 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.372175, -0.475062, 0.330199 mu:0.678603 unit_bearing:0.251327 -0.350174 0.902338 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.377508, -0.545388, -0.252151 mu:0.678603 unit_bearing:-0.146068 -0.349380 0.925526 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.373608, -0.468324, 0.333598 mu:0.678603 unit_bearing:0.254219 -0.345916 0.903169 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.377812, -0.542774, -0.256759 mu:0.678603 unit_bearing:-0.148942 -0.347239 0.925873 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.116241, -0.577394, -0.840711 mu:0.678603 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.375894, -0.439586, 0.359706 mu:0.678603 unit_bearing:0.274232 -0.328719 0.903737 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.374859, -0.439004, 0.363871 mu:0.678603 unit_bearing:0.277048 -0.328671 0.902895 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.373811, -0.438421, 0.368035 mu:0.678603 unit_bearing:0.279862 -0.328623 0.902044 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.364945, -0.433735, 0.401291 mu:0.678603 unit_bearing:0.302326 -0.328217 0.894915 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.360337, -0.438716, 0.410335 mu:0.678603 unit_bearing:0.307845 -0.332320 0.891513 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.395900, -0.505404, -0.232773 mu:0.678603 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.364718, -0.530870, -0.346738 mu:0.678603 unit_bearing:-0.208927 -0.331779 0.919930 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.288641, -0.555565, -0.552931 mu:0.678603 unit_bearing:-0.352218 -0.331360 0.875296 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.116834, -0.568758, -0.846032 mu:0.678603 unit_bearing:-0.556219 -0.316007 0.768609 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.367216, -0.431240, 0.396764 mu:0.678603 unit_bearing:0.299562 -0.326162 0.896594 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.313820, -0.538511, -0.506900 mu:0.678603 unit_bearing:-0.319003 -0.323681 0.890768 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.117962, -0.565790, -0.846591 mu:0.678603 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.074482, -0.339501, 0.943165 mu:0.678603 unit_bearing:0.664952 -0.309560 0.679714 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.079892, -0.334316, 0.939127 mu:0.678603 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.028746, -0.263612, 1.012095 mu:0.678603 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.024321, -0.265871, 1.015747 mu:0.678603 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] calculated Z= 1.005662 +[21:40:38.873] update seeds 305 +[21:40:38.873] If point is visible? -1.435276, -0.411287, -0.161315 mu:0.678603 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.436149, -0.408148, -0.161753 mu:0.678603 unit_bearing:-0.071962 -0.264419 0.961719 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.480471, -0.162240, 0.136417 mu:0.678603 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.480025, -0.161708, 0.140656 mu:0.678603 unit_bearing:0.153298 -0.123440 0.980440 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.480690, -0.078407, 0.186195 mu:0.678603 unit_bearing:0.190836 -0.071099 0.979044 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.488070, -0.078899, 0.130270 mu:0.678603 unit_bearing:0.153420 -0.066806 0.985900 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.487613, -0.078372, 0.134513 mu:0.678603 unit_bearing:0.156302 -0.066802 0.985448 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.425483, -0.124324, -0.478993 mu:0.678603 unit_bearing:-0.262290 -0.047015 0.963843 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.483736, 0.008183, 0.179789 mu:0.678603 unit_bearing:0.193781 -0.012247 0.980968 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.482456, 0.009227, 0.188268 mu:0.678603 unit_bearing:0.199529 -0.012245 0.979815 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.126678, 0.099314, 0.939686 mu:0.678603 unit_bearing:0.700600 -0.013711 0.713423 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.482559, 0.021981, 0.186700 mu:0.678603 unit_bearing:0.199531 -0.003525 0.979885 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.100365, 0.133102, 0.964700 mu:0.678603 unit_bearing:0.719341 0.006978 0.694622 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.100335, 0.136119, 0.964326 mu:0.678603 unit_bearing:0.719337 0.009041 0.694602 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.873] If point is visible? -1.449730, -0.000083, -0.414649 mu:0.678603 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.462366, 0.110283, 0.274679 mu:0.678603 unit_bearing:0.265337 0.048674 0.962926 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.431500, 0.151955, 0.380582 mu:0.678603 unit_bearing:0.338994 0.067984 0.938329 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.873] If point is visible? -1.430201, 0.152453, 0.384772 mu:0.678603 unit_bearing:0.341810 0.067973 0.937308 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.486033, 0.126890, 0.117941 mu:0.678603 unit_bearing:0.162056 0.072822 0.984091 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.485538, 0.127404, 0.122184 mu:0.678603 unit_bearing:0.164937 0.072817 0.983613 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.474934, 0.139289, 0.193882 mu:0.678603 unit_bearing:0.213797 0.074893 0.974003 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.481681, 0.174697, 0.112184 mu:0.678603 unit_bearing:0.161987 0.105499 0.981137 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.481185, 0.175207, 0.116426 mu:0.678603 unit_bearing:0.164866 0.105491 0.980658 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.471517, 0.183331, 0.184250 mu:0.678603 unit_bearing:0.210842 0.105354 0.971826 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.471146, 0.180657, 0.188869 mu:0.678603 unit_bearing:0.213716 0.103171 0.971433 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.470420, 0.181162, 0.193104 mu:0.678603 unit_bearing:0.216582 0.103161 0.970799 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.470804, 0.183837, 0.188485 mu:0.678603 unit_bearing:0.213709 0.105344 0.971201 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.470455, 0.187017, 0.188100 mu:0.678603 unit_bearing:0.213701 0.107518 0.970964 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.280576, 0.698779, 0.295162 mu:0.678603 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.308348, 0.652992, -0.351808 mu:0.678603 unit_bearing:-0.116431 0.466024 0.877078 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.309077, 0.653541, -0.347697 mu:0.678603 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.309794, 0.654089, -0.343585 mu:0.678603 unit_bearing:-0.110760 0.466083 0.877780 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.309201, 0.649426, -0.355660 mu:0.678603 unit_bearing:-0.119288 0.463941 0.877798 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.333386, -0.555212, 0.357091 mu:0.678603 unit_bearing:0.261504 -0.406382 0.875482 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.322833, -0.549195, 0.398440 mu:0.678603 unit_bearing:0.289465 -0.405749 0.866936 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.093085, -0.714243, -0.757758 mu:0.678603 unit_bearing:-0.509644 -0.421298 0.750181 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.096110, -0.708472, -0.758965 mu:0.678603 unit_bearing:-0.509878 -0.417311 0.752247 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.330570, -0.561273, 0.357840 mu:0.678603 unit_bearing:0.261413 -0.410526 0.873574 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.328565, -0.560075, 0.366118 mu:0.678603 unit_bearing:0.267014 -0.410404 0.871936 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.326506, -0.558873, 0.374391 mu:0.678603 unit_bearing:0.272610 -0.410279 0.870262 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.321543, -0.563714, 0.383394 mu:0.678603 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.364017, -0.614375, -0.093741 mu:0.678603 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.318660, -0.569753, 0.384130 mu:0.678603 unit_bearing:0.278001 -0.418413 0.864665 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.157419, -0.652361, -0.717275 mu:0.678603 unit_bearing:-0.475151 -0.382965 0.792193 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.103145, -0.663399, -0.790544 mu:0.678603 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.308232, -0.537080, -0.523458 mu:0.678603 unit_bearing:-0.330210 -0.321348 0.887523 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.432772, -0.415927, -0.173451 mu:0.678603 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.421379, -0.125812, -0.491320 mu:0.678603 unit_bearing:-0.270843 -0.046998 0.961475 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.442731, -0.098734, -0.427766 mu:0.678603 unit_bearing:-0.225139 -0.034016 0.973733 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.447273, 0.005265, -0.423709 mu:0.678603 unit_bearing:-0.213668 0.035697 0.976254 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.449512, 0.006293, -0.415414 mu:0.678603 unit_bearing:-0.207928 0.035704 0.977492 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.451700, 0.007322, -0.407112 mu:0.678603 unit_bearing:-0.202185 0.035710 0.978696 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.136395, 0.100979, 0.928426 mu:0.678603 unit_bearing:0.693487 -0.011658 0.720375 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.129963, 0.101891, 0.935696 mu:0.678603 unit_bearing:0.698238 -0.011645 0.715771 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.449265, 0.012670, -0.416177 mu:0.678603 unit_bearing:-0.207923 0.040062 0.977324 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.464545, 0.102901, 0.267009 mu:0.678603 unit_bearing:0.259640 0.044337 0.964687 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.464239, 0.109262, 0.266231 mu:0.678603 unit_bearing:0.259632 0.048685 0.964480 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.210120, -0.024378, -0.911591 mu:0.678603 unit_bearing:-0.552243 0.056080 0.831795 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.433828, 0.154125, 0.371809 mu:0.678603 unit_bearing:0.333349 0.070171 0.940189 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.293693, 0.068717, -0.782912 mu:0.678603 unit_bearing:-0.455198 0.108141 0.883799 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.205056, 0.146448, -0.906510 mu:0.678603 unit_bearing:-0.534883 0.170719 0.827499 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.203848, 0.152642, -0.907081 mu:0.678603 unit_bearing:-0.534796 0.174938 0.826674 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.454131, 0.283994, -0.260711 mu:0.678603 unit_bearing:-0.080763 0.209953 0.974370 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.452746, 0.290332, -0.261404 mu:0.678603 unit_bearing:-0.080751 0.214280 0.973429 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.084578, -0.500844, 0.859392 mu:0.678603 unit_bearing:0.595606 -0.411303 0.689988 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.273296, -0.550279, -0.594118 mu:0.678603 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.397088, -0.518678, -0.184233 mu:0.678603 unit_bearing:-0.097518 -0.337007 0.936438 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.369924, -0.462334, 0.354047 mu:0.678603 unit_bearing:0.268347 -0.343573 0.899971 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.365801, -0.459994, 0.370690 mu:0.678603 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.101358, -0.708022, -0.751592 mu:0.678603 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.334168, -0.547950, 0.364626 mu:0.678603 unit_bearing:0.267198 -0.402114 0.875733 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.330003, -0.545551, 0.381179 mu:0.678603 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.325625, -0.543138, 0.397707 mu:0.678603 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.338821, -0.523405, -0.451788 mu:0.678603 unit_bearing:-0.279845 -0.318063 0.905827 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.424247, -0.401680, -0.268927 mu:0.678603 unit_bearing:-0.143924 -0.251199 0.957175 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.096765, -0.697353, -0.768726 mu:0.678603 unit_bearing:-0.515504 -0.409014 0.752969 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.380682, -0.538743, -0.248934 mu:0.678603 unit_bearing:-0.143249 -0.345171 0.927543 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.440193, 0.163806, 0.345067 mu:0.678603 unit_bearing:0.316370 0.078904 0.945349 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.291220, 0.048858, -0.788639 mu:0.678603 unit_bearing:-0.460774 0.095239 0.882393 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.476148, 0.179785, 0.154590 mu:0.678603 unit_bearing:0.190750 0.105419 0.975962 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.204953, -0.031562, -0.918302 mu:0.678603 unit_bearing:-0.557523 0.051796 0.828544 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.292461, 0.036303, -0.787263 mu:0.678603 unit_bearing:-0.460844 0.086669 0.883239 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.080203, 0.086091, -1.060870 mu:0.678603 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:38.874] If point is visible? -1.481994, 0.162976, 0.122199 mu:0.678603 unit_bearing:0.167766 0.096776 0.981065 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -1.477468, 0.167053, 0.156125 mu:0.678603 unit_bearing:0.190775 0.096716 0.976858 T_cur_ref: x=-0.025874 y=0.000000 z=-0.034946 +[21:40:38.874] If point is visible? -0.908811, -0.753981, -0.648137 mu:0.730810 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.874] If point is visible? -0.853289, -0.514015, 0.945783 mu:0.730810 unit_bearing:0.617990 -0.455110 0.641064 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.874] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.874] If point is visible? -1.142564, -0.565831, 0.481231 mu:0.730810 unit_bearing:0.274366 -0.451321 0.849136 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.874] If point is visible? -0.985856, -0.499662, 0.809356 mu:0.730810 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.874] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -0.997730, -0.450142, 0.823899 mu:0.730810 unit_bearing:0.534246 -0.397923 0.745814 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -0.999069, -0.447403, 0.823738 mu:0.730810 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -0.996636, -0.446768, 0.827162 mu:0.730810 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -0.994190, -0.446132, 0.830579 mu:0.730810 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -0.986773, -0.444218, 0.840799 mu:0.730810 unit_bearing:0.547110 -0.395132 0.737931 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -0.990592, -0.442122, 0.837241 mu:0.730810 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -0.988107, -0.441484, 0.840644 mu:0.730810 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -1.239728, -0.544392, 0.014618 mu:0.730810 unit_bearing:-0.062863 -0.394212 0.916867 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] If point is visible? -1.239945, -0.543931, 0.018507 mu:0.730810 unit_bearing:-0.060003 -0.394224 0.917054 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] If point is visible? -1.003367, -0.426930, 0.829432 mu:0.730810 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -1.000910, -0.426302, 0.832854 mu:0.730810 unit_bearing:0.542842 -0.381429 0.748221 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -0.991918, -0.439385, 0.837083 mu:0.730810 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -0.989434, -0.438749, 0.840487 mu:0.730810 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -1.085262, -0.591433, -0.535166 mu:0.730810 unit_bearing:-0.464728 -0.379368 0.800067 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] If point is visible? -1.091733, -0.585330, -0.528753 mu:0.730810 unit_bearing:-0.459579 -0.375512 0.804846 T_cur_ref: x=0.015640 y=0.000000 z=0.022138 +[21:40:38.875] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:38.875] init seeds +[21:40:38.875] DepthFilter: Initialized 2 new seeds +[21:40:38.877] DepthFilter: Initialized 2 new seeds +[21:40:39.357] add new frame +[21:40:39.357] update seed +[21:40:39.357] If point is visible? -0.954448, -0.547626, 0.969744 mu:0.678603 unit_bearing:0.661636 -0.451940 0.598322 T_cur_ref: x=-0.025877 y=0.000000 z=-0.034946 +[21:40:39.357] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:39.357] If point is visible? -0.971704, -0.818959, -0.813571 mu:0.678603 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.025877 y=0.000000 z=-0.034946 +[21:40:39.357] If point is visible? -1.060780, -0.570331, 0.845531 mu:0.678603 unit_bearing:0.579747 -0.456960 0.674597 T_cur_ref: x=-0.025877 y=0.000000 z=-0.034946 +[21:40:39.357] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:39.357] If point is visible? -1.004854, -0.564438, 0.910863 mu:0.678603 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.025877 y=0.000000 z=-0.034946 +[21:40:39.357] Z inverse min: 0.943867, Z inverse max: 0.413340 +[21:40:39.357] add key frame +[21:40:39.357] init seeds +[21:40:39.357] remove key frame +[21:40:39.358] update seed +[21:40:39.358] If point is visible? -0.908814, -0.753981, -0.648137 mu:0.730810 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -0.853292, -0.514015, 0.945783 mu:0.730810 unit_bearing:0.617990 -0.455110 0.641064 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -1.142567, -0.565831, 0.481231 mu:0.730810 unit_bearing:0.274366 -0.451321 0.849136 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -0.985859, -0.499662, 0.809356 mu:0.730810 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -0.997733, -0.450142, 0.823900 mu:0.730810 unit_bearing:0.534246 -0.397923 0.745814 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -0.999072, -0.447403, 0.823739 mu:0.730810 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -0.996639, -0.446768, 0.827162 mu:0.730810 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -0.994193, -0.446132, 0.830580 mu:0.730810 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -0.986776, -0.444218, 0.840800 mu:0.730810 unit_bearing:0.547110 -0.395132 0.737931 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -0.990595, -0.442122, 0.837242 mu:0.730810 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -0.988110, -0.441484, 0.840644 mu:0.730810 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -1.239731, -0.544392, 0.014618 mu:0.730810 unit_bearing:-0.062863 -0.394212 0.916867 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.239948, -0.543931, 0.018507 mu:0.730810 unit_bearing:-0.060003 -0.394224 0.917054 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.003370, -0.426930, 0.829433 mu:0.730810 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -1.000913, -0.426302, 0.832855 mu:0.730810 unit_bearing:0.542842 -0.381429 0.748221 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -0.991921, -0.439385, 0.837084 mu:0.730810 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -0.989437, -0.438749, 0.840487 mu:0.730810 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -1.085265, -0.591433, -0.535166 mu:0.730810 unit_bearing:-0.464728 -0.379368 0.800067 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -1.091736, -0.585330, -0.528752 mu:0.730810 unit_bearing:-0.459579 -0.375512 0.804846 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -1.170338, -0.446077, 0.538710 mu:0.730810 unit_bearing:0.326525 -0.369575 0.869940 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.171974, -0.450024, 0.531477 mu:0.730810 unit_bearing:0.320915 -0.371794 0.871081 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.252420, -0.505288, -0.073162 mu:0.730810 unit_bearing:-0.123140 -0.358029 0.925555 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.118640, -0.560366, -0.499179 mu:0.730810 unit_bearing:-0.436096 -0.360038 0.824738 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.129456, -0.550696, -0.485664 mu:0.730810 unit_bearing:-0.425509 -0.354228 0.832745 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.252661, -0.501333, -0.089453 mu:0.730810 unit_bearing:-0.134606 -0.353709 0.925619 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.253173, -0.500888, -0.085563 mu:0.730810 unit_bearing:-0.131748 -0.353733 0.926021 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.253236, -0.498906, -0.093709 mu:0.730810 unit_bearing:-0.137481 -0.351570 0.926012 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.185437, -0.412464, 0.531709 mu:0.730810 unit_bearing:0.324333 -0.344570 0.880954 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.184336, -0.415318, 0.531984 mu:0.730810 unit_bearing:0.324286 -0.346665 0.880149 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.182922, -0.414771, 0.535742 mu:0.730810 unit_bearing:0.327071 -0.346602 0.879143 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.253245, -0.496922, -0.101854 mu:0.730810 unit_bearing:-0.143212 -0.349406 0.925962 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.252493, -0.493385, -0.122029 mu:0.730810 unit_bearing:-0.157525 -0.345043 0.925274 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.253100, -0.492944, -0.118143 mu:0.730810 unit_bearing:-0.154671 -0.345069 0.925745 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.189019, -0.407296, 0.527394 mu:0.730810 unit_bearing:0.321638 -0.340437 0.883545 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.187932, -0.410154, 0.527671 mu:0.730810 unit_bearing:0.321592 -0.342535 0.882750 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.186531, -0.409608, 0.531433 mu:0.730810 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.196360, -0.400343, 0.515248 mu:0.730810 unit_bearing:0.313395 -0.334312 0.888830 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.269402, -0.466218, -0.038548 mu:0.730810 unit_bearing:-0.094674 -0.332772 0.938243 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.202478, -0.396232, 0.503348 mu:0.730810 unit_bearing:0.305086 -0.330270 0.893221 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.266808, -0.459477, -0.106637 mu:0.730810 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.267353, -0.459029, -0.102742 mu:0.730810 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.275143, -0.450849, -0.032542 mu:0.730810 unit_bearing:-0.088991 -0.322159 0.942494 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.043440, -0.520687, -0.670399 mu:0.730810 unit_bearing:-0.556219 -0.316007 0.768609 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -1.187757, -0.504507, -0.389786 mu:0.730810 unit_bearing:-0.352267 -0.329263 0.876067 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.206399, -0.494209, -0.344948 mu:0.730810 unit_bearing:-0.318961 -0.325787 0.890015 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.207697, -0.493817, -0.341131 mu:0.730810 unit_bearing:-0.316166 -0.325843 0.890991 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.204833, -0.393902, 0.499279 mu:0.730810 unit_bearing:0.302326 -0.328217 0.894915 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.268416, -0.460120, -0.086790 mu:0.730810 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -0.910751, -0.303592, 0.982350 mu:0.730810 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -1.042377, -0.523449, -0.669941 mu:0.730810 unit_bearing:-0.556125 -0.318051 0.767833 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -1.207167, -0.391569, 0.495205 mu:0.730810 unit_bearing:0.299562 -0.326162 0.896594 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.271093, -0.460900, -0.043169 mu:0.730810 unit_bearing:-0.097565 -0.328503 0.939450 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.197417, -0.397478, 0.514966 mu:0.730810 unit_bearing:0.313438 -0.332209 0.889603 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.044496, -0.517923, -0.670856 mu:0.730810 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.358] If point is visible? -1.277765, -0.442625, -0.037526 mu:0.730810 unit_bearing:-0.091892 -0.315750 0.944382 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -1.276788, -0.445521, -0.037166 mu:0.730810 unit_bearing:-0.091882 -0.317882 0.943668 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.358] If point is visible? -0.912847, -0.298114, 0.982042 mu:0.730810 unit_bearing:0.663094 -0.301733 0.685028 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -0.852750, -0.245868, 1.050643 mu:0.730810 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -0.854624, -0.240423, 1.050346 mu:0.730810 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -0.858910, -0.238295, 1.047201 mu:0.730810 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] calculated Z= 1.057232 +[21:40:39.359] update seeds 305 +[21:40:39.359] If point is visible? -1.324486, -0.140987, 0.259964 mu:0.730810 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.323839, -0.140496, 0.263869 mu:0.730810 unit_bearing:0.153298 -0.123440 0.980440 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.320618, -0.062666, 0.309997 mu:0.730810 unit_bearing:0.193710 -0.071093 0.978479 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.311004, -0.115491, -0.292588 mu:0.730810 unit_bearing:-0.247997 -0.055742 0.967156 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.331308, -0.063550, 0.254662 mu:0.730810 unit_bearing:0.153420 -0.066806 0.985900 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.330651, -0.063064, 0.258570 mu:0.730810 unit_bearing:0.156302 -0.066802 0.985448 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.318254, -0.045929, 0.323787 mu:0.730810 unit_bearing:0.205221 -0.060181 0.976864 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.324023, 0.017271, 0.300312 mu:0.730810 unit_bearing:0.193781 -0.012247 0.980968 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.322377, 0.050800, 0.304104 mu:0.730810 unit_bearing:0.199529 0.011735 0.979822 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.324817, 0.009485, -0.252561 mu:0.730810 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.298384, 0.111914, 0.387094 mu:0.730810 unit_bearing:0.265337 0.048674 0.962926 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.323131, 0.085373, 0.291916 mu:0.730810 unit_bearing:0.193762 0.037899 0.980316 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.322309, 0.085847, 0.295812 mu:0.730810 unit_bearing:0.196636 0.037896 0.979744 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.324128, 0.027242, -0.254727 mu:0.730810 unit_bearing:-0.207917 0.044419 0.977137 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.299338, 0.114399, 0.382860 mu:0.730810 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -0.926466, 0.188974, 0.996355 mu:0.730810 unit_bearing:0.716759 0.050308 0.695504 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -0.929585, 0.191427, 0.992850 mu:0.730810 unit_bearing:0.714412 0.052399 0.697760 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -0.926290, 0.191770, 0.995980 mu:0.730810 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -1.304480, 0.132267, 0.357049 mu:0.730810 unit_bearing:0.245314 0.066113 0.967187 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.273893, 0.158510, 0.451503 mu:0.730810 unit_bearing:0.316379 0.076737 0.945524 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.262313, 0.150835, 0.487393 mu:0.730810 unit_bearing:0.341810 0.067973 0.937308 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.186001, 0.614937, -0.202109 mu:0.730810 unit_bearing:-0.116431 0.466024 0.877078 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.186450, 0.615451, -0.198259 mu:0.730810 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.187485, 0.612146, -0.201783 mu:0.730810 unit_bearing:-0.116453 0.463971 0.878162 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.232042, -0.561543, 0.040381 mu:0.730810 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.176177, -0.512547, 0.457160 mu:0.730810 unit_bearing:0.261413 -0.410526 0.873574 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.173861, -0.511449, 0.464725 mu:0.730810 unit_bearing:0.267014 -0.410404 0.871936 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.171496, -0.510348, 0.472281 mu:0.730810 unit_bearing:0.272610 -0.410279 0.870262 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.166439, -0.514878, 0.480359 mu:0.730810 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.028370, -0.608667, -0.619688 mu:0.730810 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -1.106829, -0.567497, -0.516734 mu:0.730810 unit_bearing:-0.449381 -0.363647 0.815977 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -1.159682, -0.526603, -0.440118 mu:0.730810 unit_bearing:-0.390543 -0.340808 0.855176 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -0.999623, -0.429050, 0.833022 mu:0.730810 unit_bearing:0.542727 -0.383436 0.747277 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -1.196360, -0.400343, 0.515248 mu:0.730810 unit_bearing:0.313395 -0.334312 0.888830 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.307052, -0.117366, -0.308144 mu:0.730810 unit_bearing:-0.259419 -0.055717 0.964156 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.309052, -0.116429, -0.300368 mu:0.730810 unit_bearing:-0.253710 -0.055730 0.965673 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.322996, 0.014437, -0.261094 mu:0.730810 unit_bearing:-0.213668 0.035697 0.976254 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.324614, 0.015405, -0.253284 mu:0.730810 unit_bearing:-0.207928 0.035704 0.977492 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.326184, 0.016373, -0.245469 mu:0.730810 unit_bearing:-0.202185 0.035710 0.978696 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.324384, 0.021324, -0.254006 mu:0.730810 unit_bearing:-0.207923 0.040062 0.977324 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.018359, 0.195156, 0.896858 mu:0.730810 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -1.125345, 0.108484, -0.725362 mu:0.730810 unit_bearing:-0.540634 0.145265 0.828621 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -1.173861, -0.511449, 0.464725 mu:0.730810 unit_bearing:0.267014 -0.410404 0.871936 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.169081, -0.509244, 0.479829 mu:0.730810 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.252161, -0.484952, -0.150709 mu:0.730810 unit_bearing:-0.177574 -0.336372 0.924836 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.174280, -0.497957, 0.478761 mu:0.730810 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.262737, -0.483974, -0.040286 mu:0.730810 unit_bearing:-0.097469 -0.345497 0.933344 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.187647, -0.423214, 0.517482 mu:0.730810 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.266971, -0.472446, -0.041727 mu:0.730810 unit_bearing:-0.097518 -0.337007 0.936438 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.295963, -0.363612, -0.118786 mu:0.730810 unit_bearing:-0.143924 -0.251199 0.957175 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.109317, 0.116914, -0.748041 mu:0.730810 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -1.016780, 0.087164, -0.871664 mu:0.730810 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -1.321607, 0.246779, -0.130330 mu:0.730810 unit_bearing:-0.098119 0.192583 0.976363 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -1.024548, 0.188730, 0.890910 mu:0.730810 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.359] If point is visible? -1.320549, 0.260517, -0.116084 mu:0.730810 unit_bearing:-0.086555 0.201280 0.975702 T_cur_ref: x=0.015637 y=0.000000 z=0.022139 +[21:40:39.359] If point is visible? -0.937480, -0.775272, -0.708164 mu:0.710408 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.359] If point is visible? -0.900401, -0.537444, 0.939684 mu:0.710408 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.359] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.359] If point is visible? -0.902064, -0.534774, 0.939614 mu:0.710408 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.359] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.359] If point is visible? -1.055574, -0.545503, 0.755454 mu:0.710408 unit_bearing:0.492626 -0.450015 0.744853 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.359] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.359] If point is visible? -1.053332, -0.544828, 0.759062 mu:0.710408 unit_bearing:0.495212 -0.449851 0.743235 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.359] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.359] If point is visible? -1.199307, -0.584946, 0.449303 mu:0.710408 unit_bearing:0.274366 -0.451321 0.849136 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.359] If point is visible? -0.981180, -0.505401, 0.874313 mu:0.710408 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.359] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.359] If point is visible? -0.959234, -0.499686, 0.901532 mu:0.710408 unit_bearing:0.598909 -0.430356 0.675353 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.359] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.359] If point is visible? -0.939325, -0.494617, 0.924989 mu:0.710408 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.359] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.044881, -0.516498, 0.789933 mu:0.710408 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.058889, -0.462772, 0.804459 mu:0.710408 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.056456, -0.462113, 0.808029 mu:0.710408 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.054011, -0.461452, 0.811593 mu:0.710408 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.049079, -0.460129, 0.818705 mu:0.710408 unit_bearing:0.544568 -0.395292 0.739723 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.046592, -0.459465, 0.822253 mu:0.710408 unit_bearing:0.547110 -0.395132 0.737931 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.050454, -0.457318, 0.818517 mu:0.710408 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.047968, -0.456656, 0.822066 mu:0.710408 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.059641, -0.628703, -0.680723 mu:0.710408 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.058660, -0.620793, -0.689449 mu:0.710408 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.061258, -0.615198, -0.690469 mu:0.710408 unit_bearing:-0.532856 -0.373974 0.759083 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.051821, -0.454506, 0.818328 mu:0.710408 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.049336, -0.453845, 0.821878 mu:0.710408 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.061342, -0.609836, -0.695080 mu:0.710408 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.062643, -0.601663, -0.700194 mu:0.710408 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.066317, -0.587854, -0.706308 mu:0.710408 unit_bearing:-0.541621 -0.353322 0.762765 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.140038, -0.592257, -0.575458 mu:0.710408 unit_bearing:-0.449222 -0.367755 0.814221 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.065095, -0.590668, -0.705804 mu:0.710408 unit_bearing:-0.541518 -0.355350 0.761896 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.301310, -0.522922, -0.123110 mu:0.710408 unit_bearing:-0.123140 -0.358029 0.925555 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.301303, -0.520889, -0.131491 mu:0.710408 unit_bearing:-0.128873 -0.355871 0.925607 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.301603, -0.514317, -0.152637 mu:0.710408 unit_bearing:-0.143212 -0.349406 0.925962 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.301137, -0.510224, -0.169388 mu:0.710408 unit_bearing:-0.154671 -0.345069 0.925745 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.300093, -0.508623, -0.181744 mu:0.710408 unit_bearing:-0.163252 -0.342870 0.925088 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.301536, -0.507722, -0.173775 mu:0.710408 unit_bearing:-0.157546 -0.342925 0.926057 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.300433, -0.510676, -0.173373 mu:0.710408 unit_bearing:-0.157525 -0.345043 0.925274 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.277343, -0.417823, 0.419771 mu:0.710408 unit_bearing:0.268562 -0.330924 0.904635 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.276222, -0.417273, 0.423711 mu:0.710408 unit_bearing:0.271380 -0.330877 0.903810 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.275089, -0.416722, 0.427649 mu:0.710408 unit_bearing:0.274196 -0.330830 0.902977 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.272785, -0.415619, 0.435520 mu:0.710408 unit_bearing:0.279825 -0.330733 0.901284 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.271614, -0.415067, 0.439452 mu:0.710408 unit_bearing:0.282638 -0.330684 0.900424 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.264134, -0.408234, 0.466611 mu:0.710408 unit_bearing:0.302326 -0.328217 0.894915 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.320624, -0.479804, -0.088241 mu:0.710408 unit_bearing:-0.094686 -0.330645 0.938993 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.234778, -0.512409, -0.441035 mu:0.710408 unit_bearing:-0.346861 -0.323091 0.880511 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.073917, -0.532816, -0.737744 mu:0.710408 unit_bearing:-0.558967 -0.311792 0.768337 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -1.249605, -0.508471, -0.402155 mu:0.710408 unit_bearing:-0.319003 -0.323681 0.890768 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.317600, -0.476496, -0.137449 mu:0.710408 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.320375, -0.474174, -0.117447 mu:0.710408 unit_bearing:-0.114792 -0.324147 0.939016 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.322269, -0.474335, -0.093029 mu:0.710408 unit_bearing:-0.097577 -0.326375 0.940191 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.266459, -0.405839, 0.462375 mu:0.710408 unit_bearing:0.299562 -0.326162 0.896594 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -1.327242, -0.461500, -0.086578 mu:0.710408 unit_bearing:-0.091882 -0.317882 0.943668 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] If point is visible? -0.909060, -0.257260, 1.044070 mu:0.710408 unit_bearing:0.720042 -0.271759 0.638504 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] If point is visible? -0.913446, -0.255094, 1.040768 mu:0.710408 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=-0.000247 y=0.000000 z=0.000359 +[21:40:39.360] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.360] init seeds +[21:40:39.360] DepthFilter: Initialized 2 new seeds +[21:40:39.362] DepthFilter: Initialized 2 new seeds +[21:40:39.608] add new frame +[21:40:39.608] update seed +[21:40:39.608] If point is visible? -0.908815, -0.753981, -0.648136 mu:0.730810 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.015636 y=0.000000 z=0.022139 +[21:40:39.608] If point is visible? -0.853293, -0.514015, 0.945783 mu:0.730810 unit_bearing:0.617990 -0.455110 0.641064 T_cur_ref: x=0.015636 y=0.000000 z=0.022139 +[21:40:39.608] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.608] If point is visible? -1.142568, -0.565831, 0.481231 mu:0.730810 unit_bearing:0.274366 -0.451321 0.849136 T_cur_ref: x=0.015636 y=0.000000 z=0.022139 +[21:40:39.608] If point is visible? -0.985860, -0.499662, 0.809357 mu:0.730810 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.015636 y=0.000000 z=0.022139 +[21:40:39.608] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.608] If point is visible? -0.997734, -0.450142, 0.823900 mu:0.730810 unit_bearing:0.534246 -0.397923 0.745814 T_cur_ref: x=0.015636 y=0.000000 z=0.022139 +[21:40:39.608] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.608] If point is visible? -0.999073, -0.447403, 0.823739 mu:0.730810 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=0.015636 y=0.000000 z=0.022139 +[21:40:39.608] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.608] add key frame +[21:40:39.608] If point is visible? -0.996640, -0.446768, 0.827162 mu:0.730810 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=0.015636 y=0.000000 z=0.022139 +[21:40:39.608] Z inverse min: 1.011220, Z inverse max: 0.450400 +[21:40:39.608] remove key frame +[21:40:39.608] init seeds +[21:40:39.608] update seed +[21:40:39.608] If point is visible? -0.937481, -0.775272, -0.708164 mu:0.710408 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] If point is visible? -0.900402, -0.537444, 0.939685 mu:0.710408 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -0.902065, -0.534774, 0.939614 mu:0.710408 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.055575, -0.545503, 0.755454 mu:0.710408 unit_bearing:0.492626 -0.450015 0.744853 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.053333, -0.544828, 0.759062 mu:0.710408 unit_bearing:0.495212 -0.449851 0.743235 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.199308, -0.584946, 0.449304 mu:0.710408 unit_bearing:0.274366 -0.451321 0.849136 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] If point is visible? -0.981181, -0.505401, 0.874314 mu:0.710408 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -0.959235, -0.499686, 0.901533 mu:0.710408 unit_bearing:0.598909 -0.430356 0.675353 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -0.939326, -0.494617, 0.924990 mu:0.710408 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.044882, -0.516498, 0.789933 mu:0.710408 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.058889, -0.462772, 0.804459 mu:0.710408 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.056457, -0.462113, 0.808029 mu:0.710408 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.054012, -0.461452, 0.811593 mu:0.710408 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.049080, -0.460129, 0.818705 mu:0.710408 unit_bearing:0.544568 -0.395292 0.739723 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.046593, -0.459465, 0.822253 mu:0.710408 unit_bearing:0.547110 -0.395132 0.737931 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.050455, -0.457318, 0.818517 mu:0.710408 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.047969, -0.456656, 0.822066 mu:0.710408 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.059642, -0.628703, -0.680723 mu:0.710408 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.058661, -0.620793, -0.689449 mu:0.710408 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.061259, -0.615198, -0.690469 mu:0.710408 unit_bearing:-0.532856 -0.373974 0.759083 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.608] If point is visible? -1.051822, -0.454506, 0.818328 mu:0.710408 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.608] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.049337, -0.453845, 0.821878 mu:0.710408 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.061343, -0.609836, -0.695080 mu:0.710408 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.062644, -0.601663, -0.700193 mu:0.710408 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.066318, -0.587854, -0.706308 mu:0.710408 unit_bearing:-0.541621 -0.353322 0.762765 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.140039, -0.592257, -0.575458 mu:0.710408 unit_bearing:-0.449222 -0.367755 0.814221 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.065096, -0.590668, -0.705804 mu:0.710408 unit_bearing:-0.541518 -0.355350 0.761896 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.301311, -0.522922, -0.123110 mu:0.710408 unit_bearing:-0.123140 -0.358029 0.925555 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.301304, -0.520889, -0.131491 mu:0.710408 unit_bearing:-0.128873 -0.355871 0.925607 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.301604, -0.514317, -0.152637 mu:0.710408 unit_bearing:-0.143212 -0.349406 0.925962 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.301138, -0.510224, -0.169387 mu:0.710408 unit_bearing:-0.154671 -0.345069 0.925745 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.300093, -0.508623, -0.181744 mu:0.710408 unit_bearing:-0.163252 -0.342870 0.925088 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.301537, -0.507722, -0.173775 mu:0.710408 unit_bearing:-0.157546 -0.342925 0.926057 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.300434, -0.510676, -0.173373 mu:0.710408 unit_bearing:-0.157525 -0.345043 0.925274 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.277344, -0.417823, 0.419771 mu:0.710408 unit_bearing:0.268562 -0.330924 0.904635 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.276223, -0.417273, 0.423711 mu:0.710408 unit_bearing:0.271380 -0.330877 0.903810 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.275090, -0.416722, 0.427649 mu:0.710408 unit_bearing:0.274196 -0.330830 0.902977 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.272786, -0.415619, 0.435520 mu:0.710408 unit_bearing:0.279825 -0.330733 0.901284 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.271615, -0.415067, 0.439452 mu:0.710408 unit_bearing:0.282638 -0.330684 0.900424 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.264135, -0.408234, 0.466612 mu:0.710408 unit_bearing:0.302326 -0.328217 0.894915 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.320625, -0.479804, -0.088241 mu:0.710408 unit_bearing:-0.094686 -0.330645 0.938993 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.234779, -0.512409, -0.441034 mu:0.710408 unit_bearing:-0.346861 -0.323091 0.880511 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.073918, -0.532816, -0.737744 mu:0.710408 unit_bearing:-0.558967 -0.311792 0.768337 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.249606, -0.508471, -0.402155 mu:0.710408 unit_bearing:-0.319003 -0.323681 0.890768 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.317601, -0.476496, -0.137449 mu:0.710408 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.320376, -0.474174, -0.117446 mu:0.710408 unit_bearing:-0.114792 -0.324147 0.939016 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.322270, -0.474335, -0.093029 mu:0.710408 unit_bearing:-0.097577 -0.326375 0.940191 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.266460, -0.405839, 0.462375 mu:0.710408 unit_bearing:0.299562 -0.326162 0.896594 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.327243, -0.461500, -0.086578 mu:0.710408 unit_bearing:-0.091882 -0.317882 0.943668 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -0.909061, -0.257260, 1.044070 mu:0.710408 unit_bearing:0.720042 -0.271759 0.638504 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -0.913447, -0.255094, 1.040768 mu:0.710408 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -0.919732, -0.247319, 1.037104 mu:0.710408 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -0.918775, -0.250122, 1.037279 mu:0.710408 unit_bearing:0.715941 -0.266137 0.645446 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -0.915382, -0.249497, 1.040425 mu:0.710408 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] calculated Z= 2.203841 +[21:40:39.609] update seeds 305 +[21:40:39.609] If point is visible? -1.350549, -0.390382, -0.075441 mu:0.710408 unit_bearing:-0.077708 -0.268701 0.960084 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.350908, -0.389901, -0.071420 mu:0.710408 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.380993, -0.068269, 0.265576 mu:0.710408 unit_bearing:0.190836 -0.071099 0.979044 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.378126, -0.050543, 0.283829 mu:0.710408 unit_bearing:0.205221 -0.060181 0.976864 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.389387, 0.007442, 0.227721 mu:0.710408 unit_bearing:0.170760 -0.014437 0.985207 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.383702, 0.011411, 0.259940 mu:0.710408 unit_bearing:0.193780 -0.014428 0.980939 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.383743, 0.014457, 0.259567 mu:0.710408 unit_bearing:0.193781 -0.012247 0.980968 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.382210, 0.048953, 0.263499 mu:0.710408 unit_bearing:0.199529 0.011735 0.979822 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.373534, 0.003415, -0.308722 mu:0.710408 unit_bearing:-0.207935 0.029167 0.977708 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.373440, 0.006460, -0.309092 mu:0.710408 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.354424, 0.102148, 0.370805 mu:0.710408 unit_bearing:0.279597 0.039953 0.959286 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.359349, 0.111879, 0.349336 mu:0.710408 unit_bearing:0.265337 0.048674 0.962926 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.360252, 0.114434, 0.344963 mu:0.710408 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.380692, 0.197828, 0.191921 mu:0.710408 unit_bearing:0.161939 0.122906 0.979117 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.380057, 0.198311, 0.195951 mu:0.710408 unit_bearing:0.164817 0.122898 0.978638 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.373803, 0.202639, 0.232181 mu:0.710408 unit_bearing:0.190693 0.122813 0.973937 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.379024, 0.201830, 0.199601 mu:0.710408 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.182380, 0.673190, 0.362071 mu:0.710408 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.192645, 0.675271, 0.322315 mu:0.710408 unit_bearing:0.293882 0.448268 0.844209 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.234144, 0.626236, -0.258073 mu:0.710408 unit_bearing:-0.119288 0.463941 0.877798 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.234696, 0.626764, -0.254123 mu:0.710408 unit_bearing:-0.116453 0.463971 0.878162 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.233170, 0.629638, -0.254428 mu:0.710408 unit_bearing:-0.116431 0.466024 0.877078 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.236211, -0.524411, 0.423259 mu:0.710408 unit_bearing:0.261504 -0.406382 0.875482 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.223968, -0.532589, 0.447926 mu:0.710408 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.244882, -0.507128, -0.418168 mu:0.710408 unit_bearing:-0.330210 -0.321348 0.887523 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.353505, -0.378854, -0.081010 mu:0.710408 unit_bearing:-0.080616 -0.260090 0.962213 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.351856, -0.384860, -0.080236 mu:0.710408 unit_bearing:-0.080601 -0.264392 0.961041 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.350179, -0.390862, -0.079461 mu:0.710408 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.373440, 0.006460, -0.309092 mu:0.710408 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.375214, 0.007450, -0.301086 mu:0.710408 unit_bearing:-0.202190 0.031352 0.978844 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.372995, 0.018639, -0.310569 mu:0.710408 unit_bearing:-0.207923 0.040062 0.977324 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.375005, 0.013541, -0.301826 mu:0.710408 unit_bearing:-0.202185 0.035710 0.978696 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.361455, 0.110914, 0.341342 mu:0.710408 unit_bearing:0.259632 0.048685 0.964480 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.167902, -0.010903, -0.785721 mu:0.710408 unit_bearing:-0.546948 0.060369 0.834987 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.042339, 0.098786, -0.940781 mu:0.710408 unit_bearing:-0.647667 0.151136 0.746783 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.369290, 0.283870, -0.162733 mu:0.710408 unit_bearing:-0.080751 0.214280 0.973429 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.369841, 0.276811, -0.170070 mu:0.710408 unit_bearing:-0.086532 0.209938 0.973878 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.195141, 0.674535, 0.314510 mu:0.710408 unit_bearing:0.288333 0.448425 0.846037 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.299538, -0.501999, -0.202864 mu:0.710408 unit_bearing:-0.177574 -0.336372 0.924836 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -0.984849, -0.487491, 0.880342 mu:0.710408 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.231296, -0.529079, 0.431697 mu:0.710408 unit_bearing:0.267014 -0.410404 0.871936 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.226689, -0.526800, 0.447328 mu:0.710408 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.303829, -0.508410, -0.153437 mu:0.710408 unit_bearing:-0.143249 -0.345171 0.927543 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.059642, -0.628703, -0.680723 mu:0.710408 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.609] If point is visible? -1.345529, -0.377284, -0.170912 mu:0.710408 unit_bearing:-0.143924 -0.251199 0.957175 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.327060, -0.463529, -0.078170 mu:0.710408 unit_bearing:-0.086130 -0.320041 0.943480 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.322938, -0.475420, -0.076612 mu:0.710408 unit_bearing:-0.086090 -0.328560 0.940551 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.232043, -0.515201, 0.446124 mu:0.710408 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.237025, 0.040530, -0.670608 mu:0.710408 unit_bearing:-0.460844 0.086669 0.883239 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] If point is visible? -1.139983, 0.129323, -0.815568 mu:0.710408 unit_bearing:-0.556050 0.161828 0.815243 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.609] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.610] If point is visible? -1.131896, 0.115432, -0.828800 mu:0.710408 unit_bearing:-0.566638 0.153179 0.809603 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.610] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.610] If point is visible? -1.142109, 0.117516, -0.814380 mu:0.710408 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=-0.000248 y=0.000000 z=0.000359 +[21:40:39.610] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.610] If point is visible? -0.876215, -0.726947, -0.659729 mu:0.759969 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -0.839997, -0.502185, 0.880037 mu:0.759969 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.973918, -0.485173, 0.740488 mu:0.759969 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.975333, -0.482572, 0.740326 mu:0.759969 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.984210, -0.632695, -0.602121 mu:0.759969 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -0.988068, -0.438222, 0.750950 mu:0.759969 unit_bearing:0.531569 -0.400079 0.746573 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.985799, -0.437605, 0.754285 mu:0.759969 unit_bearing:0.534128 -0.399922 0.744828 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.989671, -0.429714, 0.753753 mu:0.759969 unit_bearing:0.534481 -0.393921 0.747768 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.987391, -0.429099, 0.757086 mu:0.759969 unit_bearing:0.537038 -0.393766 0.746015 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.985098, -0.428484, 0.760415 mu:0.759969 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.980474, -0.427250, 0.767057 mu:0.759969 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.978144, -0.426632, 0.770370 mu:0.759969 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.981753, -0.424621, 0.766882 mu:0.759969 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -1.206565, -0.524238, -0.035900 mu:0.759969 unit_bearing:-0.068592 -0.392086 0.917368 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.206863, -0.523797, -0.032165 mu:0.759969 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -0.992657, -0.412668, 0.759333 mu:0.759969 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.992818, -0.406775, 0.762297 mu:0.759969 unit_bearing:0.543069 -0.377409 0.750092 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -1.005078, -0.510596, -0.678676 mu:0.759969 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -1.004743, -0.505536, -0.682945 mu:0.759969 unit_bearing:-0.556125 -0.318051 0.767833 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.906433, -0.293873, 0.907916 mu:0.759969 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -1.006375, -0.495160, -0.688122 mu:0.759969 unit_bearing:-0.559059 -0.309745 0.769097 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.908454, -0.288610, 0.907585 mu:0.759969 unit_bearing:0.663094 -0.301733 0.685028 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -1.262677, -0.364609, -0.068031 mu:0.759969 unit_bearing:-0.077708 -0.268701 0.960084 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.263004, -0.364159, -0.064272 mu:0.759969 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.264107, -0.360904, -0.060871 mu:0.759969 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.292416, -0.138349, 0.206392 mu:0.759969 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.291861, -0.137876, 0.210157 mu:0.759969 unit_bearing:0.153298 -0.123440 0.980440 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.290413, -0.063496, 0.250803 mu:0.759969 unit_bearing:0.190836 -0.071099 0.979044 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.289701, -0.063027, 0.254561 mu:0.759969 unit_bearing:0.193710 -0.071093 0.978479 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.299047, -0.063897, 0.201178 mu:0.759969 unit_bearing:0.153420 -0.066806 0.985900 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.298481, -0.063429, 0.204946 mu:0.759969 unit_bearing:0.156302 -0.066802 0.985448 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.267495, -0.109462, -0.336533 mu:0.759969 unit_bearing:-0.256575 -0.051375 0.965158 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.280980, -0.078007, -0.291229 mu:0.759969 unit_bearing:-0.219409 -0.031844 0.975113 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.298315, 0.007280, 0.215433 mu:0.759969 unit_bearing:0.170760 -0.014437 0.985207 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.292938, 0.010989, 0.245540 mu:0.759969 unit_bearing:0.193780 -0.014428 0.980939 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.292977, 0.013836, 0.245191 mu:0.759969 unit_bearing:0.193781 -0.012247 0.980968 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.297815, 0.030538, 0.216402 mu:0.759969 unit_bearing:0.173642 0.003017 0.984804 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.300242, 0.014439, 0.203081 mu:0.759969 unit_bearing:0.162118 -0.007893 0.986740 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -0.958351, 0.116372, 0.894610 mu:0.759969 unit_bearing:0.691114 0.004949 0.722729 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.984609, 0.115621, 0.865724 mu:0.759969 unit_bearing:0.669414 0.007058 0.742856 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -1.291528, 0.046082, 0.248864 mu:0.759969 unit_bearing:0.199529 0.011735 0.979822 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -0.984583, 0.118345, 0.865386 mu:0.759969 unit_bearing:0.669411 0.009144 0.742836 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.984463, 0.126517, 0.864365 mu:0.759969 unit_bearing:0.669397 0.015402 0.742745 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -0.945987, 0.139535, 0.904404 mu:0.759969 unit_bearing:0.700572 0.021513 0.713257 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -1.270978, 0.104448, 0.325326 mu:0.759969 unit_bearing:0.262485 0.048680 0.963707 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -0.922796, 0.179759, 0.921109 mu:0.759969 unit_bearing:0.716759 0.050308 0.695504 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -1.275181, 0.127298, 0.299714 mu:0.759969 unit_bearing:0.245308 0.068288 0.967037 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -0.922625, 0.182448, 0.920751 mu:0.759969 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.610] If point is visible? -1.238380, 0.141961, 0.422411 mu:0.759969 unit_bearing:0.338994 0.067984 0.938329 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.274449, 0.124909, 0.303810 mu:0.759969 unit_bearing:0.248172 0.066106 0.966458 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.296756, 0.119849, 0.190084 mu:0.759969 unit_bearing:0.162056 0.072822 0.984091 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.296156, 0.120305, 0.193852 mu:0.759969 unit_bearing:0.164937 0.072817 0.983613 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.286577, 0.126665, 0.246521 mu:0.759969 unit_bearing:0.205195 0.072737 0.976015 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.280637, 0.167785, 0.252816 mu:0.759969 unit_bearing:0.213716 0.103171 0.971433 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.279832, 0.168233, 0.256567 mu:0.759969 unit_bearing:0.216582 0.103161 0.970799 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.118717, 0.630130, 0.288896 mu:0.759969 unit_bearing:0.282778 0.448578 0.847829 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.610] If point is visible? -1.114069, 0.631510, 0.303484 mu:0.759969 unit_bearing:0.293882 0.448268 0.844209 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.611] If point is visible? -1.104398, 0.629563, 0.340628 mu:0.759969 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.611] If point is visible? -1.153972, 0.585683, -0.238974 mu:0.759969 unit_bearing:-0.119288 0.463941 0.877798 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.611] If point is visible? -0.989125, -0.627312, -0.599698 mu:0.759969 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.611] If point is visible? -1.037636, -0.577362, -0.567035 mu:0.759969 unit_bearing:-0.475151 -0.382965 0.792193 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.611] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.611] If point is visible? -1.198971, -0.542573, -0.003171 mu:0.759969 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000204 y=0.000000 z=0.000266 +[21:40:39.611] init seeds +[21:40:39.611] DepthFilter: Initialized 3 new seeds +[21:40:39.613] DepthFilter: Initialized 5 new seeds +[21:40:39.877] add new frame +[21:40:39.877] update seed +[21:40:39.877] If point is visible? -0.937482, -0.775272, -0.708163 mu:0.710408 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000249 y=0.000000 z=0.000359 +[21:40:39.877] If point is visible? -0.900403, -0.537444, 0.939685 mu:0.710408 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000249 y=0.000000 z=0.000359 +[21:40:39.877] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.877] If point is visible? -0.902066, -0.534774, 0.939614 mu:0.710408 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000249 y=0.000000 z=0.000359 +[21:40:39.878] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.878] If point is visible? -1.055576, -0.545503, 0.755454 mu:0.710408 unit_bearing:0.492626 -0.450015 0.744853 T_cur_ref: x=-0.000249 y=0.000000 z=0.000359 +[21:40:39.878] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.878] If point is visible? -1.053334, -0.544828, 0.759062 mu:0.710408 unit_bearing:0.495212 -0.449851 0.743235 T_cur_ref: x=-0.000249 y=0.000000 z=0.000359 +[21:40:39.878] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.878] If point is visible? -1.199309, -0.584946, 0.449304 mu:0.710408 unit_bearing:0.274366 -0.451321 0.849136 T_cur_ref: x=-0.000249 y=0.000000 z=0.000359 +[21:40:39.878] If point is visible? -0.981182, -0.505401, 0.874314 mu:0.710408 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=-0.000249 y=0.000000 z=0.000359 +[21:40:39.878] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.878] add key frame +[21:40:39.878] If point is visible? -0.959236, -0.499686, 0.901533 mu:0.710408 unit_bearing:0.598909 -0.430356 0.675353 T_cur_ref: x=-0.000249 y=0.000000 z=0.000359 +[21:40:39.878] Z inverse min: 1.080831, Z inverse max: 0.339985 +[21:40:39.878] remove key frame +[21:40:39.878] init seeds +[21:40:39.878] update seed +[21:40:39.878] If point is visible? -0.876216, -0.726947, -0.659729 mu:0.759969 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -0.839998, -0.502185, 0.880038 mu:0.759969 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.973919, -0.485173, 0.740488 mu:0.759969 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.975334, -0.482572, 0.740326 mu:0.759969 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.984211, -0.632695, -0.602120 mu:0.759969 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -0.988069, -0.438222, 0.750951 mu:0.759969 unit_bearing:0.531569 -0.400079 0.746573 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.985800, -0.437605, 0.754285 mu:0.759969 unit_bearing:0.534128 -0.399922 0.744828 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.989672, -0.429714, 0.753753 mu:0.759969 unit_bearing:0.534481 -0.393921 0.747768 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.987392, -0.429099, 0.757086 mu:0.759969 unit_bearing:0.537038 -0.393766 0.746015 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.985099, -0.428484, 0.760415 mu:0.759969 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.980475, -0.427250, 0.767057 mu:0.759969 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.978145, -0.426632, 0.770370 mu:0.759969 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.981754, -0.424621, 0.766882 mu:0.759969 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -1.206566, -0.524238, -0.035900 mu:0.759969 unit_bearing:-0.068592 -0.392086 0.917368 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.206864, -0.523797, -0.032165 mu:0.759969 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -0.992658, -0.412668, 0.759334 mu:0.759969 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.992819, -0.406775, 0.762298 mu:0.759969 unit_bearing:0.543069 -0.377409 0.750092 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -1.005079, -0.510596, -0.678676 mu:0.759969 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -1.004744, -0.505536, -0.682945 mu:0.759969 unit_bearing:-0.556125 -0.318051 0.767833 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.906434, -0.293873, 0.907916 mu:0.759969 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -1.006376, -0.495160, -0.688122 mu:0.759969 unit_bearing:-0.559059 -0.309745 0.769097 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -0.908455, -0.288610, 0.907585 mu:0.759969 unit_bearing:0.663094 -0.301733 0.685028 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.878] If point is visible? -1.262678, -0.364609, -0.068031 mu:0.759969 unit_bearing:-0.077708 -0.268701 0.960084 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.263005, -0.364159, -0.064271 mu:0.759969 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.264108, -0.360904, -0.060871 mu:0.759969 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.292417, -0.138349, 0.206392 mu:0.759969 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.291862, -0.137876, 0.210158 mu:0.759969 unit_bearing:0.153298 -0.123440 0.980440 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.290414, -0.063496, 0.250803 mu:0.759969 unit_bearing:0.190836 -0.071099 0.979044 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.289702, -0.063027, 0.254561 mu:0.759969 unit_bearing:0.193710 -0.071093 0.978479 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.299048, -0.063897, 0.201178 mu:0.759969 unit_bearing:0.153420 -0.066806 0.985900 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.298482, -0.063429, 0.204946 mu:0.759969 unit_bearing:0.156302 -0.066802 0.985448 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.267496, -0.109462, -0.336533 mu:0.759969 unit_bearing:-0.256575 -0.051375 0.965158 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.280981, -0.078007, -0.291229 mu:0.759969 unit_bearing:-0.219409 -0.031844 0.975113 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.298316, 0.007280, 0.215433 mu:0.759969 unit_bearing:0.170760 -0.014437 0.985207 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.878] If point is visible? -1.292939, 0.010989, 0.245540 mu:0.759969 unit_bearing:0.193780 -0.014428 0.980939 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.292978, 0.013836, 0.245191 mu:0.759969 unit_bearing:0.193781 -0.012247 0.980968 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.297816, 0.030538, 0.216402 mu:0.759969 unit_bearing:0.173642 0.003017 0.984804 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.300243, 0.014439, 0.203081 mu:0.759969 unit_bearing:0.162118 -0.007893 0.986740 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.958352, 0.116372, 0.894611 mu:0.759969 unit_bearing:0.691114 0.004949 0.722729 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -0.984611, 0.115621, 0.865725 mu:0.759969 unit_bearing:0.669414 0.007058 0.742856 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.291529, 0.046082, 0.248864 mu:0.759969 unit_bearing:0.199529 0.011735 0.979822 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.984584, 0.118345, 0.865386 mu:0.759969 unit_bearing:0.669411 0.009144 0.742836 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -0.984464, 0.126517, 0.864366 mu:0.759969 unit_bearing:0.669397 0.015402 0.742745 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -0.945988, 0.139535, 0.904404 mu:0.759969 unit_bearing:0.700572 0.021513 0.713257 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.270979, 0.104448, 0.325326 mu:0.759969 unit_bearing:0.262485 0.048680 0.963707 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.922797, 0.179759, 0.921109 mu:0.759969 unit_bearing:0.716759 0.050308 0.695504 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.275182, 0.127298, 0.299715 mu:0.759969 unit_bearing:0.245308 0.068288 0.967037 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.922626, 0.182448, 0.920751 mu:0.759969 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.238382, 0.141961, 0.422412 mu:0.759969 unit_bearing:0.338994 0.067984 0.938329 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.274450, 0.124909, 0.303810 mu:0.759969 unit_bearing:0.248172 0.066106 0.966458 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.296757, 0.119849, 0.190084 mu:0.759969 unit_bearing:0.162056 0.072822 0.984091 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.296157, 0.120305, 0.193852 mu:0.759969 unit_bearing:0.164937 0.072817 0.983613 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.286578, 0.126665, 0.246521 mu:0.759969 unit_bearing:0.205195 0.072737 0.976015 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.280638, 0.167785, 0.252816 mu:0.759969 unit_bearing:0.213716 0.103171 0.971433 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.279833, 0.168233, 0.256567 mu:0.759969 unit_bearing:0.216582 0.103161 0.970799 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.118718, 0.630130, 0.288896 mu:0.759969 unit_bearing:0.282778 0.448578 0.847829 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.114070, 0.631510, 0.303484 mu:0.759969 unit_bearing:0.293882 0.448268 0.844209 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.104399, 0.629563, 0.340629 mu:0.759969 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.153973, 0.585683, -0.238973 mu:0.759969 unit_bearing:-0.119288 0.463941 0.877798 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.989126, -0.627312, -0.599698 mu:0.759969 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.037637, -0.577362, -0.567035 mu:0.759969 unit_bearing:-0.475151 -0.382965 0.792193 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.198973, -0.542573, -0.003171 mu:0.759969 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.991946, -0.587456, -0.634389 mu:0.759969 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -0.989112, -0.414698, 0.762847 mu:0.759969 unit_bearing:0.542727 -0.383436 0.747277 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.263907, -0.359446, -0.072511 mu:0.759969 unit_bearing:-0.080601 -0.264392 0.961041 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.262339, -0.365057, -0.071790 mu:0.759969 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.279105, -0.081761, -0.298350 mu:0.759969 unit_bearing:-0.225139 -0.034016 0.973733 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.942951, 0.139901, 0.907514 mu:0.759969 unit_bearing:0.702933 0.021502 0.710931 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.274862, 0.018791, -0.325830 mu:0.759969 unit_bearing:-0.236580 0.044376 0.970598 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.284426, 0.006358, -0.286401 mu:0.759969 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.284010, 0.017743, -0.287783 mu:0.759969 unit_bearing:-0.207923 0.040062 0.977324 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.245386, 0.147808, 0.399163 mu:0.759969 unit_bearing:0.322041 0.074548 0.943786 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.009489, 0.185517, 0.823898 mu:0.759969 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.271966, 0.103997, 0.321591 mu:0.759969 unit_bearing:0.259632 0.048685 0.964480 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.058423, 0.085143, -0.777145 mu:0.759969 unit_bearing:-0.572151 0.136225 0.808756 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.063256, 0.086102, -0.770416 mu:0.759969 unit_bearing:-0.566958 0.136326 0.812388 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.085787, 0.096442, -0.737062 mu:0.759969 unit_bearing:-0.540707 0.141035 0.829304 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.089419, 0.102946, -0.730799 mu:0.759969 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.280205, 0.265676, -0.149595 mu:0.759969 unit_bearing:-0.080751 0.214280 0.973429 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.231359, -0.456966, -0.082706 mu:0.759969 unit_bearing:-0.097518 -0.337007 0.936438 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.136054, -0.485701, -0.452925 mu:0.759969 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.985608, -0.617804, -0.615154 mu:0.759969 unit_bearing:-0.515504 -0.409014 0.752969 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.949314, 0.122929, 0.903329 mu:0.759969 unit_bearing:0.698243 0.009087 0.715803 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.290277, 0.153863, 0.208790 mu:0.759969 unit_bearing:0.179276 0.096747 0.979030 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -1.287538, 0.155670, 0.223835 mu:0.759969 unit_bearing:0.190775 0.096716 0.976858 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.949379, 0.112099, 0.904669 mu:0.759969 unit_bearing:0.698251 0.000794 0.715852 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.069114, 0.110119, -0.759174 mu:0.759969 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.015327, 0.179324, 0.818075 mu:0.759969 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.247383, 0.152586, 0.391042 mu:0.759969 unit_bearing:0.316370 0.078904 0.945349 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.978001, 0.081704, -0.876479 mu:0.759969 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.089419, 0.102946, -0.730799 mu:0.759969 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:39.879] If point is visible? -1.263251, 0.168179, 0.328705 mu:0.759969 unit_bearing:0.270890 0.096439 0.957767 T_cur_ref: x=-0.000205 y=0.000000 z=0.000266 +[21:40:39.879] If point is visible? -0.912108, -0.755177, -0.683727 mu:0.731330 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.879] If point is visible? -0.872625, -0.519029, 0.916193 mu:0.731330 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.879] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.879] If point is visible? -0.946949, -0.511156, 0.843965 mu:0.731330 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.879] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.879] If point is visible? -1.020297, -0.528721, 0.741418 mu:0.731330 unit_bearing:0.495212 -0.449851 0.743235 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.879] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.879] If point is visible? -1.025036, -0.659670, -0.619602 mu:0.731330 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.879] If point is visible? -1.028723, -0.656764, -0.616573 mu:0.731330 unit_bearing:-0.501885 -0.421762 0.755135 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.879] If point is visible? -1.083795, -0.599140, -0.579844 mu:0.731330 unit_bearing:-0.469857 -0.383208 0.795227 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.879] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.879] If point is visible? -1.253962, -0.544441, -0.034740 mu:0.731330 unit_bearing:-0.068592 -0.392086 0.917368 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.879] If point is visible? -1.254263, -0.543982, -0.030858 mu:0.731330 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.879] If point is visible? -1.032276, -0.610192, -0.657139 mu:0.731330 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.879] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.028773, -0.425182, 0.794431 mu:0.731330 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.109929, -0.574748, -0.554563 mu:0.731330 unit_bearing:-0.449222 -0.367755 0.814221 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.192220, -0.448003, 0.498116 mu:0.731330 unit_bearing:0.326525 -0.369575 0.869940 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.264725, -0.503365, -0.130790 mu:0.731330 unit_bearing:-0.134606 -0.353709 0.925619 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.265297, -0.502921, -0.126911 mu:0.731330 unit_bearing:-0.131748 -0.353733 0.926021 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.264959, -0.496972, -0.151327 mu:0.731330 unit_bearing:-0.148942 -0.347239 0.925873 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.207263, -0.414442, 0.490888 mu:0.731330 unit_bearing:0.324333 -0.344570 0.880954 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.209698, -0.412138, 0.486815 mu:0.731330 unit_bearing:0.321592 -0.342535 0.882750 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.208357, -0.411590, 0.490596 mu:0.731330 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.215579, -0.404664, 0.478360 mu:0.731330 unit_bearing:0.316146 -0.336356 0.887083 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.195257, -0.506410, -0.429877 mu:0.731330 unit_bearing:-0.352267 -0.329263 0.876067 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.197810, -0.503197, -0.426532 mu:0.731330 unit_bearing:-0.349542 -0.327229 0.877919 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.219003, -0.399489, 0.473975 mu:0.731330 unit_bearing:0.313438 -0.332209 0.889603 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.278675, -0.461566, -0.148177 mu:0.731330 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.279280, -0.461119, -0.144294 mu:0.731330 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -0.935846, -0.307244, 0.948735 mu:0.731330 unit_bearing:0.665080 -0.307564 0.680494 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.280585, -0.462211, -0.128371 mu:0.731330 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.214252, -0.493693, -0.389570 mu:0.731330 unit_bearing:-0.321796 -0.323625 0.889783 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -0.940983, -0.302402, 0.945203 mu:0.731330 unit_bearing:0.662970 -0.303734 0.684264 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -0.939929, -0.305136, 0.945372 mu:0.731330 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -0.942029, -0.299666, 0.945032 mu:0.731330 unit_bearing:0.663094 -0.301733 0.685028 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.342535, -0.143416, 0.217229 mu:0.731330 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.340491, -0.138498, 0.232516 mu:0.731330 unit_bearing:0.161944 -0.121240 0.979324 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.340335, -0.065633, 0.263375 mu:0.731330 unit_bearing:0.190836 -0.071099 0.979044 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.339586, -0.065145, 0.267279 mu:0.731330 unit_bearing:0.193710 -0.071093 0.978479 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.305574, -0.086574, -0.397377 mu:0.731330 unit_bearing:-0.290794 -0.027409 0.956393 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.342990, 0.014729, 0.257549 mu:0.731330 unit_bearing:0.193781 -0.012247 0.980968 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.348077, 0.032086, 0.227644 mu:0.731330 unit_bearing:0.173642 0.003017 0.984804 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.342239, 0.047759, 0.257458 mu:0.731330 unit_bearing:0.196655 0.011736 0.980402 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.341467, 0.048237, 0.261362 mu:0.731330 unit_bearing:0.199529 0.011735 0.979822 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.338224, 0.053105, 0.276607 mu:0.731330 unit_bearing:0.211015 0.013911 0.977384 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.347010, 0.124894, 0.200293 mu:0.731330 unit_bearing:0.162056 0.072822 0.984091 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.332068, 0.145662, 0.273039 mu:0.731330 unit_bearing:0.216648 0.081414 0.972849 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.330175, 0.166319, 0.270452 mu:0.731330 unit_bearing:0.216604 0.096639 0.971465 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.341688, 0.175610, 0.197952 mu:0.731330 unit_bearing:0.164854 0.109844 0.980182 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.341043, 0.176079, 0.201864 mu:0.731330 unit_bearing:0.167733 0.109836 0.979695 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.330791, 0.182620, 0.256538 mu:0.731330 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.330108, 0.174703, 0.265445 mu:0.731330 unit_bearing:0.213716 0.103171 0.971433 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.329264, 0.175168, 0.269342 mu:0.731330 unit_bearing:0.216582 0.103161 0.970799 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.339833, 0.195803, 0.191458 mu:0.731330 unit_bearing:0.161932 0.125081 0.978843 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.339200, 0.196271, 0.195369 mu:0.731330 unit_bearing:0.164811 0.125072 0.978363 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.338555, 0.196739, 0.199280 mu:0.731330 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.159236, 0.655829, 0.310159 mu:0.731330 unit_bearing:0.288333 0.448425 0.846037 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.199003, 0.612749, -0.238505 mu:0.731330 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.246003, -0.563496, -0.000746 mu:0.731330 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.026198, -0.430670, 0.794804 mu:0.731330 unit_bearing:0.542727 -0.383436 0.747277 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.211095, -0.492003, -0.401351 mu:0.731330 unit_bearing:-0.330210 -0.321348 0.887523 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.304277, -0.089988, -0.400860 mu:0.731330 unit_bearing:-0.293632 -0.029578 0.955461 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.336767, 0.013835, -0.287813 mu:0.731330 unit_bearing:-0.202185 0.035710 0.978696 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.062774, -0.080898, -0.856542 mu:0.731330 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.137934, -0.015786, -0.758031 mu:0.731330 unit_bearing:-0.546977 0.056118 0.835264 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.321246, 0.102514, 0.337629 mu:0.731330 unit_bearing:0.259640 0.044337 0.964687 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.137555, -0.010012, -0.758697 mu:0.731330 unit_bearing:-0.546948 0.060369 0.834987 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.320962, 0.108415, 0.336895 mu:0.731330 unit_bearing:0.259632 0.048685 0.964480 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.047076, 0.193055, 0.858291 mu:0.731330 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.331808, 0.270552, -0.152026 mu:0.731330 unit_bearing:-0.080763 0.209953 0.974370 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.034836, -0.640830, -0.623075 mu:0.731330 unit_bearing:-0.505158 -0.409616 0.759625 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.209232, -0.425188, 0.476639 mu:0.731330 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.263316, -0.486994, -0.191987 mu:0.731330 unit_bearing:-0.177574 -0.336372 0.924836 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.267288, -0.493219, -0.143958 mu:0.731330 unit_bearing:-0.143249 -0.345171 0.927543 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.275580, -0.486039, -0.081819 mu:0.731330 unit_bearing:-0.097469 -0.345497 0.933344 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.279810, -0.474527, -0.083324 mu:0.731330 unit_bearing:-0.097518 -0.337007 0.936438 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.032276, -0.610192, -0.657139 mu:0.731330 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.204210, 0.039984, -0.646600 mu:0.731330 unit_bearing:-0.460844 0.086669 0.883239 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.336120, 0.173922, 0.233867 mu:0.731330 unit_bearing:0.190750 0.105419 0.975962 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.340226, 0.160238, 0.219716 mu:0.731330 unit_bearing:0.179276 0.096747 0.979030 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.337346, 0.162115, 0.235344 mu:0.731330 unit_bearing:0.190775 0.096716 0.976858 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -1.018138, 0.085169, -0.908739 mu:0.731330 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -0.912108, -0.755177, -0.683727 mu:0.731330 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -0.872625, -0.519029, 0.916193 mu:0.731330 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -0.946949, -0.511156, 0.843965 mu:0.731330 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.020297, -0.528721, 0.741418 mu:0.731330 unit_bearing:0.495212 -0.449851 0.743235 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.010479, -0.503909, 0.771537 mu:0.731330 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] If point is visible? -1.172965, -0.565421, 0.417892 mu:0.731330 unit_bearing:0.257747 -0.447656 0.856254 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] If point is visible? -0.910349, -0.477359, 0.902038 mu:0.731330 unit_bearing:0.615916 -0.426885 0.662131 T_cur_ref: x=-0.000139 y=0.000000 z=0.000178 +[21:40:39.880] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:39.880] init seeds +[21:40:39.880] DepthFilter: Initialized 3 new seeds +[21:40:39.883] DepthFilter: Initialized 3 new seeds +[21:40:40.150] add new frame +[21:40:40.150] update seed +[21:40:40.150] If point is visible? -0.876217, -0.726947, -0.659729 mu:0.759969 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000206 y=0.000000 z=0.000266 +[21:40:40.150] If point is visible? -0.840000, -0.502185, 0.880038 mu:0.759969 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000206 y=0.000000 z=0.000266 +[21:40:40.150] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:40.150] If point is visible? -0.973920, -0.485173, 0.740489 mu:0.759969 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=-0.000206 y=0.000000 z=0.000266 +[21:40:40.150] Z inverse min: 1.139402, Z inverse max: 0.380537 +[21:40:40.150] add key frame +[21:40:40.150] remove key frame +[21:40:40.150] init seeds +[21:40:40.151] update seed +[21:40:40.151] If point is visible? -0.912109, -0.755177, -0.683727 mu:0.731330 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -0.872626, -0.519029, 0.916193 mu:0.731330 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -0.946950, -0.511156, 0.843965 mu:0.731330 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.020299, -0.528721, 0.741418 mu:0.731330 unit_bearing:0.495212 -0.449851 0.743235 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.025037, -0.659670, -0.619602 mu:0.731330 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.028724, -0.656764, -0.616573 mu:0.731330 unit_bearing:-0.501885 -0.421762 0.755135 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.083796, -0.599140, -0.579844 mu:0.731330 unit_bearing:-0.469857 -0.383208 0.795227 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.253963, -0.544441, -0.034739 mu:0.731330 unit_bearing:-0.068592 -0.392086 0.917368 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.254264, -0.543982, -0.030857 mu:0.731330 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.032277, -0.610192, -0.657139 mu:0.731330 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.028775, -0.425182, 0.794431 mu:0.731330 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.109930, -0.574748, -0.554562 mu:0.731330 unit_bearing:-0.449222 -0.367755 0.814221 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.192221, -0.448003, 0.498116 mu:0.731330 unit_bearing:0.326525 -0.369575 0.869940 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.264726, -0.503365, -0.130789 mu:0.731330 unit_bearing:-0.134606 -0.353709 0.925619 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.265298, -0.502921, -0.126911 mu:0.731330 unit_bearing:-0.131748 -0.353733 0.926021 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.264961, -0.496972, -0.151327 mu:0.731330 unit_bearing:-0.148942 -0.347239 0.925873 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.207264, -0.414442, 0.490888 mu:0.731330 unit_bearing:0.324333 -0.344570 0.880954 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.209699, -0.412138, 0.486816 mu:0.731330 unit_bearing:0.321592 -0.342535 0.882750 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.208358, -0.411590, 0.490596 mu:0.731330 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.215580, -0.404664, 0.478360 mu:0.731330 unit_bearing:0.316146 -0.336356 0.887083 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.195258, -0.506410, -0.429877 mu:0.731330 unit_bearing:-0.352267 -0.329263 0.876067 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.197811, -0.503197, -0.426532 mu:0.731330 unit_bearing:-0.349542 -0.327229 0.877919 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.219005, -0.399489, 0.473975 mu:0.731330 unit_bearing:0.313438 -0.332209 0.889603 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.278676, -0.461566, -0.148177 mu:0.731330 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.279282, -0.461119, -0.144294 mu:0.731330 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -0.935847, -0.307244, 0.948735 mu:0.731330 unit_bearing:0.665080 -0.307564 0.680494 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.280586, -0.462211, -0.128371 mu:0.731330 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.214253, -0.493693, -0.389570 mu:0.731330 unit_bearing:-0.321796 -0.323625 0.889783 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -0.940984, -0.302402, 0.945203 mu:0.731330 unit_bearing:0.662970 -0.303734 0.684264 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -0.939931, -0.305136, 0.945372 mu:0.731330 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -0.942030, -0.299666, 0.945032 mu:0.731330 unit_bearing:0.663094 -0.301733 0.685028 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.342536, -0.143416, 0.217230 mu:0.731330 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.340492, -0.138498, 0.232517 mu:0.731330 unit_bearing:0.161944 -0.121240 0.979324 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.340336, -0.065633, 0.263375 mu:0.731330 unit_bearing:0.190836 -0.071099 0.979044 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.339587, -0.065145, 0.267279 mu:0.731330 unit_bearing:0.193710 -0.071093 0.978479 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.305575, -0.086574, -0.397376 mu:0.731330 unit_bearing:-0.290794 -0.027409 0.956393 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.342991, 0.014729, 0.257549 mu:0.731330 unit_bearing:0.193781 -0.012247 0.980968 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.348078, 0.032086, 0.227644 mu:0.731330 unit_bearing:0.173642 0.003017 0.984804 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.342240, 0.047759, 0.257458 mu:0.731330 unit_bearing:0.196655 0.011736 0.980402 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.341468, 0.048237, 0.261363 mu:0.731330 unit_bearing:0.199529 0.011735 0.979822 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.338226, 0.053105, 0.276607 mu:0.731330 unit_bearing:0.211015 0.013911 0.977384 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.347011, 0.124894, 0.200293 mu:0.731330 unit_bearing:0.162056 0.072822 0.984091 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.332069, 0.145662, 0.273039 mu:0.731330 unit_bearing:0.216648 0.081414 0.972849 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.330176, 0.166319, 0.270453 mu:0.731330 unit_bearing:0.216604 0.096639 0.971465 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.341689, 0.175610, 0.197952 mu:0.731330 unit_bearing:0.164854 0.109844 0.980182 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.341045, 0.176079, 0.201864 mu:0.731330 unit_bearing:0.167733 0.109836 0.979695 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.330792, 0.182620, 0.256538 mu:0.731330 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.330109, 0.174703, 0.265445 mu:0.731330 unit_bearing:0.213716 0.103171 0.971433 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.329265, 0.175168, 0.269342 mu:0.731330 unit_bearing:0.216582 0.103161 0.970799 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.339834, 0.195803, 0.191458 mu:0.731330 unit_bearing:0.161932 0.125081 0.978843 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.339201, 0.196271, 0.195369 mu:0.731330 unit_bearing:0.164811 0.125072 0.978363 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.338556, 0.196739, 0.199280 mu:0.731330 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.159237, 0.655829, 0.310159 mu:0.731330 unit_bearing:0.288333 0.448425 0.846037 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.199004, 0.612749, -0.238505 mu:0.731330 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.246004, -0.563496, -0.000746 mu:0.731330 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.026200, -0.430670, 0.794805 mu:0.731330 unit_bearing:0.542727 -0.383436 0.747277 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.211096, -0.492003, -0.401351 mu:0.731330 unit_bearing:-0.330210 -0.321348 0.887523 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.304278, -0.089988, -0.400859 mu:0.731330 unit_bearing:-0.293632 -0.029578 0.955461 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.336768, 0.013835, -0.287813 mu:0.731330 unit_bearing:-0.202185 0.035710 0.978696 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.062775, -0.080898, -0.856542 mu:0.731330 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.137935, -0.015786, -0.758031 mu:0.731330 unit_bearing:-0.546977 0.056118 0.835264 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.321247, 0.102514, 0.337629 mu:0.731330 unit_bearing:0.259640 0.044337 0.964687 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.137556, -0.010012, -0.758697 mu:0.731330 unit_bearing:-0.546948 0.060369 0.834987 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.151] If point is visible? -1.320963, 0.108415, 0.336895 mu:0.731330 unit_bearing:0.259632 0.048685 0.964480 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] If point is visible? -1.047077, 0.193055, 0.858291 mu:0.731330 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.151] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.331809, 0.270552, -0.152026 mu:0.731330 unit_bearing:-0.080763 0.209953 0.974370 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.034838, -0.640830, -0.623075 mu:0.731330 unit_bearing:-0.505158 -0.409616 0.759625 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.209233, -0.425188, 0.476640 mu:0.731330 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.263317, -0.486994, -0.191987 mu:0.731330 unit_bearing:-0.177574 -0.336372 0.924836 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.267289, -0.493219, -0.143958 mu:0.731330 unit_bearing:-0.143249 -0.345171 0.927543 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.275581, -0.486039, -0.081819 mu:0.731330 unit_bearing:-0.097469 -0.345497 0.933344 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.279811, -0.474527, -0.083323 mu:0.731330 unit_bearing:-0.097518 -0.337007 0.936438 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.032277, -0.610192, -0.657139 mu:0.731330 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.204211, 0.039984, -0.646599 mu:0.731330 unit_bearing:-0.460844 0.086669 0.883239 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.336121, 0.173922, 0.233867 mu:0.731330 unit_bearing:0.190750 0.105419 0.975962 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.340227, 0.160238, 0.219717 mu:0.731330 unit_bearing:0.179276 0.096747 0.979030 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.337347, 0.162115, 0.235345 mu:0.731330 unit_bearing:0.190775 0.096716 0.976858 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.018139, 0.085169, -0.908739 mu:0.731330 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -0.912109, -0.755177, -0.683727 mu:0.731330 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -0.872626, -0.519029, 0.916193 mu:0.731330 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -0.946950, -0.511156, 0.843965 mu:0.731330 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.020299, -0.528721, 0.741418 mu:0.731330 unit_bearing:0.495212 -0.449851 0.743235 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.010480, -0.503909, 0.771537 mu:0.731330 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.172966, -0.565421, 0.417892 mu:0.731330 unit_bearing:0.257747 -0.447656 0.856254 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -0.910350, -0.477359, 0.902038 mu:0.731330 unit_bearing:0.615916 -0.426885 0.662131 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -0.908860, -0.480003, 0.902138 mu:0.731330 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.163365, -0.567618, 0.441113 mu:0.731330 unit_bearing:0.274366 -0.451321 0.849136 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.011950, -0.501206, 0.771372 mu:0.731330 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.028724, -0.656764, -0.616573 mu:0.731330 unit_bearing:-0.501885 -0.421762 0.755135 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.183763, -0.515076, 0.451222 mu:0.731330 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.025472, -0.449009, 0.785539 mu:0.731330 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.023095, -0.448370, 0.788996 mu:0.731330 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.020704, -0.447730, 0.792449 mu:0.731330 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.022038, -0.444997, 0.792269 mu:0.731330 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.017219, -0.443716, 0.799160 mu:0.731330 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.014790, -0.443074, 0.802598 mu:0.731330 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.016118, -0.440343, 0.802421 mu:0.731330 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.032277, -0.610192, -0.657139 mu:0.731330 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.254873, -0.542050, -0.038992 mu:0.731330 unit_bearing:-0.071463 -0.389971 0.918050 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.255185, -0.541592, -0.035110 mu:0.731330 unit_bearing:-0.068603 -0.389985 0.918262 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.255486, -0.541134, -0.031228 mu:0.731330 unit_bearing:-0.065742 -0.389998 0.918466 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.031355, -0.602508, -0.665619 mu:0.731330 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.029892, -0.428559, 0.791162 mu:0.731330 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.027491, -0.427927, 0.794618 mu:0.731330 unit_bearing:0.542842 -0.381429 0.748221 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.032621, -0.599791, -0.666110 mu:0.731330 unit_bearing:-0.532748 -0.375992 0.758162 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.032732, -0.594585, -0.670589 mu:0.731330 unit_bearing:-0.535535 -0.371813 0.758260 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.028775, -0.425182, 0.794431 mu:0.731330 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.254264, -0.543982, -0.030857 mu:0.731330 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.035257, -0.583924, -0.676041 mu:0.731330 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.192221, -0.448003, 0.498116 mu:0.731330 unit_bearing:0.326525 -0.369575 0.869940 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.222171, -0.468475, 0.396254 mu:0.731330 unit_bearing:0.250888 -0.375357 0.892279 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.220979, -0.471320, 0.396558 mu:0.731330 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.037682, -0.578466, -0.677014 mu:0.731330 unit_bearing:-0.538741 -0.359540 0.761899 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.109930, -0.574748, -0.554562 mu:0.731330 unit_bearing:-0.449222 -0.367755 0.814221 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.152] If point is visible? -1.263522, -0.512152, -0.105987 mu:0.731330 unit_bearing:-0.117390 -0.362298 0.924640 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.264134, -0.509736, -0.110247 mu:0.731330 unit_bearing:-0.120265 -0.360164 0.925104 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.264961, -0.496972, -0.151327 mu:0.731330 unit_bearing:-0.148942 -0.347239 0.925873 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.207264, -0.414442, 0.490888 mu:0.731330 unit_bearing:0.324333 -0.344570 0.880954 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.234821, -0.437094, 0.392885 mu:0.731330 unit_bearing:0.251292 -0.352278 0.901528 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.237028, -0.431371, 0.392265 mu:0.731330 unit_bearing:0.251362 -0.348068 0.903142 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.237088, -0.427974, 0.395783 mu:0.731330 unit_bearing:0.254219 -0.345916 0.903169 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.283327, -0.465424, -0.080560 mu:0.731330 unit_bearing:-0.094686 -0.330645 0.938993 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.152] If point is visible? -1.209699, -0.412138, 0.486816 mu:0.731330 unit_bearing:0.321592 -0.342535 0.882750 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.208358, -0.411590, 0.490596 mu:0.731330 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.252808, -0.485230, -0.254932 mu:0.731330 unit_bearing:-0.223150 -0.329481 0.917413 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.046001, -0.530318, -0.703131 mu:0.731330 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -1.221571, -0.400575, 0.466387 mu:0.731330 unit_bearing:0.307845 -0.332320 0.891513 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.219005, -0.399489, 0.473975 mu:0.731330 unit_bearing:0.313438 -0.332209 0.889603 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.256362, -0.485981, -0.235265 mu:0.731330 unit_bearing:-0.208927 -0.331779 0.919930 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.197811, -0.503197, -0.426532 mu:0.731330 unit_bearing:-0.349542 -0.327229 0.877919 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.223886, -0.398253, 0.462289 mu:0.731330 unit_bearing:0.305086 -0.330270 0.893221 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.228454, -0.393602, 0.454081 mu:0.731330 unit_bearing:0.299562 -0.326162 0.896594 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.045661, -0.525061, -0.707567 mu:0.731330 unit_bearing:-0.556125 -0.318051 0.767833 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -1.278676, -0.461566, -0.148177 mu:0.731330 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.279282, -0.461119, -0.144294 mu:0.731330 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.214253, -0.493693, -0.389570 mu:0.731330 unit_bearing:-0.321796 -0.323625 0.889783 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.280586, -0.462211, -0.128371 mu:0.731330 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.283200, -0.459955, -0.108930 mu:0.731330 unit_bearing:-0.114792 -0.324147 0.939016 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -0.934779, -0.309974, 0.948900 mu:0.731330 unit_bearing:0.664952 -0.309560 0.679714 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -1.288756, -0.450530, -0.078542 mu:0.731330 unit_bearing:-0.091871 -0.320014 0.942948 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -0.935847, -0.307244, 0.948735 mu:0.731330 unit_bearing:0.665080 -0.307564 0.680494 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -0.939931, -0.305136, 0.945372 mu:0.731330 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -0.942030, -0.299666, 0.945032 mu:0.731330 unit_bearing:0.663094 -0.301733 0.685028 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -1.289740, -0.447639, -0.078917 mu:0.731330 unit_bearing:-0.091882 -0.317882 0.943668 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.300657, -0.409363, -0.103666 mu:0.731330 unit_bearing:-0.106388 -0.287893 0.951735 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -0.883135, -0.247345, 1.014498 mu:0.731330 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -0.888323, -0.242512, 1.011131 mu:0.731330 unit_bearing:0.715941 -0.266137 0.645446 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -0.885014, -0.241907, 1.014173 mu:0.731330 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] calculated Z= 2.563814 +[21:40:40.153] update seeds 305 +[21:40:40.153] If point is visible? -1.313769, -0.374694, -0.060562 mu:0.731330 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.314580, -0.371778, -0.060933 mu:0.731330 unit_bearing:-0.071962 -0.264419 0.961719 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.342536, -0.143416, 0.217230 mu:0.731330 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.340492, -0.138498, 0.232517 mu:0.731330 unit_bearing:0.161944 -0.121240 0.979324 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.340336, -0.065633, 0.263375 mu:0.731330 unit_bearing:0.190836 -0.071099 0.979044 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.339587, -0.065145, 0.267279 mu:0.731330 unit_bearing:0.193710 -0.071093 0.978479 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.305575, -0.086574, -0.397376 mu:0.731330 unit_bearing:-0.290794 -0.027409 0.956393 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.330081, -0.075750, -0.308407 mu:0.731330 unit_bearing:-0.225146 -0.027482 0.973937 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -0.996653, 0.089771, 0.932170 mu:0.731330 unit_bearing:0.688697 -0.017902 0.724829 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -1.348606, 0.007917, 0.226637 mu:0.731330 unit_bearing:0.170760 -0.014437 0.985207 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.342951, 0.011769, 0.257912 mu:0.731330 unit_bearing:0.193780 -0.014428 0.980939 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.342991, 0.014729, 0.257549 mu:0.731330 unit_bearing:0.193781 -0.012247 0.980968 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -0.974944, 0.109504, 0.952792 mu:0.731330 unit_bearing:0.705332 -0.005417 0.708856 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -0.993800, 0.121189, 0.931660 mu:0.731330 unit_bearing:0.691114 0.004949 0.722729 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -1.348078, 0.032086, 0.227644 mu:0.731330 unit_bearing:0.173642 0.003017 0.984804 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] If point is visible? -1.041724, 0.106210, 0.879683 mu:0.731330 unit_bearing:0.652252 -0.001291 0.758001 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -1.021089, 0.126077, 0.900997 mu:0.731330 unit_bearing:0.669407 0.011230 0.742811 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -1.026933, 0.130941, 0.893630 mu:0.731330 unit_bearing:0.664518 0.015417 0.747113 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.153] If point is visible? -1.342240, 0.047759, 0.257458 mu:0.731330 unit_bearing:0.196655 0.011736 0.980402 T_cur_ref: x=-0.000140 y=0.000000 z=0.000178 +[21:40:40.153] init seeds +[21:40:40.153] DepthFilter: Initialized 6 new seeds +[21:40:40.156] DepthFilter: Initialized 6 new seeds +[21:40:40.425] add new frame +[21:40:40.425] update seed +[21:40:40.425] If point is visible? -0.912111, -0.755177, -0.683726 mu:0.731330 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000141 y=0.000000 z=0.000178 +[21:40:40.426] If point is visible? -0.872627, -0.519029, 0.916193 mu:0.731330 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000141 y=0.000000 z=0.000178 +[21:40:40.426] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.426] If point is visible? -0.946951, -0.511156, 0.843966 mu:0.731330 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000141 y=0.000000 z=0.000178 +[21:40:40.426] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.426] If point is visible? -1.020300, -0.528721, 0.741419 mu:0.731330 unit_bearing:0.495212 -0.449851 0.743235 T_cur_ref: x=-0.000141 y=0.000000 z=0.000178 +[21:40:40.426] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.426] If point is visible? -1.025038, -0.659670, -0.619602 mu:0.731330 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=-0.000141 y=0.000000 z=0.000178 +[21:40:40.426] If point is visible? -1.028725, -0.656764, -0.616573 mu:0.731330 unit_bearing:-0.501885 -0.421762 0.755135 T_cur_ref: x=-0.000141 y=0.000000 z=0.000178 +[21:40:40.426] If point is visible? -1.083798, -0.599140, -0.579844 mu:0.731330 unit_bearing:-0.469857 -0.383208 0.795227 T_cur_ref: x=-0.000141 y=0.000000 z=0.000178 +[21:40:40.426] Z inverse min: 1.286953, Z inverse max: 0.175707 +[21:40:40.426] add key frame +[21:40:40.426] remove key frame +[21:40:40.426] init seeds +[21:40:40.426] update seed +[21:40:40.426] If point is visible? -0.905940, -0.744507, -0.675133 mu:0.739063 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -0.812871, -0.498193, 0.960417 mu:0.739063 unit_bearing:0.661636 -0.451940 0.598322 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -0.904272, -0.747030, -0.674582 mu:0.739063 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -0.860044, -0.515932, 0.908565 mu:0.739063 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -0.915685, -0.518482, 0.850909 mu:0.739063 unit_bearing:0.579747 -0.456960 0.674597 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -0.861641, -0.513364, 0.908507 mu:0.739063 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -0.935343, -0.505553, 0.837198 mu:0.739063 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -1.008152, -0.522915, 0.735884 mu:0.739063 unit_bearing:0.495212 -0.449851 0.743235 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -1.017259, -0.649836, -0.611372 mu:0.739063 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.170820, -0.499366, 0.459462 mu:0.739063 unit_bearing:0.294988 -0.407680 0.864164 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.170536, -0.509369, 0.449082 mu:0.739063 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.181001, -0.510974, 0.418836 mu:0.739063 unit_bearing:0.264168 -0.412535 0.871797 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.179899, -0.510428, 0.422589 mu:0.739063 unit_bearing:0.266967 -0.412473 0.870973 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.174834, -0.518229, 0.427182 mu:0.739063 unit_bearing:0.269621 -0.418610 0.867220 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.023283, -0.598386, -0.652450 mu:0.739063 unit_bearing:-0.529958 -0.380168 0.758035 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -1.022188, -0.595927, -0.656404 mu:0.739063 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -1.024687, -0.590547, -0.657369 mu:0.739063 unit_bearing:-0.532856 -0.373974 0.759083 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -1.023560, -0.588086, -0.661319 mu:0.739063 unit_bearing:-0.535535 -0.371813 0.758260 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -1.024792, -0.585392, -0.661800 mu:0.739063 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -1.099691, -0.568436, -0.546337 mu:0.739063 unit_bearing:-0.449222 -0.367755 0.814221 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -1.207471, -0.466061, 0.395071 mu:0.739063 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.208651, -0.463246, 0.394774 mu:0.739063 unit_bearing:0.250888 -0.375357 0.892279 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.121886, -0.549453, -0.520013 mu:0.739063 unit_bearing:-0.428144 -0.356201 0.830550 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.221167, -0.432189, 0.391467 mu:0.739063 unit_bearing:0.251292 -0.352278 0.901528 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.222262, -0.429358, 0.391163 mu:0.739063 unit_bearing:0.251327 -0.350174 0.902338 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.150940, -0.526070, -0.479114 mu:0.739063 unit_bearing:-0.395960 -0.342732 0.851910 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.161406, -0.518758, -0.461517 mu:0.739063 unit_bearing:-0.382367 -0.338953 0.859597 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.223402, -0.423164, 0.394340 mu:0.739063 unit_bearing:0.254219 -0.345916 0.903169 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.186354, -0.497611, -0.419455 mu:0.739063 unit_bearing:-0.349542 -0.327229 0.877919 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.036744, -0.524489, -0.693491 mu:0.739063 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -1.038507, -0.513825, -0.698814 mu:0.739063 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -1.207886, -0.396056, 0.464171 mu:0.739063 unit_bearing:0.307845 -0.332320 0.891513 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.036416, -0.519286, -0.697881 mu:0.739063 unit_bearing:-0.556125 -0.318051 0.767833 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -1.183835, -0.500790, -0.422770 mu:0.739063 unit_bearing:-0.352267 -0.329263 0.876067 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -1.202539, -0.488202, -0.382843 mu:0.739063 unit_bearing:-0.321796 -0.323625 0.889783 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] If point is visible? -0.871752, -0.244520, 1.005806 mu:0.739063 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -0.877810, -0.237042, 1.002322 mu:0.739063 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.426] If point is visible? -0.876892, -0.239736, 1.002485 mu:0.739063 unit_bearing:0.715941 -0.266137 0.645446 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.426] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.427] If point is visible? -0.873610, -0.239139, 1.005488 mu:0.739063 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.427] If point is visible? -1.301066, -0.367535, -0.057427 mu:0.739063 unit_bearing:-0.071962 -0.264419 0.961719 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.328060, -0.141556, 0.217886 mu:0.739063 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.327471, -0.141070, 0.221755 mu:0.739063 unit_bearing:0.153298 -0.123440 0.980440 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.333474, 0.032112, 0.228203 mu:0.739063 unit_bearing:0.173642 0.003017 0.984804 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -0.968838, 0.099481, 0.939602 mu:0.739063 unit_bearing:0.700605 -0.011639 0.713454 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.427] If point is visible? -1.326856, 0.048092, 0.261555 mu:0.739063 unit_bearing:0.199529 0.011735 0.979822 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.323612, 0.052908, 0.276633 mu:0.739063 unit_bearing:0.211015 0.013911 0.977384 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.327497, 0.082278, 0.249494 mu:0.739063 unit_bearing:0.193762 0.037899 0.980316 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.270011, 0.147104, 0.443561 mu:0.739063 unit_bearing:0.341810 0.067973 0.937308 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.332232, 0.126875, 0.200772 mu:0.739063 unit_bearing:0.162052 0.075002 0.983928 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.318429, 0.132810, 0.274550 mu:0.739063 unit_bearing:0.216670 0.072710 0.973533 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.315630, 0.164936, 0.270525 mu:0.739063 unit_bearing:0.216604 0.096639 0.971465 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.315572, 0.173232, 0.265570 mu:0.739063 unit_bearing:0.213716 0.103171 0.971433 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.314728, 0.173692, 0.269424 mu:0.739063 unit_bearing:0.216582 0.103161 0.970799 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.314939, 0.179068, 0.264835 mu:0.739063 unit_bearing:0.213701 0.107518 0.970964 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.325088, 0.191657, 0.196613 mu:0.739063 unit_bearing:0.164817 0.122898 0.978638 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.313181, 0.284051, -0.161217 mu:0.739063 unit_bearing:-0.089378 0.222903 0.970735 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.143815, 0.649983, 0.316928 mu:0.739063 unit_bearing:0.293882 0.448268 0.844209 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.142573, 0.650334, 0.320668 mu:0.739063 unit_bearing:0.296654 0.448188 0.843281 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.185974, -0.503151, 0.414225 mu:0.739063 unit_bearing:0.261504 -0.406382 0.875482 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.174061, -0.511021, 0.437861 mu:0.739063 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.233128, -0.557265, 0.001981 mu:0.739063 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.197408, -0.492167, -0.393689 mu:0.739063 unit_bearing:-0.330122 -0.325556 0.886021 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.298495, -0.374693, -0.068296 mu:0.739063 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -0.978168, 0.098278, 0.930013 mu:0.739063 unit_bearing:0.693487 -0.011658 0.720375 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.427] If point is visible? -0.971961, 0.099081, 0.936413 mu:0.739063 unit_bearing:0.698238 -0.011645 0.715771 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.427] If point is visible? -1.048152, -0.086261, -0.851317 mu:0.739063 unit_bearing:-0.629645 0.013416 0.776767 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.427] If point is visible? -1.263582, 0.140639, 0.463575 mu:0.739063 unit_bearing:0.355892 0.061428 0.932506 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.273869, 0.148659, 0.431822 mu:0.739063 unit_bearing:0.333349 0.070171 0.940189 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.034202, 0.191316, 0.851592 mu:0.739063 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.427] If point is visible? -1.318141, 0.268079, -0.147529 mu:0.739063 unit_bearing:-0.080763 0.209953 0.974370 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.181202, -0.507642, 0.422306 mu:0.739063 unit_bearing:0.267014 -0.410404 0.871936 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.176676, -0.505454, 0.437302 mu:0.739063 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.025552, -0.633847, -0.614297 mu:0.739063 unit_bearing:-0.505158 -0.409616 0.759625 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.219091, -0.431131, 0.399033 mu:0.739063 unit_bearing:0.256932 -0.352183 0.899974 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.214794, -0.429008, 0.414145 mu:0.739063 unit_bearing:0.268197 -0.351987 0.896758 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.205617, -0.424732, 0.444281 mu:0.739063 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.170403, -0.498818, -0.460772 mu:0.739063 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.104544, 0.102463, -0.774810 mu:0.739063 unit_bearing:-0.556378 0.144964 0.818186 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.427] If point is visible? -1.321591, 0.172461, 0.234335 mu:0.739063 unit_bearing:0.190750 0.105419 0.975962 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.102609, 0.113819, -0.775980 mu:0.739063 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:40.427] If point is visible? -1.322803, 0.160777, 0.235800 mu:0.739063 unit_bearing:0.190775 0.096716 0.976858 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -1.319916, 0.255474, -0.153884 mu:0.739063 unit_bearing:-0.086555 0.201280 0.975702 T_cur_ref: x=-0.000149 y=0.000000 z=0.000171 +[21:40:40.427] If point is visible? -0.941634, -0.768698, -0.691572 mu:0.715066 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -0.942524, -0.771205, -0.687557 mu:0.715066 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.053852, -0.670980, -0.628504 mu:0.715066 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.056149, -0.670753, -0.624880 mu:0.715066 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.044948, -0.439942, 0.818632 mu:0.715066 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.427] If point is visible? -1.045090, -0.433681, 0.821785 mu:0.715066 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.427] If point is visible? -1.283242, -0.555391, -0.024113 mu:0.715066 unit_bearing:-0.068592 -0.392086 0.917368 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.283513, -0.554922, -0.020140 mu:0.715066 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.043778, -0.436490, 0.821965 mu:0.715066 unit_bearing:0.542842 -0.381429 0.748221 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.427] If point is visible? -1.114348, -0.611526, -0.583177 mu:0.715066 unit_bearing:-0.469857 -0.383208 0.795227 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.427] If point is visible? -1.076763, -0.541181, -0.709614 mu:0.715066 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.427] If point is visible? -1.226839, -0.516560, -0.428768 mu:0.715066 unit_bearing:-0.352267 -0.329263 0.876067 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.076450, -0.535805, -0.714155 mu:0.715066 unit_bearing:-0.556125 -0.318051 0.767833 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.427] If point is visible? -0.952687, -0.311007, 0.975326 mu:0.715066 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.427] If point is visible? -0.954831, -0.305411, 0.974998 mu:0.715066 unit_bearing:0.663094 -0.301733 0.685028 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.427] If point is visible? -1.248590, -0.502734, -0.379584 mu:0.715066 unit_bearing:-0.316208 -0.323736 0.891744 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.371023, -0.145146, 0.234398 mu:0.715066 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.370387, -0.144644, 0.238393 mu:0.715066 unit_bearing:0.153298 -0.123440 0.980440 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.369739, -0.144142, 0.242388 mu:0.715066 unit_bearing:0.156179 -0.123432 0.979986 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.345309, -0.099250, -0.368912 mu:0.715066 unit_bearing:-0.273708 -0.038299 0.961050 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -0.969045, 0.195249, 0.989155 mu:0.715066 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.427] If point is visible? -1.351205, 0.137157, 0.333367 mu:0.715066 unit_bearing:0.245308 0.068288 0.967037 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.315809, 0.156836, 0.446914 mu:0.715066 unit_bearing:0.327698 0.072359 0.942008 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.309169, 0.153150, 0.467227 mu:0.715066 unit_bearing:0.341810 0.067973 0.937308 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.350381, 0.134616, 0.337710 mu:0.715066 unit_bearing:0.248172 0.066106 0.966458 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.375451, 0.129273, 0.217117 mu:0.715066 unit_bearing:0.162056 0.072822 0.984091 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.427] If point is visible? -1.361097, 0.140960, 0.288536 mu:0.715066 unit_bearing:0.213797 0.074893 0.974003 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.357502, 0.180194, 0.283591 mu:0.715066 unit_bearing:0.213716 0.103171 0.971433 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.356602, 0.180669, 0.287568 mu:0.715066 unit_bearing:0.216582 0.103161 0.970799 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.160396, 0.155625, -0.764932 mu:0.715066 unit_bearing:-0.532114 0.177106 0.827942 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.054433, -0.665709, -0.633119 mu:0.715066 unit_bearing:-0.509878 -0.417311 0.752247 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.056149, -0.670753, -0.624880 mu:0.715066 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.059038, -0.665251, -0.625871 mu:0.715066 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.042459, -0.439297, 0.822144 mu:0.715066 unit_bearing:0.542727 -0.383436 0.747277 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.110129, -0.612094, -0.590581 mu:0.715066 unit_bearing:-0.475151 -0.382965 0.792193 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.274809, -0.574889, 0.010578 mu:0.715066 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.136811, -0.587167, -0.564557 mu:0.715066 unit_bearing:-0.454574 -0.367541 0.811342 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.242754, -0.501808, -0.399447 mu:0.715066 unit_bearing:-0.330210 -0.321348 0.887523 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.369853, 0.009628, -0.281428 mu:0.715066 unit_bearing:-0.202190 0.031352 0.978844 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.076775, -0.055026, -0.890732 mu:0.715066 unit_bearing:-0.639551 0.038562 0.767781 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.369645, 0.015678, -0.282165 mu:0.715066 unit_bearing:-0.202185 0.035710 0.978696 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.369410, 0.021729, -0.282902 mu:0.715066 unit_bearing:-0.202180 0.040069 0.978528 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.170706, -0.014841, -0.764908 mu:0.715066 unit_bearing:-0.546977 0.056118 0.835264 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.313238, 0.154761, 0.455122 mu:0.715066 unit_bearing:0.333349 0.070171 0.940189 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.132823, 0.097906, -0.814242 mu:0.715066 unit_bearing:-0.572074 0.140438 0.808090 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.133755, 0.092046, -0.813629 mu:0.715066 unit_bearing:-0.572151 0.136225 0.808756 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.125499, 0.138866, -0.818434 mu:0.715066 unit_bearing:-0.571461 0.169874 0.802854 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.130560, 0.139927, -0.811245 mu:0.715066 unit_bearing:-0.566279 0.170001 0.806491 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.159789, 0.146287, -0.767689 mu:0.715066 unit_bearing:-0.534883 0.170719 0.827499 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.158635, 0.152158, -0.768291 mu:0.715066 unit_bearing:-0.534796 0.174938 0.826674 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.213225, -0.514534, -0.468140 mu:0.715066 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.064727, -0.654220, -0.627844 mu:0.715066 unit_bearing:-0.505158 -0.409616 0.759625 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.339271, -0.372649, -0.152500 mu:0.715066 unit_bearing:-0.143924 -0.251199 0.957175 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.310049, -0.483857, -0.073560 mu:0.715066 unit_bearing:-0.097518 -0.337007 0.936438 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.062390, -0.622888, -0.662706 mu:0.715066 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.325778, 0.162127, 0.414385 mu:0.715066 unit_bearing:0.305047 0.078950 0.949059 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.320535, 0.163991, 0.430092 mu:0.715066 unit_bearing:0.316370 0.078904 0.945349 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.368292, 0.165413, 0.236918 mu:0.715066 unit_bearing:0.179276 0.096747 0.979030 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.365199, 0.167329, 0.252874 mu:0.715066 unit_bearing:0.190775 0.096716 0.976858 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] If point is visible? -1.146868, 0.106870, -0.793180 mu:0.715066 unit_bearing:-0.556378 0.144964 0.818186 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.166117, 0.111012, -0.764006 mu:0.715066 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.144866, 0.118605, -0.794403 mu:0.715066 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.154602, 0.120693, -0.779863 mu:0.715066 unit_bearing:-0.545741 0.153614 0.823753 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -1.164122, 0.122780, -0.765247 mu:0.715066 unit_bearing:-0.535209 0.153822 0.830596 T_cur_ref: x=-0.000008 y=0.000000 z=-0.000073 +[21:40:40.428] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:40.428] If point is visible? -0.911606, -0.537598, 0.961731 mu:0.699316 unit_bearing:0.617990 -0.455110 0.641064 T_cur_ref: x=-0.000055 y=0.000000 z=0.000029 +[21:40:40.428] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:40.428] If point is visible? -1.147968, -0.618617, -0.586843 mu:0.699316 unit_bearing:-0.464728 -0.379368 0.800067 T_cur_ref: x=-0.000055 y=0.000000 z=0.000029 +[21:40:40.428] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:40.428] If point is visible? -1.102945, -0.553048, -0.722870 mu:0.699316 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.000055 y=0.000000 z=0.000029 +[21:40:40.428] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:40.428] If point is visible? -1.103745, -0.544664, -0.727996 mu:0.699316 unit_bearing:-0.556219 -0.316007 0.768609 T_cur_ref: x=-0.000055 y=0.000000 z=0.000029 +[21:40:40.428] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:40.428] If point is visible? -1.339492, -0.480809, -0.139757 mu:0.699316 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=-0.000055 y=0.000000 z=0.000029 +[21:40:40.428] If point is visible? -1.340078, -0.480342, -0.135689 mu:0.699316 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=-0.000055 y=0.000000 z=0.000029 +[21:40:40.428] If point is visible? -1.104848, -0.541776, -0.728478 mu:0.699316 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=-0.000055 y=0.000000 z=0.000029 +[21:40:40.428] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:40.428] If point is visible? -1.341253, -0.481482, -0.119023 mu:0.699316 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=-0.000055 y=0.000000 z=0.000029 +[21:40:40.428] If point is visible? -1.104466, -0.536271, -0.733115 mu:0.699316 unit_bearing:-0.559059 -0.309745 0.769097 T_cur_ref: x=-0.000055 y=0.000000 z=0.000029 +[21:40:40.428] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:40.428] If point is visible? -1.375858, -0.386859, -0.048095 mu:0.699316 unit_bearing:-0.071962 -0.264419 0.961719 T_cur_ref: x=-0.000055 y=0.000000 z=0.000029 +[21:40:40.428] If point is visible? -1.401416, -0.148005, 0.243117 mu:0.699316 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000055 y=0.000000 z=0.000029 +[21:40:40.428] init seeds +[21:40:40.428] DepthFilter: Initialized 4 new seeds +[21:40:40.431] DepthFilter: Initialized 4 new seeds +[21:40:41.000] add new frame +[21:40:41.001] update seed +[21:40:41.001] If point is visible? -0.905944, -0.744507, -0.675133 mu:0.739063 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000153 y=0.000000 z=0.000172 +[21:40:41.001] If point is visible? -0.812875, -0.498193, 0.960417 mu:0.739063 unit_bearing:0.661636 -0.451940 0.598322 T_cur_ref: x=-0.000153 y=0.000000 z=0.000172 +[21:40:41.001] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:41.001] calculated Z= 2.756840 +[21:40:41.001] update seeds 305 +[21:40:41.001] If point is visible? -0.904276, -0.747030, -0.674581 mu:0.739063 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000153 y=0.000000 z=0.000172 +[21:40:41.001] If point is visible? -0.860048, -0.515932, 0.908566 mu:0.739063 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000153 y=0.000000 z=0.000172 +[21:40:41.001] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:41.001] If point is visible? -0.915690, -0.518482, 0.850909 mu:0.739063 unit_bearing:0.579747 -0.456960 0.674597 T_cur_ref: x=-0.000153 y=0.000000 z=0.000172 +[21:40:41.001] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:41.001] If point is visible? -0.861645, -0.513364, 0.908508 mu:0.739063 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000153 y=0.000000 z=0.000172 +[21:40:41.001] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:41.001] If point is visible? -0.935347, -0.505553, 0.837198 mu:0.739063 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000153 y=0.000000 z=0.000172 +[21:40:41.001] Z inverse min: 1.120805, Z inverse max: 0.357321 +[21:40:41.001] add key frame +[21:40:41.001] remove key frame +[21:40:41.001] init seeds +[21:40:41.001] update seed +[21:40:41.001] If point is visible? -0.941638, -0.768698, -0.691572 mu:0.715066 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -0.942528, -0.771205, -0.687556 mu:0.715066 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.053856, -0.670980, -0.628504 mu:0.715066 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.056153, -0.670753, -0.624880 mu:0.715066 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.044952, -0.439942, 0.818633 mu:0.715066 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.045094, -0.433681, 0.821786 mu:0.715066 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.283246, -0.555391, -0.024113 mu:0.715066 unit_bearing:-0.068592 -0.392086 0.917368 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.283518, -0.554922, -0.020140 mu:0.715066 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.043782, -0.436490, 0.821966 mu:0.715066 unit_bearing:0.542842 -0.381429 0.748221 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.114352, -0.611526, -0.583176 mu:0.715066 unit_bearing:-0.469857 -0.383208 0.795227 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.076767, -0.541181, -0.709614 mu:0.715066 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.226843, -0.516560, -0.428767 mu:0.715066 unit_bearing:-0.352267 -0.329263 0.876067 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.076454, -0.535805, -0.714154 mu:0.715066 unit_bearing:-0.556125 -0.318051 0.767833 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -0.952691, -0.311007, 0.975326 mu:0.715066 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -0.954836, -0.305411, 0.974998 mu:0.715066 unit_bearing:0.663094 -0.301733 0.685028 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.248594, -0.502734, -0.379584 mu:0.715066 unit_bearing:-0.316208 -0.323736 0.891744 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.371027, -0.145146, 0.234399 mu:0.715066 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.370391, -0.144644, 0.238394 mu:0.715066 unit_bearing:0.153298 -0.123440 0.980440 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.369743, -0.144142, 0.242388 mu:0.715066 unit_bearing:0.156179 -0.123432 0.979986 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.345313, -0.099250, -0.368911 mu:0.715066 unit_bearing:-0.273708 -0.038299 0.961050 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -0.969049, 0.195249, 0.989155 mu:0.715066 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.351209, 0.137157, 0.333368 mu:0.715066 unit_bearing:0.245308 0.068288 0.967037 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.315813, 0.156836, 0.446915 mu:0.715066 unit_bearing:0.327698 0.072359 0.942008 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.309173, 0.153150, 0.467228 mu:0.715066 unit_bearing:0.341810 0.067973 0.937308 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.350385, 0.134616, 0.337711 mu:0.715066 unit_bearing:0.248172 0.066106 0.966458 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.375455, 0.129273, 0.217118 mu:0.715066 unit_bearing:0.162056 0.072822 0.984091 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.361101, 0.140960, 0.288536 mu:0.715066 unit_bearing:0.213797 0.074893 0.974003 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.357507, 0.180194, 0.283592 mu:0.715066 unit_bearing:0.213716 0.103171 0.971433 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.356606, 0.180669, 0.287569 mu:0.715066 unit_bearing:0.216582 0.103161 0.970799 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.160400, 0.155625, -0.764931 mu:0.715066 unit_bearing:-0.532114 0.177106 0.827942 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.054437, -0.665709, -0.633118 mu:0.715066 unit_bearing:-0.509878 -0.417311 0.752247 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.056153, -0.670753, -0.624880 mu:0.715066 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.059042, -0.665251, -0.625871 mu:0.715066 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.042463, -0.439297, 0.822144 mu:0.715066 unit_bearing:0.542727 -0.383436 0.747277 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.110133, -0.612094, -0.590580 mu:0.715066 unit_bearing:-0.475151 -0.382965 0.792193 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.274813, -0.574889, 0.010579 mu:0.715066 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.136815, -0.587167, -0.564556 mu:0.715066 unit_bearing:-0.454574 -0.367541 0.811342 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.242758, -0.501808, -0.399446 mu:0.715066 unit_bearing:-0.330210 -0.321348 0.887523 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.369857, 0.009628, -0.281427 mu:0.715066 unit_bearing:-0.202190 0.031352 0.978844 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.076779, -0.055026, -0.890731 mu:0.715066 unit_bearing:-0.639551 0.038562 0.767781 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.001] If point is visible? -1.369649, 0.015678, -0.282164 mu:0.715066 unit_bearing:-0.202185 0.035710 0.978696 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.001] If point is visible? -1.369415, 0.021729, -0.282901 mu:0.715066 unit_bearing:-0.202180 0.040069 0.978528 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] If point is visible? -1.170711, -0.014841, -0.764907 mu:0.715066 unit_bearing:-0.546977 0.056118 0.835264 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.313242, 0.154761, 0.455123 mu:0.715066 unit_bearing:0.333349 0.070171 0.940189 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] If point is visible? -1.132828, 0.097906, -0.814241 mu:0.715066 unit_bearing:-0.572074 0.140438 0.808090 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.133759, 0.092046, -0.813628 mu:0.715066 unit_bearing:-0.572151 0.136225 0.808756 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.125503, 0.138866, -0.818433 mu:0.715066 unit_bearing:-0.571461 0.169874 0.802854 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.130564, 0.139927, -0.811245 mu:0.715066 unit_bearing:-0.566279 0.170001 0.806491 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.159794, 0.146287, -0.767688 mu:0.715066 unit_bearing:-0.534883 0.170719 0.827499 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.158639, 0.152158, -0.768291 mu:0.715066 unit_bearing:-0.534796 0.174938 0.826674 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.213229, -0.514534, -0.468140 mu:0.715066 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] If point is visible? -1.064731, -0.654220, -0.627844 mu:0.715066 unit_bearing:-0.505158 -0.409616 0.759625 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] If point is visible? -1.339275, -0.372649, -0.152499 mu:0.715066 unit_bearing:-0.143924 -0.251199 0.957175 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] If point is visible? -1.310054, -0.483857, -0.073560 mu:0.715066 unit_bearing:-0.097518 -0.337007 0.936438 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] If point is visible? -1.062394, -0.622888, -0.662705 mu:0.715066 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.325782, 0.162127, 0.414385 mu:0.715066 unit_bearing:0.305047 0.078950 0.949059 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] If point is visible? -1.320539, 0.163991, 0.430092 mu:0.715066 unit_bearing:0.316370 0.078904 0.945349 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] If point is visible? -1.368296, 0.165413, 0.236919 mu:0.715066 unit_bearing:0.179276 0.096747 0.979030 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] If point is visible? -1.365203, 0.167329, 0.252875 mu:0.715066 unit_bearing:0.190775 0.096716 0.976858 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] If point is visible? -1.146872, 0.106870, -0.793179 mu:0.715066 unit_bearing:-0.556378 0.144964 0.818186 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.166121, 0.111012, -0.764005 mu:0.715066 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.144870, 0.118605, -0.794402 mu:0.715066 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.154606, 0.120693, -0.779863 mu:0.715066 unit_bearing:-0.545741 0.153614 0.823753 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -1.164126, 0.122780, -0.765246 mu:0.715066 unit_bearing:-0.535209 0.153822 0.830596 T_cur_ref: x=-0.000012 y=0.000000 z=-0.000073 +[21:40:41.002] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.002] If point is visible? -0.911611, -0.537598, 0.961732 mu:0.699316 unit_bearing:0.617990 -0.455110 0.641064 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.002] If point is visible? -1.147972, -0.618617, -0.586842 mu:0.699316 unit_bearing:-0.464728 -0.379368 0.800067 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.002] If point is visible? -1.102949, -0.553048, -0.722869 mu:0.699316 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.002] If point is visible? -1.103749, -0.544664, -0.727995 mu:0.699316 unit_bearing:-0.556219 -0.316007 0.768609 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.002] If point is visible? -1.339496, -0.480809, -0.139756 mu:0.699316 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.340083, -0.480342, -0.135688 mu:0.699316 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.104852, -0.541776, -0.728477 mu:0.699316 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.002] If point is visible? -1.341257, -0.481482, -0.119022 mu:0.699316 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.104470, -0.536271, -0.733114 mu:0.699316 unit_bearing:-0.559059 -0.309745 0.769097 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.002] If point is visible? -1.375862, -0.386859, -0.048094 mu:0.699316 unit_bearing:-0.071962 -0.264419 0.961719 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.401420, -0.148005, 0.243117 mu:0.699316 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.400760, -0.147492, 0.247201 mu:0.699316 unit_bearing:0.153298 -0.123440 0.980440 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.400087, -0.146979, 0.251284 mu:0.699316 unit_bearing:0.156179 -0.123432 0.979986 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.406832, 0.035540, 0.254073 mu:0.699316 unit_bearing:0.173642 0.003017 0.984804 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.399759, 0.009244, -0.292487 mu:0.699316 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.399492, 0.052419, 0.289253 mu:0.699316 unit_bearing:0.199529 0.011735 0.979822 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.400247, 0.088549, 0.276513 mu:0.699316 unit_bearing:0.193762 0.037899 0.980316 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.399405, 0.089045, 0.280588 mu:0.699316 unit_bearing:0.196636 0.037896 0.979744 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.380830, 0.140650, 0.344266 mu:0.699316 unit_bearing:0.245308 0.068288 0.967037 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.381044, 0.137564, 0.344654 mu:0.699316 unit_bearing:0.245314 0.066113 0.967187 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.379978, 0.138051, 0.348706 mu:0.699316 unit_bearing:0.248172 0.066106 0.966458 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.398796, 0.203654, 0.216522 mu:0.699316 unit_bearing:0.161939 0.122906 0.979117 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.398087, 0.204143, 0.220605 mu:0.699316 unit_bearing:0.164817 0.122898 0.978638 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.154839, 0.145861, -0.830643 mu:0.699316 unit_bearing:-0.568824 0.172037 0.804265 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.002] If point is visible? -1.255684, 0.642568, -0.235178 mu:0.699316 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.303712, -0.587455, 0.014023 mu:0.699316 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.088163, -0.636598, -0.674939 mu:0.699316 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.002] If point is visible? -1.374965, -0.388327, -0.060366 mu:0.699316 unit_bearing:-0.080601 -0.264392 0.961041 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.373260, -0.394427, -0.059606 mu:0.699316 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.399546, 0.015430, -0.293241 mu:0.699316 unit_bearing:-0.207928 0.035704 0.977492 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.398796, 0.203654, 0.216522 mu:0.699316 unit_bearing:0.161939 0.122906 0.979117 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.241888, -0.525759, -0.475625 mu:0.699316 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.367362, 0.185054, 0.375592 mu:0.699316 unit_bearing:0.270890 0.096439 0.957767 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.391911, 0.281815, -0.167714 mu:0.699316 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] If point is visible? -1.172595, 0.121619, -0.809401 mu:0.699316 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.002] If point is visible? -1.182514, 0.123756, -0.794511 mu:0.699316 unit_bearing:-0.545741 0.153614 0.823753 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.002] If point is visible? -1.075375, 0.090575, -0.938215 mu:0.699316 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.002] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.003] If point is visible? -1.194253, 0.113861, -0.778268 mu:0.699316 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000059 y=0.000000 z=0.000030 +[21:40:41.003] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.003] If point is visible? -0.966095, -0.780808, -0.693620 mu:0.702887 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -0.888833, -0.540602, 0.970512 mu:0.702887 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.003] If point is visible? -0.890507, -0.537898, 0.970480 mu:0.702887 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.003] If point is visible? -1.056396, -0.443376, 0.843574 mu:0.702887 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.003] If point is visible? -1.053828, -0.442724, 0.847121 mu:0.702887 unit_bearing:0.542842 -0.381429 0.748221 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.003] If point is visible? -1.170309, -0.592043, -0.551352 mu:0.702887 unit_bearing:-0.446621 -0.365807 0.816526 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.003] If point is visible? -1.392467, -0.145910, 0.252809 mu:0.702887 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -0.977558, 0.138740, 1.024356 mu:0.702887 unit_bearing:0.717017 0.009046 0.696997 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.003] If point is visible? -1.394846, 0.010540, -0.280071 mu:0.702887 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.200501, -0.001092, -0.763488 mu:0.702887 unit_bearing:-0.544278 0.064641 0.836411 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.003] If point is visible? -1.388989, 0.204445, 0.230385 mu:0.702887 unit_bearing:0.164817 0.122898 0.978638 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.387849, 0.207999, 0.234048 mu:0.702887 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.200603, 0.684477, 0.337940 mu:0.702887 unit_bearing:0.282778 0.448578 0.847829 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.195237, 0.685956, 0.353602 mu:0.702887 unit_bearing:0.293882 0.448268 0.844209 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.297469, -0.583220, 0.024124 mu:0.702887 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.052488, -0.445581, 0.847289 mu:0.702887 unit_bearing:0.542727 -0.383436 0.747277 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.003] If point is visible? -1.175985, -0.583039, -0.548864 mu:0.702887 unit_bearing:-0.444169 -0.359739 0.820550 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.392986, 0.015687, -0.288950 mu:0.702887 unit_bearing:-0.213668 0.035697 0.976254 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.394635, 0.016695, -0.280823 mu:0.702887 unit_bearing:-0.207928 0.035704 0.977492 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.394396, 0.022849, -0.281575 mu:0.702887 unit_bearing:-0.207923 0.040062 0.977324 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.239726, -0.521895, -0.463504 mu:0.702887 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.265490, 0.044590, -0.648593 mu:0.702887 unit_bearing:-0.460844 0.086669 0.883239 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] If point is visible? -1.194085, 0.114431, -0.764975 mu:0.702887 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000026 y=0.000000 z=0.000019 +[21:40:41.003] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.003] If point is visible? -78729359668.496033, -43075753985.654442, 73175803897.721405 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.003] If point is visible? -88056826428.462692, -55631479987.636436, -50593128832.427612 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -88177523235.184158, -55403804409.880508, -50632734316.270950 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -72954566309.035263, -20749949253.511620, 87496295875.648819 mu:0.000000 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.003] If point is visible? -73112978655.882523, -20289032954.086452, 87472157999.984650 mu:0.000000 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.003] If point is visible? -73477128510.889114, -20108716032.056770, 87208268281.500778 mu:0.000000 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.003] If point is visible? -111324109989.253174, -31721633716.224476, -3035032256.199210 mu:0.000000 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -111413222350.901184, -31434890189.255489, -2733586563.459219 mu:0.000000 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -111857406700.096146, -8256008753.109254, -28780024619.858894 mu:0.000000 unit_bearing:-0.270855 -0.040477 0.961769 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -111077454423.196274, 9766679482.289459, 31224061588.377571 mu:0.000000 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -79178188748.045761, 16289652112.126581, 82909544637.312714 mu:0.000000 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.003] If point is visible? -94982511873.823837, 7324163581.358089, -65827122049.306053 mu:0.000000 unit_bearing:-0.569631 0.132060 0.811222 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.003] If point is visible? -112906906752.275620, 16961444261.033588, 19309861406.405922 mu:0.000000 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -96268448121.881958, 55684376645.339981, 32251620504.189537 mu:0.000000 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -105608820096.039658, -47438776166.194054, 2206935680.506402 mu:0.000000 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -97153024701.414352, -46318370632.456924, -42713338252.149590 mu:0.000000 unit_bearing:-0.428285 -0.352067 0.832238 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -111555193020.826248, -30812192840.863808, -3818195090.018775 mu:0.000000 unit_bearing:-0.080616 -0.260090 0.962213 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -111281468132.269333, -31800812663.100834, -3697850134.187628 mu:0.000000 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -112140259809.063339, -9345966390.249800, -27308349886.251274 mu:0.000000 unit_bearing:-0.259429 -0.051369 0.964395 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] If point is visible? -91555955348.149734, -6609547036.812193, -70585776609.580444 mu:0.000000 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.003] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.003] If point is visible? -97022322685.200684, 8767977341.984188, -62596504738.052788 mu:0.000000 unit_bearing:-0.540707 0.141035 0.829304 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.004] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.004] If point is visible? -100999748015.456177, -42448788796.216240, -37492428060.481804 mu:0.000000 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000015 y=0.000000 z=-0.000006 +[21:40:41.004] init seeds +[21:40:41.004] DepthFilter: Initialized 3 new seeds +[21:40:41.006] DepthFilter: Initialized 4 new seeds +[21:40:41.292] add new frame +[21:40:41.292] update seed +[21:40:41.292] If point is visible? -0.941639, -0.768698, -0.691571 mu:0.715066 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000014 y=0.000000 z=-0.000072 +[21:40:41.292] If point is visible? -0.942529, -0.771205, -0.687556 mu:0.715066 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=-0.000014 y=0.000000 z=-0.000072 +[21:40:41.292] If point is visible? -1.053858, -0.670980, -0.628503 mu:0.715066 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=-0.000014 y=0.000000 z=-0.000072 +[21:40:41.292] If point is visible? -1.056154, -0.670753, -0.624879 mu:0.715066 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000014 y=0.000000 z=-0.000072 +[21:40:41.292] If point is visible? -1.044953, -0.439942, 0.818633 mu:0.715066 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=-0.000014 y=0.000000 z=-0.000072 +[21:40:41.292] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.292] If point is visible? -1.045095, -0.433681, 0.821786 mu:0.715066 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=-0.000014 y=0.000000 z=-0.000072 +[21:40:41.292] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.292] If point is visible? -1.283248, -0.555391, -0.024112 mu:0.715066 unit_bearing:-0.068592 -0.392086 0.917368 T_cur_ref: x=-0.000014 y=0.000000 z=-0.000072 +[21:40:41.292] If point is visible? -1.283519, -0.554922, -0.020140 mu:0.715066 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.000014 y=0.000000 z=-0.000072 +[21:40:41.292] If point is visible? -1.043784, -0.436490, 0.821966 mu:0.715066 unit_bearing:0.542842 -0.381429 0.748221 T_cur_ref: x=-0.000014 y=0.000000 z=-0.000072 +[21:40:41.292] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.292] If point is visible? -1.114353, -0.611526, -0.583176 mu:0.715066 unit_bearing:-0.469857 -0.383208 0.795227 T_cur_ref: x=-0.000014 y=0.000000 z=-0.000072 +[21:40:41.292] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.292] If point is visible? -1.076768, -0.541181, -0.709614 mu:0.715066 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.000014 y=0.000000 z=-0.000072 +[21:40:41.292] Z inverse min: 1.166994, Z inverse max: 0.263137 +[21:40:41.292] add key frame +[21:40:41.292] remove key frame +[21:40:41.292] init seeds +[21:40:41.292] update seed +[21:40:41.292] If point is visible? -0.911612, -0.537598, 0.961732 mu:0.699316 unit_bearing:0.617990 -0.455110 0.641064 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.292] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.292] If point is visible? -1.147973, -0.618617, -0.586842 mu:0.699316 unit_bearing:-0.464728 -0.379368 0.800067 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.292] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.292] If point is visible? -1.102950, -0.553048, -0.722869 mu:0.699316 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.292] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.292] If point is visible? -1.103750, -0.544664, -0.727995 mu:0.699316 unit_bearing:-0.556219 -0.316007 0.768609 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.292] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.292] If point is visible? -1.339498, -0.480809, -0.139756 mu:0.699316 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.292] If point is visible? -1.340084, -0.480342, -0.135688 mu:0.699316 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.104853, -0.541776, -0.728477 mu:0.699316 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.293] If point is visible? -1.341258, -0.481482, -0.119022 mu:0.699316 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.104471, -0.536271, -0.733114 mu:0.699316 unit_bearing:-0.559059 -0.309745 0.769097 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.293] If point is visible? -1.375863, -0.386859, -0.048094 mu:0.699316 unit_bearing:-0.071962 -0.264419 0.961719 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.401421, -0.148005, 0.243117 mu:0.699316 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.400761, -0.147492, 0.247201 mu:0.699316 unit_bearing:0.153298 -0.123440 0.980440 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.400088, -0.146979, 0.251284 mu:0.699316 unit_bearing:0.156179 -0.123432 0.979986 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.406833, 0.035540, 0.254073 mu:0.699316 unit_bearing:0.173642 0.003017 0.984804 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.399760, 0.009244, -0.292487 mu:0.699316 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.399493, 0.052419, 0.289253 mu:0.699316 unit_bearing:0.199529 0.011735 0.979822 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.400248, 0.088549, 0.276513 mu:0.699316 unit_bearing:0.193762 0.037899 0.980316 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.399406, 0.089045, 0.280588 mu:0.699316 unit_bearing:0.196636 0.037896 0.979744 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.380831, 0.140650, 0.344267 mu:0.699316 unit_bearing:0.245308 0.068288 0.967037 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.381045, 0.137564, 0.344655 mu:0.699316 unit_bearing:0.245314 0.066113 0.967187 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.379980, 0.138051, 0.348706 mu:0.699316 unit_bearing:0.248172 0.066106 0.966458 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.398798, 0.203654, 0.216523 mu:0.699316 unit_bearing:0.161939 0.122906 0.979117 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.398088, 0.204143, 0.220605 mu:0.699316 unit_bearing:0.164817 0.122898 0.978638 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.154841, 0.145861, -0.830643 mu:0.699316 unit_bearing:-0.568824 0.172037 0.804265 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.293] If point is visible? -1.255685, 0.642568, -0.235178 mu:0.699316 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.303713, -0.587455, 0.014023 mu:0.699316 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.088164, -0.636598, -0.674939 mu:0.699316 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.293] If point is visible? -1.374966, -0.388327, -0.060366 mu:0.699316 unit_bearing:-0.080601 -0.264392 0.961041 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.373261, -0.394427, -0.059606 mu:0.699316 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.399547, 0.015430, -0.293241 mu:0.699316 unit_bearing:-0.207928 0.035704 0.977492 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.398798, 0.203654, 0.216523 mu:0.699316 unit_bearing:0.161939 0.122906 0.979117 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.241890, -0.525759, -0.475625 mu:0.699316 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.367364, 0.185054, 0.375592 mu:0.699316 unit_bearing:0.270890 0.096439 0.957767 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.391913, 0.281815, -0.167714 mu:0.699316 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] If point is visible? -1.172596, 0.121619, -0.809401 mu:0.699316 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.293] If point is visible? -1.182515, 0.123756, -0.794511 mu:0.699316 unit_bearing:-0.545741 0.153614 0.823753 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.293] If point is visible? -1.075376, 0.090575, -0.938215 mu:0.699316 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.293] If point is visible? -1.194254, 0.113861, -0.778268 mu:0.699316 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000060 y=0.000000 z=0.000030 +[21:40:41.293] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.293] If point is visible? -0.966096, -0.780808, -0.693620 mu:0.702887 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -0.888834, -0.540602, 0.970512 mu:0.702887 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.293] If point is visible? -0.890508, -0.537898, 0.970480 mu:0.702887 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.293] If point is visible? -1.056398, -0.443376, 0.843574 mu:0.702887 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.293] If point is visible? -1.053829, -0.442724, 0.847122 mu:0.702887 unit_bearing:0.542842 -0.381429 0.748221 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.293] If point is visible? -1.170310, -0.592043, -0.551351 mu:0.702887 unit_bearing:-0.446621 -0.365807 0.816526 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.293] If point is visible? -1.392469, -0.145910, 0.252809 mu:0.702887 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -0.977559, 0.138740, 1.024356 mu:0.702887 unit_bearing:0.717017 0.009046 0.696997 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.293] If point is visible? -1.394848, 0.010540, -0.280071 mu:0.702887 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.200503, -0.001092, -0.763488 mu:0.702887 unit_bearing:-0.544278 0.064641 0.836411 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.293] If point is visible? -1.388991, 0.204445, 0.230385 mu:0.702887 unit_bearing:0.164817 0.122898 0.978638 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.387850, 0.207999, 0.234049 mu:0.702887 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.200604, 0.684477, 0.337940 mu:0.702887 unit_bearing:0.282778 0.448578 0.847829 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.195238, 0.685956, 0.353602 mu:0.702887 unit_bearing:0.293882 0.448268 0.844209 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.297470, -0.583220, 0.024124 mu:0.702887 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.052489, -0.445581, 0.847289 mu:0.702887 unit_bearing:0.542727 -0.383436 0.747277 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.293] If point is visible? -1.175986, -0.583039, -0.548863 mu:0.702887 unit_bearing:-0.444169 -0.359739 0.820550 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.392987, 0.015687, -0.288950 mu:0.702887 unit_bearing:-0.213668 0.035697 0.976254 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.394636, 0.016695, -0.280823 mu:0.702887 unit_bearing:-0.207928 0.035704 0.977492 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.394397, 0.022849, -0.281575 mu:0.702887 unit_bearing:-0.207923 0.040062 0.977324 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.239728, -0.521895, -0.463504 mu:0.702887 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.265491, 0.044590, -0.648593 mu:0.702887 unit_bearing:-0.460844 0.086669 0.883239 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] If point is visible? -1.194086, 0.114431, -0.764974 mu:0.702887 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000027 y=0.000000 z=0.000019 +[21:40:41.293] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.293] If point is visible? -78729359668.496033, -43075753985.654442, 73175803897.721405 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.293] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.293] If point is visible? -88056826428.462692, -55631479987.636436, -50593128832.427612 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.293] If point is visible? -88177523235.184158, -55403804409.880508, -50632734316.270950 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.293] If point is visible? -72954566309.035263, -20749949253.511620, 87496295875.648819 mu:0.000000 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.293] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.293] If point is visible? -73112978655.882523, -20289032954.086452, 87472157999.984650 mu:0.000000 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.293] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.293] If point is visible? -73477128510.889114, -20108716032.056770, 87208268281.500778 mu:0.000000 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.293] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.293] If point is visible? -111324109989.253174, -31721633716.224476, -3035032256.199210 mu:0.000000 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -111413222350.901184, -31434890189.255489, -2733586563.459219 mu:0.000000 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -111857406700.096146, -8256008753.109254, -28780024619.858894 mu:0.000000 unit_bearing:-0.270855 -0.040477 0.961769 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -111077454423.196274, 9766679482.289459, 31224061588.377571 mu:0.000000 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -79178188748.045761, 16289652112.126581, 82909544637.312714 mu:0.000000 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -94982511873.823837, 7324163581.358089, -65827122049.306053 mu:0.000000 unit_bearing:-0.569631 0.132060 0.811222 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -112906906752.275620, 16961444261.033588, 19309861406.405922 mu:0.000000 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -96268448121.881958, 55684376645.339981, 32251620504.189537 mu:0.000000 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -105608820096.039658, -47438776166.194054, 2206935680.506402 mu:0.000000 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -97153024701.414352, -46318370632.456924, -42713338252.149590 mu:0.000000 unit_bearing:-0.428285 -0.352067 0.832238 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -111555193020.826248, -30812192840.863808, -3818195090.018775 mu:0.000000 unit_bearing:-0.080616 -0.260090 0.962213 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -111281468132.269333, -31800812663.100834, -3697850134.187628 mu:0.000000 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -112140259809.063339, -9345966390.249800, -27308349886.251274 mu:0.000000 unit_bearing:-0.259429 -0.051369 0.964395 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -91555955348.149734, -6609547036.812193, -70585776609.580444 mu:0.000000 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -97022322685.200684, 8767977341.984188, -62596504738.052788 mu:0.000000 unit_bearing:-0.540707 0.141035 0.829304 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -100999748015.456177, -42448788796.216240, -37492428060.481804 mu:0.000000 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -88417061791.327988, -54947877185.016045, -50711782737.059258 mu:0.000000 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -88137410763.647263, -54112053500.066422, -52078915322.881729 mu:0.000000 unit_bearing:-0.515504 -0.409014 0.752969 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -96213811338.357803, 11113434750.325872, -63465935801.175743 mu:0.000000 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -87835206287.444763, 7443774638.898670, -75087267142.233475 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -97327092448.434052, 9341319756.499134, -62037954125.378967 mu:0.000000 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -103020328081.516342, 4644392569.790125, -52666617044.919792 mu:0.000000 unit_bearing:-0.460774 0.095239 0.882393 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -95598258520.500229, 9967345262.518179, -64576744479.628105 mu:0.000000 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -78634938892.877335, -63744634883.722366, -56228985765.138885 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -78847895693.813217, -63735852371.069496, -55939980322.776352 mu:0.000000 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -72419003622.821121, -44041557662.392265, 78894613531.405380 mu:0.000000 unit_bearing:0.619776 -0.460538 0.635439 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -72169946605.053833, -43979510603.921722, 79157010967.980804 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -83621833651.469208, -46769016075.773323, 65027524967.446556 mu:0.000000 unit_bearing:0.496505 -0.469322 0.730219 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -72306136680.617645, -43759416364.216400, 79154703013.205750 mu:0.000000 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -78729359668.496033, -43075753985.654442, 73175803897.721405 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -84239240744.198547, -42447609472.935989, 67160119864.365120 mu:0.000000 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -78817040126.361862, -41548400903.399765, 73960364381.279587 mu:0.000000 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -76952920652.100632, -41083036226.745697, 76150922967.651703 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -78943075435.178970, -41322345879.441864, 73952589563.701096 mu:0.000000 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -75390852349.768967, -40446344518.464867, 78031042081.922745 mu:0.000000 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -84363388252.597122, -42218342054.971039, 67148799304.178459 mu:0.000000 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -87991147557.153824, -55422893907.399857, -50935171677.595215 mu:0.000000 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -88177523235.184158, -55403804409.880508, -50632734316.270950 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -78424119600.427460, -38881636711.908440, 75805057369.695602 mu:0.000000 unit_bearing:0.597894 -0.413058 0.686954 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -100445766582.285751, -43488609719.049606, 37787825178.527596 mu:0.000000 unit_bearing:0.264168 -0.412535 0.871797 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -100345184749.927948, -43442170898.560211, 38107120285.386757 mu:0.000000 unit_bearing:0.266967 -0.412473 0.870973 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -99499777811.742111, -43353488702.163757, 40358396450.888924 mu:0.000000 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] If point is visible? -85470491258.593246, -37795129523.027901, 68372905742.509560 mu:0.000000 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.294] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.294] If point is visible? -85262730827.042343, -37741541767.638695, 68661296872.683144 mu:0.000000 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -85053871244.499146, -37687871982.965981, 68949214810.913910 mu:0.000000 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -85166551207.945175, -37456122937.278458, 68936407950.906158 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -84745593225.130356, -37348753728.380661, 69511049158.959839 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -84533464406.114456, -37294946511.027557, 69797645315.308350 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -84857719863.922852, -37117062329.920570, 69498359655.567398 mu:0.000000 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -84645620535.644409, -37063364557.431709, 69785076220.782532 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -88663204858.996170, -50789217720.939087, -54477723876.356552 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -106376160797.044037, -45745418807.518364, 1878295.920053 mu:0.000000 unit_bearing:-0.062872 -0.392112 0.917767 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] If point is visible? -85720761430.404587, -36295018349.458969, 68870557091.734894 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -85829766782.733185, -36062334074.597038, 68857026703.420822 mu:0.000000 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -106272020856.959534, -45986819386.232979, 30936026.909906 mu:0.000000 unit_bearing:-0.062863 -0.394212 0.916867 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] If point is visible? -88892824435.882004, -49887118322.618073, -54935162879.510788 mu:0.000000 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -106358905323.787827, -45784353578.949852, -327348445.942740 mu:0.000000 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] If point is visible? -85728440671.366928, -35776603301.500542, 69131758603.298965 mu:0.000000 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] If point is visible? -89008526497.828033, -49214494796.383240, -55352928052.127754 mu:0.000000 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=-0.000016 y=0.000000 z=-0.000006 +[21:40:41.295] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.295] init seeds +[21:40:41.295] DepthFilter: Initialized 1 new seeds +[21:40:41.298] DepthFilter: Initialized 1 new seeds +[21:40:41.596] add new frame +[21:40:41.596] update seed +[21:40:41.596] If point is visible? -0.911613, -0.537598, 0.961732 mu:0.699316 unit_bearing:0.617990 -0.455110 0.641064 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.596] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.596] If point is visible? -1.147975, -0.618617, -0.586842 mu:0.699316 unit_bearing:-0.464728 -0.379368 0.800067 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.596] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.596] If point is visible? -1.102951, -0.553048, -0.722869 mu:0.699316 unit_bearing:-0.553372 -0.322263 0.768066 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.596] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.596] If point is visible? -1.103752, -0.544664, -0.727995 mu:0.699316 unit_bearing:-0.556219 -0.316007 0.768609 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.596] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.596] If point is visible? -1.339499, -0.480809, -0.139756 mu:0.699316 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.596] If point is visible? -1.340085, -0.480342, -0.135688 mu:0.699316 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.596] If point is visible? -1.104854, -0.541776, -0.728477 mu:0.699316 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.596] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.596] If point is visible? -1.341260, -0.481482, -0.119022 mu:0.699316 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.596] If point is visible? -1.104473, -0.536271, -0.733114 mu:0.699316 unit_bearing:-0.559059 -0.309745 0.769097 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.596] Z inverse min: 1.134664, Z inverse max: 0.263968 +[21:40:41.596] If point is visible? -1.375865, -0.386859, -0.048094 mu:0.699316 unit_bearing:-0.071962 -0.264419 0.961719 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.597] If point is visible? -1.401423, -0.148005, 0.243118 mu:0.699316 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.597] If point is visible? -1.400762, -0.147492, 0.247201 mu:0.699316 unit_bearing:0.153298 -0.123440 0.980440 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.597] If point is visible? -1.400090, -0.146979, 0.251284 mu:0.699316 unit_bearing:0.156179 -0.123432 0.979986 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.597] add key frame +[21:40:41.597] If point is visible? -1.406834, 0.035540, 0.254073 mu:0.699316 unit_bearing:0.173642 0.003017 0.984804 T_cur_ref: x=-0.000062 y=0.000000 z=0.000030 +[21:40:41.597] init seeds +[21:40:41.597] remove key frame +[21:40:41.597] update seed +[21:40:41.597] If point is visible? -0.966097, -0.780808, -0.693620 mu:0.702887 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -0.888835, -0.540602, 0.970512 mu:0.702887 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.597] If point is visible? -0.890509, -0.537898, 0.970480 mu:0.702887 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.597] If point is visible? -1.056399, -0.443376, 0.843574 mu:0.702887 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.597] If point is visible? -1.053830, -0.442724, 0.847122 mu:0.702887 unit_bearing:0.542842 -0.381429 0.748221 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.597] If point is visible? -1.170311, -0.592043, -0.551351 mu:0.702887 unit_bearing:-0.446621 -0.365807 0.816526 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.597] If point is visible? -1.392470, -0.145910, 0.252809 mu:0.702887 unit_bearing:0.150418 -0.123448 0.980885 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -0.977561, 0.138740, 1.024357 mu:0.702887 unit_bearing:0.717017 0.009046 0.696997 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.597] If point is visible? -1.394849, 0.010540, -0.280071 mu:0.702887 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.200504, -0.001092, -0.763488 mu:0.702887 unit_bearing:-0.544278 0.064641 0.836411 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.597] If point is visible? -1.388992, 0.204445, 0.230385 mu:0.702887 unit_bearing:0.164817 0.122898 0.978638 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.387851, 0.207999, 0.234049 mu:0.702887 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.200605, 0.684477, 0.337940 mu:0.702887 unit_bearing:0.282778 0.448578 0.847829 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.195239, 0.685956, 0.353603 mu:0.702887 unit_bearing:0.293882 0.448268 0.844209 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.297472, -0.583220, 0.024125 mu:0.702887 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.052490, -0.445581, 0.847290 mu:0.702887 unit_bearing:0.542727 -0.383436 0.747277 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.597] If point is visible? -1.175987, -0.583039, -0.548863 mu:0.702887 unit_bearing:-0.444169 -0.359739 0.820550 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.392988, 0.015687, -0.288950 mu:0.702887 unit_bearing:-0.213668 0.035697 0.976254 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.394637, 0.016695, -0.280823 mu:0.702887 unit_bearing:-0.207928 0.035704 0.977492 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.394399, 0.022849, -0.281574 mu:0.702887 unit_bearing:-0.207923 0.040062 0.977324 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.239729, -0.521895, -0.463504 mu:0.702887 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.265492, 0.044590, -0.648593 mu:0.702887 unit_bearing:-0.460844 0.086669 0.883239 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] If point is visible? -1.194087, 0.114431, -0.764974 mu:0.702887 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000029 y=0.000000 z=0.000019 +[21:40:41.597] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.597] If point is visible? -78729359668.496033, -43075753985.654442, 73175803897.721405 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.597] If point is visible? -88056826428.462692, -55631479987.636436, -50593128832.427612 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] If point is visible? -88177523235.184158, -55403804409.880508, -50632734316.270950 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] If point is visible? -72954566309.035263, -20749949253.511620, 87496295875.648819 mu:0.000000 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.597] If point is visible? -73112978655.882523, -20289032954.086452, 87472157999.984650 mu:0.000000 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.597] If point is visible? -73477128510.889114, -20108716032.056770, 87208268281.500778 mu:0.000000 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.597] If point is visible? -111324109989.253174, -31721633716.224476, -3035032256.199209 mu:0.000000 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] If point is visible? -111413222350.901184, -31434890189.255489, -2733586563.459219 mu:0.000000 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] If point is visible? -111857406700.096146, -8256008753.109254, -28780024619.858894 mu:0.000000 unit_bearing:-0.270855 -0.040477 0.961769 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] If point is visible? -111077454423.196274, 9766679482.289459, 31224061588.377571 mu:0.000000 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] If point is visible? -79178188748.045761, 16289652112.126581, 82909544637.312714 mu:0.000000 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.597] If point is visible? -94982511873.823837, 7324163581.358089, -65827122049.306053 mu:0.000000 unit_bearing:-0.569631 0.132060 0.811222 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.597] If point is visible? -112906906752.275620, 16961444261.033588, 19309861406.405922 mu:0.000000 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] If point is visible? -96268448121.881958, 55684376645.339981, 32251620504.189537 mu:0.000000 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] If point is visible? -105608820096.039658, -47438776166.194054, 2206935680.506403 mu:0.000000 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] If point is visible? -97153024701.414352, -46318370632.456924, -42713338252.149590 mu:0.000000 unit_bearing:-0.428285 -0.352067 0.832238 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.597] If point is visible? -111555193020.826248, -30812192840.863808, -3818195090.018774 mu:0.000000 unit_bearing:-0.080616 -0.260090 0.962213 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -111281468132.269333, -31800812663.100834, -3697850134.187628 mu:0.000000 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -112140259809.063339, -9345966390.249800, -27308349886.251274 mu:0.000000 unit_bearing:-0.259429 -0.051369 0.964395 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -91555955348.149734, -6609547036.812193, -70585776609.580444 mu:0.000000 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -97022322685.200684, 8767977341.984188, -62596504738.052788 mu:0.000000 unit_bearing:-0.540707 0.141035 0.829304 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -100999748015.456177, -42448788796.216240, -37492428060.481804 mu:0.000000 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -88417061791.327988, -54947877185.016045, -50711782737.059258 mu:0.000000 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -88137410763.647263, -54112053500.066422, -52078915322.881729 mu:0.000000 unit_bearing:-0.515504 -0.409014 0.752969 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -96213811338.357803, 11113434750.325872, -63465935801.175743 mu:0.000000 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -87835206287.444763, 7443774638.898670, -75087267142.233475 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -97327092448.434052, 9341319756.499134, -62037954125.378967 mu:0.000000 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -103020328081.516342, 4644392569.790125, -52666617044.919792 mu:0.000000 unit_bearing:-0.460774 0.095239 0.882393 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -95598258520.500229, 9967345262.518179, -64576744479.628105 mu:0.000000 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] calculated Z= 3.651411 +[21:40:41.598] update seeds 305 +[21:40:41.598] If point is visible? -78634938892.877335, -63744634883.722366, -56228985765.138885 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -78847895693.813217, -63735852371.069496, -55939980322.776352 mu:0.000000 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -72419003622.821121, -44041557662.392265, 78894613531.405380 mu:0.000000 unit_bearing:0.619776 -0.460538 0.635439 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -72169946605.053833, -43979510603.921722, 79157010967.980804 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -83621833651.469208, -46769016075.773323, 65027524967.446556 mu:0.000000 unit_bearing:0.496505 -0.469322 0.730219 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -72306136680.617645, -43759416364.216400, 79154703013.205750 mu:0.000000 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -78729359668.496033, -43075753985.654442, 73175803897.721405 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -84239240744.198547, -42447609472.935989, 67160119864.365120 mu:0.000000 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -78817040126.361862, -41548400903.399765, 73960364381.279587 mu:0.000000 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -76952920652.100632, -41083036226.745697, 76150922967.651703 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -78943075435.178970, -41322345879.441864, 73952589563.701096 mu:0.000000 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -75390852349.768967, -40446344518.464867, 78031042081.922745 mu:0.000000 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -84363388252.597122, -42218342054.971039, 67148799304.178459 mu:0.000000 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -87991147557.153824, -55422893907.399857, -50935171677.595215 mu:0.000000 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -88177523235.184158, -55403804409.880508, -50632734316.270950 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -78424119600.427460, -38881636711.908440, 75805057369.695602 mu:0.000000 unit_bearing:0.597894 -0.413058 0.686954 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.598] If point is visible? -100445766582.285751, -43488609719.049606, 37787825178.527596 mu:0.000000 unit_bearing:0.264168 -0.412535 0.871797 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -100345184749.927948, -43442170898.560211, 38107120285.386757 mu:0.000000 unit_bearing:0.266967 -0.412473 0.870973 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.598] If point is visible? -99499777811.742111, -43353488702.163757, 40358396450.888924 mu:0.000000 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -85470491258.593246, -37795129523.027901, 68372905742.509560 mu:0.000000 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -85262730827.042343, -37741541767.638695, 68661296872.683144 mu:0.000000 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -85053871244.499146, -37687871982.965981, 68949214810.913910 mu:0.000000 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -85166551207.945175, -37456122937.278458, 68936407950.906158 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -84745593225.130356, -37348753728.380661, 69511049158.959839 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -84533464406.114456, -37294946511.027557, 69797645315.308350 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -84857719863.922852, -37117062329.920570, 69498359655.567398 mu:0.000000 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -84645620535.644409, -37063364557.431709, 69785076220.782532 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -88663204858.996170, -50789217720.939087, -54477723876.356552 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -106376160797.044037, -45745418807.518364, 1878295.920053 mu:0.000000 unit_bearing:-0.062872 -0.392112 0.917767 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -85720761430.404587, -36295018349.458969, 68870557091.734894 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -85829766782.733185, -36062334074.597038, 68857026703.420822 mu:0.000000 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -106272020856.959534, -45986819386.232979, 30936026.909906 mu:0.000000 unit_bearing:-0.062863 -0.394212 0.916867 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -88892824435.882004, -49887118322.618073, -54935162879.510788 mu:0.000000 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -106358905323.787827, -45784353578.949852, -327348445.942740 mu:0.000000 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -85728440671.366928, -35776603301.500542, 69131758603.298965 mu:0.000000 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -89008526497.828033, -49214494796.383240, -55352928052.127754 mu:0.000000 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -102544503503.070938, -39835058334.507103, 36143102524.782082 mu:0.000000 unit_bearing:0.253626 -0.379488 0.889755 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -89111781268.033127, -48983207869.521225, -55391937295.704994 mu:0.000000 unit_bearing:-0.538636 -0.361565 0.761014 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -100114833107.878006, -37671663140.855148, 44344074229.884254 mu:0.000000 unit_bearing:0.326525 -0.369575 0.869940 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -100257426505.645248, -38005547973.698212, 43732798732.826195 mu:0.000000 unit_bearing:0.320915 -0.371794 0.871081 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -102841893121.470718, -39398366431.198906, 35774916814.253975 mu:0.000000 unit_bearing:0.250888 -0.375357 0.892279 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -102741000400.264114, -39639519727.099411, 35798411192.113670 mu:0.000000 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -89214423352.241714, -48751760281.436943, -55430889102.648521 mu:0.000000 unit_bearing:-0.538741 -0.359540 0.761899 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.599] If point is visible? -107273345505.278763, -43086595683.930916, -6671247844.022390 mu:0.000000 unit_bearing:-0.117390 -0.362298 0.924640 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -107332425709.919556, -42881793404.649963, -7030868861.480612 mu:0.000000 unit_bearing:-0.120265 -0.360164 0.925104 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -107406606677.352798, -42509637485.812668, -8079758301.028357 mu:0.000000 unit_bearing:-0.128873 -0.355871 0.925607 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -104098720953.151993, -36252861395.417374, 35464309775.946159 mu:0.000000 unit_bearing:0.251362 -0.348068 0.903142 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -101394109614.793594, -34826167730.461037, 43759610463.929375 mu:0.000000 unit_bearing:0.324333 -0.344570 0.880954 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -107469479180.104767, -42136759482.255745, -9128826672.326498 mu:0.000000 unit_bearing:-0.137481 -0.351570 0.926012 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -107474796068.876053, -41800654450.946671, -10507351176.575354 mu:0.000000 unit_bearing:-0.148942 -0.347239 0.925873 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -102118980458.352631, -33996265655.003868, 42714150851.712135 mu:0.000000 unit_bearing:0.316146 -0.336356 0.887083 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -104096571306.950378, -35965212071.959732, 35762246770.550850 mu:0.000000 unit_bearing:0.254219 -0.345916 0.903169 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -101699119948.026993, -34388612155.142159, 43396351081.189369 mu:0.000000 unit_bearing:0.321638 -0.340437 0.883545 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -107410510691.935516, -41500716871.807495, -12214893505.286581 mu:0.000000 unit_bearing:-0.163252 -0.342870 0.925088 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] If point is visible? -101607217702.198547, -34630527734.953354, 43419244476.827019 mu:0.000000 unit_bearing:0.321592 -0.342535 0.882750 T_cur_ref: x=-0.000017 y=0.000000 z=-0.000006 +[21:40:41.599] init seeds +[21:40:41.599] DepthFilter: Initialized 2 new seeds +[21:40:41.602] DepthFilter: Initialized 3 new seeds +[21:40:41.907] add new frame +[21:40:41.907] update seed +[21:40:41.907] If point is visible? -0.966098, -0.780808, -0.693620 mu:0.702887 unit_bearing:-0.560064 -0.485312 0.671417 T_cur_ref: x=-0.000030 y=0.000000 z=0.000019 +[21:40:41.907] If point is visible? -0.888837, -0.540602, 0.970513 mu:0.702887 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000030 y=0.000000 z=0.000019 +[21:40:41.907] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.907] If point is visible? -0.890511, -0.537898, 0.970480 mu:0.702887 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000030 y=0.000000 z=0.000019 +[21:40:41.907] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.907] If point is visible? -1.056400, -0.443376, 0.843574 mu:0.702887 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=-0.000030 y=0.000000 z=0.000019 +[21:40:41.908] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.908] If point is visible? -1.053831, -0.442724, 0.847122 mu:0.702887 unit_bearing:0.542842 -0.381429 0.748221 T_cur_ref: x=-0.000030 y=0.000000 z=0.000019 +[21:40:41.908] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.908] If point is visible? -1.170312, -0.592043, -0.551351 mu:0.702887 unit_bearing:-0.446621 -0.365807 0.816526 T_cur_ref: x=-0.000030 y=0.000000 z=0.000019 +[21:40:41.908] Z inverse min: 1.378433, Z inverse max: 0.027341 +[21:40:41.908] add key frame +[21:40:41.908] init seeds +[21:40:41.908] remove key frame +[21:40:41.908] update seed +[21:40:41.908] If point is visible? -78729359668.496033, -43075753985.654442, 73175803897.721405 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -88056826428.462692, -55631479987.636436, -50593128832.427612 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -88177523235.184158, -55403804409.880508, -50632734316.270950 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -72954566309.035263, -20749949253.511620, 87496295875.648819 mu:0.000000 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -73112978655.882523, -20289032954.086452, 87472157999.984650 mu:0.000000 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -73477128510.889114, -20108716032.056770, 87208268281.500778 mu:0.000000 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -111324109989.253174, -31721633716.224476, -3035032256.199209 mu:0.000000 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -111413222350.901184, -31434890189.255489, -2733586563.459219 mu:0.000000 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -111857406700.096146, -8256008753.109254, -28780024619.858891 mu:0.000000 unit_bearing:-0.270855 -0.040477 0.961769 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -111077454423.196274, 9766679482.289459, 31224061588.377575 mu:0.000000 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -79178188748.045761, 16289652112.126581, 82909544637.312714 mu:0.000000 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] calculated Z= 0.440011 +[21:40:41.908] update seeds 305 +[21:40:41.908] If point is visible? -94982511873.823837, 7324163581.358089, -65827122049.306053 mu:0.000000 unit_bearing:-0.569631 0.132060 0.811222 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -112906906752.275620, 16961444261.033588, 19309861406.405926 mu:0.000000 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -96268448121.881958, 55684376645.339981, 32251620504.189541 mu:0.000000 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -105608820096.039658, -47438776166.194054, 2206935680.506403 mu:0.000000 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -97153024701.414352, -46318370632.456924, -42713338252.149590 mu:0.000000 unit_bearing:-0.428285 -0.352067 0.832238 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -111555193020.826248, -30812192840.863808, -3818195090.018774 mu:0.000000 unit_bearing:-0.080616 -0.260090 0.962213 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -111281468132.269333, -31800812663.100834, -3697850134.187628 mu:0.000000 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -112140259809.063339, -9345966390.249800, -27308349886.251270 mu:0.000000 unit_bearing:-0.259429 -0.051369 0.964395 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -91555955348.149734, -6609547036.812193, -70585776609.580444 mu:0.000000 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -97022322685.200684, 8767977341.984188, -62596504738.052788 mu:0.000000 unit_bearing:-0.540707 0.141035 0.829304 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -100999748015.456177, -42448788796.216240, -37492428060.481804 mu:0.000000 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -88417061791.327988, -54947877185.016045, -50711782737.059258 mu:0.000000 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -88137410763.647263, -54112053500.066422, -52078915322.881729 mu:0.000000 unit_bearing:-0.515504 -0.409014 0.752969 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -96213811338.357803, 11113434750.325872, -63465935801.175743 mu:0.000000 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -87835206287.444763, 7443774638.898670, -75087267142.233475 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -97327092448.434052, 9341319756.499134, -62037954125.378967 mu:0.000000 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -103020328081.516342, 4644392569.790125, -52666617044.919792 mu:0.000000 unit_bearing:-0.460774 0.095239 0.882393 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -146249886.037085, 15248427.443088, -98791982.897530 mu:0.000000 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -78634938892.877335, -63744634883.722366, -56228985765.138885 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -78847895693.813217, -63735852371.069496, -55939980322.776352 mu:0.000000 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] If point is visible? -72419003622.821121, -44041557662.392265, 78894613531.405380 mu:0.000000 unit_bearing:0.619776 -0.460538 0.635439 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.908] If point is visible? -72169946605.053833, -43979510603.921722, 79157010967.980804 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.908] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -83621833651.469208, -46769016075.773323, 65027524967.446556 mu:0.000000 unit_bearing:0.496505 -0.469322 0.730219 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -72306136680.617645, -43759416364.216400, 79154703013.205750 mu:0.000000 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -78729359668.496033, -43075753985.654442, 73175803897.721405 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -84239240744.198547, -42447609472.935989, 67160119864.365120 mu:0.000000 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -78817040126.361862, -41548400903.399765, 73960364381.279587 mu:0.000000 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -76952920652.100632, -41083036226.745697, 76150922967.651703 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -78943075435.178970, -41322345879.441864, 73952589563.701096 mu:0.000000 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -75390852349.768967, -40446344518.464867, 78031042081.922745 mu:0.000000 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -84363388252.597122, -42218342054.971039, 67148799304.178459 mu:0.000000 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -87991147557.153824, -55422893907.399857, -50935171677.595215 mu:0.000000 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] If point is visible? -88177523235.184158, -55403804409.880508, -50632734316.270950 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] If point is visible? -78424119600.427460, -38881636711.908440, 75805057369.695602 mu:0.000000 unit_bearing:0.597894 -0.413058 0.686954 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -100445766582.285751, -43488609719.049606, 37787825178.527596 mu:0.000000 unit_bearing:0.264168 -0.412535 0.871797 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] If point is visible? -100345184749.927948, -43442170898.560211, 38107120285.386757 mu:0.000000 unit_bearing:0.266967 -0.412473 0.870973 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] If point is visible? -99499777811.742111, -43353488702.163757, 40358396450.888924 mu:0.000000 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] If point is visible? -85470491258.593246, -37795129523.027901, 68372905742.509560 mu:0.000000 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -85262730827.042343, -37741541767.638695, 68661296872.683144 mu:0.000000 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -85053871244.499146, -37687871982.965981, 68949214810.913910 mu:0.000000 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -85166551207.945175, -37456122937.278458, 68936407950.906158 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -84745593225.130356, -37348753728.380661, 69511049158.959839 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -84533464406.114456, -37294946511.027557, 69797645315.308350 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -84857719863.922852, -37117062329.920570, 69498359655.567398 mu:0.000000 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -84645620535.644409, -37063364557.431709, 69785076220.782532 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -88663204858.996170, -50789217720.939087, -54477723876.356552 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -106376160797.044037, -45745418807.518364, 1878295.920053 mu:0.000000 unit_bearing:-0.062872 -0.392112 0.917767 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] If point is visible? -85720761430.404587, -36295018349.458969, 68870557091.734894 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -85829766782.733185, -36062334074.597038, 68857026703.420822 mu:0.000000 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -106272020856.959534, -45986819386.232979, 30936026.909906 mu:0.000000 unit_bearing:-0.062863 -0.394212 0.916867 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] If point is visible? -88892824435.882004, -49887118322.618073, -54935162879.510788 mu:0.000000 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -106358905323.787827, -45784353578.949852, -327348445.942739 mu:0.000000 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] If point is visible? -85728440671.366928, -35776603301.500542, 69131758603.298965 mu:0.000000 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -89008526497.828033, -49214494796.383240, -55352928052.127754 mu:0.000000 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.909] If point is visible? -102544503503.070938, -39835058334.507103, 36143102524.782082 mu:0.000000 unit_bearing:0.253626 -0.379488 0.889755 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.909] If point is visible? -89111781268.033127, -48983207869.521225, -55391937295.704994 mu:0.000000 unit_bearing:-0.538636 -0.361565 0.761014 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.910] If point is visible? -100114833107.878006, -37671663140.855148, 44344074229.884254 mu:0.000000 unit_bearing:0.326525 -0.369575 0.869940 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -100257426505.645248, -38005547973.698212, 43732798732.826195 mu:0.000000 unit_bearing:0.320915 -0.371794 0.871081 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -102841893121.470718, -39398366431.198906, 35774916814.253975 mu:0.000000 unit_bearing:0.250888 -0.375357 0.892279 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -102741000400.264114, -39639519727.099411, 35798411192.113670 mu:0.000000 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -89214423352.241714, -48751760281.436943, -55430889102.648521 mu:0.000000 unit_bearing:-0.538741 -0.359540 0.761899 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.910] If point is visible? -107273345505.278763, -43086595683.930916, -6671247844.022390 mu:0.000000 unit_bearing:-0.117390 -0.362298 0.924640 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -107332425709.919556, -42881793404.649963, -7030868861.480612 mu:0.000000 unit_bearing:-0.120265 -0.360164 0.925104 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -107406606677.352798, -42509637485.812668, -8079758301.028357 mu:0.000000 unit_bearing:-0.128873 -0.355871 0.925607 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -104098720953.151993, -36252861395.417374, 35464309775.946159 mu:0.000000 unit_bearing:0.251362 -0.348068 0.903142 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -101394109614.793594, -34826167730.461037, 43759610463.929375 mu:0.000000 unit_bearing:0.324333 -0.344570 0.880954 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -107469479180.104767, -42136759482.255745, -9128826672.326498 mu:0.000000 unit_bearing:-0.137481 -0.351570 0.926012 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -107474796068.876053, -41800654450.946671, -10507351176.575354 mu:0.000000 unit_bearing:-0.148942 -0.347239 0.925873 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -102118980458.352631, -33996265655.003868, 42714150851.712135 mu:0.000000 unit_bearing:0.316146 -0.336356 0.887083 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -104096571306.950378, -35965212071.959732, 35762246770.550850 mu:0.000000 unit_bearing:0.254219 -0.345916 0.903169 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -101699119948.026993, -34388612155.142159, 43396351081.189369 mu:0.000000 unit_bearing:0.321638 -0.340437 0.883545 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -107410510691.935516, -41500716871.807495, -12214893505.286581 mu:0.000000 unit_bearing:-0.163252 -0.342870 0.925088 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -101607217702.198547, -34630527734.953354, 43419244476.827019 mu:0.000000 unit_bearing:0.321592 -0.342535 0.882750 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -101486638915.838806, -34584408345.684296, 43736846620.063240 mu:0.000000 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -90046940415.144241, -44438793231.508011, -57665181082.873199 mu:0.000000 unit_bearing:-0.553466 -0.320220 0.768853 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.910] If point is visible? -106633175638.659592, -40808767225.626709, -19301329023.184147 mu:0.000000 unit_bearing:-0.223150 -0.329481 0.917413 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -106705735016.630753, -40772828545.622116, -18973494624.652073 mu:0.000000 unit_bearing:-0.220313 -0.329518 0.918085 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -106898235924.472458, -40871625026.476105, -17629757662.905521 mu:0.000000 unit_bearing:-0.208927 -0.331779 0.919930 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -102442650499.831863, -33845456583.126938, 42053767471.782967 mu:0.000000 unit_bearing:0.310600 -0.334368 0.889790 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -102326363804.813278, -33799721519.819241, 42372455994.307076 mu:0.000000 unit_bearing:0.313395 -0.334312 0.888830 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -102647268504.465042, -33648576376.872341, 41711419392.102592 mu:0.000000 unit_bearing:0.307845 -0.332320 0.891513 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -102532051806.284500, -33602934199.325714, 42030371125.068596 mu:0.000000 unit_bearing:0.310642 -0.332265 0.890563 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -102415791076.387192, -33557244406.381645, 42349120620.976280 mu:0.000000 unit_bearing:0.313438 -0.332209 0.889603 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -108892940047.782715, -39125025650.281258, -4482288136.281973 mu:0.000000 unit_bearing:-0.094686 -0.330645 0.938993 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -103051429969.769379, -33254102211.172295, 41025582246.160088 mu:0.000000 unit_bearing:0.302326 -0.328217 0.894915 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -90113309365.823914, -43759496287.714188, -58079504914.441772 mu:0.000000 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.910] If point is visible? -109036946911.305710, -38674710929.933990, -4872563398.147177 mu:0.000000 unit_bearing:-0.097577 -0.326375 0.940191 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -103617633107.018631, -41533811883.560570, -30771082383.336803 mu:0.000000 unit_bearing:-0.321796 -0.323625 0.889783 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -77551365395.311646, -25810429024.569351, 82025230327.091095 mu:0.000000 unit_bearing:0.665080 -0.307564 0.680494 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.910] If point is visible? -77902817775.894165, -25630980927.423851, 81747995269.582474 mu:0.000000 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.910] If point is visible? -108622257201.320511, -38799184940.960968, -10215645830.249884 mu:0.000000 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -108666316206.670578, -38761252595.914101, -9885744817.131384 mu:0.000000 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -108982581312.524368, -38455657705.815208, -7245018439.866674 mu:0.000000 unit_bearing:-0.117672 -0.322000 0.939398 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -108747817077.580948, -38853471513.071060, -8535277591.606604 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -103250977371.391220, -33056514188.069771, 40682102611.691780 mu:0.000000 unit_bearing:0.299562 -0.326162 0.896594 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -77991693428.110748, -25399198939.678177, 81735594331.723434 mu:0.000000 unit_bearing:0.662970 -0.303734 0.684264 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.910] If point is visible? -109371566970.241638, -37823564978.632706, -3971045467.243475 mu:0.000000 unit_bearing:-0.089001 -0.320028 0.943218 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -109511684626.637115, -37372437975.733696, -4361506770.341162 mu:0.000000 unit_bearing:-0.091892 -0.315750 0.944382 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -109428923959.206085, -37617539740.193748, -4331539720.128576 mu:0.000000 unit_bearing:-0.091882 -0.317882 0.943668 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] If point is visible? -78079962482.950912, -25167291875.721344, 81723055557.321426 mu:0.000000 unit_bearing:0.663094 -0.301733 0.685028 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:41.910] If point is visible? -110389923695.307968, -34373637787.418846, -6406926183.844687 mu:0.000000 unit_bearing:-0.106388 -0.287893 0.951735 T_cur_ref: x=-0.000018 y=0.000000 z=-0.000006 +[21:40:41.910] init seeds +[21:40:41.910] DepthFilter: Initialized 3 new seeds +[21:40:41.913] DepthFilter: Initialized 3 new seeds +[21:40:42.237] add new frame +[21:40:42.238] update seed +[21:40:42.238] If point is visible? -78729359668.435425, -43075753985.654442, 73175803897.728241 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.238] If point is visible? -88056826428.402084, -55631479987.636436, -50593128832.420776 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -88177523235.123550, -55403804409.880508, -50632734316.264114 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -72954566308.974655, -20749949253.511620, 87496295875.655655 mu:0.000000 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.238] calculated Z= 1.006850 +[21:40:42.238] update seeds 305 +[21:40:42.238] If point is visible? -73112978655.821915, -20289032954.086452, 87472157999.991486 mu:0.000000 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.238] calculated Z= 1.008083 +[21:40:42.238] update seeds 305 +[21:40:42.238] If point is visible? -73477128510.828506, -20108716032.056770, 87208268281.507614 mu:0.000000 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.238] calculated Z= 1.007747 +[21:40:42.238] update seeds 305 +[21:40:42.238] add key frame +[21:40:42.238] If point is visible? -111324109989.192566, -31721633716.224476, -3035032256.192374 mu:0.000000 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] init seeds +[21:40:42.238] remove key frame +[21:40:42.238] update seed +[21:40:42.238] If point is visible? -78729359668.435425, -43075753985.654442, 73175803897.728241 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.238] If point is visible? -88056826428.402084, -55631479987.636436, -50593128832.420776 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -88177523235.123550, -55403804409.880508, -50632734316.264114 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -1.664579, -0.490679, 2.075876 mu:0.365198 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 1.084785, Z inverse max: 0.000000 +[21:40:42.238] calculated Z= 1.006800 +[21:40:42.238] update seeds 305 +[21:40:42.238] If point is visible? -1.667642, -0.479590, 2.074487 mu:0.365343 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 1.084453, Z inverse max: 0.000000 +[21:40:42.238] calculated Z= 1.008023 +[21:40:42.238] update seeds 305 +[21:40:42.238] If point is visible? -1.676485, -0.475392, 2.068529 mu:0.365293 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 1.084524, Z inverse max: 0.000000 +[21:40:42.238] calculated Z= 1.007784 +[21:40:42.238] update seeds 305 +[21:40:42.238] If point is visible? -111324109989.192566, -31721633716.224476, -3035032256.192374 mu:0.000000 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -111413222350.840576, -31434890189.255489, -2733586563.452384 mu:0.000000 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -111857406700.035538, -8256008753.109254, -28780024619.852058 mu:0.000000 unit_bearing:-0.270855 -0.040477 0.961769 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -111077454423.135666, 9766679482.289459, 31224061588.384407 mu:0.000000 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -407268.391822, 83789.001883, 426461.415823 mu:0.000002 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 0.678973, Z inverse max: 0.000000 +[21:40:42.238] If point is visible? -94982511873.763229, 7324163581.358089, -65827122049.299217 mu:0.000000 unit_bearing:-0.569631 0.132060 0.811222 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.238] If point is visible? -112906906752.215012, 16961444261.033588, 19309861406.412758 mu:0.000000 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -96268448121.821350, 55684376645.339981, 32251620504.196373 mu:0.000000 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -105608820095.979050, -47438776166.194054, 2206935680.513238 mu:0.000000 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -97153024701.353745, -46318370632.456924, -42713338252.142754 mu:0.000000 unit_bearing:-0.428285 -0.352067 0.832238 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -111555193020.765640, -30812192840.863808, -3818195090.011939 mu:0.000000 unit_bearing:-0.080616 -0.260090 0.962213 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -111281468132.208725, -31800812663.100834, -3697850134.180792 mu:0.000000 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -112140259809.002731, -9345966390.249800, -27308349886.244438 mu:0.000000 unit_bearing:-0.259429 -0.051369 0.964395 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] If point is visible? -91555955348.089127, -6609547036.812193, -70585776609.573608 mu:0.000000 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.238] If point is visible? -97022322685.140076, 8767977341.984188, -62596504738.045952 mu:0.000000 unit_bearing:-0.540707 0.141035 0.829304 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.238] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.238] If point is visible? -100999748015.395569, -42448788796.216240, -37492428060.474968 mu:0.000000 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] If point is visible? -88417061791.267380, -54947877185.016045, -50711782737.052422 mu:0.000000 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] If point is visible? -88137410763.586655, -54112053500.066422, -52078915322.874893 mu:0.000000 unit_bearing:-0.515504 -0.409014 0.752969 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] If point is visible? -96213811338.297195, 11113434750.325872, -63465935801.168907 mu:0.000000 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -87835206287.384155, 7443774638.898670, -75087267142.226639 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -97327092448.373444, 9341319756.499134, -62037954125.372131 mu:0.000000 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -103020328081.455734, 4644392569.790125, -52666617044.912956 mu:0.000000 unit_bearing:-0.460774 0.095239 0.882393 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] If point is visible? -146249885.976472, 15248427.443088, -98791982.890695 mu:0.000000 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -78634938892.816727, -63744634883.722366, -56228985765.132050 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] If point is visible? -78847895693.752609, -63735852371.069496, -55939980322.769516 mu:0.000000 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] If point is visible? -72419003622.760513, -44041557662.392265, 78894613531.412216 mu:0.000000 unit_bearing:0.619776 -0.460538 0.635439 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -72169946604.993225, -43979510603.921722, 79157010967.987640 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -83621833651.408600, -46769016075.773323, 65027524967.453392 mu:0.000000 unit_bearing:0.496505 -0.469322 0.730219 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -72306136680.557037, -43759416364.216400, 79154703013.212585 mu:0.000000 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -78729359668.435425, -43075753985.654442, 73175803897.728241 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -84239240744.137939, -42447609472.935989, 67160119864.371956 mu:0.000000 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -78817040126.301254, -41548400903.399765, 73960364381.286423 mu:0.000000 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -76952920652.040024, -41083036226.745697, 76150922967.658539 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -78943075435.118362, -41322345879.441864, 73952589563.707932 mu:0.000000 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -75390852349.708359, -40446344518.464867, 78031042081.929581 mu:0.000000 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -84363388252.536514, -42218342054.971039, 67148799304.185295 mu:0.000000 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -87991147557.093216, -55422893907.399857, -50935171677.588379 mu:0.000000 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] If point is visible? -88177523235.123550, -55403804409.880508, -50632734316.264114 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] If point is visible? -78424119600.366852, -38881636711.908440, 75805057369.702438 mu:0.000000 unit_bearing:0.597894 -0.413058 0.686954 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -100445766582.225143, -43488609719.049606, 37787825178.534431 mu:0.000000 unit_bearing:0.264168 -0.412535 0.871797 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] If point is visible? -100345184749.867340, -43442170898.560211, 38107120285.393593 mu:0.000000 unit_bearing:0.266967 -0.412473 0.870973 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] If point is visible? -99499777811.681503, -43353488702.163757, 40358396450.895760 mu:0.000000 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] If point is visible? -85470491258.532639, -37795129523.027901, 68372905742.516396 mu:0.000000 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -85262730826.981735, -37741541767.638695, 68661296872.689980 mu:0.000000 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -85053871244.438538, -37687871982.965981, 68949214810.920746 mu:0.000000 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -85166551207.884567, -37456122937.278458, 68936407950.912994 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -84745593225.069748, -37348753728.380661, 69511049158.966675 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -84533464406.053848, -37294946511.027557, 69797645315.315186 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -84857719863.862244, -37117062329.920570, 69498359655.574234 mu:0.000000 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.239] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.239] If point is visible? -84645620535.583801, -37063364557.431709, 69785076220.789368 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -88663204858.935562, -50789217720.939087, -54477723876.349716 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -106376160796.983429, -45745418807.518364, 1878295.926889 mu:0.000000 unit_bearing:-0.062872 -0.392112 0.917767 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -85720761430.343979, -36295018349.458969, 68870557091.741730 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -85829766782.672577, -36062334074.597038, 68857026703.427658 mu:0.000000 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -106272020856.898926, -45986819386.232979, 30936026.916742 mu:0.000000 unit_bearing:-0.062863 -0.394212 0.916867 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -88892824435.821396, -49887118322.618073, -54935162879.503952 mu:0.000000 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -106358905323.727219, -45784353578.949852, -327348445.935904 mu:0.000000 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -85728440671.306320, -35776603301.500542, 69131758603.305801 mu:0.000000 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -89008526497.767426, -49214494796.383240, -55352928052.120918 mu:0.000000 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -102544503503.010330, -39835058334.507103, 36143102524.788918 mu:0.000000 unit_bearing:0.253626 -0.379488 0.889755 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -89111781267.972519, -48983207869.521225, -55391937295.698158 mu:0.000000 unit_bearing:-0.538636 -0.361565 0.761014 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -100114833107.817398, -37671663140.855148, 44344074229.891090 mu:0.000000 unit_bearing:0.326525 -0.369575 0.869940 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -100257426505.584641, -38005547973.698212, 43732798732.833031 mu:0.000000 unit_bearing:0.320915 -0.371794 0.871081 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -102841893121.410110, -39398366431.198906, 35774916814.260811 mu:0.000000 unit_bearing:0.250888 -0.375357 0.892279 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -102741000400.203506, -39639519727.099411, 35798411192.120506 mu:0.000000 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -89214423352.181107, -48751760281.436943, -55430889102.641685 mu:0.000000 unit_bearing:-0.538741 -0.359540 0.761899 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -107273345505.218155, -43086595683.930916, -6671247844.015555 mu:0.000000 unit_bearing:-0.117390 -0.362298 0.924640 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -107332425709.858948, -42881793404.649963, -7030868861.473777 mu:0.000000 unit_bearing:-0.120265 -0.360164 0.925104 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -107406606677.292191, -42509637485.812668, -8079758301.021522 mu:0.000000 unit_bearing:-0.128873 -0.355871 0.925607 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -104098720953.091385, -36252861395.417374, 35464309775.952995 mu:0.000000 unit_bearing:0.251362 -0.348068 0.903142 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -101394109614.732986, -34826167730.461037, 43759610463.936211 mu:0.000000 unit_bearing:0.324333 -0.344570 0.880954 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -107469479180.044159, -42136759482.255745, -9128826672.319662 mu:0.000000 unit_bearing:-0.137481 -0.351570 0.926012 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -107474796068.815445, -41800654450.946671, -10507351176.568518 mu:0.000000 unit_bearing:-0.148942 -0.347239 0.925873 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -102118980458.292023, -33996265655.003868, 42714150851.718971 mu:0.000000 unit_bearing:0.316146 -0.336356 0.887083 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -104096571306.889771, -35965212071.959732, 35762246770.557686 mu:0.000000 unit_bearing:0.254219 -0.345916 0.903169 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -101699119947.966385, -34388612155.142159, 43396351081.196205 mu:0.000000 unit_bearing:0.321638 -0.340437 0.883545 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -107410510691.874908, -41500716871.807495, -12214893505.279745 mu:0.000000 unit_bearing:-0.163252 -0.342870 0.925088 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -101607217702.137939, -34630527734.953354, 43419244476.833855 mu:0.000000 unit_bearing:0.321592 -0.342535 0.882750 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -101486638915.778198, -34584408345.684296, 43736846620.070076 mu:0.000000 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -90046940415.083633, -44438793231.508011, -57665181082.866364 mu:0.000000 unit_bearing:-0.553466 -0.320220 0.768853 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -106633175638.598984, -40808767225.626709, -19301329023.177315 mu:0.000000 unit_bearing:-0.223150 -0.329481 0.917413 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -106705735016.570145, -40772828545.622116, -18973494624.645241 mu:0.000000 unit_bearing:-0.220313 -0.329518 0.918085 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -106898235924.411850, -40871625026.476105, -17629757662.898689 mu:0.000000 unit_bearing:-0.208927 -0.331779 0.919930 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -102442650499.771255, -33845456583.126938, 42053767471.789803 mu:0.000000 unit_bearing:0.310600 -0.334368 0.889790 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -102326363804.752670, -33799721519.819241, 42372455994.313911 mu:0.000000 unit_bearing:0.313395 -0.334312 0.888830 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -102647268504.404434, -33648576376.872341, 41711419392.109428 mu:0.000000 unit_bearing:0.307845 -0.332320 0.891513 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -102532051806.223892, -33602934199.325714, 42030371125.075432 mu:0.000000 unit_bearing:0.310642 -0.332265 0.890563 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -102415791076.326584, -33557244406.381645, 42349120620.983116 mu:0.000000 unit_bearing:0.313438 -0.332209 0.889603 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -108892940047.722107, -39125025650.281258, -4482288136.275138 mu:0.000000 unit_bearing:-0.094686 -0.330645 0.938993 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -103051429969.708771, -33254102211.172295, 41025582246.166924 mu:0.000000 unit_bearing:0.302326 -0.328217 0.894915 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -90113309365.763306, -43759496287.714188, -58079504914.434937 mu:0.000000 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -109036946911.245102, -38674710929.933990, -4872563398.140342 mu:0.000000 unit_bearing:-0.097577 -0.326375 0.940191 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -103617633106.958023, -41533811883.560570, -30771082383.329971 mu:0.000000 unit_bearing:-0.321796 -0.323625 0.889783 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -77551365395.251038, -25810429024.569351, 82025230327.097931 mu:0.000000 unit_bearing:0.665080 -0.307564 0.680494 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -77902817775.833557, -25630980927.423851, 81747995269.589310 mu:0.000000 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.240] If point is visible? -108622257201.259903, -38799184940.960968, -10215645830.243048 mu:0.000000 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -108666316206.609970, -38761252595.914101, -9885744817.124548 mu:0.000000 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -108982581312.463760, -38455657705.815208, -7245018439.859839 mu:0.000000 unit_bearing:-0.117672 -0.322000 0.939398 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -108747817077.520340, -38853471513.071060, -8535277591.599769 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -103250977371.330612, -33056514188.069771, 40682102611.698616 mu:0.000000 unit_bearing:0.299562 -0.326162 0.896594 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] If point is visible? -77991693428.050140, -25399198939.678177, 81735594331.730270 mu:0.000000 unit_bearing:0.662970 -0.303734 0.684264 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.240] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.241] If point is visible? -109371566970.181030, -37823564978.632706, -3971045467.236639 mu:0.000000 unit_bearing:-0.089001 -0.320028 0.943218 T_cur_ref: x=0.060595 y=0.000000 z=0.006830 +[21:40:42.241] init seeds +[21:40:42.241] DepthFilter: Initialized 3 new seeds +[21:40:42.243] DepthFilter: Initialized 4 new seeds +[21:40:42.880] add new frame +[21:40:42.880] update seed +[21:40:42.880] If point is visible? -78729359668.007446, -43075753985.654442, 73175803897.771393 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.880] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.881] calculated Z= 1.119997 +[21:40:42.881] update seeds 305 +[21:40:42.881] If point is visible? -88056826427.974106, -55631479987.636436, -50593128832.377625 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] If point is visible? -88177523234.695572, -55403804409.880508, -50632734316.220963 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] If point is visible? -0.423552, -0.259428, 1.143913 mu:0.690732 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] add key frame +[21:40:42.881] Z inverse min: 1.279263, Z inverse max: 0.102200 +[21:40:42.881] remove key frame +[21:40:42.881] init seeds +[21:40:42.881] update seed +[21:40:42.881] If point is visible? -1.481465, -1.077879, 1.881051 mu:0.345122 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] Z inverse min: 1.032017, Z inverse max: 0.000000 +[21:40:42.881] calculated Z= 1.120146 +[21:40:42.881] update seeds 305 +[21:40:42.881] If point is visible? -88056826427.974106, -55631479987.636436, -50593128832.377625 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] If point is visible? -88177523234.695572, -55403804409.880508, -50632734316.220963 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] If point is visible? -0.423552, -0.259428, 1.143913 mu:0.690732 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] Z inverse min: 1.279263, Z inverse max: 0.102200 +[21:40:42.881] If point is visible? -0.425892, -0.253765, 1.144041 mu:0.690460 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] Z inverse min: 1.278147, Z inverse max: 0.102773 +[21:40:42.881] calculated Z= 1.149256 +[21:40:42.881] update seeds 305 +[21:40:42.881] If point is visible? -0.430415, -0.251501, 1.140703 mu:0.690484 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] Z inverse min: 1.278365, Z inverse max: 0.102603 +[21:40:42.881] If point is visible? -111324109988.764587, -31721633716.224476, -3035032256.149221 mu:0.000000 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] If point is visible? -111413222350.412598, -31434890189.255489, -2733586563.409231 mu:0.000000 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] If point is visible? -111857406699.607559, -8256008753.109254, -28780024619.808903 mu:0.000000 unit_bearing:-0.270855 -0.040477 0.961769 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] If point is visible? -111077454422.707687, 9766679482.289459, 31224061588.427563 mu:0.000000 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] If point is visible? -407267.963848, 83789.001883, 426461.458977 mu:0.000002 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] Z inverse min: 0.678973, Z inverse max: 0.000000 +[21:40:42.881] calculated Z= 1.117740 +[21:40:42.881] update seeds 305 +[21:40:42.881] If point is visible? -94982511873.335251, 7324163581.358089, -65827122049.256065 mu:0.000000 unit_bearing:-0.569631 0.132060 0.811222 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.881] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.882] If point is visible? -112906906751.787033, 16961444261.033588, 19309861406.455914 mu:0.000000 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -96268448121.393372, 55684376645.339981, 32251620504.239529 mu:0.000000 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -105608820095.551071, -47438776166.194054, 2206935680.556391 mu:0.000000 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -97153024700.925766, -46318370632.456924, -42713338252.099602 mu:0.000000 unit_bearing:-0.428285 -0.352067 0.832238 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -111555193020.337662, -30812192840.863808, -3818195089.968786 mu:0.000000 unit_bearing:-0.080616 -0.260090 0.962213 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -111281468131.780746, -31800812663.100834, -3697850134.137640 mu:0.000000 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -112140259808.574753, -9345966390.249800, -27308349886.201283 mu:0.000000 unit_bearing:-0.259429 -0.051369 0.964395 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -91555955347.661148, -6609547036.812193, -70585776609.530457 mu:0.000000 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.882] If point is visible? -97022322684.712097, 8767977341.984188, -62596504738.002800 mu:0.000000 unit_bearing:-0.540707 0.141035 0.829304 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.882] If point is visible? -100999748014.967590, -42448788796.216240, -37492428060.431816 mu:0.000000 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -88417061790.839401, -54947877185.016045, -50711782737.009270 mu:0.000000 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -88137410763.158676, -54112053500.066422, -52078915322.831741 mu:0.000000 unit_bearing:-0.515504 -0.409014 0.752969 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -96213811337.869217, 11113434750.325872, -63465935801.125755 mu:0.000000 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.882] If point is visible? -87835206286.956177, 7443774638.898670, -75087267142.183487 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.882] If point is visible? -97327092447.945465, 9341319756.499134, -62037954125.328979 mu:0.000000 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.882] If point is visible? -103020328081.027756, 4644392569.790125, -52666617044.869804 mu:0.000000 unit_bearing:-0.460774 0.095239 0.882393 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -146249885.548498, 15248427.443088, -98791982.847542 mu:0.000000 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.882] If point is visible? -78634938892.388748, -63744634883.722366, -56228985765.088898 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -78847895693.324631, -63735852371.069496, -55939980322.726364 mu:0.000000 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] If point is visible? -72419003622.332535, -44041557662.392265, 78894613531.455368 mu:0.000000 unit_bearing:0.619776 -0.460538 0.635439 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.882] If point is visible? -72169946604.565247, -43979510603.921722, 79157010968.030792 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.882] If point is visible? -83621833650.980621, -46769016075.773323, 65027524967.496544 mu:0.000000 unit_bearing:0.496505 -0.469322 0.730219 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.882] If point is visible? -72306136680.129059, -43759416364.216400, 79154703013.255737 mu:0.000000 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.882] calculated Z= 1.127444 +[21:40:42.882] update seeds 305 +[21:40:42.882] If point is visible? -78729359668.007446, -43075753985.654442, 73175803897.771393 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.882] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.883] calculated Z= 1.119997 +[21:40:42.883] update seeds 305 +[21:40:42.883] If point is visible? -84239240743.709961, -42447609472.935989, 67160119864.415108 mu:0.000000 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.883] If point is visible? -78817040125.873276, -41548400903.399765, 73960364381.329575 mu:0.000000 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.883] If point is visible? -76952920651.612045, -41083036226.745697, 76150922967.701691 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.883] If point is visible? -78943075434.690384, -41322345879.441864, 73952589563.751083 mu:0.000000 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.883] If point is visible? -75390852349.280380, -40446344518.464867, 78031042081.972733 mu:0.000000 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.883] calculated Z= 1.117750 +[21:40:42.883] update seeds 305 +[21:40:42.883] If point is visible? -84363388252.108536, -42218342054.971039, 67148799304.228447 mu:0.000000 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.883] If point is visible? -87991147556.665237, -55422893907.399857, -50935171677.545227 mu:0.000000 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] If point is visible? -88177523234.695572, -55403804409.880508, -50632734316.220963 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] If point is visible? -78424119599.938873, -38881636711.908440, 75805057369.745590 mu:0.000000 unit_bearing:0.597894 -0.413058 0.686954 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.883] If point is visible? -100445766581.797165, -43488609719.049606, 37787825178.577583 mu:0.000000 unit_bearing:0.264168 -0.412535 0.871797 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] If point is visible? -100345184749.439362, -43442170898.560211, 38107120285.436745 mu:0.000000 unit_bearing:0.266967 -0.412473 0.870973 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] If point is visible? -99499777811.253525, -43353488702.163757, 40358396450.938911 mu:0.000000 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] If point is visible? -85470491258.104660, -37795129523.027901, 68372905742.559547 mu:0.000000 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.883] If point is visible? -85262730826.553757, -37741541767.638695, 68661296872.733131 mu:0.000000 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.883] If point is visible? -85053871244.010559, -37687871982.965981, 68949214810.963898 mu:0.000000 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.883] If point is visible? -85166551207.456589, -37456122937.278458, 68936407950.956146 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.883] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.884] If point is visible? -84745593224.641769, -37348753728.380661, 69511049159.009827 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.884] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.884] If point is visible? -84533464405.625870, -37294946511.027557, 69797645315.358337 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.488569 y=0.000000 z=0.049983 +[21:40:42.884] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:42.884] init seeds +[21:40:42.884] DepthFilter: Initialized 1 new seeds +[21:40:42.886] DepthFilter: Initialized 1 new seeds +[21:40:43.208] add new frame +[21:40:43.208] update seed +[21:40:43.208] If point is visible? -0.603243, -0.591413, 1.055547 mu:0.629001 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.477681 y=0.000000 z=0.050871 +[21:40:43.208] Z inverse min: 1.178634, Z inverse max: 0.079367 +[21:40:43.208] If point is visible? -88056826427.985001, -55631479987.636436, -50593128832.376732 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.477681 y=0.000000 z=0.050871 +[21:40:43.208] If point is visible? -88177523234.706467, -55403804409.880508, -50632734316.220070 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.477681 y=0.000000 z=0.050871 +[21:40:43.208] If point is visible? -0.434440, -0.259428, 1.144802 mu:0.690732 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.477681 y=0.000000 z=0.050871 +[21:40:43.208] Z inverse min: 1.279263, Z inverse max: 0.102200 +[21:40:43.208] add key frame +[21:40:43.208] remove key frame +[21:40:43.208] update seed +[21:40:43.208] init seeds +[21:40:43.208] init seeds +[21:40:43.211] DepthFilter: Initialized 3 new seeds +[21:40:43.214] DepthFilter: Initialized 206 new seeds +[21:40:43.532] add new frame +[21:40:43.532] update seed +[21:40:43.532] If point is visible? -0.597193, -0.591413, 1.056390 mu:0.629001 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.483730 y=0.000000 z=0.051714 +[21:40:43.532] Z inverse min: 1.178634, Z inverse max: 0.079367 +[21:40:43.532] If point is visible? -88056826427.978943, -55631479987.636436, -50593128832.375893 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.483730 y=0.000000 z=0.051714 +[21:40:43.532] If point is visible? -88177523234.700409, -55403804409.880508, -50632734316.219231 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.483730 y=0.000000 z=0.051714 +[21:40:43.532] If point is visible? -0.428391, -0.259428, 1.145645 mu:0.690732 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.483730 y=0.000000 z=0.051714 +[21:40:43.532] Z inverse min: 1.279263, Z inverse max: 0.102200 +[21:40:43.532] add key frame +[21:40:43.532] remove key frame +[21:40:43.533] init seeds +[21:40:43.533] update seed +[21:40:43.533] init seeds +[21:40:43.535] DepthFilter: Initialized 0 new seeds +[21:40:43.538] DepthFilter: Initialized 181 new seeds +[21:40:43.856] add new frame +[21:40:43.856] update seed +[21:40:43.856] If point is visible? -0.592584, -0.591413, 1.057037 mu:0.629001 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.488339 y=0.000000 z=0.052362 +[21:40:43.856] Z inverse min: 1.178634, Z inverse max: 0.079367 +[21:40:43.856] If point is visible? -88056826427.974335, -55631479987.636436, -50593128832.375244 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.488339 y=0.000000 z=0.052362 +[21:40:43.856] If point is visible? -88177523234.695801, -55403804409.880508, -50632734316.218582 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.488339 y=0.000000 z=0.052362 +[21:40:43.856] If point is visible? -0.423782, -0.259428, 1.146292 mu:0.690732 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.488339 y=0.000000 z=0.052362 +[21:40:43.856] Z inverse min: 1.279263, Z inverse max: 0.102200 +[21:40:43.856] add key frame +[21:40:43.856] remove key frame +[21:40:43.856] calculated Z= 1.045489 +[21:40:43.856] update seeds 305 +[21:40:43.857] init seeds +[21:40:43.857] update seed +[21:40:43.857] init seeds +[21:40:43.859] DepthFilter: Initialized 0 new seeds +[21:40:43.862] DepthFilter: Initialized 181 new seeds +[21:40:44.184] add new frame +[21:40:44.184] update seed +[21:40:44.184] If point is visible? -0.587909, -0.591413, 1.057602 mu:0.629001 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.184] Z inverse min: 1.178634, Z inverse max: 0.079367 +[21:40:44.184] If point is visible? -88056826427.969666, -55631479987.636436, -50593128832.374680 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.184] If point is visible? -88177523234.691132, -55403804409.880508, -50632734316.218018 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.184] If point is visible? -0.251997, -0.211898, 0.946438 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.184] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:44.184] add key frame +[21:40:44.184] remove key frame +[21:40:44.184] init seeds +[21:40:44.184] update seed +[21:40:44.184] If point is visible? -0.587909, -0.591413, 1.057602 mu:0.629001 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.184] Z inverse min: 1.178634, Z inverse max: 0.079367 +[21:40:44.184] If point is visible? -88056826427.969666, -55631479987.636436, -50593128832.374680 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.184] If point is visible? -88177523234.691132, -55403804409.880508, -50632734316.218018 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.184] If point is visible? -0.251997, -0.211898, 0.946438 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.184] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:44.184] If point is visible? -0.288169, -0.216780, 0.987533 mu:0.808259 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.184] Z inverse min: 1.163529, Z inverse max: 0.452989 +[21:40:44.184] If point is visible? -0.425970, -0.251501, 1.143647 mu:0.690484 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 1.278365, Z inverse max: 0.102603 +[21:40:44.185] calculated Z= 1.174300 +[21:40:44.185] update seeds 305 +[21:40:44.185] If point is visible? -111324109988.760147, -31721633716.224476, -3035032256.146277 mu:0.000000 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -111413222350.408157, -31434890189.255489, -2733586563.406287 mu:0.000000 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -111857406699.603119, -8256008753.109254, -28780024619.805962 mu:0.000000 unit_bearing:-0.270855 -0.040477 0.961769 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -111077454422.703247, 9766679482.289459, 31224061588.430504 mu:0.000000 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -1.410047, 0.391525, 2.045671 mu:0.359304 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 1.043552, Z inverse max: 0.000000 +[21:40:44.185] If point is visible? -94982511873.330811, 7324163581.358089, -65827122049.253120 mu:0.000000 unit_bearing:-0.569631 0.132060 0.811222 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.185] If point is visible? -112906906751.782593, 16961444261.033588, 19309861406.458855 mu:0.000000 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -96268448121.388931, 55684376645.339981, 32251620504.242470 mu:0.000000 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -105608820095.546631, -47438776166.194054, 2206935680.559335 mu:0.000000 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -97153024700.921326, -46318370632.456924, -42713338252.096657 mu:0.000000 unit_bearing:-0.428285 -0.352067 0.832238 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -111555193020.333221, -30812192840.863808, -3818195089.965842 mu:0.000000 unit_bearing:-0.080616 -0.260090 0.962213 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -111281468131.776306, -31800812663.100834, -3697850134.134696 mu:0.000000 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -112140259808.570312, -9345966390.249800, -27308349886.198341 mu:0.000000 unit_bearing:-0.259429 -0.051369 0.964395 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -91555955347.656708, -6609547036.812193, -70585776609.527512 mu:0.000000 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.185] calculated Z= 1.198485 +[21:40:44.185] update seeds 305 +[21:40:44.185] If point is visible? -97022322684.707657, 8767977341.984188, -62596504737.999855 mu:0.000000 unit_bearing:-0.540707 0.141035 0.829304 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.185] If point is visible? -100999748014.963150, -42448788796.216240, -37492428060.428871 mu:0.000000 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -88417061790.834961, -54947877185.016045, -50711782737.006325 mu:0.000000 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -88137410763.154236, -54112053500.066422, -52078915322.828796 mu:0.000000 unit_bearing:-0.515504 -0.409014 0.752969 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -96213811337.864777, 11113434750.325872, -63465935801.122810 mu:0.000000 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.185] If point is visible? -87835206286.951736, 7443774638.898670, -75087267142.180542 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.185] If point is visible? -97327092447.941025, 9341319756.499134, -62037954125.326035 mu:0.000000 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.185] If point is visible? -103020328081.023315, 4644392569.790125, -52666617044.866859 mu:0.000000 unit_bearing:-0.460774 0.095239 0.882393 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -146249885.544053, 15248427.443088, -98791982.844598 mu:0.000000 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.185] If point is visible? -78634938892.384308, -63744634883.722366, -56228985765.085953 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -78847895693.320190, -63735852371.069496, -55939980322.723419 mu:0.000000 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] If point is visible? -72419003622.328094, -44041557662.392265, 78894613531.458313 mu:0.000000 unit_bearing:0.619776 -0.460538 0.635439 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.185] If point is visible? -72169946604.560806, -43979510603.921722, 79157010968.033737 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.185] If point is visible? -83621833650.976181, -46769016075.773323, 65027524967.499489 mu:0.000000 unit_bearing:0.496505 -0.469322 0.730219 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.185] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.186] If point is visible? -1.177601, -1.011050, 1.881776 mu:0.373773 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 1.050919, Z inverse max: 0.000000 +[21:40:44.186] If point is visible? -1.325957, -0.995227, 1.743588 mu:0.373784 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 1.053497, Z inverse max: 0.000000 +[21:40:44.186] If point is visible? -84239240743.705521, -42447609472.935989, 67160119864.418053 mu:0.000000 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.186] calculated Z= 1.189105 +[21:40:44.186] update seeds 305 +[21:40:44.186] If point is visible? -78817040125.868835, -41548400903.399765, 73960364381.332520 mu:0.000000 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.186] calculated Z= 1.158881 +[21:40:44.186] update seeds 305 +[21:40:44.186] If point is visible? -76952920651.607605, -41083036226.745697, 76150922967.704636 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.186] If point is visible? -78943075434.685944, -41322345879.441864, 73952589563.754028 mu:0.000000 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.186] If point is visible? -1.248854, -0.934493, 1.855796 mu:0.373777 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 1.054270, Z inverse max: 0.000000 +[21:40:44.186] If point is visible? -84363388252.104095, -42218342054.971039, 67148799304.231392 mu:0.000000 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.186] calculated Z= 1.190137 +[21:40:44.186] update seeds 305 +[21:40:44.186] If point is visible? -87991147556.660797, -55422893907.399857, -50935171677.542282 mu:0.000000 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] If point is visible? -88177523234.691132, -55403804409.880508, -50632734316.218018 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] If point is visible? -78424119599.934433, -38881636711.908440, 75805057369.748535 mu:0.000000 unit_bearing:0.597894 -0.413058 0.686954 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.186] If point is visible? -100445766581.792725, -43488609719.049606, 37787825178.580528 mu:0.000000 unit_bearing:0.264168 -0.412535 0.871797 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] If point is visible? -100345184749.434921, -43442170898.560211, 38107120285.439690 mu:0.000000 unit_bearing:0.266967 -0.412473 0.870973 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] If point is visible? -99499777811.249084, -43353488702.163757, 40358396450.941856 mu:0.000000 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] If point is visible? -85470491258.100220, -37795129523.027901, 68372905742.562492 mu:0.000000 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.186] If point is visible? -85262730826.549316, -37741541767.638695, 68661296872.736076 mu:0.000000 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.186] If point is visible? -85053871244.006119, -37687871982.965981, 68949214810.966843 mu:0.000000 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.186] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.187] If point is visible? -85166551207.452148, -37456122937.278458, 68936407950.959091 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.187] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.187] If point is visible? -84745593224.637329, -37348753728.380661, 69511049159.012772 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.187] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.187] If point is visible? -84533464405.621429, -37294946511.027557, 69797645315.361282 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.187] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.187] If point is visible? -84857719863.429825, -37117062329.920570, 69498359655.620331 mu:0.000000 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.187] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.187] If point is visible? -84645620535.151382, -37063364557.431709, 69785076220.835464 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.187] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.187] If point is visible? -88663204858.503143, -50789217720.939087, -54477723876.303619 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.187] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.187] If point is visible? -106376160796.551010, -45745418807.518364, 1878295.972986 mu:0.000000 unit_bearing:-0.062872 -0.392112 0.917767 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.187] If point is visible? -85720761429.911560, -36295018349.458969, 68870557091.787827 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.187] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.187] If point is visible? -85829766782.240158, -36062334074.597038, 68857026703.473755 mu:0.000000 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.493015 y=0.000000 z=0.052927 +[21:40:44.187] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.187] init seeds +[21:40:44.187] DepthFilter: Initialized 3 new seeds +[21:40:44.189] DepthFilter: Initialized 4 new seeds +[21:40:44.524] add new frame +[21:40:44.525] update seed +[21:40:44.525] If point is visible? -0.582959, -0.591413, 1.058248 mu:0.629001 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] Z inverse min: 1.178634, Z inverse max: 0.079367 +[21:40:44.525] calculated Z= 1.165049 +[21:40:44.525] update seeds 305 +[21:40:44.525] If point is visible? -88056826427.964706, -55631479987.636436, -50593128832.374031 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] If point is visible? -88177523234.686172, -55403804409.880508, -50632734316.217369 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] If point is visible? -0.247047, -0.211898, 0.947084 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:44.525] add key frame +[21:40:44.525] If point is visible? -0.283219, -0.216780, 0.988179 mu:0.808259 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] Z inverse min: 1.163529, Z inverse max: 0.452989 +[21:40:44.525] remove key frame +[21:40:44.525] init seeds +[21:40:44.525] update seed +[21:40:44.525] If point is visible? -0.397515, -0.489950, 0.885885 mu:0.759260 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] Z inverse min: 1.137955, Z inverse max: 0.380564 +[21:40:44.525] If point is visible? -88056826427.964706, -55631479987.636436, -50593128832.374031 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] If point is visible? -88177523234.686172, -55403804409.880508, -50632734316.217369 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] If point is visible? -0.247047, -0.211898, 0.947084 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:44.525] If point is visible? -0.283219, -0.216780, 0.988179 mu:0.808259 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] Z inverse min: 1.163529, Z inverse max: 0.452989 +[21:40:44.525] If point is visible? -0.301326, -0.218744, 1.002232 mu:0.793884 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] Z inverse min: 1.154063, Z inverse max: 0.433704 +[21:40:44.525] If point is visible? -111324109988.755188, -31721633716.224476, -3035032256.145631 mu:0.000000 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] If point is visible? -111413222350.403198, -31434890189.255489, -2733586563.405641 mu:0.000000 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] If point is visible? -111857406699.598160, -8256008753.109254, -28780024619.805313 mu:0.000000 unit_bearing:-0.270855 -0.040477 0.961769 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] If point is visible? -111077454422.698288, 9766679482.289459, 31224061588.431152 mu:0.000000 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] If point is visible? -1.405096, 0.391525, 2.046318 mu:0.359304 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.525] Z inverse min: 1.043552, Z inverse max: 0.000000 +[21:40:44.526] If point is visible? -94982511873.325851, 7324163581.358089, -65827122049.252472 mu:0.000000 unit_bearing:-0.569631 0.132060 0.811222 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.526] If point is visible? -112906906751.777634, 16961444261.033588, 19309861406.459503 mu:0.000000 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -96268448121.383972, 55684376645.339981, 32251620504.243118 mu:0.000000 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -105608820095.541672, -47438776166.194054, 2206935680.559981 mu:0.000000 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -97153024700.916367, -46318370632.456924, -42713338252.096008 mu:0.000000 unit_bearing:-0.428285 -0.352067 0.832238 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -111555193020.328262, -30812192840.863808, -3818195089.965196 mu:0.000000 unit_bearing:-0.080616 -0.260090 0.962213 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -111281468131.771347, -31800812663.100834, -3697850134.134049 mu:0.000000 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -112140259808.565353, -9345966390.249800, -27308349886.197693 mu:0.000000 unit_bearing:-0.259429 -0.051369 0.964395 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -1.797570, -0.165718, -1.716188 mu:0.344439 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 1.007338, Z inverse max: 0.000000 +[21:40:44.526] If point is visible? -97022322684.702698, 8767977341.984188, -62596504737.999207 mu:0.000000 unit_bearing:-0.540707 0.141035 0.829304 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.526] If point is visible? -100999748014.958191, -42448788796.216240, -37492428060.428223 mu:0.000000 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -88417061790.830002, -54947877185.016045, -50711782737.005676 mu:0.000000 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -88137410763.149277, -54112053500.066422, -52078915322.828148 mu:0.000000 unit_bearing:-0.515504 -0.409014 0.752969 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -96213811337.859818, 11113434750.325872, -63465935801.122162 mu:0.000000 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.526] If point is visible? -87835206286.946777, 7443774638.898670, -75087267142.179901 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.526] If point is visible? -97327092447.936066, 9341319756.499134, -62037954125.325386 mu:0.000000 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.526] If point is visible? -103020328081.018356, 4644392569.790125, -52666617044.866211 mu:0.000000 unit_bearing:-0.460774 0.095239 0.882393 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -146249885.539102, 15248427.443088, -98791982.843952 mu:0.000000 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.526] If point is visible? -78634938892.379349, -63744634883.722366, -56228985765.085304 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -78847895693.315231, -63735852371.069496, -55939980322.722771 mu:0.000000 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] If point is visible? -72419003622.323135, -44041557662.392265, 78894613531.458954 mu:0.000000 unit_bearing:0.619776 -0.460538 0.635439 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.526] calculated Z= 1.078006 +[21:40:44.526] update seeds 305 +[21:40:44.526] If point is visible? -72169946604.555847, -43979510603.921722, 79157010968.034378 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.526] calculated Z= 1.076933 +[21:40:44.526] update seeds 305 +[21:40:44.526] If point is visible? -83621833650.971222, -46769016075.773323, 65027524967.500137 mu:0.000000 unit_bearing:0.496505 -0.469322 0.730219 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.526] If point is visible? -1.172650, -1.011050, 1.882422 mu:0.373773 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 1.050919, Z inverse max: 0.000000 +[21:40:44.526] calculated Z= 1.077584 +[21:40:44.526] update seeds 305 +[21:40:44.526] If point is visible? -1.321007, -0.995227, 1.744235 mu:0.373784 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.526] Z inverse min: 1.053497, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -1.534550, -1.024171, 1.674005 mu:0.357923 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 1.019490, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -1.399419, -1.000206, 1.834040 mu:0.358736 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 1.029699, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -76952920651.602646, -41083036226.745697, 76150922967.705276 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -78943075434.680984, -41322345879.441864, 73952589563.754669 mu:0.000000 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.527] calculated Z= 1.173469 +[21:40:44.527] update seeds 305 +[21:40:44.527] If point is visible? -1.243904, -0.934493, 1.856442 mu:0.373777 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 1.054270, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -1.537758, -1.018746, 1.673900 mu:0.357886 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 1.019138, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -87991147556.655838, -55422893907.399857, -50935171677.541634 mu:0.000000 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] If point is visible? -88177523234.686172, -55403804409.880508, -50632734316.217369 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] If point is visible? -78424119599.929474, -38881636711.908440, 75805057369.749176 mu:0.000000 unit_bearing:0.597894 -0.413058 0.686954 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -100445766581.787766, -43488609719.049606, 37787825178.581177 mu:0.000000 unit_bearing:0.264168 -0.412535 0.871797 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] If point is visible? -100345184749.429962, -43442170898.560211, 38107120285.440338 mu:0.000000 unit_bearing:0.266967 -0.412473 0.870973 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] If point is visible? -99499777811.244125, -43353488702.163757, 40358396450.942505 mu:0.000000 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] If point is visible? -85470491258.095261, -37795129523.027901, 68372905742.563141 mu:0.000000 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -85262730826.544357, -37741541767.638695, 68661296872.736725 mu:0.000000 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -85053871244.001160, -37687871982.965981, 68949214810.967484 mu:0.000000 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -85166551207.447189, -37456122937.278458, 68936407950.959732 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -84745593224.632370, -37348753728.380661, 69511049159.013412 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.527] If point is visible? -84533464405.616470, -37294946511.027557, 69797645315.361923 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.527] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.528] If point is visible? -84857719863.424866, -37117062329.920570, 69498359655.620972 mu:0.000000 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.528] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.528] If point is visible? -84645620535.146423, -37063364557.431709, 69785076220.836105 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.528] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.528] If point is visible? -88663204858.498184, -50789217720.939087, -54477723876.302971 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.528] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.528] If point is visible? -106376160796.546051, -45745418807.518364, 1878295.973632 mu:0.000000 unit_bearing:-0.062872 -0.392112 0.917767 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.528] If point is visible? -85720761429.906601, -36295018349.458969, 68870557091.788467 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.528] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.528] If point is visible? -85829766782.235199, -36062334074.597038, 68857026703.474396 mu:0.000000 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.497965 y=0.000000 z=0.053573 +[21:40:44.528] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.528] init seeds +[21:40:44.528] DepthFilter: Initialized 5 new seeds +[21:40:44.530] DepthFilter: Initialized 6 new seeds +[21:40:44.854] add new frame +[21:40:44.854] update seed +[21:40:44.854] If point is visible? -0.391426, -0.489950, 0.886725 mu:0.759260 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] Z inverse min: 1.137955, Z inverse max: 0.380564 +[21:40:44.854] calculated Z= 1.181740 +[21:40:44.854] update seeds 305 +[21:40:44.854] If point is visible? -88056826427.958618, -55631479987.636436, -50593128832.373192 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] If point is visible? -88177523234.680084, -55403804409.880508, -50632734316.216530 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] If point is visible? -0.240958, -0.211898, 0.947924 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:44.854] add key frame +[21:40:44.854] remove key frame +[21:40:44.854] init seeds +[21:40:44.854] update seed +[21:40:44.854] If point is visible? -0.327911, -0.455198, 0.827690 mu:0.817225 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] Z inverse min: 1.039678, Z inverse max: 0.594772 +[21:40:44.854] If point is visible? -88056826427.958618, -55631479987.636436, -50593128832.373192 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] If point is visible? -88177523234.680084, -55403804409.880508, -50632734316.216530 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] If point is visible? -0.240958, -0.211898, 0.947924 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:44.854] If point is visible? -0.277130, -0.216780, 0.989019 mu:0.808259 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] Z inverse min: 1.163529, Z inverse max: 0.452989 +[21:40:44.854] If point is visible? -0.295237, -0.218744, 1.003072 mu:0.793884 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] Z inverse min: 1.154063, Z inverse max: 0.433704 +[21:40:44.854] calculated Z= 1.131462 +[21:40:44.854] update seeds 305 +[21:40:44.854] If point is visible? -111324109988.749100, -31721633716.224476, -3035032256.144791 mu:0.000000 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] If point is visible? -111413222350.397110, -31434890189.255489, -2733586563.404800 mu:0.000000 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] If point is visible? -111857406699.592072, -8256008753.109254, -28780024619.804474 mu:0.000000 unit_bearing:-0.270855 -0.040477 0.961769 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] If point is visible? -111077454422.692200, 9766679482.289459, 31224061588.431992 mu:0.000000 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] If point is visible? -1.399008, 0.391525, 2.047157 mu:0.359304 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.854] Z inverse min: 1.043552, Z inverse max: 0.000000 +[21:40:44.855] If point is visible? -94982511873.319763, 7324163581.358089, -65827122049.251633 mu:0.000000 unit_bearing:-0.569631 0.132060 0.811222 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.855] If point is visible? -112906906751.771545, 16961444261.033588, 19309861406.460342 mu:0.000000 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -96268448121.377884, 55684376645.339981, 32251620504.243958 mu:0.000000 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -105608820095.535583, -47438776166.194054, 2206935680.560822 mu:0.000000 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -97153024700.910278, -46318370632.456924, -42713338252.095169 mu:0.000000 unit_bearing:-0.428285 -0.352067 0.832238 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -111555193020.322174, -30812192840.863808, -3818195089.964355 mu:0.000000 unit_bearing:-0.080616 -0.260090 0.962213 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -111281468131.765259, -31800812663.100834, -3697850134.133209 mu:0.000000 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -112140259808.559265, -9345966390.249800, -27308349886.196854 mu:0.000000 unit_bearing:-0.259429 -0.051369 0.964395 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -1.791482, -0.165718, -1.715348 mu:0.344439 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 1.007338, Z inverse max: 0.000000 +[21:40:44.855] If point is visible? -97022322684.696609, 8767977341.984188, -62596504737.998367 mu:0.000000 unit_bearing:-0.540707 0.141035 0.829304 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.855] If point is visible? -100999748014.952103, -42448788796.216240, -37492428060.427383 mu:0.000000 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -88417061790.823914, -54947877185.016045, -50711782737.004837 mu:0.000000 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -88137410763.143188, -54112053500.066422, -52078915322.827309 mu:0.000000 unit_bearing:-0.515504 -0.409014 0.752969 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -96213811337.853729, 11113434750.325872, -63465935801.121323 mu:0.000000 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.855] If point is visible? -87835206286.940689, 7443774638.898670, -75087267142.179062 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.855] If point is visible? -97327092447.929977, 9341319756.499134, -62037954125.324547 mu:0.000000 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.855] If point is visible? -103020328081.012268, 4644392569.790125, -52666617044.865372 mu:0.000000 unit_bearing:-0.460774 0.095239 0.882393 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -146249885.533014, 15248427.443088, -98791982.843112 mu:0.000000 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.855] If point is visible? -78634938892.373260, -63744634883.722366, -56228985765.084465 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -78847895693.309143, -63735852371.069496, -55939980322.721931 mu:0.000000 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] If point is visible? -1.316188, -1.106978, 2.037418 mu:0.343584 unit_bearing:0.619776 -0.460538 0.635439 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 1.044230, Z inverse max: 0.000000 +[21:40:44.855] If point is visible? -1.310248, -1.105614, 2.044364 mu:0.343523 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 1.044528, Z inverse max: 0.000000 +[21:40:44.855] If point is visible? -83621833650.965134, -46769016075.773323, 65027524967.500977 mu:0.000000 unit_bearing:0.496505 -0.469322 0.730219 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.855] If point is visible? -0.428405, -0.564320, 1.075190 mu:0.669661 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 1.208327, Z inverse max: 0.130996 +[21:40:44.855] If point is visible? -1.314918, -0.995227, 1.745074 mu:0.373784 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.855] Z inverse min: 1.053497, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -1.528462, -1.024171, 1.674845 mu:0.357923 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 1.019490, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -1.393330, -1.000206, 1.834880 mu:0.358736 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 1.029699, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -76952920651.596558, -41083036226.745697, 76150922967.706116 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.856] calculated Z= 1.150475 +[21:40:44.856] update seeds 305 +[21:40:44.856] If point is visible? -1.471546, -1.034117, 1.905122 mu:0.345084 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 1.015376, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -1.237815, -0.934493, 1.857282 mu:0.373777 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 1.054270, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -1.531669, -1.018746, 1.674740 mu:0.357886 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 1.019138, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -87991147556.649750, -55422893907.399857, -50935171677.540794 mu:0.000000 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] If point is visible? -88177523234.680084, -55403804409.880508, -50632734316.216530 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] If point is visible? -78424119599.923386, -38881636711.908440, 75805057369.750015 mu:0.000000 unit_bearing:0.597894 -0.413058 0.686954 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -100445766581.781677, -43488609719.049606, 37787825178.582016 mu:0.000000 unit_bearing:0.264168 -0.412535 0.871797 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] If point is visible? -100345184749.423874, -43442170898.560211, 38107120285.441177 mu:0.000000 unit_bearing:0.266967 -0.412473 0.870973 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] If point is visible? -99499777811.238037, -43353488702.163757, 40358396450.943344 mu:0.000000 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] If point is visible? -85470491258.089172, -37795129523.027901, 68372905742.563980 mu:0.000000 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -85262730826.538269, -37741541767.638695, 68661296872.737564 mu:0.000000 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -85053871243.995071, -37687871982.965981, 68949214810.968323 mu:0.000000 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -85166551207.441101, -37456122937.278458, 68936407950.960571 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -84745593224.626282, -37348753728.380661, 69511049159.014252 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.856] If point is visible? -84533464405.610382, -37294946511.027557, 69797645315.362762 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.856] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.857] If point is visible? -84857719863.418777, -37117062329.920570, 69498359655.621811 mu:0.000000 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.857] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.857] If point is visible? -84645620535.140335, -37063364557.431709, 69785076220.836945 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.857] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.857] If point is visible? -88663204858.492096, -50789217720.939087, -54477723876.302132 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.857] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.857] If point is visible? -106376160796.539963, -45745418807.518364, 1878295.974472 mu:0.000000 unit_bearing:-0.062872 -0.392112 0.917767 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.857] If point is visible? -85720761429.900513, -36295018349.458969, 68870557091.789307 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.504053 y=0.000000 z=0.054413 +[21:40:44.857] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:44.857] init seeds +[21:40:44.857] DepthFilter: Initialized 2 new seeds +[21:40:44.859] DepthFilter: Initialized 2 new seeds +[21:40:45.189] add new frame +[21:40:45.189] update seed +[21:40:45.189] If point is visible? -0.323307, -0.455198, 0.828528 mu:0.817225 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.508657 y=0.000000 z=0.055251 +[21:40:45.189] Z inverse min: 1.039678, Z inverse max: 0.594772 +[21:40:45.189] If point is visible? -88056826427.954025, -55631479987.636436, -50593128832.372353 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.508657 y=0.000000 z=0.055251 +[21:40:45.189] If point is visible? -88177523234.675491, -55403804409.880508, -50632734316.215691 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.508657 y=0.000000 z=0.055251 +[21:40:45.189] If point is visible? -0.236354, -0.211898, 0.948762 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.508657 y=0.000000 z=0.055251 +[21:40:45.189] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:45.189] If point is visible? -0.272527, -0.216780, 0.989857 mu:0.808259 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=0.508657 y=0.000000 z=0.055251 +[21:40:45.189] Z inverse min: 1.163529, Z inverse max: 0.452989 +[21:40:45.189] add key frame +[21:40:45.189] remove key frame +[21:40:45.189] calculated Z= 1.191975 +[21:40:45.189] update seeds 305 +[21:40:45.189] init seeds +[21:40:45.189] update seed +[21:40:45.189] init seeds +[21:40:45.192] DepthFilter: Initialized 0 new seeds +[21:40:45.194] DepthFilter: Initialized 213 new seeds +[21:40:45.532] add new frame +[21:40:45.532] update seed +[21:40:45.532] If point is visible? -0.318400, -0.455198, 0.829271 mu:0.817225 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.513564 y=0.000000 z=0.055994 +[21:40:45.532] Z inverse min: 1.039678, Z inverse max: 0.594772 +[21:40:45.532] If point is visible? -88056826427.949112, -55631479987.636436, -50593128832.371613 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.513564 y=0.000000 z=0.055994 +[21:40:45.532] If point is visible? -88177523234.670578, -55403804409.880508, -50632734316.214951 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.513564 y=0.000000 z=0.055994 +[21:40:45.532] If point is visible? -0.231447, -0.211898, 0.949505 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.513564 y=0.000000 z=0.055994 +[21:40:45.532] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:45.532] If point is visible? -0.246673, -0.210968, 0.965539 mu:0.830529 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=0.513564 y=0.000000 z=0.055994 +[21:40:45.532] add key frame +[21:40:45.532] Z inverse min: 1.017077, Z inverse max: 0.643981 +[21:40:45.532] remove key frame +[21:40:45.532] init seeds +[21:40:45.532] update seed +[21:40:45.532] init seeds +[21:40:45.535] DepthFilter: Initialized 0 new seeds +[21:40:45.538] DepthFilter: Initialized 186 new seeds +[21:40:45.882] add new frame +[21:40:45.882] update seed +[21:40:45.882] If point is visible? -0.312384, -0.455198, 0.830130 mu:0.817225 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.519580 y=0.000000 z=0.056853 +[21:40:45.883] Z inverse min: 1.039678, Z inverse max: 0.594772 +[21:40:45.883] If point is visible? -88056826427.943100, -55631479987.636436, -50593128832.370750 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.519580 y=0.000000 z=0.056853 +[21:40:45.883] If point is visible? -88177523234.664566, -55403804409.880508, -50632734316.214088 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.519580 y=0.000000 z=0.056853 +[21:40:45.883] If point is visible? -0.225432, -0.211898, 0.950365 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.519580 y=0.000000 z=0.056853 +[21:40:45.883] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:45.883] add key frame +[21:40:45.883] remove key frame +[21:40:45.883] init seeds +[21:40:45.883] update seed +[21:40:45.883] init seeds +[21:40:45.886] DepthFilter: Initialized 3 new seeds +[21:40:45.888] DepthFilter: Initialized 171 new seeds +[21:40:46.220] add new frame +[21:40:46.220] update seed +[21:40:46.220] If point is visible? -0.307477, -0.455198, 0.830957 mu:0.817225 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.220] Z inverse min: 1.039678, Z inverse max: 0.594772 +[21:40:46.220] If point is visible? -88056826427.938187, -55631479987.636436, -50593128832.369926 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.220] If point is visible? -88177523234.659653, -55403804409.880508, -50632734316.213264 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.220] If point is visible? -0.220525, -0.211898, 0.951192 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.220] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:46.220] add key frame +[21:40:46.220] remove key frame +[21:40:46.220] init seeds +[21:40:46.220] update seed +[21:40:46.220] If point is visible? -0.307477, -0.455198, 0.830957 mu:0.817225 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.220] Z inverse min: 1.039678, Z inverse max: 0.594772 +[21:40:46.220] If point is visible? -88056826427.938187, -55631479987.636436, -50593128832.369926 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.220] If point is visible? -88177523234.659653, -55403804409.880508, -50632734316.213264 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.220] If point is visible? -0.220525, -0.211898, 0.951192 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.220] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:46.220] If point is visible? -0.235750, -0.210968, 0.967225 mu:0.830529 unit_bearing:0.718189 -0.265969 0.643013 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.220] Z inverse min: 1.017077, Z inverse max: 0.643981 +[21:40:46.221] If point is visible? -0.212900, -0.201803, 0.932867 mu:0.860530 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] Z inverse min: 1.047979, Z inverse max: 0.673082 +[21:40:46.221] If point is visible? -111324109988.728668, -31721633716.224476, -3035032256.141523 mu:0.000000 unit_bearing:-0.074828 -0.268710 0.960310 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -111413222350.376678, -31434890189.255489, -2733586563.401533 mu:0.000000 unit_bearing:-0.071956 -0.266569 0.961126 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -111857406699.571640, -8256008753.109254, -28780024619.801208 mu:0.000000 unit_bearing:-0.270855 -0.040477 0.961769 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -111077454422.671768, 9766679482.289459, 31224061588.435257 mu:0.000000 unit_bearing:0.262481 0.050854 0.963596 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -1.378574, 0.391525, 2.050425 mu:0.359304 unit_bearing:0.716736 0.052369 0.695375 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] Z inverse min: 1.043552, Z inverse max: 0.000000 +[21:40:46.221] calculated Z= 1.154991 +[21:40:46.221] update seeds 305 +[21:40:46.221] If point is visible? -94982511873.299332, 7324163581.358089, -65827122049.248367 mu:0.000000 unit_bearing:-0.569631 0.132060 0.811222 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.221] If point is visible? -112906906751.751114, 16961444261.033588, 19309861406.463608 mu:0.000000 unit_bearing:0.167688 0.125063 0.977875 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -96268448121.357452, 55684376645.339981, 32251620504.247223 mu:0.000000 unit_bearing:0.321661 0.443359 0.836640 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -105608820095.515152, -47438776166.194054, 2206935680.564089 mu:0.000000 unit_bearing:-0.045649 -0.408947 0.911416 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -97153024700.889847, -46318370632.456924, -42713338252.091904 mu:0.000000 unit_bearing:-0.428285 -0.352067 0.832238 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -111555193020.301743, -30812192840.863808, -3818195089.961088 mu:0.000000 unit_bearing:-0.080616 -0.260090 0.962213 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -111281468131.744827, -31800812663.100834, -3697850134.129942 mu:0.000000 unit_bearing:-0.080587 -0.268691 0.959849 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -112140259808.538834, -9345966390.249800, -27308349886.193588 mu:0.000000 unit_bearing:-0.259429 -0.051369 0.964395 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -1.771048, -0.165718, -1.712081 mu:0.344439 unit_bearing:-0.624603 0.017634 0.780744 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] Z inverse min: 1.007338, Z inverse max: 0.000000 +[21:40:46.221] If point is visible? -97022322684.676178, 8767977341.984188, -62596504737.995102 mu:0.000000 unit_bearing:-0.540707 0.141035 0.829304 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.221] If point is visible? -100999748014.931671, -42448788796.216240, -37492428060.424118 mu:0.000000 unit_bearing:-0.380001 -0.324393 0.866238 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -88417061790.803482, -54947877185.016045, -50711782737.001572 mu:0.000000 unit_bearing:-0.504705 -0.417617 0.755558 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -88137410763.122757, -54112053500.066422, -52078915322.824043 mu:0.000000 unit_bearing:-0.515504 -0.409014 0.752969 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -96213811337.833298, 11113434750.325872, -63465935801.118057 mu:0.000000 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.221] If point is visible? -87835206286.920258, 7443774638.898670, -75087267142.175797 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.221] If point is visible? -97327092447.909546, 9341319756.499134, -62037954125.321281 mu:0.000000 unit_bearing:-0.535359 0.145362 0.832022 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.221] If point is visible? -103020328080.991837, 4644392569.790125, -52666617044.862106 mu:0.000000 unit_bearing:-0.460774 0.095239 0.882393 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -146249885.512580, 15248427.443088, -98791982.839845 mu:0.000000 unit_bearing:-0.556219 0.153400 0.816755 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.221] If point is visible? -78634938892.352829, -63744634883.722366, -56228985765.081200 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -78847895693.288712, -63735852371.069496, -55939980322.718666 mu:0.000000 unit_bearing:-0.557434 -0.487442 0.672062 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] If point is visible? -1.295755, -1.106978, 2.040685 mu:0.343584 unit_bearing:0.619776 -0.460538 0.635439 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] Z inverse min: 1.044230, Z inverse max: 0.000000 +[21:40:46.221] If point is visible? -1.289815, -1.105614, 2.047631 mu:0.343523 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.221] Z inverse min: 1.044528, Z inverse max: 0.000000 +[21:40:46.222] If point is visible? -83621833650.944702, -46769016075.773323, 65027524967.504242 mu:0.000000 unit_bearing:0.496505 -0.469322 0.730219 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.222] If point is visible? -0.407971, -0.564320, 1.078457 mu:0.669661 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] Z inverse min: 1.208327, Z inverse max: 0.130996 +[21:40:46.222] If point is visible? -1.294485, -0.995227, 1.748342 mu:0.373784 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] Z inverse min: 1.053497, Z inverse max: 0.000000 +[21:40:46.222] If point is visible? -1.508028, -1.024171, 1.678112 mu:0.357923 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] Z inverse min: 1.019490, Z inverse max: 0.000000 +[21:40:46.222] If point is visible? -1.372897, -1.000206, 1.838148 mu:0.358736 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] Z inverse min: 1.029699, Z inverse max: 0.000000 +[21:40:46.222] If point is visible? -1.472350, -1.066056, 2.033706 mu:0.332807 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] Z inverse min: 1.013241, Z inverse max: 0.000000 +[21:40:46.222] If point is visible? -1.451113, -1.034117, 1.908389 mu:0.345084 unit_bearing:0.579378 -0.432029 0.691139 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] Z inverse min: 1.015376, Z inverse max: 0.000000 +[21:40:46.222] calculated Z= 1.193873 +[21:40:46.222] update seeds 305 +[21:40:46.222] If point is visible? -1.217382, -0.934493, 1.860549 mu:0.373777 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] Z inverse min: 1.054270, Z inverse max: 0.000000 +[21:40:46.222] If point is visible? -1.511236, -1.018746, 1.678008 mu:0.357886 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] Z inverse min: 1.019138, Z inverse max: 0.000000 +[21:40:46.222] If point is visible? -87991147556.629318, -55422893907.399857, -50935171677.537529 mu:0.000000 unit_bearing:-0.507061 -0.421454 0.751842 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] If point is visible? -88177523234.659653, -55403804409.880508, -50632734316.213264 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] If point is visible? -78424119599.902954, -38881636711.908440, 75805057369.753281 mu:0.000000 unit_bearing:0.597894 -0.413058 0.686954 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.222] If point is visible? -100445766581.761246, -43488609719.049606, 37787825178.585281 mu:0.000000 unit_bearing:0.264168 -0.412535 0.871797 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] If point is visible? -100345184749.403442, -43442170898.560211, 38107120285.444443 mu:0.000000 unit_bearing:0.266967 -0.412473 0.870973 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.222] If point is visible? -99499777811.217606, -43353488702.163757, 40358396450.946609 mu:0.000000 unit_bearing:0.286472 -0.414083 0.863984 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] If point is visible? -85470491258.068741, -37795129523.027901, 68372905742.567245 mu:0.000000 unit_bearing:0.534364 -0.395923 0.746793 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] If point is visible? -85262730826.517838, -37741541767.638695, 68661296872.740829 mu:0.000000 unit_bearing:0.536921 -0.395767 0.745040 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] If point is visible? -85053871243.974640, -37687871982.965981, 68949214810.971588 mu:0.000000 unit_bearing:0.539474 -0.395610 0.743277 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] If point is visible? -85166551207.420670, -37456122937.278458, 68936407950.963837 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] If point is visible? -84745593224.605850, -37348753728.380661, 69511049159.017517 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] If point is visible? -84533464405.589951, -37294946511.027557, 69797645315.366028 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] If point is visible? -84857719863.398346, -37117062329.920570, 69498359655.625076 mu:0.000000 unit_bearing:0.544808 -0.391295 0.741669 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] If point is visible? -84645620535.119904, -37063364557.431709, 69785076220.840210 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] If point is visible? -88663204858.471664, -50789217720.939087, -54477723876.298866 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] If point is visible? -106376160796.519531, -45745418807.518364, 1878295.977739 mu:0.000000 unit_bearing:-0.062872 -0.392112 0.917767 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] If point is visible? -85720761429.880081, -36295018349.458969, 68870557091.792572 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] If point is visible? -85829766782.208679, -36062334074.597038, 68857026703.478500 mu:0.000000 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] If point is visible? -106272020856.435028, -45986819386.232979, 30936026.967592 mu:0.000000 unit_bearing:-0.062863 -0.394212 0.916867 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] If point is visible? -88892824435.357498, -49887118322.618073, -54935162879.453102 mu:0.000000 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=0.524487 y=0.000000 z=0.057680 +[21:40:46.223] Z inverse min: 0.678971, Z inverse max: 0.000000 +[21:40:46.223] init seeds +[21:40:46.223] DepthFilter: Initialized 0 new seeds +[21:40:46.226] DepthFilter: Initialized 0 new seeds +[21:40:46.567] add new frame +[21:40:46.567] update seed +[21:40:46.567] If point is visible? -0.301509, -0.455198, 0.832036 mu:0.817225 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.530455 y=0.000000 z=0.058759 +[21:40:46.567] Z inverse min: 1.039678, Z inverse max: 0.594772 +[21:40:46.568] If point is visible? -88056826427.932220, -55631479987.636436, -50593128832.368843 mu:0.000000 unit_bearing:-0.504358 -0.423602 0.752452 T_cur_ref: x=0.530455 y=0.000000 z=0.058759 +[21:40:46.568] If point is visible? -88177523234.653687, -55403804409.880508, -50632734316.212181 mu:0.000000 unit_bearing:-0.504474 -0.421609 0.753493 T_cur_ref: x=0.530455 y=0.000000 z=0.058759 +[21:40:46.568] If point is visible? -0.214557, -0.211898, 0.952271 mu:0.845666 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.530455 y=0.000000 z=0.058759 +[21:40:46.568] Z inverse min: 1.247669, Z inverse max: 0.443663 +[21:40:46.568] add key frame +[21:40:46.568] remove key frame +[21:40:46.568] init seeds +[21:40:46.568] update seed +[21:40:46.568] If point is visible? -211688267972.443604, -75550815634.584320, -16120747159.432045 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] If point is visible? -187405923982.603424, 108362068096.803360, 62581218294.691399 mu:0.000000 unit_bearing:0.318903 0.443446 0.837650 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] If point is visible? -198161181965.834320, 101563416575.749802, -34594008217.880348 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] If point is visible? -218032210920.803040, -18280503279.658920, -53921287354.995979 mu:0.000000 unit_bearing:-0.265134 -0.051357 0.962843 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] If point is visible? -216454953503.845917, -15166902810.779202, -60802509750.571541 mu:0.000000 unit_bearing:-0.293625 -0.033921 0.955319 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] If point is visible? -169003902007.108795, 32317990629.875038, 145509297356.854645 mu:0.000000 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.568] If point is visible? -170032622988.207581, 31260699293.073360, 144538585951.030975 mu:0.000000 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.568] If point is visible? -153315517581.873962, -124006932710.511368, -109070434754.731659 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] If point is visible? -140114282702.453400, -85546620091.135162, 154368036209.113953 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.568] If point is visible? -140379203834.209381, -85118229895.858383, 154364157431.598694 mu:0.000000 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.568] If point is visible? -149588705746.400238, -85946206298.143738, 144969637391.286255 mu:0.000000 unit_bearing:0.579747 -0.456960 0.674597 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.568] If point is visible? -152905622776.950623, -83784234729.982346, 142757835382.817139 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.568] If point is visible? -153071879402.872864, -80811877426.545715, 144285020816.967468 mu:0.000000 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.568] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.568] If point is visible? -149434101690.147461, -79907284517.624069, 148539564299.771454 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -146150992548.207184, -78117824412.255402, 152699770515.746643 mu:0.000000 unit_bearing:0.618302 -0.426659 0.660048 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -163654831283.776184, -82558784789.634293, 131075818825.625702 mu:0.000000 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -146385431956.692993, -78669113138.573578, 152191336738.114502 mu:0.000000 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -163896352491.889130, -82112549754.388794, 131054346902.183380 mu:0.000000 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -194272441684.199036, -85786832072.375839, 75356253053.592682 mu:0.000000 unit_bearing:0.269621 -0.418610 0.867220 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] If point is visible? -193454664752.510620, -85422717070.901062, 77833020774.933807 mu:0.000000 unit_bearing:0.280792 -0.418345 0.863796 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] If point is visible? -194492752659.773804, -85323127917.156296, 75314407881.148682 mu:0.000000 unit_bearing:0.269669 -0.416545 0.868199 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] If point is visible? -165822589691.645447, -73955299445.872803, 133466136008.712402 mu:0.000000 unit_bearing:0.534246 -0.397923 0.745814 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -165856389676.886353, -72948698122.521179, 133977134149.252319 mu:0.000000 unit_bearing:0.537038 -0.393766 0.746015 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -165448671917.117401, -72844578522.173553, 134536728702.827087 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -164626822982.698914, -72635865318.971725, 135653113688.029633 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -164212691064.571045, -72531271017.179550, 136209888948.030670 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -172815961603.244690, -98789471180.831512, -105617284703.738892 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -164430880820.405151, -72080538397.649506, 136185933363.916595 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -166526846094.770813, -70584701765.044434, 134411072593.504181 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -206972195143.501953, -89115647908.657791, -799227445.388252 mu:0.000000 unit_bearing:-0.068592 -0.392086 0.917368 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] If point is visible? -207006231974.336609, -89040001346.291382, -158471602.471717 mu:0.000000 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] If point is visible? -172938114399.361603, -100055311977.193893, -104216458212.572571 mu:0.000000 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.569] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.569] If point is visible? -206865783305.839722, -89358181178.208206, 1179060216.197777 mu:0.000000 unit_bearing:-0.060003 -0.394224 0.917054 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -166540328659.791199, -69575834761.470505, 134919417343.840210 mu:0.000000 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.570] If point is visible? -173233195682.144623, -97892349901.654633, -105768968860.041656 mu:0.000000 unit_bearing:-0.532856 -0.373974 0.759083 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.570] If point is visible? -173264371949.482300, -97033811200.209457, -106506450162.166565 mu:0.000000 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.570] If point is visible? -173058676332.456787, -97482938233.462524, -106430720793.677124 mu:0.000000 unit_bearing:-0.535535 -0.371813 0.758260 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.570] If point is visible? -194649502342.285461, -73255757387.959595, 86746136955.195648 mu:0.000000 unit_bearing:0.326525 -0.369575 0.869940 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -173692028098.920715, -95274632702.741013, -107394370278.304199 mu:0.000000 unit_bearing:-0.538636 -0.361565 0.761014 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.570] If point is visible? -199995998896.284454, -76614500733.174362, 70082420992.062988 mu:0.000000 unit_bearing:0.250888 -0.375357 0.892279 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -199799684398.445953, -77083853472.487900, 70127688378.689392 mu:0.000000 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -173491041686.147980, -95724786284.181763, -107318920860.839691 mu:0.000000 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.570] If point is visible? -173891821848.554993, -94824166804.625824, -107469710678.082123 mu:0.000000 unit_bearing:-0.538741 -0.359540 0.761899 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.570] If point is visible? -209078179334.161804, -82666647989.404449, -15240317113.275856 mu:0.000000 unit_bearing:-0.128873 -0.355871 0.925607 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -209104738399.126312, -82340684343.287018, -16581529185.126167 mu:0.000000 unit_bearing:-0.134606 -0.353709 0.925619 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -209217684320.201111, -81614184264.301956, -18622903204.655312 mu:0.000000 unit_bearing:-0.143212 -0.349406 0.925962 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -202260396496.537262, -70964708482.710205, 69530347246.723511 mu:0.000000 unit_bearing:0.251327 -0.350174 0.902338 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -202435822459.907227, -69932708784.826843, 70063407398.012451 mu:0.000000 unit_bearing:0.254219 -0.345916 0.903169 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -209221409784.987427, -81286890523.024902, -19964221644.849586 mu:0.000000 unit_bearing:-0.148942 -0.347239 0.925873 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -196354616203.600525, -69037706217.487625, 86361952531.165680 mu:0.000000 unit_bearing:0.326975 -0.350789 0.877516 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -197140092689.099487, -67717566683.663536, 85614496705.912048 mu:0.000000 unit_bearing:0.324333 -0.344570 0.880954 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -198554970985.071503, -66102132516.653145, 83583243554.532440 mu:0.000000 unit_bearing:0.316146 -0.336356 0.887083 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -199187736126.432129, -65808470907.941589, 82299562348.852570 mu:0.000000 unit_bearing:0.310600 -0.334368 0.889790 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -198959977587.946381, -65719532515.847885, 82919222097.953979 mu:0.000000 unit_bearing:0.313395 -0.334312 0.888830 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -208130928662.428894, -79479264403.873962, -33827357170.463142 mu:0.000000 unit_bearing:-0.208927 -0.331779 0.919930 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -198842154573.174377, -82874390117.725174, -66131384807.238716 mu:0.000000 unit_bearing:-0.352267 -0.329263 0.876067 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -207480890589.176666, -79426921205.404205, -37719640207.150856 mu:0.000000 unit_bearing:-0.225987 -0.329444 0.916732 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -207622594878.769012, -79357085181.771774, -37081506933.562172 mu:0.000000 unit_bearing:-0.223150 -0.329481 0.917413 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -207762304003.073242, -79287106746.595566, -36443199204.963936 mu:0.000000 unit_bearing:-0.220313 -0.329518 0.918085 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -200376749173.103638, -64657327252.838829, 80301403801.951904 mu:0.000000 unit_bearing:0.302326 -0.328217 0.894915 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -200992928815.859528, -81432309645.534012, -61240089329.010017 mu:0.000000 unit_bearing:-0.330122 -0.325556 0.886021 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -199587363996.512695, -65425218422.433937, 81634257248.578491 mu:0.000000 unit_bearing:0.307845 -0.332320 0.891513 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -199133978331.151184, -65247609892.082260, 82874212554.971497 mu:0.000000 unit_bearing:0.313438 -0.332209 0.889603 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -211952598769.058685, -76079196673.749176, -8232784323.815192 mu:0.000000 unit_bearing:-0.094686 -0.330645 0.938993 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -175476227918.362671, -85563835930.470749, -112546214710.383743 mu:0.000000 unit_bearing:-0.556219 -0.316007 0.768609 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.570] If point is visible? -175650255452.653137, -85108460439.838074, -112620001554.819260 mu:0.000000 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.570] If point is visible? -211451452905.891846, -75445239403.172699, -19391388413.097054 mu:0.000000 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -211535688555.921387, -75371396937.046219, -18749187185.920692 mu:0.000000 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -212717679920.305084, -74022924827.317810, -7177902098.401160 mu:0.000000 unit_bearing:-0.088991 -0.322159 0.942494 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] If point is visible? -151248927578.222107, -49836251654.273872, 159435996427.333710 mu:0.000000 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.570] If point is visible? -175301015844.609833, -86018944084.570877, -112472317179.175232 mu:0.000000 unit_bearing:-0.556125 -0.318051 0.767833 T_cur_ref: x=0.530446 y=0.000000 z=0.058770 +[21:40:46.570] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.571] init seeds +[21:40:46.571] DepthFilter: Initialized 1 new seeds +[21:40:46.573] DepthFilter: Initialized 1 new seeds +[21:40:46.919] add new frame +[21:40:46.919] update seed +[21:40:46.919] If point is visible? -211688267972.438751, -75550815634.584320, -16120747159.431150 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] If point is visible? -187405923982.598572, 108362068096.803360, 62581218294.692291 mu:0.000000 unit_bearing:0.318903 0.443446 0.837650 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] If point is visible? -198161181965.829468, 101563416575.749802, -34594008217.879456 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] If point is visible? -218032210920.798187, -18280503279.658920, -53921287354.995087 mu:0.000000 unit_bearing:-0.265134 -0.051357 0.962843 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] If point is visible? -216454953503.841064, -15166902810.779202, -60802509750.570648 mu:0.000000 unit_bearing:-0.293625 -0.033921 0.955319 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] If point is visible? -169003902007.103943, 32317990629.875038, 145509297356.855530 mu:0.000000 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.919] If point is visible? -170032622988.202728, 31260699293.073360, 144538585951.031860 mu:0.000000 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.919] add key frame +[21:40:46.919] init seeds +[21:40:46.919] remove key frame +[21:40:46.919] update seed +[21:40:46.919] If point is visible? -211688267972.438751, -75550815634.584320, -16120747159.431150 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] If point is visible? -187405923982.598572, 108362068096.803360, 62581218294.692291 mu:0.000000 unit_bearing:0.318903 0.443446 0.837650 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] If point is visible? -198161181965.829468, 101563416575.749802, -34594008217.879456 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] If point is visible? -218032210920.798187, -18280503279.658920, -53921287354.995087 mu:0.000000 unit_bearing:-0.265134 -0.051357 0.962843 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] If point is visible? -216454953503.841064, -15166902810.779202, -60802509750.570648 mu:0.000000 unit_bearing:-0.293625 -0.033921 0.955319 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] If point is visible? -169003902007.103943, 32317990629.875038, 145509297356.855530 mu:0.000000 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.919] If point is visible? -170032622988.202728, 31260699293.073360, 144538585951.031860 mu:0.000000 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.919] If point is visible? -153315517581.869110, -124006932710.511368, -109070434754.730774 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] If point is visible? -140114282702.448547, -85546620091.135162, 154368036209.114838 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.919] If point is visible? -140379203834.204529, -85118229895.858383, 154364157431.599579 mu:0.000000 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.919] If point is visible? -149588705746.395386, -85946206298.143738, 144969637391.287140 mu:0.000000 unit_bearing:0.579747 -0.456960 0.674597 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.919] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.919] If point is visible? -152905622776.945770, -83784234729.982346, 142757835382.818024 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -153071879402.868011, -80811877426.545715, 144285020816.968353 mu:0.000000 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -149434101690.142609, -79907284517.624069, 148539564299.772339 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -146150992548.202332, -78117824412.255402, 152699770515.747528 mu:0.000000 unit_bearing:0.618302 -0.426659 0.660048 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -163654831283.771332, -82558784789.634293, 131075818825.626587 mu:0.000000 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -146385431956.688141, -78669113138.573578, 152191336738.115387 mu:0.000000 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -163896352491.884277, -82112549754.388794, 131054346902.184265 mu:0.000000 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -194272441684.194183, -85786832072.375839, 75356253053.593567 mu:0.000000 unit_bearing:0.269621 -0.418610 0.867220 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] If point is visible? -193454664752.505768, -85422717070.901062, 77833020774.934692 mu:0.000000 unit_bearing:0.280792 -0.418345 0.863796 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] If point is visible? -194492752659.768951, -85323127917.156296, 75314407881.149567 mu:0.000000 unit_bearing:0.269669 -0.416545 0.868199 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] If point is visible? -165822589691.640594, -73955299445.872803, 133466136008.713287 mu:0.000000 unit_bearing:0.534246 -0.397923 0.745814 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -165856389676.881500, -72948698122.521179, 133977134149.253204 mu:0.000000 unit_bearing:0.537038 -0.393766 0.746015 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -165448671917.112549, -72844578522.173553, 134536728702.827972 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -164626822982.694061, -72635865318.971725, 135653113688.030518 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -164212691064.566193, -72531271017.179550, 136209888948.031555 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -172815961603.239838, -98789471180.831512, -105617284703.738007 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.920] If point is visible? -164430880820.400299, -72080538397.649506, 136185933363.917480 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.920] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.921] If point is visible? -166526846094.765961, -70584701765.044434, 134411072593.505066 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.921] If point is visible? -206972195143.497101, -89115647908.657791, -799227445.387357 mu:0.000000 unit_bearing:-0.068592 -0.392086 0.917368 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -207006231974.331757, -89040001346.291382, -158471602.470823 mu:0.000000 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -172938114399.356750, -100055311977.193893, -104216458212.571686 mu:0.000000 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.921] If point is visible? -206865783305.834869, -89358181178.208206, 1179060216.198672 mu:0.000000 unit_bearing:-0.060003 -0.394224 0.917054 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -166540328659.786346, -69575834761.470505, 134919417343.841095 mu:0.000000 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.921] If point is visible? -173233195682.139771, -97892349901.654633, -105768968860.040771 mu:0.000000 unit_bearing:-0.532856 -0.373974 0.759083 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.921] If point is visible? -173264371949.477448, -97033811200.209457, -106506450162.165680 mu:0.000000 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.921] If point is visible? -173058676332.451935, -97482938233.462524, -106430720793.676239 mu:0.000000 unit_bearing:-0.535535 -0.371813 0.758260 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.921] If point is visible? -194649502342.280609, -73255757387.959595, 86746136955.196533 mu:0.000000 unit_bearing:0.326525 -0.369575 0.869940 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -173692028098.915863, -95274632702.741013, -107394370278.303314 mu:0.000000 unit_bearing:-0.538636 -0.361565 0.761014 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.921] If point is visible? -199995998896.279602, -76614500733.174362, 70082420992.063873 mu:0.000000 unit_bearing:0.250888 -0.375357 0.892279 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -199799684398.441101, -77083853472.487900, 70127688378.690277 mu:0.000000 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -173491041686.143127, -95724786284.181763, -107318920860.838806 mu:0.000000 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.921] If point is visible? -173891821848.550140, -94824166804.625824, -107469710678.081238 mu:0.000000 unit_bearing:-0.538741 -0.359540 0.761899 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.921] If point is visible? -209078179334.156952, -82666647989.404449, -15240317113.274961 mu:0.000000 unit_bearing:-0.128873 -0.355871 0.925607 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -209104738399.121460, -82340684343.287018, -16581529185.125273 mu:0.000000 unit_bearing:-0.134606 -0.353709 0.925619 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -209217684320.196259, -81614184264.301956, -18622903204.654415 mu:0.000000 unit_bearing:-0.143212 -0.349406 0.925962 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -202260396496.532410, -70964708482.710205, 69530347246.724396 mu:0.000000 unit_bearing:0.251327 -0.350174 0.902338 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -202435822459.902374, -69932708784.826843, 70063407398.013336 mu:0.000000 unit_bearing:0.254219 -0.345916 0.903169 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -209221409784.982574, -81286890523.024902, -19964221644.848690 mu:0.000000 unit_bearing:-0.148942 -0.347239 0.925873 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -196354616203.595673, -69037706217.487625, 86361952531.166565 mu:0.000000 unit_bearing:0.326975 -0.350789 0.877516 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -197140092689.094635, -67717566683.663536, 85614496705.912933 mu:0.000000 unit_bearing:0.324333 -0.344570 0.880954 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -198554970985.066650, -66102132516.653145, 83583243554.533325 mu:0.000000 unit_bearing:0.316146 -0.336356 0.887083 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -199187736126.427277, -65808470907.941589, 82299562348.853455 mu:0.000000 unit_bearing:0.310600 -0.334368 0.889790 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -198959977587.941528, -65719532515.847885, 82919222097.954865 mu:0.000000 unit_bearing:0.313395 -0.334312 0.888830 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -208130928662.424042, -79479264403.873962, -33827357170.462246 mu:0.000000 unit_bearing:-0.208927 -0.331779 0.919930 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -198842154573.169525, -82874390117.725174, -66131384807.237823 mu:0.000000 unit_bearing:-0.352267 -0.329263 0.876067 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -207480890589.171814, -79426921205.404205, -37719640207.149963 mu:0.000000 unit_bearing:-0.225987 -0.329444 0.916732 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -207622594878.764160, -79357085181.771774, -37081506933.561279 mu:0.000000 unit_bearing:-0.223150 -0.329481 0.917413 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -207762304003.068390, -79287106746.595566, -36443199204.963043 mu:0.000000 unit_bearing:-0.220313 -0.329518 0.918085 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -200376749173.098785, -64657327252.838829, 80301403801.952789 mu:0.000000 unit_bearing:0.302326 -0.328217 0.894915 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -200992928815.854675, -81432309645.534012, -61240089329.009125 mu:0.000000 unit_bearing:-0.330122 -0.325556 0.886021 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -199587363996.507843, -65425218422.433937, 81634257248.579376 mu:0.000000 unit_bearing:0.307845 -0.332320 0.891513 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -199133978331.146332, -65247609892.082260, 82874212554.972382 mu:0.000000 unit_bearing:0.313438 -0.332209 0.889603 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -211952598769.053833, -76079196673.749176, -8232784323.814299 mu:0.000000 unit_bearing:-0.094686 -0.330645 0.938993 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] If point is visible? -175476227918.357819, -85563835930.470749, -112546214710.382858 mu:0.000000 unit_bearing:-0.556219 -0.316007 0.768609 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.921] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.922] If point is visible? -175650255452.648285, -85108460439.838074, -112620001554.818375 mu:0.000000 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.922] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.922] If point is visible? -211451452905.886993, -75445239403.172699, -19391388413.096157 mu:0.000000 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.922] If point is visible? -211535688555.916534, -75371396937.046219, -18749187185.919796 mu:0.000000 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.922] If point is visible? -212717679920.300232, -74022924827.317810, -7177902098.400267 mu:0.000000 unit_bearing:-0.088991 -0.322159 0.942494 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.922] If point is visible? -151248927578.217255, -49836251654.273872, 159435996427.334595 mu:0.000000 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.922] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.922] If point is visible? -175301015844.604980, -86018944084.570877, -112472317179.174347 mu:0.000000 unit_bearing:-0.556125 -0.318051 0.767833 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.922] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:46.922] If point is visible? -212234350117.801636, -75202780758.101059, -8991630860.080137 mu:0.000000 unit_bearing:-0.097577 -0.326375 0.940191 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.922] If point is visible? -211688267972.438751, -75550815634.584320, -16120747159.431150 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.535318 y=0.000000 z=0.059664 +[21:40:46.922] init seeds +[21:40:46.922] DepthFilter: Initialized 1 new seeds +[21:40:46.924] DepthFilter: Initialized 1 new seeds +[21:40:47.270] add new frame +[21:40:47.270] update seed +[21:40:47.270] If point is visible? -211688267972.432709, -75550815634.584320, -16120747159.430082 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] If point is visible? -187405923982.592529, 108362068096.803360, 62581218294.693359 mu:0.000000 unit_bearing:0.318903 0.443446 0.837650 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] If point is visible? -198161181965.823425, 101563416575.749802, -34594008217.878387 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] If point is visible? -218032210920.792145, -18280503279.658920, -53921287354.994019 mu:0.000000 unit_bearing:-0.265134 -0.051357 0.962843 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] If point is visible? -216454953503.835022, -15166902810.779202, -60802509750.569580 mu:0.000000 unit_bearing:-0.293625 -0.033921 0.955319 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] If point is visible? -169003902007.097900, 32317990629.875038, 145509297356.856598 mu:0.000000 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.270] If point is visible? -170032622988.196686, 31260699293.073360, 144538585951.032928 mu:0.000000 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.270] add key frame +[21:40:47.270] If point is visible? -153315517581.863068, -124006932710.511368, -109070434754.729706 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] init seeds +[21:40:47.270] remove key frame +[21:40:47.270] update seed +[21:40:47.270] If point is visible? -211688267972.432709, -75550815634.584320, -16120747159.430082 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] If point is visible? -187405923982.592529, 108362068096.803360, 62581218294.693359 mu:0.000000 unit_bearing:0.318903 0.443446 0.837650 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] If point is visible? -198161181965.823425, 101563416575.749802, -34594008217.878387 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] If point is visible? -218032210920.792145, -18280503279.658920, -53921287354.994019 mu:0.000000 unit_bearing:-0.265134 -0.051357 0.962843 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] If point is visible? -216454953503.835022, -15166902810.779202, -60802509750.569580 mu:0.000000 unit_bearing:-0.293625 -0.033921 0.955319 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] If point is visible? -169003902007.097900, 32317990629.875038, 145509297356.856598 mu:0.000000 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.270] If point is visible? -170032622988.196686, 31260699293.073360, 144538585951.032928 mu:0.000000 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.270] If point is visible? -153315517581.863068, -124006932710.511368, -109070434754.729706 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] If point is visible? -140114282702.442505, -85546620091.135162, 154368036209.115906 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.270] If point is visible? -140379203834.198486, -85118229895.858383, 154364157431.600647 mu:0.000000 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.270] If point is visible? -149588705746.389343, -85946206298.143738, 144969637391.288208 mu:0.000000 unit_bearing:0.579747 -0.456960 0.674597 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.270] If point is visible? -152905622776.939728, -83784234729.982346, 142757835382.819092 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.270] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -153071879402.861969, -80811877426.545715, 144285020816.969421 mu:0.000000 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -149434101690.136566, -79907284517.624069, 148539564299.773407 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -146150992548.196289, -78117824412.255402, 152699770515.748596 mu:0.000000 unit_bearing:0.618302 -0.426659 0.660048 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -163654831283.765289, -82558784789.634293, 131075818825.627655 mu:0.000000 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -146385431956.682098, -78669113138.573578, 152191336738.116455 mu:0.000000 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -163896352491.878235, -82112549754.388794, 131054346902.185333 mu:0.000000 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -194272441684.188141, -85786832072.375839, 75356253053.594635 mu:0.000000 unit_bearing:0.269621 -0.418610 0.867220 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] If point is visible? -193454664752.499725, -85422717070.901062, 77833020774.935760 mu:0.000000 unit_bearing:0.280792 -0.418345 0.863796 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] If point is visible? -194492752659.762909, -85323127917.156296, 75314407881.150635 mu:0.000000 unit_bearing:0.269669 -0.416545 0.868199 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] If point is visible? -165822589691.634552, -73955299445.872803, 133466136008.714355 mu:0.000000 unit_bearing:0.534246 -0.397923 0.745814 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -165856389676.875458, -72948698122.521179, 133977134149.254272 mu:0.000000 unit_bearing:0.537038 -0.393766 0.746015 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -165448671917.106506, -72844578522.173553, 134536728702.829041 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -164626822982.688019, -72635865318.971725, 135653113688.031586 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -164212691064.560150, -72531271017.179550, 136209888948.032623 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -172815961603.233795, -98789471180.831512, -105617284703.736938 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.271] If point is visible? -164430880820.394257, -72080538397.649506, 136185933363.918549 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.271] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.272] If point is visible? -166526846094.759918, -70584701765.044434, 134411072593.506134 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.272] If point is visible? -206972195143.491058, -89115647908.657791, -799227445.386290 mu:0.000000 unit_bearing:-0.068592 -0.392086 0.917368 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -207006231974.325714, -89040001346.291382, -158471602.469755 mu:0.000000 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -172938114399.350708, -100055311977.193893, -104216458212.570618 mu:0.000000 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.272] If point is visible? -206865783305.828827, -89358181178.208206, 1179060216.199739 mu:0.000000 unit_bearing:-0.060003 -0.394224 0.917054 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -166540328659.780304, -69575834761.470505, 134919417343.842163 mu:0.000000 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.272] If point is visible? -173233195682.133728, -97892349901.654633, -105768968860.039703 mu:0.000000 unit_bearing:-0.532856 -0.373974 0.759083 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.272] If point is visible? -173264371949.471405, -97033811200.209457, -106506450162.164612 mu:0.000000 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.272] If point is visible? -173058676332.445892, -97482938233.462524, -106430720793.675171 mu:0.000000 unit_bearing:-0.535535 -0.371813 0.758260 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.272] If point is visible? -194649502342.274567, -73255757387.959595, 86746136955.197601 mu:0.000000 unit_bearing:0.326525 -0.369575 0.869940 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -173692028098.909821, -95274632702.741013, -107394370278.302246 mu:0.000000 unit_bearing:-0.538636 -0.361565 0.761014 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.272] If point is visible? -199995998896.273560, -76614500733.174362, 70082420992.064941 mu:0.000000 unit_bearing:0.250888 -0.375357 0.892279 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -199799684398.435059, -77083853472.487900, 70127688378.691345 mu:0.000000 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -173491041686.137085, -95724786284.181763, -107318920860.837738 mu:0.000000 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.272] If point is visible? -173891821848.544098, -94824166804.625824, -107469710678.080170 mu:0.000000 unit_bearing:-0.538741 -0.359540 0.761899 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.272] If point is visible? -209078179334.150909, -82666647989.404449, -15240317113.273893 mu:0.000000 unit_bearing:-0.128873 -0.355871 0.925607 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -209104738399.115417, -82340684343.287018, -16581529185.124205 mu:0.000000 unit_bearing:-0.134606 -0.353709 0.925619 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -209217684320.190216, -81614184264.301956, -18622903204.653347 mu:0.000000 unit_bearing:-0.143212 -0.349406 0.925962 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -202260396496.526367, -70964708482.710205, 69530347246.725464 mu:0.000000 unit_bearing:0.251327 -0.350174 0.902338 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -202435822459.896332, -69932708784.826843, 70063407398.014404 mu:0.000000 unit_bearing:0.254219 -0.345916 0.903169 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -209221409784.976532, -81286890523.024902, -19964221644.847622 mu:0.000000 unit_bearing:-0.148942 -0.347239 0.925873 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -196354616203.589630, -69037706217.487625, 86361952531.167633 mu:0.000000 unit_bearing:0.326975 -0.350789 0.877516 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -197140092689.088593, -67717566683.663536, 85614496705.914001 mu:0.000000 unit_bearing:0.324333 -0.344570 0.880954 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -198554970985.060608, -66102132516.653145, 83583243554.534393 mu:0.000000 unit_bearing:0.316146 -0.336356 0.887083 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -199187736126.421234, -65808470907.941589, 82299562348.854523 mu:0.000000 unit_bearing:0.310600 -0.334368 0.889790 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -198959977587.935486, -65719532515.847885, 82919222097.955933 mu:0.000000 unit_bearing:0.313395 -0.334312 0.888830 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -208130928662.417999, -79479264403.873962, -33827357170.461178 mu:0.000000 unit_bearing:-0.208927 -0.331779 0.919930 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -198842154573.163483, -82874390117.725174, -66131384807.236755 mu:0.000000 unit_bearing:-0.352267 -0.329263 0.876067 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -207480890589.165771, -79426921205.404205, -37719640207.148895 mu:0.000000 unit_bearing:-0.225987 -0.329444 0.916732 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -207622594878.758118, -79357085181.771774, -37081506933.560211 mu:0.000000 unit_bearing:-0.223150 -0.329481 0.917413 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -207762304003.062347, -79287106746.595566, -36443199204.961975 mu:0.000000 unit_bearing:-0.220313 -0.329518 0.918085 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -200376749173.092743, -64657327252.838829, 80301403801.953857 mu:0.000000 unit_bearing:0.302326 -0.328217 0.894915 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -200992928815.848633, -81432309645.534012, -61240089329.008057 mu:0.000000 unit_bearing:-0.330122 -0.325556 0.886021 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -199587363996.501801, -65425218422.433937, 81634257248.580444 mu:0.000000 unit_bearing:0.307845 -0.332320 0.891513 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -199133978331.140289, -65247609892.082260, 82874212554.973450 mu:0.000000 unit_bearing:0.313438 -0.332209 0.889603 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -211952598769.047791, -76079196673.749176, -8232784323.813231 mu:0.000000 unit_bearing:-0.094686 -0.330645 0.938993 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] If point is visible? -175476227918.351776, -85563835930.470749, -112546214710.381790 mu:0.000000 unit_bearing:-0.556219 -0.316007 0.768609 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.272] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.272] If point is visible? -175650255452.642242, -85108460439.838074, -112620001554.817307 mu:0.000000 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.273] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.273] If point is visible? -211451452905.880951, -75445239403.172699, -19391388413.095089 mu:0.000000 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.273] If point is visible? -211535688555.910492, -75371396937.046219, -18749187185.918728 mu:0.000000 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.273] If point is visible? -212717679920.294189, -74022924827.317810, -7177902098.399199 mu:0.000000 unit_bearing:-0.088991 -0.322159 0.942494 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.273] If point is visible? -151248927578.211212, -49836251654.273872, 159435996427.335663 mu:0.000000 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.273] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.273] If point is visible? -175301015844.598938, -86018944084.570877, -112472317179.173279 mu:0.000000 unit_bearing:-0.556125 -0.318051 0.767833 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.273] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.273] If point is visible? -212234350117.795593, -75202780758.101059, -8991630860.079069 mu:0.000000 unit_bearing:-0.097577 -0.326375 0.940191 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.273] If point is visible? -211688267972.432709, -75550815634.584320, -16120747159.430082 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.541347 y=0.000000 z=0.060732 +[21:40:47.273] init seeds +[21:40:47.273] DepthFilter: Initialized 2 new seeds +[21:40:47.275] DepthFilter: Initialized 2 new seeds +[21:40:47.623] add new frame +[21:40:47.623] update seed +[21:40:47.623] If point is visible? -211688267972.427917, -75550815634.584320, -16120747159.429256 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.546141 y=0.000000 z=0.061557 +[21:40:47.623] If point is visible? -187405923982.587738, 108362068096.803360, 62581218294.694183 mu:0.000000 unit_bearing:0.318903 0.443446 0.837650 T_cur_ref: x=0.546141 y=0.000000 z=0.061557 +[21:40:47.623] If point is visible? -198161181965.818634, 101563416575.749802, -34594008217.877563 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.546141 y=0.000000 z=0.061557 +[21:40:47.623] If point is visible? -218032210920.787354, -18280503279.658920, -53921287354.993195 mu:0.000000 unit_bearing:-0.265134 -0.051357 0.962843 T_cur_ref: x=0.546141 y=0.000000 z=0.061557 +[21:40:47.623] If point is visible? -216454953503.830231, -15166902810.779202, -60802509750.568756 mu:0.000000 unit_bearing:-0.293625 -0.033921 0.955319 T_cur_ref: x=0.546141 y=0.000000 z=0.061557 +[21:40:47.623] If point is visible? -169003902007.093109, 32317990629.875038, 145509297356.857422 mu:0.000000 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.546141 y=0.000000 z=0.061557 +[21:40:47.623] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.623] If point is visible? -170032622988.191895, 31260699293.073360, 144538585951.033752 mu:0.000000 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=0.546141 y=0.000000 z=0.061557 +[21:40:47.624] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.623] add key frame +[21:40:47.624] remove key frame +[21:40:47.624] init seeds +[21:40:47.624] update seed +[21:40:47.624] init seeds +[21:40:47.626] DepthFilter: Initialized 3 new seeds +[21:40:47.629] DepthFilter: Initialized 157 new seeds +[21:40:47.983] add new frame +[21:40:47.983] update seed +[21:40:47.983] If point is visible? -211688267972.422058, -75550815634.584320, -16120747159.427999 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.983] If point is visible? -187405923982.581879, 108362068096.803360, 62581218294.695442 mu:0.000000 unit_bearing:0.318903 0.443446 0.837650 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.983] If point is visible? -198161181965.812775, 101563416575.749802, -34594008217.876305 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.983] If point is visible? -218032210920.781494, -18280503279.658920, -53921287354.991936 mu:0.000000 unit_bearing:-0.265134 -0.051357 0.962843 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.983] If point is visible? -216454953503.824371, -15166902810.779202, -60802509750.567497 mu:0.000000 unit_bearing:-0.293625 -0.033921 0.955319 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.983] If point is visible? -169003902007.087250, 32317990629.875038, 145509297356.858673 mu:0.000000 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.983] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.983] If point is visible? -170032622988.186035, 31260699293.073360, 144538585951.035004 mu:0.000000 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.983] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.983] add key frame +[21:40:47.983] remove key frame +[21:40:47.983] init seeds +[21:40:47.983] update seed +[21:40:47.983] If point is visible? -211688267972.422058, -75550815634.584320, -16120747159.427999 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.983] If point is visible? -187405923982.581879, 108362068096.803360, 62581218294.695442 mu:0.000000 unit_bearing:0.318903 0.443446 0.837650 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.983] If point is visible? -198161181965.812775, 101563416575.749802, -34594008217.876305 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] If point is visible? -218032210920.781494, -18280503279.658920, -53921287354.991936 mu:0.000000 unit_bearing:-0.265134 -0.051357 0.962843 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] If point is visible? -216454953503.824371, -15166902810.779202, -60802509750.567497 mu:0.000000 unit_bearing:-0.293625 -0.033921 0.955319 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] If point is visible? -169003902007.087250, 32317990629.875038, 145509297356.858673 mu:0.000000 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -170032622988.186035, 31260699293.073360, 144538585951.035004 mu:0.000000 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -153315517581.852417, -124006932710.511368, -109070434754.727615 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] If point is visible? -140114282702.431854, -85546620091.135162, 154368036209.117981 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -140379203834.187836, -85118229895.858383, 154364157431.602722 mu:0.000000 unit_bearing:0.622318 -0.458393 0.634505 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -149588705746.378693, -85946206298.143738, 144969637391.290283 mu:0.000000 unit_bearing:0.579747 -0.456960 0.674597 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -152905622776.929077, -83784234729.982346, 142757835382.821167 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -153071879402.851318, -80811877426.545715, 144285020816.971497 mu:0.000000 unit_bearing:0.579224 -0.433975 0.690048 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -149434101690.125916, -79907284517.624069, 148539564299.775482 mu:0.000000 unit_bearing:0.598746 -0.432291 0.674261 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -146150992548.185638, -78117824412.255402, 152699770515.750671 mu:0.000000 unit_bearing:0.618302 -0.426659 0.660048 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -163654831283.754639, -82558784789.634293, 131075818825.629745 mu:0.000000 unit_bearing:0.519245 -0.434525 0.735916 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -146385431956.671448, -78669113138.573578, 152191336738.118530 mu:0.000000 unit_bearing:0.615746 -0.428813 0.661042 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -163896352491.867584, -82112549754.388794, 131054346902.187424 mu:0.000000 unit_bearing:0.519372 -0.432548 0.736991 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.984] If point is visible? -194272441684.177490, -85786832072.375839, 75356253053.596725 mu:0.000000 unit_bearing:0.269621 -0.418610 0.867220 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] If point is visible? -193454664752.489075, -85422717070.901062, 77833020774.937851 mu:0.000000 unit_bearing:0.280792 -0.418345 0.863796 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] If point is visible? -194492752659.752258, -85323127917.156296, 75314407881.152725 mu:0.000000 unit_bearing:0.269669 -0.416545 0.868199 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] If point is visible? -165822589691.623901, -73955299445.872803, 133466136008.716446 mu:0.000000 unit_bearing:0.534246 -0.397923 0.745814 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.984] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -165856389676.864807, -72948698122.521179, 133977134149.256363 mu:0.000000 unit_bearing:0.537038 -0.393766 0.746015 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -165448671917.095856, -72844578522.173553, 134536728702.831131 mu:0.000000 unit_bearing:0.539592 -0.393610 0.744252 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -164626822982.677368, -72635865318.971725, 135653113688.033676 mu:0.000000 unit_bearing:0.544689 -0.393295 0.740698 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -164212691064.549500, -72531271017.179550, 136209888948.034714 mu:0.000000 unit_bearing:0.547231 -0.393135 0.738907 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -172815961603.223145, -98789471180.831512, -105617284703.734848 mu:0.000000 unit_bearing:-0.532639 -0.378008 0.757236 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -164430880820.383606, -72080538397.649506, 136185933363.920639 mu:0.000000 unit_bearing:0.547351 -0.391137 0.739877 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -166526846094.749268, -70584701765.044434, 134411072593.508224 mu:0.000000 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -206972195143.480408, -89115647908.657791, -799227445.384207 mu:0.000000 unit_bearing:-0.068592 -0.392086 0.917368 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] If point is visible? -207006231974.315063, -89040001346.291382, -158471602.467672 mu:0.000000 unit_bearing:-0.065732 -0.392099 0.917572 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] If point is visible? -172938114399.340057, -100055311977.193893, -104216458212.568527 mu:0.000000 unit_bearing:-0.527165 -0.384341 0.757878 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -206865783305.818176, -89358181178.208206, 1179060216.201823 mu:0.000000 unit_bearing:-0.060003 -0.394224 0.917054 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] If point is visible? -166540328659.769653, -69575834761.470505, 134919417343.844254 mu:0.000000 unit_bearing:0.542956 -0.379420 0.749159 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -173233195682.123077, -97892349901.654633, -105768968860.037613 mu:0.000000 unit_bearing:-0.532856 -0.373974 0.759083 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -173264371949.460754, -97033811200.209457, -106506450162.162521 mu:0.000000 unit_bearing:-0.535642 -0.369794 0.759171 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -173058676332.435242, -97482938233.462524, -106430720793.673080 mu:0.000000 unit_bearing:-0.535535 -0.371813 0.758260 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -194649502342.263916, -73255757387.959595, 86746136955.199692 mu:0.000000 unit_bearing:0.326525 -0.369575 0.869940 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] If point is visible? -173692028098.899170, -95274632702.741013, -107394370278.300156 mu:0.000000 unit_bearing:-0.538636 -0.361565 0.761014 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -199995998896.262909, -76614500733.174362, 70082420992.067032 mu:0.000000 unit_bearing:0.250888 -0.375357 0.892279 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] If point is visible? -199799684398.424408, -77083853472.487900, 70127688378.693436 mu:0.000000 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] If point is visible? -173491041686.126434, -95724786284.181763, -107318920860.835648 mu:0.000000 unit_bearing:-0.538531 -0.363589 0.760124 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.985] If point is visible? -173891821848.533447, -94824166804.625824, -107469710678.078079 mu:0.000000 unit_bearing:-0.538741 -0.359540 0.761899 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.985] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.986] If point is visible? -209078179334.140259, -82666647989.404449, -15240317113.271811 mu:0.000000 unit_bearing:-0.128873 -0.355871 0.925607 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -209104738399.104767, -82340684343.287018, -16581529185.122122 mu:0.000000 unit_bearing:-0.134606 -0.353709 0.925619 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -209217684320.179565, -81614184264.301956, -18622903204.651264 mu:0.000000 unit_bearing:-0.143212 -0.349406 0.925962 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -202260396496.515717, -70964708482.710205, 69530347246.727554 mu:0.000000 unit_bearing:0.251327 -0.350174 0.902338 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -202435822459.885681, -69932708784.826843, 70063407398.016495 mu:0.000000 unit_bearing:0.254219 -0.345916 0.903169 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -209221409784.965881, -81286890523.024902, -19964221644.845539 mu:0.000000 unit_bearing:-0.148942 -0.347239 0.925873 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -196354616203.578979, -69037706217.487625, 86361952531.169724 mu:0.000000 unit_bearing:0.326975 -0.350789 0.877516 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -197140092689.077942, -67717566683.663536, 85614496705.916092 mu:0.000000 unit_bearing:0.324333 -0.344570 0.880954 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -198554970985.049957, -66102132516.653145, 83583243554.536484 mu:0.000000 unit_bearing:0.316146 -0.336356 0.887083 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -199187736126.410583, -65808470907.941589, 82299562348.856613 mu:0.000000 unit_bearing:0.310600 -0.334368 0.889790 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -198959977587.924835, -65719532515.847885, 82919222097.958023 mu:0.000000 unit_bearing:0.313395 -0.334312 0.888830 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -208130928662.407349, -79479264403.873962, -33827357170.459095 mu:0.000000 unit_bearing:-0.208927 -0.331779 0.919930 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -198842154573.152832, -82874390117.725174, -66131384807.234673 mu:0.000000 unit_bearing:-0.352267 -0.329263 0.876067 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -207480890589.155121, -79426921205.404205, -37719640207.146812 mu:0.000000 unit_bearing:-0.225987 -0.329444 0.916732 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -207622594878.747467, -79357085181.771774, -37081506933.558128 mu:0.000000 unit_bearing:-0.223150 -0.329481 0.917413 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -207762304003.051697, -79287106746.595566, -36443199204.959892 mu:0.000000 unit_bearing:-0.220313 -0.329518 0.918085 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -200376749173.082092, -64657327252.838829, 80301403801.955948 mu:0.000000 unit_bearing:0.302326 -0.328217 0.894915 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -200992928815.837982, -81432309645.534012, -61240089329.005974 mu:0.000000 unit_bearing:-0.330122 -0.325556 0.886021 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -199587363996.491150, -65425218422.433937, 81634257248.582535 mu:0.000000 unit_bearing:0.307845 -0.332320 0.891513 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -199133978331.129639, -65247609892.082260, 82874212554.975540 mu:0.000000 unit_bearing:0.313438 -0.332209 0.889603 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -211952598769.037140, -76079196673.749176, -8232784323.811148 mu:0.000000 unit_bearing:-0.094686 -0.330645 0.938993 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -175476227918.341125, -85563835930.470749, -112546214710.379700 mu:0.000000 unit_bearing:-0.556219 -0.316007 0.768609 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.986] If point is visible? -175650255452.631592, -85108460439.838074, -112620001554.815216 mu:0.000000 unit_bearing:-0.556312 -0.313961 0.769380 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.986] If point is visible? -211451452905.870300, -75445239403.172699, -19391388413.093006 mu:0.000000 unit_bearing:-0.143443 -0.321818 0.935872 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -211535688555.899841, -75371396937.046219, -18749187185.916645 mu:0.000000 unit_bearing:-0.140582 -0.321840 0.936299 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -212717679920.283539, -74022924827.317810, -7177902098.397116 mu:0.000000 unit_bearing:-0.088991 -0.322159 0.942494 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -151248927578.200562, -49836251654.273872, 159435996427.337738 mu:0.000000 unit_bearing:0.662844 -0.305734 0.683494 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.986] If point is visible? -175301015844.588287, -86018944084.570877, -112472317179.171188 mu:0.000000 unit_bearing:-0.556125 -0.318051 0.767833 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.986] If point is visible? -212234350117.784943, -75202780758.101059, -8991630860.076986 mu:0.000000 unit_bearing:-0.097577 -0.326375 0.940191 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -211688267972.422058, -75550815634.584320, -16120747159.427999 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -213155193398.543579, -72668227213.063171, -7994955292.722860 mu:0.000000 unit_bearing:-0.091892 -0.315750 0.944382 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -200766514109.712585, -64272700119.015633, 79633873828.056808 mu:0.000000 unit_bearing:0.299562 -0.326162 0.896594 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -212994137795.101105, -73145253867.006607, -7937010195.619040 mu:0.000000 unit_bearing:-0.091882 -0.317882 0.943668 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -214725513380.096893, -67310940590.181511, -11912942949.129019 mu:0.000000 unit_bearing:-0.106378 -0.290034 0.951086 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] If point is visible? -141590836432.440399, -40340244770.469269, 170600195543.599823 mu:0.000000 unit_bearing:0.717932 -0.269945 0.641640 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.986] calculated Z= 1.129234 +[21:40:47.986] update seeds 305 +[21:40:47.986] If point is visible? -142608708887.396240, -39092082355.244492, 170042030909.694336 mu:0.000000 unit_bearing:0.716066 -0.264146 0.646124 T_cur_ref: x=0.551996 y=0.000000 z=0.062815 +[21:40:47.986] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:47.986] init seeds +[21:40:47.986] DepthFilter: Initialized 1 new seeds +[21:40:47.989] DepthFilter: Initialized 1 new seeds +[21:40:48.357] add new frame +[21:40:48.357] update seed +[21:40:48.357] If point is visible? -211688267972.417236, -75550815634.584320, -16120747159.427151 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.556828 y=0.000000 z=0.063664 +[21:40:48.357] If point is visible? -187405923982.577057, 108362068096.803360, 62581218294.696297 mu:0.000000 unit_bearing:0.318903 0.443446 0.837650 T_cur_ref: x=0.556828 y=0.000000 z=0.063664 +[21:40:48.357] If point is visible? -198161181965.807953, 101563416575.749802, -34594008217.875450 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.556828 y=0.000000 z=0.063664 +[21:40:48.357] If point is visible? -218032210920.776672, -18280503279.658920, -53921287354.991081 mu:0.000000 unit_bearing:-0.265134 -0.051357 0.962843 T_cur_ref: x=0.556828 y=0.000000 z=0.063664 +[21:40:48.357] If point is visible? -216454953503.819550, -15166902810.779202, -60802509750.566643 mu:0.000000 unit_bearing:-0.293625 -0.033921 0.955319 T_cur_ref: x=0.556828 y=0.000000 z=0.063664 +[21:40:48.357] If point is visible? -169003902007.082428, 32317990629.875038, 145509297356.859528 mu:0.000000 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.556828 y=0.000000 z=0.063664 +[21:40:48.357] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:48.357] If point is visible? -170032622988.181213, 31260699293.073360, 144538585951.035858 mu:0.000000 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=0.556828 y=0.000000 z=0.063664 +[21:40:48.357] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:48.357] If point is visible? -153315517581.847595, -124006932710.511368, -109070434754.726776 mu:0.000000 unit_bearing:-0.559891 -0.487213 0.670183 T_cur_ref: x=0.556828 y=0.000000 z=0.063664 +[21:40:48.357] If point is visible? -140114282702.427032, -85546620091.135162, 154368036209.118835 mu:0.000000 unit_bearing:0.622125 -0.460282 0.633325 T_cur_ref: x=0.556828 y=0.000000 z=0.063664 +[21:40:48.357] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:48.357] add key frame +[21:40:48.358] remove key frame +[21:40:48.358] init seeds +[21:40:48.358] update seed +[21:40:48.358] init seeds +[21:40:48.360] DepthFilter: Initialized 2 new seeds +[21:40:48.363] DepthFilter: Initialized 187 new seeds +[21:40:48.742] add new frame +[21:40:48.742] update seed +[21:40:48.742] If point is visible? -211688267972.411133, -75550815634.584320, -16120747159.425888 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.562933 y=0.000000 z=0.064927 +[21:40:48.742] If point is visible? -187405923982.570953, 108362068096.803360, 62581218294.697556 mu:0.000000 unit_bearing:0.318903 0.443446 0.837650 T_cur_ref: x=0.562933 y=0.000000 z=0.064927 +[21:40:48.742] If point is visible? -198161181965.801849, 101563416575.749802, -34594008217.874191 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.562933 y=0.000000 z=0.064927 +[21:40:48.742] If point is visible? -218032210920.770569, -18280503279.658920, -53921287354.989822 mu:0.000000 unit_bearing:-0.265134 -0.051357 0.962843 T_cur_ref: x=0.562933 y=0.000000 z=0.064927 +[21:40:48.742] If point is visible? -216454953503.813446, -15166902810.779202, -60802509750.565384 mu:0.000000 unit_bearing:-0.293625 -0.033921 0.955319 T_cur_ref: x=0.562933 y=0.000000 z=0.064927 +[21:40:48.742] If point is visible? -169003902007.076324, 32317990629.875038, 145509297356.860809 mu:0.000000 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.562933 y=0.000000 z=0.064927 +[21:40:48.742] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:48.742] add key frame +[21:40:48.742] remove key frame +[21:40:48.742] init seeds +[21:40:48.742] update seed +[21:40:48.742] init seeds +[21:40:48.745] DepthFilter: Initialized 4 new seeds +[21:40:48.747] DepthFilter: Initialized 181 new seeds +[21:40:49.112] add new frame +[21:40:49.112] update seed +[21:40:49.112] If point is visible? -211688267972.405090, -75550815634.584320, -16120747159.424702 mu:0.000000 unit_bearing:-0.129116 -0.324052 0.937187 T_cur_ref: x=0.568980 y=0.000000 z=0.066112 +[21:40:49.112] If point is visible? -187405923982.564911, 108362068096.803360, 62581218294.698738 mu:0.000000 unit_bearing:0.318903 0.443446 0.837650 T_cur_ref: x=0.568980 y=0.000000 z=0.066112 +[21:40:49.112] If point is visible? -198161181965.795807, 101563416575.749802, -34594008217.873009 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.568980 y=0.000000 z=0.066112 +[21:40:49.112] If point is visible? -218032210920.764526, -18280503279.658920, -53921287354.988640 mu:0.000000 unit_bearing:-0.265134 -0.051357 0.962843 T_cur_ref: x=0.568980 y=0.000000 z=0.066112 +[21:40:49.112] If point is visible? -216454953503.807404, -15166902810.779202, -60802509750.564201 mu:0.000000 unit_bearing:-0.293625 -0.033921 0.955319 T_cur_ref: x=0.568980 y=0.000000 z=0.066112 +[21:40:49.112] If point is visible? -169003902007.070282, 32317990629.875038, 145509297356.861969 mu:0.000000 unit_bearing:0.644488 0.063654 0.761961 T_cur_ref: x=0.568980 y=0.000000 z=0.066112 +[21:40:49.112] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:49.112] If point is visible? -170032622988.169067, 31260699293.073360, 144538585951.038300 mu:0.000000 unit_bearing:0.639557 0.059522 0.766436 T_cur_ref: x=0.568980 y=0.000000 z=0.066112 +[21:40:49.112] Z inverse min: 0.616507, Z inverse max: 0.000000 +[21:40:49.112] add key frame +[21:40:49.112] remove key frame +[21:40:49.112] init seeds +[21:40:49.112] update seed +[21:40:49.112] If point is visible? -251384785700.967133, -162221622414.584320, 323019286399.348450 mu:0.000000 unit_bearing:0.617990 -0.455110 0.641064 T_cur_ref: x=0.508394 y=0.000000 z=0.059271 +[21:40:49.112] Z inverse min: 0.755092, Z inverse max: 0.000000 +[21:40:49.112] If point is visible? -389458881179.309448, 202665846851.781860, -33165630356.038628 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.508394 y=0.000000 z=0.059271 +[21:40:49.112] If point is visible? -358176559670.128906, 32168878134.706268, -254020353572.176147 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=0.508394 y=0.000000 z=0.059271 +[21:40:49.112] Z inverse min: 0.755092, Z inverse max: 0.000000 +[21:40:49.112] If point is visible? -274664020092.914520, -160580297427.866608, 304343997461.813721 mu:0.000000 unit_bearing:0.570905 -0.446241 0.689157 T_cur_ref: x=0.508394 y=0.000000 z=0.059271 +[21:40:49.112] Z inverse min: 0.755092, Z inverse max: 0.000000 +[21:40:49.112] If point is visible? -251384785700.967133, -162221622414.584320, 323019286399.348450 mu:0.000000 unit_bearing:0.617990 -0.455110 0.641064 T_cur_ref: x=0.508394 y=0.000000 z=0.059271 +[21:40:49.112] Z inverse min: 0.755092, Z inverse max: 0.000000 +[21:40:49.112] If point is visible? -389458881179.309448, 202665846851.781860, -33165630356.038628 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.508394 y=0.000000 z=0.059271 +[21:40:49.112] If point is visible? -358176559670.128906, 32168878134.706268, -254020353572.176147 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=0.508394 y=0.000000 z=0.059271 +[21:40:49.113] Z inverse min: 0.755092, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -449656567086.673828, 96365159734.796478, -7330964908.259028 mu:0.000000 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=0.080420 y=0.000000 z=0.016118 +[21:40:49.113] If point is visible? -449656567086.673828, 96365159734.796478, -7330964908.259028 mu:0.000000 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=0.080420 y=0.000000 z=0.016118 +[21:40:49.113] If point is visible? -43354790675.230286, -726386325.894999, -23367620337.713486 mu:0.000000 unit_bearing:-0.578443 0.043178 0.814579 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -43909171484.243622, -170069134.019324, -22319653399.904613 mu:0.000000 unit_bearing:-0.557523 0.051796 0.828544 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -45733510697.632004, 2496318828.447341, -18122515923.873432 mu:0.000000 unit_bearing:-0.471665 0.095140 0.876630 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -42730683050.074203, -23968602182.164310, 5079963321.051812 mu:0.000000 unit_bearing:-0.065141 -0.495549 0.866134 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -36879199224.375854, -25804063809.900314, -20007152403.569973 mu:0.000000 unit_bearing:-0.556471 -0.470464 0.684838 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -28618663982.493324, -17354499311.156723, 36138685883.076958 mu:0.000000 unit_bearing:0.607713 -0.439116 0.661712 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -33669121163.809277, -18577219902.883911, 30781299072.245880 mu:0.000000 unit_bearing:0.484846 -0.450499 0.749650 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -28786758699.279888, -17282458603.876518, 36039566313.070435 mu:0.000000 unit_bearing:0.605484 -0.437419 0.664872 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -33722541502.870514, -18478950601.337067, 30781971527.160686 mu:0.000000 unit_bearing:0.484965 -0.448521 0.750758 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -29948464166.011417, -15805511753.645084, 35769910317.776443 mu:0.000000 unit_bearing:0.600785 -0.406990 0.688052 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -33928044950.195900, -16647141246.903023, 31590689229.606014 mu:0.000000 unit_bearing:0.505113 -0.413609 0.757488 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -29899094631.884315, -15902839061.995632, 35768072939.440750 mu:0.000000 unit_bearing:0.600634 -0.408947 0.687023 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -31442920597.647549, -15246084046.067455, 34714706644.147614 mu:0.000000 unit_bearing:0.577288 -0.393107 0.715685 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -31334040870.786114, -15224045001.680620, 34822658260.587723 mu:0.000000 unit_bearing:0.579776 -0.392930 0.713769 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -40943922185.346649, -17459170488.100258, 21094638982.085548 mu:0.000000 unit_bearing:0.275549 -0.404003 0.872269 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -40884819028.148689, -17440064309.064648, 21224677188.782677 mu:0.000000 unit_bearing:0.278346 -0.403940 0.871410 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -34160862973.153854, -15488345369.711561, 31927383082.180504 mu:0.000000 unit_bearing:0.514102 -0.391092 0.763378 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -34063084830.140022, -15467162878.120020, 32041914989.506763 mu:0.000000 unit_bearing:0.516691 -0.390949 0.761702 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -41335184770.981293, -17470914268.710880, 20307162440.894890 mu:0.000000 unit_bearing:0.258788 -0.402292 0.878174 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -40930588571.515610, -17337750464.949917, 21220285573.979614 mu:0.000000 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -34109179643.978119, -15367367872.825294, 32040896687.116356 mu:0.000000 unit_bearing:0.516799 -0.388935 0.762658 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -41682328211.192337, -17117183456.767164, 19894640917.554688 mu:0.000000 unit_bearing:0.250532 -0.394143 0.884243 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -34200605549.929535, -15167593884.608774, 32038630863.507107 mu:0.000000 unit_bearing:0.517014 -0.384904 0.764556 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -34102409152.275642, -15146511540.724113, 32153072481.426723 mu:0.000000 unit_bearing:0.519602 -0.384762 0.762871 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -34128926577.108315, -14604417483.718212, 32374967992.169525 mu:0.000000 unit_bearing:0.525302 -0.374388 0.764128 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -33929507752.682892, -14562498313.430832, 32602658455.567451 mu:0.000000 unit_bearing:0.530461 -0.374107 0.760694 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -33829131196.454758, -14541501140.061117, 32716140037.068901 mu:0.000000 unit_bearing:0.533035 -0.373964 0.758963 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -33772430304.144371, -14420503947.829308, 32828085674.934101 mu:0.000000 unit_bearing:0.535713 -0.371803 0.758138 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.113] If point is visible? -42265851331.218842, -16021456991.976427, 19573500426.292305 mu:0.000000 unit_bearing:0.245328 -0.371269 0.895530 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -41010120157.593979, -19869483262.295921, -18697188863.158504 mu:0.000000 unit_bearing:-0.526139 -0.354120 0.773160 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -45778231837.193962, -17683021666.565231, 4227934062.317765 mu:0.000000 unit_bearing:-0.074439 -0.366783 0.927324 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -45771453310.818954, -17666443241.451958, 4368299079.445413 mu:0.000000 unit_bearing:-0.071575 -0.366796 0.927544 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -40946319896.034035, -15138748336.115746, 22812899369.090469 mu:0.000000 unit_bearing:0.315595 -0.361497 0.877337 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -40967112339.213013, -19968964592.922077, -18685485048.788719 mu:0.000000 unit_bearing:-0.526040 -0.356154 0.772293 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -42402620618.856781, -15833349520.184862, 19430234158.687935 mu:0.000000 unit_bearing:0.242580 -0.367124 0.897984 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -41209261330.622826, -19092826536.612358, -19064940263.813869 mu:0.000000 unit_bearing:-0.532087 -0.337561 0.776489 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -40962691174.942368, -14913626516.759672, 22931482020.614166 mu:0.000000 unit_bearing:0.318477 -0.357254 0.878033 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -41262115017.282928, -18803633791.994743, -19237266239.062611 mu:0.000000 unit_bearing:-0.534956 -0.331307 0.777211 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.113] If point is visible? -46339834274.569656, -16593720795.329710, 1865310002.998613 mu:0.000000 unit_bearing:-0.120421 -0.338987 0.933052 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46480001175.671776, -16274414284.606049, 981897264.348062 mu:0.000000 unit_bearing:-0.137654 -0.330367 0.933761 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -41316366106.540253, -13983842048.021500, 22882771798.082100 mu:0.000000 unit_bearing:0.318893 -0.338398 0.885321 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -41221929906.272949, -18903621676.607029, -19225419999.197670 mu:0.000000 unit_bearing:-0.534864 -0.333351 0.776401 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46412300087.805656, -16434175537.986744, 1423891421.882715 mu:0.000000 unit_bearing:-0.129038 -0.334680 0.933455 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -41457077469.062202, -13795485971.964808, 22742174178.346512 mu:0.000000 unit_bearing:0.316189 -0.334254 0.887862 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -43013402958.284729, -14050948280.315559, 19458396907.466171 mu:0.000000 unit_bearing:0.245977 -0.331277 0.910906 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -42976316064.055832, -14155031787.727745, 19464904944.211006 mu:0.000000 unit_bearing:0.245945 -0.333391 0.910144 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -41351394144.580254, -18413999818.211418, -19421586053.409061 mu:0.000000 unit_bearing:-0.537911 -0.322999 0.778668 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -41559047847.987549, -13710558854.359083, 22607019036.276505 mu:0.000000 unit_bearing:0.313438 -0.332209 0.889603 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -41494607515.052940, -13691860642.187613, 22736351755.797836 mu:0.000000 unit_bearing:0.316233 -0.332152 0.888635 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -41596318870.599442, -13606873784.650127, 22601115770.260948 mu:0.000000 unit_bearing:0.313481 -0.330105 0.890371 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -42992675162.768814, -14277433803.428362, 19338975106.601006 mu:0.000000 unit_bearing:0.243086 -0.335546 0.910120 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -41959933905.095108, -13369930186.570551, 22064000211.269958 mu:0.000000 unit_bearing:0.302405 -0.324001 0.896423 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46583419603.122101, -16002754032.495459, -328745022.813613 mu:0.000000 unit_bearing:-0.163454 -0.321651 0.932643 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -42058409722.142593, -13284549230.293711, 21927656400.739761 mu:0.000000 unit_bearing:0.299640 -0.321943 0.898091 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -42032159224.052010, -13162058648.711287, 22051507769.956490 mu:0.000000 unit_bearing:0.302483 -0.319782 0.897911 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -42864225926.010597, -13420127884.166628, 20218048747.912178 mu:0.000000 unit_bearing:0.263091 -0.320446 0.909999 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -42693013299.658897, -13365040283.948835, 20612945093.800568 mu:0.000000 unit_bearing:0.271554 -0.320313 0.907556 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -42635084848.177345, -13346652055.046253, 20744339245.845505 mu:0.000000 unit_bearing:0.274373 -0.320267 0.906724 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46565212227.036736, -16058676105.806292, 105469497.795686 mu:0.000000 unit_bearing:-0.154863 -0.323852 0.933347 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46605162316.557861, -15930592228.949505, -621505042.079627 mu:0.000000 unit_bearing:-0.169185 -0.319472 0.932370 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -42314200491.381279, -13131988891.546213, 21523719389.642090 mu:0.000000 unit_bearing:0.291293 -0.317870 0.902279 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -30148993349.326359, -10413222550.801874, 37534173601.786072 mu:0.000000 unit_bearing:0.648792 -0.302698 0.698171 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.114] If point is visible? -42410149064.734268, -13046320681.159220, 21386536999.428261 mu:0.000000 unit_bearing:0.288518 -0.315804 0.903894 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -29991852373.390591, -10492256734.623203, 37637913487.158127 mu:0.000000 unit_bearing:0.651069 -0.304547 0.695241 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.114] If point is visible? -46737535548.382507, -15395287065.862455, 2190684563.905190 mu:0.000000 unit_bearing:-0.111977 -0.315643 0.942248 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46736140620.033112, -15378767178.120913, 2331924497.236070 mu:0.000000 unit_bearing:-0.109109 -0.315660 0.942578 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46863835448.204346, -14893318773.507458, 2860275306.588136 mu:0.000000 unit_bearing:-0.097676 -0.307185 0.946624 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -30185318093.625214, -10313697921.139822, 37532457934.665047 mu:0.000000 unit_bearing:0.648910 -0.300688 0.698929 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.114] If point is visible? -45846075078.279587, -16024830107.268505, -8219088257.522395 mu:0.000000 unit_bearing:-0.319407 -0.302573 0.898014 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46790518505.884018, -15382883083.771759, 474845044.867952 mu:0.000000 unit_bearing:-0.146388 -0.311148 0.939019 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46804792017.196899, -15301106805.758001, 1182694627.047960 mu:0.000000 unit_bearing:-0.132070 -0.311252 0.941106 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46807511792.629395, -15268265673.709044, 1465638064.130365 mu:0.000000 unit_bearing:-0.126339 -0.311290 0.941880 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46808232090.692375, -15251817642.348255, 1607065332.699067 mu:0.000000 unit_bearing:-0.123473 -0.311308 0.942253 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46562106988.772690, -15711421336.290459, -3366396321.687110 mu:0.000000 unit_bearing:-0.223420 -0.308264 0.924693 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46577477917.490105, -15695659719.068403, -3224284209.551513 mu:0.000000 unit_bearing:-0.220579 -0.308298 0.925363 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46592412177.164093, -15679874951.977232, -3082181181.993766 mu:0.000000 unit_bearing:-0.217736 -0.308332 0.926025 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46841831293.947662, -15163538612.924374, 1456409832.024850 mu:0.000000 unit_bearing:-0.126353 -0.309157 0.942580 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46842544782.360512, -15147080917.070822, 1597851632.469026 mu:0.000000 unit_bearing:-0.123486 -0.309175 0.942954 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46613235764.970322, -15720886160.513700, -2504232753.260642 mu:0.000000 unit_bearing:-0.206334 -0.310588 0.927880 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46626002061.301041, -15705003448.455597, -2362200308.736350 mu:0.000000 unit_bearing:-0.203487 -0.310620 0.928498 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -46946295788.496979, -14908269398.138058, 2669559.637475 mu:0.000000 unit_bearing:-0.155056 -0.300416 0.941120 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -47072048280.248695, -14505240026.050484, -177410043.765929 mu:0.000000 unit_bearing:-0.157985 -0.291849 0.943326 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -28205530361.764664, -8006981569.087159, 39579634851.821930 mu:0.000000 unit_bearing:0.700503 -0.259272 0.664887 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.114] If point is visible? -28075863491.678726, -7987508493.316212, 39675644785.000473 mu:0.000000 unit_bearing:0.702797 -0.259117 0.662521 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.114] If point is visible? -28268025771.563976, -7808520744.540989, 39574700436.010162 mu:0.000000 unit_bearing:0.700733 -0.255260 0.666194 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.114] If point is visible? -47531313821.203239, -12751185303.283428, 2095870135.919252 mu:0.000000 unit_bearing:-0.109386 -0.262129 0.958813 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -47529350199.007179, -12734444093.097101, 2237408128.826852 mu:0.000000 unit_bearing:-0.106510 -0.262141 0.959134 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -47447330100.268913, -13117562034.591932, 1700477715.163285 mu:0.000000 unit_bearing:-0.117979 -0.268533 0.956018 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -47070133369.666412, -3980769393.338202, 13955902386.959383 mu:0.000000 unit_bearing:0.150441 -0.114744 0.981938 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -47382873129.505997, -1347294987.698217, 13388775972.606615 mu:0.000000 unit_bearing:0.144777 -0.060275 0.987627 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -47232358485.463547, 1209536213.151343, 13923093258.509935 mu:0.000000 unit_bearing:0.162117 -0.010075 0.986720 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -31715884600.440914, 4530089257.315693, 37413796214.381233 mu:0.000000 unit_bearing:0.679115 -0.001285 0.734031 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.114] If point is visible? -46937603016.393463, 1433882615.273615, 14866626905.810900 mu:0.000000 unit_bearing:0.182277 -0.007889 0.983216 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -32328343052.276440, 4159722734.258137, 36929475139.883560 mu:0.000000 unit_bearing:0.666976 -0.007549 0.745041 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.114] If point is visible? -32206433541.116104, 4172786993.504147, 37034371590.556152 mu:0.000000 unit_bearing:0.669413 -0.007546 0.742852 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.114] If point is visible? -32084075476.441017, 4185814609.287448, 37138958638.034195 mu:0.000000 unit_bearing:0.671845 -0.007542 0.740653 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.114] If point is visible? -31961269147.530525, 4198805342.709255, 37243234285.062836 mu:0.000000 unit_bearing:0.674272 -0.007538 0.738444 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.114] If point is visible? -46938334103.205528, 1540530474.123798, 14853644310.729319 mu:0.000000 unit_bearing:0.182278 -0.005708 0.983231 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] If point is visible? -32056428912.069382, 6121531101.648160, 36893406107.540390 mu:0.000000 unit_bearing:0.671758 0.032071 0.740076 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.114] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.115] If point is visible? -31933616901.021626, 6133547978.467506, 36997768752.366013 mu:0.000000 unit_bearing:0.674184 0.032055 0.737868 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.115] If point is visible? -49005069882.170807, 1289978941.595227, -4801069881.634070 mu:0.000000 unit_bearing:-0.216534 0.037872 0.975540 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] If point is visible? -46846489925.578461, 4008503338.938150, 14681603266.330309 mu:0.000000 unit_bearing:0.185128 0.044449 0.981709 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] If point is visible? -31929687494.485706, 6235257283.329865, 36984156269.328247 mu:0.000000 unit_bearing:0.674171 0.034139 0.737786 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.115] If point is visible? -31806426842.128857, 6247177900.390904, 37088207986.584152 mu:0.000000 unit_bearing:0.676592 0.034121 0.735567 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.115] If point is visible? -31802249156.371487, 6348820617.757912, 37074527875.598831 mu:0.000000 unit_bearing:0.676579 0.036203 0.735480 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.115] If point is visible? -48994837724.114731, 1839898839.266681, -4725657677.347167 mu:0.000000 unit_bearing:-0.213650 0.048767 0.975692 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] If point is visible? -30489591657.479088, 7475067405.663696, 37956809134.596458 mu:0.000000 unit_bearing:0.700298 0.056715 0.711594 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.115] If point is visible? -30361419405.555122, 7485856400.641113, 38057290464.091202 mu:0.000000 unit_bearing:0.702657 0.056684 0.709267 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.115] If point is visible? -45728862875.310013, 5219103832.066566, 17545462295.334839 mu:0.000000 unit_bearing:0.248182 0.061757 0.966743 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] If point is visible? -44201866052.384361, 6463111444.312889, 20751732934.423904 mu:0.000000 unit_bearing:0.319198 0.078892 0.944399 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] If point is visible? -47209089215.252762, 6649709343.304920, 12381213710.749727 mu:0.000000 unit_bearing:0.144703 0.103362 0.984062 T_cur_ref: x=0.091308 y=0.000000 z=0.015229 +[21:40:49.115] init seeds +[21:40:49.115] DepthFilter: Initialized 2 new seeds +[21:40:49.117] DepthFilter: Initialized 1 new seeds +[21:40:49.495] add new frame +[21:40:49.495] update seed +[21:40:49.495] If point is visible? -251384785700.960480, -162221622414.584320, 323019286399.349731 mu:0.000000 unit_bearing:0.617990 -0.455110 0.641064 T_cur_ref: x=0.515049 y=0.000000 z=0.060529 +[21:40:49.495] Z inverse min: 0.755092, Z inverse max: 0.000000 +[21:40:49.495] If point is visible? -389458881179.302795, 202665846851.781860, -33165630356.037373 mu:0.000000 unit_bearing:-0.113596 0.466054 0.877433 T_cur_ref: x=0.515049 y=0.000000 z=0.060529 +[21:40:49.495] If point is visible? -358176559670.122253, 32168878134.706268, -254020353572.174896 mu:0.000000 unit_bearing:-0.647878 0.142831 0.748234 T_cur_ref: x=0.515049 y=0.000000 z=0.060529 +[21:40:49.495] Z inverse min: 0.755092, Z inverse max: 0.000000 +[21:40:49.495] add key frame +[21:40:49.495] remove key frame +[21:40:49.495] init seeds +[21:40:49.495] update seed +[21:40:49.495] init seeds +[21:40:49.498] DepthFilter: Initialized 3 new seeds +[21:40:49.501] DepthFilter: Initialized 149 new seeds +[21:40:49.878] add new frame +[21:40:49.878] update seed +[21:40:49.878] If point is visible? -449656567086.659180, 96365159734.796478, -7330964908.255951 mu:0.000000 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=0.095116 y=0.000000 z=0.019196 +[21:40:49.878] If point is visible? -449656567086.659180, 96365159734.796478, -7330964908.255951 mu:0.000000 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=0.095116 y=0.000000 z=0.019196 +[21:40:49.878] If point is visible? -43354790675.215591, -726386325.894999, -23367620337.710407 mu:0.000000 unit_bearing:-0.578443 0.043178 0.814579 T_cur_ref: x=0.106005 y=0.000000 z=0.018307 +[21:40:49.878] If point is visible? -43909171484.228928, -170069134.019324, -22319653399.901535 mu:0.000000 unit_bearing:-0.557523 0.051796 0.828544 T_cur_ref: x=0.106005 y=0.000000 z=0.018307 +[21:40:49.878] If point is visible? -45733510697.617310, 2496318828.447341, -18122515923.870354 mu:0.000000 unit_bearing:-0.471665 0.095140 0.876630 T_cur_ref: x=0.106005 y=0.000000 z=0.018307 +[21:40:49.878] If point is visible? -42730683050.059509, -23968602182.164310, 5079963321.054890 mu:0.000000 unit_bearing:-0.065141 -0.495549 0.866134 T_cur_ref: x=0.106005 y=0.000000 z=0.018307 +[21:40:49.878] If point is visible? -36879199224.361160, -25804063809.900314, -20007152403.566895 mu:0.000000 unit_bearing:-0.556471 -0.470464 0.684838 T_cur_ref: x=0.106005 y=0.000000 z=0.018307 +[21:40:49.878] If point is visible? -28618663982.478630, -17354499311.156723, 36138685883.080040 mu:0.000000 unit_bearing:0.607713 -0.439116 0.661712 T_cur_ref: x=0.106005 y=0.000000 z=0.018307 +[21:40:49.878] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.878] If point is visible? -33669121163.794582, -18577219902.883911, 30781299072.248959 mu:0.000000 unit_bearing:0.484846 -0.450499 0.749650 T_cur_ref: x=0.106005 y=0.000000 z=0.018307 +[21:40:49.878] Z inverse min: 0.713192, Z inverse max: 0.000000 +[21:40:49.878] add key frame +[21:40:49.878] remove key frame +[21:40:49.878] init seeds +[21:40:49.879] update seed +[21:40:49.879] If point is visible? -449656567086.659180, 96365159734.796478, -7330964908.255951 mu:0.000000 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=0.095116 y=0.000000 z=0.019196 +[21:40:49.879] If point is visible? -449656567086.659180, 96365159734.796478, -7330964908.255951 mu:0.000000 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=0.095116 y=0.000000 z=0.019196 +[21:40:49.879] If point is visible? -1.417496, -0.874768, 0.147754 mu:0.569355 unit_bearing:-0.099037 -0.503381 0.858370 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -1.436786, -0.835652, 0.175458 mu:0.569355 unit_bearing:-0.082243 -0.483199 0.871639 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -1.436578, -0.835082, 0.180421 mu:0.569355 unit_bearing:-0.079408 -0.483221 0.871890 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -1.438546, -0.831493, 0.180211 mu:0.569355 unit_bearing:-0.079424 -0.481178 0.873017 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -1.227016, -0.902716, -0.696050 mu:0.569355 unit_bearing:-0.559748 -0.460626 0.688844 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -1.445857, -0.815963, 0.189285 mu:0.569355 unit_bearing:-0.073810 -0.473031 0.877948 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -0.887000, -0.608795, 1.336608 mu:0.569355 unit_bearing:0.624548 -0.435568 0.648244 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -0.882770, -0.607937, 1.340157 mu:0.569355 unit_bearing:0.626907 -0.435329 0.646123 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -0.885098, -0.612199, 1.336454 mu:0.569355 unit_bearing:0.624368 -0.437481 0.647129 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -0.880867, -0.611339, 1.340001 mu:0.569355 unit_bearing:0.626726 -0.437241 0.645007 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -1.130148, -0.638169, 1.096556 mu:0.569355 unit_bearing:0.470089 -0.435511 0.767689 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] calculated Z= 1.032503 +[21:40:49.879] update seeds 305 +[21:40:49.879] If point is visible? -0.981438, -0.601459, 1.263934 mu:0.569355 unit_bearing:0.577368 -0.426380 0.696309 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -0.933357, -0.591578, 1.308647 mu:0.569355 unit_bearing:0.606647 -0.423898 0.672525 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -0.931518, -0.595019, 1.308536 mu:0.569355 unit_bearing:0.606484 -0.425835 0.671448 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -1.133794, -0.631096, 1.096553 mu:0.569355 unit_bearing:0.470305 -0.431514 0.769811 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -0.961328, -0.589626, 1.286665 mu:0.569355 unit_bearing:0.592402 -0.421270 0.686725 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -1.050804, -0.581222, 1.210271 mu:0.569355 unit_bearing:0.543577 -0.411220 0.731726 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -1.049050, -0.584735, 1.210243 mu:0.569355 unit_bearing:0.543449 -0.413204 0.730703 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -1.369857, -0.596720, 0.771407 mu:0.569355 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -1.133480, -0.571772, 1.129475 mu:0.569355 unit_bearing:0.492858 -0.400273 0.772575 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -1.051681, -0.554239, 1.222206 mu:0.569355 unit_bearing:0.552057 -0.396800 0.733337 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -1.047936, -0.553465, 1.226131 mu:0.569355 unit_bearing:0.554585 -0.396634 0.731517 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -1.371809, -0.614057, 0.753464 mu:0.569355 unit_bearing:0.261681 -0.398079 0.879236 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -1.139850, -0.541719, 1.137409 mu:0.569355 unit_bearing:0.498902 -0.383841 0.777022 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -1.369288, -0.609051, 0.762605 mu:0.569355 unit_bearing:0.267333 -0.395884 0.878526 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -1.363579, -0.760539, -0.586275 mu:0.569355 unit_bearing:-0.498519 -0.387897 0.775251 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -1.388948, -0.611430, 0.720439 mu:0.569355 unit_bearing:0.242093 -0.394303 0.886519 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -1.387002, -0.610761, 0.725123 mu:0.569355 unit_bearing:0.244907 -0.394250 0.885769 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] If point is visible? -1.051423, -0.519362, 1.237892 mu:0.569355 unit_bearing:0.563265 -0.378178 0.734652 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -1.047616, -0.518598, 1.241796 mu:0.569355 unit_bearing:0.565785 -0.378018 0.732795 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.879] If point is visible? -1.142497, -0.518751, 1.145322 mu:0.569355 unit_bearing:0.504721 -0.371410 0.779302 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.879] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.141744, -0.502929, 1.153289 mu:0.569355 unit_bearing:0.510330 -0.363022 0.779602 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.134784, -0.501466, 1.161493 mu:0.569355 unit_bearing:0.515541 -0.362765 0.776286 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.129757, -0.504320, 1.165646 mu:0.569355 unit_bearing:0.518042 -0.364666 0.773726 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.401618, -0.711278, -0.551933 mu:0.569355 unit_bearing:-0.478691 -0.362442 0.799682 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.136299, -0.497876, 1.161425 mu:0.569355 unit_bearing:0.515638 -0.360731 0.777168 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.539412, -0.611562, 0.170168 mu:0.569355 unit_bearing:-0.077355 -0.356196 0.931204 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.539159, -0.610971, 0.175176 mu:0.569355 unit_bearing:-0.074489 -0.356209 0.931432 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.374309, -0.683060, -0.649489 mu:0.569355 unit_bearing:-0.529402 -0.339727 0.777380 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.137804, -0.494284, 1.161355 mu:0.569355 unit_bearing:0.515735 -0.358696 0.778045 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.373745, -0.689803, -0.643770 mu:0.569355 unit_bearing:-0.526620 -0.343934 0.777420 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.440079, -0.503316, 0.695565 mu:0.569355 unit_bearing:0.231824 -0.331480 0.914537 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.382303, -0.651704, -0.663010 mu:0.569355 unit_bearing:-0.535410 -0.321069 0.781185 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.386295, -0.486247, 0.817137 mu:0.569355 unit_bearing:0.305086 -0.330270 0.893221 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.556341, -0.578323, 0.101601 mu:0.569355 unit_bearing:-0.114737 -0.332654 0.936043 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.441390, -0.499600, 0.695334 mu:0.569355 unit_bearing:0.231853 -0.329364 0.915294 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.562740, -0.564368, 0.059715 mu:0.569355 unit_bearing:-0.137720 -0.321862 0.936717 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.442777, -0.483425, 0.703852 mu:0.569355 unit_bearing:0.237637 -0.320815 0.916846 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.397297, -0.469044, 0.806822 mu:0.569355 unit_bearing:0.299679 -0.319833 0.898832 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.440077, -0.465940, 0.721775 mu:0.569355 unit_bearing:0.249083 -0.312178 0.916789 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.438109, -0.465291, 0.726487 mu:0.569355 unit_bearing:0.251912 -0.312138 0.916029 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.432117, -0.463342, 0.740597 mu:0.569355 unit_bearing:0.260395 -0.312016 0.913696 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.430089, -0.462692, 0.745292 mu:0.569355 unit_bearing:0.263220 -0.311974 0.912901 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.415466, -0.458127, 0.778037 mu:0.569355 unit_bearing:0.282961 -0.311666 0.907082 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.413316, -0.457473, 0.782697 mu:0.569355 unit_bearing:0.285776 -0.311620 0.906215 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.411150, -0.456819, 0.787353 mu:0.569355 unit_bearing:0.288589 -0.311573 0.905339 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.566910, -0.553517, 0.023074 mu:0.569355 unit_bearing:-0.157813 -0.313187 0.936487 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.567078, -0.552938, 0.028128 mu:0.569355 unit_bearing:-0.154953 -0.313211 0.936957 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -0.992371, -0.367128, 1.342942 mu:0.569355 unit_bearing:0.636957 -0.299439 0.710367 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.571797, -0.538591, 0.021758 mu:0.569355 unit_bearing:-0.157883 -0.304661 0.939284 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.571268, -0.539417, 0.047356 mu:0.569355 unit_bearing:-0.143557 -0.306905 0.940851 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.571486, -0.533555, 0.097813 mu:0.569355 unit_bearing:-0.114896 -0.307093 0.944718 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.420955, -0.455714, 0.768469 mu:0.569355 unit_bearing:0.277361 -0.309639 0.909503 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.567842, -0.540005, -0.090696 mu:0.569355 unit_bearing:-0.220703 -0.297658 0.928811 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.422182, -0.451993, 0.768233 mu:0.569355 unit_bearing:0.277394 -0.307520 0.910211 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -0.997869, -0.364281, 1.339180 mu:0.569355 unit_bearing:0.634640 -0.297569 0.713222 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.574933, -0.521153, 0.106921 mu:0.569355 unit_bearing:-0.109193 -0.300716 0.947442 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.000391, -0.357147, 1.339030 mu:0.569355 unit_bearing:0.634860 -0.293527 0.714699 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -0.999134, -0.360715, 1.339106 mu:0.569355 unit_bearing:0.634751 -0.295548 0.713963 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.568579, -0.541465, -0.070066 mu:0.569355 unit_bearing:-0.209298 -0.299914 0.930723 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.539320, -0.556641, -0.278811 mu:0.569355 unit_bearing:-0.325157 -0.294006 0.898796 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.540410, -0.556108, -0.273741 mu:0.569355 unit_bearing:-0.322359 -0.294057 0.899786 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.541596, -0.552404, -0.274106 mu:0.569355 unit_bearing:-0.322397 -0.291938 0.900462 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -0.909141, -0.297577, 1.423887 mu:0.569355 unit_bearing:0.693236 -0.265751 0.669926 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -0.914865, -0.294731, 1.420363 mu:0.569355 unit_bearing:0.691035 -0.263899 0.672925 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.588675, -0.477945, 0.087805 mu:0.569355 unit_bearing:-0.117946 -0.274972 0.954190 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.590812, -0.470433, 0.087124 mu:0.569355 unit_bearing:-0.117968 -0.270680 0.955414 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -0.915999, -0.291187, 1.420282 mu:0.569355 unit_bearing:0.691150 -0.261890 0.673591 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.592913, -0.462917, 0.086438 mu:0.569355 unit_bearing:-0.117990 -0.266385 0.956618 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -0.921689, -0.288332, 1.416735 mu:0.569355 unit_bearing:0.688939 -0.260031 0.676570 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -0.917125, -0.287642, 1.420198 mu:0.569355 unit_bearing:0.691264 -0.259881 0.674253 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -0.923913, -0.281233, 1.416554 mu:0.569355 unit_bearing:0.689162 -0.256006 0.677876 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -0.929561, -0.278364, 1.412979 mu:0.569355 unit_bearing:0.686940 -0.254137 0.680829 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.591867, -0.466675, 0.086781 mu:0.569355 unit_bearing:-0.117979 -0.268533 0.956018 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.591816, -0.466081, 0.091830 mu:0.569355 unit_bearing:-0.115105 -0.268547 0.956365 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.584675, -0.140759, 0.493972 mu:0.569355 unit_bearing:0.133147 -0.112608 0.984678 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.587506, 0.049399, 0.502116 mu:0.569355 unit_bearing:0.150585 -0.005712 0.988581 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] If point is visible? -1.063294, 0.158124, 1.323872 mu:0.569355 unit_bearing:0.657182 -0.001290 0.753731 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.076096, 0.153075, 1.312966 mu:0.569355 unit_bearing:0.649780 -0.003386 0.760115 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.880] If point is visible? -1.071841, 0.153544, 1.316760 mu:0.569355 unit_bearing:0.652252 -0.003385 0.757995 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.880] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.001369, 0.193434, 1.371909 mu:0.569355 unit_bearing:0.691094 0.015331 0.722602 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -0.996843, 0.193862, 1.375515 mu:0.569355 unit_bearing:0.693478 0.015323 0.720315 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -0.996904, 0.190247, 1.375977 mu:0.569355 unit_bearing:0.693483 0.013248 0.720351 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.117464, 0.184980, 1.269872 mu:0.569355 unit_bearing:0.624778 0.017634 0.780604 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.117386, 0.188644, 1.269401 mu:0.569355 unit_bearing:0.624772 0.019737 0.780558 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.647183, 0.049628, -0.155445 mu:0.569355 unit_bearing:-0.222266 0.040043 0.974164 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.120674, 0.213827, 1.262131 mu:0.569355 unit_bearing:0.622188 0.034473 0.782109 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.061643, 0.230964, 1.314459 mu:0.569355 unit_bearing:0.657041 0.040526 0.752765 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.061468, 0.234602, 1.313963 mu:0.569355 unit_bearing:0.657026 0.042616 0.752662 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.006542, 0.275724, 1.353313 mu:0.569355 unit_bearing:0.685954 0.063124 0.724902 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] calculated Z= 1.036288 +[21:40:49.881] update seeds 305 +[21:40:49.881] If point is visible? -1.002048, 0.276111, 1.356943 mu:0.569355 unit_bearing:0.688346 0.063091 0.722634 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.540340, 0.209029, 0.609570 mu:0.569355 unit_bearing:0.225257 0.077040 0.971249 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.540633, 0.205242, 0.610083 mu:0.569355 unit_bearing:0.225262 0.074865 0.971418 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.484812, 0.239437, 0.735820 mu:0.569355 unit_bearing:0.302187 0.085464 0.949410 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.476484, 0.234115, 0.755625 mu:0.569355 unit_bearing:0.313533 0.081082 0.946109 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.474202, 0.234668, 0.760305 mu:0.569355 unit_bearing:0.316361 0.081070 0.945168 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.586427, 0.235812, 0.448000 mu:0.569355 unit_bearing:0.133166 0.103386 0.985687 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.553504, 0.263235, 0.548156 mu:0.569355 unit_bearing:0.193602 0.111934 0.974674 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.551852, 0.263812, 0.552992 mu:0.569355 unit_bearing:0.196474 0.111924 0.974100 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.580221, 0.278062, 0.447047 mu:0.569355 unit_bearing:0.135996 0.127328 0.982493 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.578865, 0.278650, 0.451941 mu:0.569355 unit_bearing:0.138879 0.127321 0.982091 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.577493, 0.279237, 0.456833 mu:0.569355 unit_bearing:0.141762 0.127313 0.981680 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.558322, 0.286812, 0.520166 mu:0.569355 unit_bearing:0.179185 0.127199 0.975558 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.577000, 0.283020, 0.456294 mu:0.569355 unit_bearing:0.141756 0.129489 0.981396 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.609436, 0.403387, 0.028183 mu:0.569355 unit_bearing:-0.092247 0.227214 0.969466 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.609247, 0.404022, 0.033224 mu:0.569355 unit_bearing:-0.089365 0.227223 0.969734 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.608360, 0.407774, 0.032659 mu:0.569355 unit_bearing:-0.089358 0.229383 0.969226 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.481386, 0.755110, -0.100941 mu:0.569355 unit_bearing:-0.130963 0.434937 0.890886 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.481434, 0.755777, -0.095948 mu:0.569355 unit_bearing:-0.128123 0.434967 0.891284 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.481468, 0.758432, -0.075985 mu:0.569355 unit_bearing:-0.116757 0.435082 0.892789 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.481439, 0.759092, -0.070996 mu:0.569355 unit_bearing:-0.113913 0.435109 0.893143 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.138383, -0.553186, 1.133419 mu:0.569355 unit_bearing:0.495986 -0.390044 0.775799 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] calculated Z= 1.004255 +[21:40:49.881] update seeds 305 +[21:40:49.881] If point is visible? -1.049194, -0.542108, 1.230076 mu:0.569355 unit_bearing:0.557484 -0.390490 0.732617 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.390156, -0.603428, 0.724779 mu:0.569355 unit_bearing:0.244986 -0.390082 0.887591 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.386219, -0.602092, 0.734139 mu:0.569355 unit_bearing:0.250613 -0.389976 0.886065 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.383064, -0.609423, 0.734479 mu:0.569355 unit_bearing:0.250532 -0.394143 0.884243 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.375003, -0.606738, 0.753140 mu:0.569355 unit_bearing:0.261767 -0.393920 0.881081 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.049991, -0.557765, 1.222194 mu:0.569355 unit_bearing:0.551932 -0.398791 0.732350 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.377218, -0.675931, -0.650314 mu:0.569355 unit_bearing:-0.529588 -0.335641 0.779026 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.375279, -0.669565, -0.660931 mu:0.569355 unit_bearing:-0.534956 -0.331307 0.777211 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.375871, -0.615404, 0.744146 mu:0.569355 unit_bearing:0.256068 -0.398194 0.880836 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.633361, -0.107660, -0.244980 mu:0.569355 unit_bearing:-0.282240 -0.042629 0.958396 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.646688, 0.048995, -0.160546 mu:0.569355 unit_bearing:-0.225132 0.040039 0.973505 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.647662, 0.050261, -0.150343 mu:0.569355 unit_bearing:-0.219399 0.040047 0.974813 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.531989, 0.170827, 0.643906 mu:0.569355 unit_bearing:0.242484 0.053069 0.968703 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.646361, 0.056583, -0.161510 mu:0.569355 unit_bearing:-0.225125 0.044394 0.973318 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] If point is visible? -1.066402, 0.219615, 1.312158 mu:0.569355 unit_bearing:0.654620 0.034272 0.755181 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.057812, 0.220483, 1.319698 mu:0.569355 unit_bearing:0.659538 0.034239 0.750891 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.049158, 0.221345, 1.327195 mu:0.569355 unit_bearing:0.664436 0.034206 0.746562 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] If point is visible? -1.057506, 0.227756, 1.318718 mu:0.569355 unit_bearing:0.659512 0.038418 0.750712 T_cur_ref: x=0.099955 y=0.000000 z=0.017464 +[21:40:49.881] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:49.881] init seeds +[21:40:49.881] DepthFilter: Initialized 3 new seeds +[21:40:49.884] DepthFilter: Initialized 3 new seeds +[21:40:50.265] add new frame +[21:40:50.265] update seed +[21:40:50.265] If point is visible? -449656567086.654419, 96365159734.796478, -7330964908.254863 mu:0.000000 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=0.099860 y=0.000000 z=0.020284 +[21:40:50.265] If point is visible? -449656567086.654419, 96365159734.796478, -7330964908.254863 mu:0.000000 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=0.099860 y=0.000000 z=0.020284 +[21:40:50.265] If point is visible? -1.412752, -0.874768, 0.148843 mu:0.569355 unit_bearing:-0.099037 -0.503381 0.858370 T_cur_ref: x=0.104699 y=0.000000 z=0.018552 +[21:40:50.265] If point is visible? -1.432043, -0.835652, 0.176547 mu:0.569355 unit_bearing:-0.082243 -0.483199 0.871639 T_cur_ref: x=0.104699 y=0.000000 z=0.018552 +[21:40:50.265] If point is visible? -1.431834, -0.835082, 0.181510 mu:0.569355 unit_bearing:-0.079408 -0.483221 0.871890 T_cur_ref: x=0.104699 y=0.000000 z=0.018552 +[21:40:50.265] If point is visible? -1.433802, -0.831493, 0.181299 mu:0.569355 unit_bearing:-0.079424 -0.481178 0.873017 T_cur_ref: x=0.104699 y=0.000000 z=0.018552 +[21:40:50.265] If point is visible? -1.222272, -0.902716, -0.694962 mu:0.569355 unit_bearing:-0.559748 -0.460626 0.688844 T_cur_ref: x=0.104699 y=0.000000 z=0.018552 +[21:40:50.265] If point is visible? -1.441113, -0.815963, 0.190373 mu:0.569355 unit_bearing:-0.073810 -0.473031 0.877948 T_cur_ref: x=0.104699 y=0.000000 z=0.018552 +[21:40:50.265] If point is visible? -0.882256, -0.608795, 1.337696 mu:0.569355 unit_bearing:0.624548 -0.435568 0.648244 T_cur_ref: x=0.104699 y=0.000000 z=0.018552 +[21:40:50.265] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:50.265] If point is visible? -0.878026, -0.607937, 1.341245 mu:0.569355 unit_bearing:0.626907 -0.435329 0.646123 T_cur_ref: x=0.104699 y=0.000000 z=0.018552 +[21:40:50.265] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:50.265] add key frame +[21:40:50.265] If point is visible? -0.880354, -0.612199, 1.337543 mu:0.569355 unit_bearing:0.624368 -0.437481 0.647129 T_cur_ref: x=0.104699 y=0.000000 z=0.018552 +[21:40:50.265] Z inverse min: 1.285607, Z inverse max: 0.000000 +[21:40:50.265] remove key frame +[21:40:50.265] update seed +[21:40:50.265] init seeds +[21:40:50.265] init seeds +[21:40:50.268] DepthFilter: Initialized 1 new seeds +[21:40:50.270] DepthFilter: Initialized 170 new seeds +[21:40:50.641] add new frame +[21:40:50.641] update seed +[21:40:50.641] If point is visible? -449656567086.648254, 96365159734.796478, -7330964908.253539 mu:0.000000 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=0.106003 y=0.000000 z=0.021607 +[21:40:50.641] If point is visible? -449656567086.648254, 96365159734.796478, -7330964908.253539 mu:0.000000 unit_bearing:-0.098067 0.209904 0.972791 T_cur_ref: x=0.106003 y=0.000000 z=0.021607 +[21:40:50.641] If point is visible? -1.102057, -0.775107, -0.384567 mu:0.670582 unit_bearing:-0.435749 -0.482898 0.759560 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -1.180562, -0.751016, 0.081981 mu:0.670582 unit_bearing:-0.132887 -0.504992 0.852833 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -1.203754, -0.701004, 0.147020 mu:0.670582 unit_bearing:-0.087967 -0.477020 0.874479 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -1.053945, -0.733335, -0.563877 mu:0.670582 unit_bearing:-0.546433 -0.440442 0.712336 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -1.056122, -0.733116, -0.559801 mu:0.670582 unit_bearing:-0.543918 -0.440630 0.714142 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -1.222609, -0.656733, 0.182581 mu:0.670582 unit_bearing:-0.062580 -0.450460 0.890600 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -0.723104, -0.499319, 1.153550 mu:0.670582 unit_bearing:0.634862 -0.425039 0.645207 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] add key frame +[21:40:50.641] remove key frame +[21:40:50.641] init seeds +[21:40:50.641] update seed +[21:40:50.641] If point is visible? -1.102057, -0.775107, -0.384567 mu:0.670582 unit_bearing:-0.435749 -0.482898 0.759560 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -1.180562, -0.751016, 0.081981 mu:0.670582 unit_bearing:-0.132887 -0.504992 0.852833 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -1.203754, -0.701004, 0.147020 mu:0.670582 unit_bearing:-0.087967 -0.477020 0.874479 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -1.053945, -0.733335, -0.563877 mu:0.670582 unit_bearing:-0.546433 -0.440442 0.712336 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -1.056122, -0.733116, -0.559801 mu:0.670582 unit_bearing:-0.543918 -0.440630 0.714142 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -1.222609, -0.656733, 0.182581 mu:0.670582 unit_bearing:-0.062580 -0.450460 0.890600 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] If point is visible? -0.723104, -0.499319, 1.153550 mu:0.670582 unit_bearing:0.634862 -0.425039 0.645207 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] If point is visible? -0.745341, -0.487648, 1.142093 mu:0.670582 unit_bearing:0.626288 -0.416335 0.659112 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] If point is visible? -0.741743, -0.486939, 1.145120 mu:0.670582 unit_bearing:0.628659 -0.416110 0.656993 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] If point is visible? -0.948860, -0.510828, 0.940986 mu:0.670582 unit_bearing:0.473775 -0.415328 0.776556 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] If point is visible? -0.946073, -0.510188, 0.944520 mu:0.670582 unit_bearing:0.476405 -0.415191 0.775020 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] calculated Z= 1.054185 +[21:40:50.641] update seeds 305 +[21:40:50.641] If point is visible? -0.804889, -0.476820, 1.099185 mu:0.670582 unit_bearing:0.593604 -0.405621 0.695059 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] If point is visible? -0.784207, -0.472712, 1.118076 mu:0.670582 unit_bearing:0.608224 -0.404431 0.683007 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] calculated Z= 1.031161 +[21:40:50.641] update seeds 305 +[21:40:50.641] If point is visible? -0.785684, -0.469765, 1.118142 mu:0.670582 unit_bearing:0.608377 -0.402474 0.684026 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] If point is visible? -0.832394, -0.466036, 1.080169 mu:0.670582 unit_bearing:0.579506 -0.396889 0.711795 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] If point is visible? -0.963205, -0.487234, 0.937220 mu:0.670582 unit_bearing:0.471937 -0.399316 0.786016 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] calculated Z= 1.061206 +[21:40:50.641] update seeds 305 +[21:40:50.641] If point is visible? -0.846601, -0.459084, 1.070492 mu:0.670582 unit_bearing:0.572431 -0.391471 0.720467 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.641] If point is visible? -0.952670, -0.441428, 0.971946 mu:0.670582 unit_bearing:0.499490 -0.371666 0.782544 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.641] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -0.882189, -0.443302, 1.044075 mu:0.670582 unit_bearing:0.553142 -0.378808 0.741982 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -0.879004, -0.442658, 1.047415 mu:0.670582 unit_bearing:0.555679 -0.378653 0.740164 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -0.846993, -0.442817, 1.077094 mu:0.670582 unit_bearing:0.578071 -0.381184 0.721480 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -0.848368, -0.439822, 1.077103 mu:0.670582 unit_bearing:0.578198 -0.379191 0.722427 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -1.144013, -0.493312, 0.665242 mu:0.670582 unit_bearing:0.276051 -0.381135 0.882345 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -0.944199, -0.446272, 0.979041 mu:0.670582 unit_bearing:0.504525 -0.375470 0.777481 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -1.163162, -0.607647, -0.473932 mu:0.670582 unit_bearing:-0.486533 -0.364137 0.794160 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.164946, -0.607309, -0.469733 mu:0.670582 unit_bearing:-0.483893 -0.364255 0.795717 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.166716, -0.606969, -0.465533 mu:0.670582 unit_bearing:-0.481250 -0.364372 0.797265 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.144509, -0.496998, 0.661446 mu:0.670582 unit_bearing:0.273204 -0.383278 0.882303 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.189747, -0.441112, 0.610550 mu:0.670582 unit_bearing:0.240162 -0.341922 0.908522 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.290900, -0.491753, 0.192446 mu:0.670582 unit_bearing:-0.048726 -0.341458 0.938633 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.185779, -0.446849, 0.614910 mu:0.670582 unit_bearing:0.242924 -0.346096 0.906204 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.146561, -0.410283, 0.716352 mu:0.670582 unit_bearing:0.316276 -0.330048 0.889403 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.174009, -0.552292, -0.509694 mu:0.670582 unit_bearing:-0.506601 -0.324371 0.798836 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.298098, -0.478473, 0.169967 mu:0.670582 unit_bearing:-0.063117 -0.330782 0.941594 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.297808, -0.477965, 0.174218 mu:0.670582 unit_bearing:-0.060245 -0.330792 0.941779 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.195428, -0.425359, 0.609613 mu:0.670582 unit_bearing:0.240319 -0.331360 0.912385 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.298910, -0.474798, 0.173966 mu:0.670582 unit_bearing:-0.060252 -0.328663 0.942523 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.150994, -0.397713, 0.715655 mu:0.670582 unit_bearing:0.316444 -0.321625 0.892424 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.175180, -0.549240, -0.510037 mu:0.670582 unit_bearing:-0.506683 -0.322311 0.799617 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.160305, -0.383091, 0.706925 mu:0.670582 unit_bearing:0.311047 -0.311180 0.898007 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.158342, -0.382533, 0.710838 mu:0.670582 unit_bearing:0.313847 -0.311128 0.897050 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.203538, -0.396382, 0.611838 mu:0.670582 unit_bearing:0.243420 -0.312256 0.918283 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -0.819695, -0.298770, 1.149361 mu:0.670582 unit_bearing:0.639829 -0.291214 0.711205 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -1.317991, -0.437782, 0.080360 mu:0.670582 unit_bearing:-0.120697 -0.296376 0.947414 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.195377, -0.369282, 0.646323 mu:0.670582 unit_bearing:0.269088 -0.297036 0.916167 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.193610, -0.368732, 0.650299 mu:0.670582 unit_bearing:0.271912 -0.296995 0.915346 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.191829, -0.368182, 0.654272 mu:0.670582 unit_bearing:0.274735 -0.296954 0.914516 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.180876, -0.364876, 0.678031 mu:0.670582 unit_bearing:0.291645 -0.296695 0.909349 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.179005, -0.364324, 0.681978 mu:0.670582 unit_bearing:0.294458 -0.296650 0.908456 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -0.820746, -0.295741, 1.149295 mu:0.670582 unit_bearing:0.639939 -0.289193 0.711931 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -0.825395, -0.293309, 1.146102 mu:0.670582 unit_bearing:0.637619 -0.287314 0.714768 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -1.321642, -0.429556, 0.040640 mu:0.670582 unit_bearing:-0.146560 -0.287655 0.946454 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.321721, -0.429059, 0.044933 mu:0.670582 unit_bearing:-0.143694 -0.287675 0.946887 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -0.827460, -0.287241, 1.145956 mu:0.670582 unit_bearing:0.637832 -0.283263 0.716193 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -1.191032, -0.364467, 0.658034 mu:0.670582 unit_bearing:0.277588 -0.294788 0.914355 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.183731, -0.362264, 0.673876 mu:0.670582 unit_bearing:0.288863 -0.294617 0.910911 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.184720, -0.359100, 0.673670 mu:0.670582 unit_bearing:0.288896 -0.292494 0.911585 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.320944, -0.430244, 0.062378 mu:0.670582 unit_bearing:-0.132211 -0.289889 0.947884 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.324862, -0.407778, 0.116645 mu:0.670582 unit_bearing:-0.094931 -0.279371 0.955479 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.324709, -0.407271, 0.120921 mu:0.670582 unit_bearing:-0.092055 -0.279383 0.955757 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.322991, -0.414153, 0.117206 mu:0.670582 unit_bearing:-0.094913 -0.283660 0.954216 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.323777, -0.410459, 0.121201 mu:0.670582 unit_bearing:-0.092046 -0.281528 0.955128 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.308577, -0.428412, -0.177193 mu:0.670582 unit_bearing:-0.289043 -0.269091 0.918719 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.309312, -0.427940, -0.172877 mu:0.670582 unit_bearing:-0.286222 -0.269130 0.919590 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.193231, -0.459697, -0.549874 mu:0.670582 unit_bearing:-0.527305 -0.259458 0.809093 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -0.758729, -0.231955, 1.211639 mu:0.670582 unit_bearing:0.691709 -0.251833 0.676845 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -1.309488, -0.425246, -0.177505 mu:0.670582 unit_bearing:-0.289073 -0.266959 0.919331 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.310223, -0.424774, -0.173188 mu:0.670582 unit_bearing:-0.286251 -0.266998 0.920202 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -0.759646, -0.228938, 1.211556 mu:0.670582 unit_bearing:0.691818 -0.249818 0.677480 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.642] If point is visible? -1.329795, -0.401899, 0.029446 mu:0.670582 unit_bearing:-0.152424 -0.268332 0.951191 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.329898, -0.401400, 0.033744 mu:0.670582 unit_bearing:-0.149557 -0.268351 0.951641 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.194163, -0.456610, -0.550229 mu:0.670582 unit_bearing:-0.527372 -0.257374 0.809715 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.334349, -0.378391, 0.092368 mu:0.670582 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.334258, -0.377884, 0.096653 mu:0.670582 unit_bearing:-0.106529 -0.257841 0.960297 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.334154, -0.377376, 0.100937 mu:0.670582 unit_bearing:-0.103652 -0.257853 0.960608 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -1.195837, -0.444639, -0.555850 mu:0.670582 unit_bearing:-0.530258 -0.248947 0.810464 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] If point is visible? -0.766234, -0.220453, 1.208349 mu:0.670582 unit_bearing:0.689808 -0.243908 0.681669 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.642] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -1.335005, -0.374180, 0.100644 mu:0.670582 unit_bearing:-0.103661 -0.255701 0.961182 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.336683, -0.367784, 0.100056 mu:0.670582 unit_bearing:-0.103679 -0.251397 0.962315 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.335847, -0.370983, 0.100351 mu:0.670582 unit_bearing:-0.103670 -0.253549 0.961751 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.317407, -0.092917, 0.453304 mu:0.670582 unit_bearing:0.153364 -0.097318 0.983366 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -0.933163, 0.002824, 1.088552 mu:0.670582 unit_bearing:0.614137 -0.085509 0.784553 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -0.933461, 0.005944, 1.088249 mu:0.670582 unit_bearing:0.614164 -0.083408 0.784759 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -0.933752, 0.009065, 1.087944 mu:0.670582 unit_bearing:0.614190 -0.081306 0.784959 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -1.309234, -0.026395, 0.487803 mu:0.670582 unit_bearing:0.182236 -0.055862 0.981667 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.325388, -0.016392, 0.436358 mu:0.670582 unit_bearing:0.147679 -0.045000 0.988011 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.329264, 0.043996, 0.420747 mu:0.670582 unit_bearing:0.141929 -0.003530 0.989871 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -0.886396, 0.146101, 1.122472 mu:0.670582 unit_bearing:0.652248 0.007081 0.757972 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -1.310134, 0.070986, 0.480389 mu:0.670582 unit_bearing:0.185154 0.009559 0.982663 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.310202, 0.058075, 0.481985 mu:0.670582 unit_bearing:0.185155 0.000835 0.982709 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.320684, 0.063711, 0.447778 mu:0.670582 unit_bearing:0.162118 0.007383 0.986744 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -0.928568, 0.163140, 1.080538 mu:0.670582 unit_bearing:0.622242 0.021850 0.782520 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -0.826026, 0.182885, 1.168685 mu:0.670582 unit_bearing:0.691042 0.027788 0.722280 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -0.822178, 0.183238, 1.171740 mu:0.670582 unit_bearing:0.693426 0.027773 0.719993 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -0.928487, 0.166252, 1.080134 mu:0.670582 unit_bearing:0.622235 0.023954 0.782464 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -1.378215, 0.060764, -0.109332 mu:0.670582 unit_bearing:-0.210778 0.050950 0.976205 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.378043, 0.063985, -0.109745 mu:0.670582 unit_bearing:-0.210774 0.053128 0.976090 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.272650, 0.181712, 0.557249 mu:0.670582 unit_bearing:0.248142 0.076976 0.965661 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.234856, 0.042757, -0.631507 mu:0.670582 unit_bearing:-0.544131 0.081639 0.835019 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -0.826108, 0.246904, 1.156587 mu:0.670582 unit_bearing:0.688239 0.071386 0.721964 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -0.822272, 0.247223, 1.159651 mu:0.670582 unit_bearing:0.690625 0.071348 0.719685 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -1.272394, 0.184923, 0.556810 mu:0.670582 unit_bearing:0.248135 0.079149 0.965487 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -0.818677, 0.244484, 1.163158 mu:0.670582 unit_bearing:0.693033 0.069239 0.717573 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -1.293646, 0.200105, 0.492621 mu:0.670582 unit_bearing:0.205139 0.094499 0.974160 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.226927, 0.221964, 0.649484 mu:0.670582 unit_bearing:0.316291 0.096229 0.943769 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.289660, 0.247769, 0.481718 mu:0.670582 unit_bearing:0.202158 0.127115 0.971068 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.286749, 0.248740, 0.489903 mu:0.670582 unit_bearing:0.207894 0.127092 0.969860 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.271432, 0.253555, 0.530652 mu:0.670582 unit_bearing:0.236520 0.126967 0.963295 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.292708, 0.265057, 0.462527 mu:0.670582 unit_bearing:0.190627 0.140190 0.971601 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.310515, 0.261394, 0.404328 mu:0.670582 unit_bearing:0.150361 0.142508 0.978306 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.309292, 0.261889, 0.408469 mu:0.670582 unit_bearing:0.153241 0.142499 0.977861 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.234997, 0.646196, -0.066436 mu:0.670582 unit_bearing:-0.122419 0.437098 0.891044 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.234989, 0.646759, -0.062199 mu:0.670582 unit_bearing:-0.119578 0.437126 0.891415 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.234828, 0.649000, -0.045262 mu:0.670582 unit_bearing:-0.108207 0.437234 0.892815 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.234458, 0.651223, -0.028338 mu:0.670582 unit_bearing:-0.096827 0.437330 0.894073 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.214178, -0.677151, 0.166833 mu:0.670582 unit_bearing:-0.073882 -0.462763 0.883398 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.216882, -0.670028, 0.174897 mu:0.670582 unit_bearing:-0.068222 -0.458681 0.885978 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -0.875805, -0.442013, 1.050747 mu:0.670582 unit_bearing:0.558212 -0.378496 0.738336 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.643] If point is visible? -1.162351, -0.492181, 0.629358 mu:0.670582 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.158942, -0.491050, 0.637295 mu:0.670582 unit_bearing:0.256478 -0.377345 0.889848 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.155482, -0.489918, 0.645216 mu:0.670582 unit_bearing:0.262102 -0.377239 0.888253 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.152894, -0.496158, 0.645513 mu:0.670582 unit_bearing:0.262020 -0.381416 0.886491 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.149381, -0.495021, 0.653416 mu:0.670582 unit_bearing:0.267636 -0.381306 0.884860 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.290547, -0.491243, 0.196687 mu:0.670582 unit_bearing:-0.045855 -0.341466 0.938775 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.152972, -0.398274, 0.711750 mu:0.670582 unit_bearing:0.313647 -0.321680 0.893391 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.212662, -0.538402, -0.421730 mu:0.670582 unit_bearing:-0.450844 -0.322315 0.832378 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.215787, -0.537626, -0.413237 mu:0.670582 unit_bearing:-0.445453 -0.322493 0.835207 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.244354, -0.501826, -0.365337 mu:0.670582 unit_bearing:-0.413467 -0.302579 0.858773 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.643] If point is visible? -1.330275, -0.382892, 0.136031 mu:0.670582 unit_bearing:-0.080601 -0.264392 0.961041 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] If point is visible? -0.837588, 0.178744, 1.159868 mu:0.670582 unit_bearing:0.683870 0.025753 0.729150 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.644] If point is visible? -0.880937, 0.205245, 1.117943 mu:0.670582 unit_bearing:0.654533 0.046817 0.754583 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.644] If point is visible? -0.873631, 0.205963, 1.124331 mu:0.670582 unit_bearing:0.659450 0.046773 0.750292 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.644] If point is visible? -0.866270, 0.206674, 1.130682 mu:0.670582 unit_bearing:0.664347 0.046727 0.745962 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] Z inverse min: 1.387535, Z inverse max: 0.000000 +[21:40:50.644] If point is visible? -1.377684, 0.063446, -0.114075 mu:0.670582 unit_bearing:-0.213643 0.053123 0.975466 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] If point is visible? -1.373582, 0.072001, -0.150386 mu:0.670582 unit_bearing:-0.236546 0.061784 0.969654 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] If point is visible? -1.377320, 0.069888, -0.114903 mu:0.670582 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] If point is visible? -1.378026, 0.070967, -0.106244 mu:0.670582 unit_bearing:-0.207897 0.057489 0.976460 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] If point is visible? -1.233396, 0.035916, -0.634919 mu:0.670582 unit_bearing:-0.546808 0.077364 0.833676 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] If point is visible? -1.297642, 0.201847, 0.479879 mu:0.670582 unit_bearing:0.196520 0.096700 0.975720 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] If point is visible? -1.265770, 0.249060, 0.547794 mu:0.670582 unit_bearing:0.247966 0.122574 0.960983 T_cur_ref: x=0.106233 y=0.000000 z=0.019229 +[21:40:50.644] init seeds +[21:40:50.644] DepthFilter: Initialized 2 new seeds +[21:40:50.646] DepthFilter: Initialized 2 new seeds +[21:40:51.016] add new frame +[21:40:51.016] update seed +[21:40:51.016] If point is visible? -1.095870, -0.775107, -0.383270 mu:0.670582 unit_bearing:-0.435749 -0.482898 0.759560 T_cur_ref: x=0.112420 y=0.000000 z=0.020525 +[21:40:51.016] If point is visible? -1.174375, -0.751016, 0.083278 mu:0.670582 unit_bearing:-0.132887 -0.504992 0.852833 T_cur_ref: x=0.112420 y=0.000000 z=0.020525 +[21:40:51.016] If point is visible? -1.197567, -0.701004, 0.148317 mu:0.670582 unit_bearing:-0.087967 -0.477020 0.874479 T_cur_ref: x=0.112420 y=0.000000 z=0.020525 +[21:40:51.016] If point is visible? -1.047758, -0.733335, -0.562580 mu:0.670582 unit_bearing:-0.546433 -0.440442 0.712336 T_cur_ref: x=0.112420 y=0.000000 z=0.020525 +[21:40:51.016] add key frame +[21:40:51.016] If point is visible? -1.049935, -0.733116, -0.558504 mu:0.670582 unit_bearing:-0.543918 -0.440630 0.714142 T_cur_ref: x=0.112420 y=0.000000 z=0.020525 +[21:40:51.016] init seeds +[21:40:51.016] remove key frame +[21:40:51.016] update seed +[21:40:51.016] If point is visible? -1.098451, -0.680651, 0.084265 mu:0.721250 unit_bearing:-0.127416 -0.492913 0.860699 T_cur_ref: x=0.107745 y=0.000000 z=0.019960 +[21:40:51.016] If point is visible? -1.106650, 0.182268, -0.623742 mu:0.721250 unit_bearing:-0.555485 0.187061 0.810213 T_cur_ref: x=0.107745 y=0.000000 z=0.019960 +[21:40:51.016] If point is visible? -1.121390, 0.149780, -0.603836 mu:0.721250 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=0.107745 y=0.000000 z=0.019960 +[21:40:51.016] If point is visible? -1.103247, -0.670453, 0.099469 mu:0.721250 unit_bearing:-0.116188 -0.486949 0.865668 T_cur_ref: x=0.107745 y=0.000000 z=0.019960 +[21:40:51.016] If point is visible? -1.098451, -0.680651, 0.084265 mu:0.721250 unit_bearing:-0.127416 -0.492913 0.860699 T_cur_ref: x=0.107745 y=0.000000 z=0.019960 +[21:40:51.016] If point is visible? -1.106650, 0.182268, -0.623742 mu:0.721250 unit_bearing:-0.555485 0.187061 0.810213 T_cur_ref: x=0.107745 y=0.000000 z=0.019960 +[21:40:51.016] If point is visible? -1.121390, 0.149780, -0.603836 mu:0.721250 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=0.107745 y=0.000000 z=0.019960 +[21:40:51.016] If point is visible? -320473687492.690369, -24625002243.317902, 105716989678.319366 mu:0.000000 unit_bearing:0.179239 -0.110313 0.977601 T_cur_ref: x=0.102795 y=0.000000 z=0.019314 +[21:40:51.016] If point is visible? -336630327084.279480, 15886710840.320305, -30224035519.604374 mu:0.000000 unit_bearing:-0.207897 0.057489 0.976460 T_cur_ref: x=0.102795 y=0.000000 z=0.019314 +[21:40:51.017] If point is visible? -328639335449.862915, 78316429548.446442, 18670326058.815456 mu:0.000000 unit_bearing:-0.040329 0.223011 0.973981 T_cur_ref: x=0.102795 y=0.000000 z=0.019314 +[21:40:51.017] If point is visible? -328303555719.495911, 79763199474.203140, 18451675502.814114 mu:0.000000 unit_bearing:-0.040323 0.227333 0.972982 T_cur_ref: x=0.102795 y=0.000000 z=0.019314 +[21:40:51.017] If point is visible? -304138609081.713623, 40846608637.394012, -142538128393.597656 mu:0.000000 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.102795 y=0.000000 z=0.019314 +[21:40:51.017] If point is visible? -320473687492.690369, -24625002243.317902, 105716989678.319366 mu:0.000000 unit_bearing:0.179239 -0.110313 0.977601 T_cur_ref: x=0.102795 y=0.000000 z=0.019314 +[21:40:51.017] If point is visible? -336630327084.279480, 15886710840.320305, -30224035519.604374 mu:0.000000 unit_bearing:-0.207897 0.057489 0.976460 T_cur_ref: x=0.102795 y=0.000000 z=0.019314 +[21:40:51.017] If point is visible? -328303555719.495911, 79763199474.203140, 18451675502.814114 mu:0.000000 unit_bearing:-0.040323 0.227333 0.972982 T_cur_ref: x=0.102795 y=0.000000 z=0.019314 +[21:40:51.017] If point is visible? -304676976812.817261, 38004724340.243927, -142173969999.115997 mu:0.000000 unit_bearing:-0.513838 0.162692 0.842319 T_cur_ref: x=0.102795 y=0.000000 z=0.019314 +[21:40:51.017] If point is visible? -306363989603.531372, 38541630974.117928, -138352830015.679504 mu:0.000000 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.102795 y=0.000000 z=0.019314 +[21:40:51.017] If point is visible? -304138609081.713623, 40846608637.394012, -142538128393.597656 mu:0.000000 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.102795 y=0.000000 z=0.019314 +[21:40:51.017] If point is visible? -105923367319.248901, 6168022952.595758, -37902951673.781990 mu:0.000000 unit_bearing:-0.449843 0.095334 0.888005 T_cur_ref: x=0.096706 y=0.000000 z=0.018474 +[21:40:51.017] If point is visible? -106795927326.982178, 6506956877.494275, -35309027394.444298 mu:0.000000 unit_bearing:-0.427868 0.095514 0.898780 T_cur_ref: x=0.096706 y=0.000000 z=0.018474 +[21:40:51.017] If point is visible? -105923367319.248901, 6168022952.595758, -37902951673.781990 mu:0.000000 unit_bearing:-0.449843 0.095334 0.888005 T_cur_ref: x=0.096706 y=0.000000 z=0.018474 +[21:40:51.017] If point is visible? -106795927326.982178, 6506956877.494275, -35309027394.444298 mu:0.000000 unit_bearing:-0.427868 0.095514 0.898780 T_cur_ref: x=0.096706 y=0.000000 z=0.018474 +[21:40:51.017] If point is visible? -280889607285.223694, -155886294810.840881, -11144559276.876194 mu:0.000000 unit_bearing:-0.217715 -0.477122 0.851443 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -280976061113.845093, -155793378783.296173, -10226719924.227970 mu:0.000000 unit_bearing:-0.214914 -0.477183 0.852120 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -282634743890.903931, -153075922739.854797, -3012144624.767673 mu:0.000000 unit_bearing:-0.192585 -0.471528 0.860565 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -282150242724.057312, -153921603302.599182, -4805222126.833072 mu:0.000000 unit_bearing:-0.198167 -0.473459 0.858235 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -281577342544.972595, -154859357956.377075, -7515917164.606814 mu:0.000000 unit_bearing:-0.206547 -0.475327 0.855221 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -284049191358.252075, -150429334269.865021, 3283576102.911466 mu:0.000000 unit_bearing:-0.172983 -0.465742 0.867848 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -284088893109.937927, -150331524184.503845, 4200385709.615720 mu:0.000000 unit_bearing:-0.170162 -0.465788 0.868382 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -285646404621.262878, -147101727843.105011, 9535343973.557064 mu:0.000000 unit_bearing:-0.153341 -0.457838 0.875712 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -288654069207.572571, -139711421865.306549, 21983096289.179562 mu:0.000000 unit_bearing:-0.113868 -0.439737 0.890879 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -257738154099.560974, -149953886117.425446, -120035767801.972092 mu:0.000000 unit_bearing:-0.537941 -0.417519 0.732323 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -258182649728.204559, -149899200065.456848, -119145536178.386108 mu:0.000000 unit_bearing:-0.535398 -0.417688 0.734088 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -271399935812.958771, -147759403235.502014, -88503916231.907959 mu:0.000000 unit_bearing:-0.446845 -0.422698 0.788452 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -290718571391.887146, -134416330092.197601, 27178521751.201107 mu:0.000000 unit_bearing:-0.096924 -0.425357 0.899821 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -292091904711.918213, -130645724014.529526, 30622272787.268429 mu:0.000000 unit_bearing:-0.085597 -0.415019 0.905777 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] If point is visible? -193000237382.257233, -107245429391.000443, 233608723803.997742 mu:0.000000 unit_bearing:0.587659 -0.419723 0.691729 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.017] If point is visible? -197872371484.119385, -104007974701.965973, 230981764201.949646 mu:0.000000 unit_bearing:0.578675 -0.408730 0.705744 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.017] If point is visible? -197145224337.294342, -103862917107.803375, 231667789222.098846 mu:0.000000 unit_bearing:0.581150 -0.408543 0.703816 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.017] If point is visible? -219124843532.182129, -99119701386.298157, 213268134835.662842 mu:0.000000 unit_bearing:0.516907 -0.386920 0.763610 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.017] If point is visible? -237716080855.941284, -103926047129.643066, 189773947692.219299 mu:0.000000 unit_bearing:0.435022 -0.392854 0.810199 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.017] If point is visible? -239179224135.265625, -100622673828.895996, 189715802836.153076 mu:0.000000 unit_bearing:0.435431 -0.382632 0.814857 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.017] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -207596444887.960297, -96778623024.142853, 225524552516.190948 mu:0.000000 unit_bearing:0.560378 -0.384338 0.733663 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -223877999952.705750, -97970112549.179352, 208816205732.388123 mu:0.000000 unit_bearing:0.501615 -0.381683 0.776338 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -223240193940.142639, -97835546921.376877, 209560805401.096741 mu:0.000000 unit_bearing:0.504225 -0.381550 0.774711 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -238306304536.900146, -102605797933.006546, 189752114719.935394 mu:0.000000 unit_bearing:0.435187 -0.388769 0.812078 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -238889905460.534790, -101284077682.978943, 189728380241.742523 mu:0.000000 unit_bearing:0.435351 -0.384679 0.813936 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -238012020888.994751, -103266108003.707626, 189763269476.191498 mu:0.000000 unit_bearing:0.435105 -0.390812 0.811141 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -237445782239.982452, -103134710351.387100, 190542492923.150421 mu:0.000000 unit_bearing:0.437788 -0.390702 0.809749 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -295709392111.403137, -120363203291.101227, 37314398062.729675 mu:0.000000 unit_bearing:-0.062900 -0.385806 0.920433 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] If point is visible? -239466889222.620117, -99960911680.662750, 189702753522.984497 mu:0.000000 unit_bearing:0.435512 -0.380583 0.815773 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -209925155677.997681, -91585463395.109528, 225537672020.592377 mu:0.000000 unit_bearing:0.561329 -0.368308 0.741120 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -241163853383.789673, -97439687987.406204, 188862946652.297791 mu:0.000000 unit_bearing:0.433135 -0.372480 0.820763 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -274228604092.168365, -106420597656.167450, 129603389941.569336 mu:0.000000 unit_bearing:0.233936 -0.377744 0.895870 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] If point is visible? -276111191781.420715, -104756746623.997513, 126934405903.128510 mu:0.000000 unit_bearing:0.225565 -0.371594 0.900576 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] If point is visible? -225878835169.979553, -93373844598.467636, 208767302419.099457 mu:0.000000 unit_bearing:0.502299 -0.367472 0.782726 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -225241414971.935455, -93241094330.129791, 209513992138.362061 mu:0.000000 unit_bearing:0.504915 -0.367345 0.781101 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -224601118824.120422, -93108199492.086243, 210259150104.076996 mu:0.000000 unit_bearing:0.507527 -0.367217 0.779466 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -225520707618.051636, -92583286734.327759, 209505262571.410980 mu:0.000000 unit_bearing:0.505010 -0.365311 0.781993 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -224880466669.455750, -92450650209.611969, 210250713621.954926 mu:0.000000 unit_bearing:0.507623 -0.365184 0.780358 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -209787376511.098663, -90147112842.781952, 226244258037.409912 mu:0.000000 unit_bearing:0.564089 -0.364134 0.741087 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.018] If point is visible? -225798352853.544006, -91925124320.279495, 209496026118.685394 mu:0.000000 unit_bearing:0.505105 -0.363275 0.782879 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.018] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -238720071912.533997, -89637709129.195999, 195707736076.872223 mu:0.000000 unit_bearing:0.458069 -0.350984 0.816690 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -235751226347.090332, -88994657830.551605, 199562069907.227448 mu:0.000000 unit_bearing:0.471412 -0.350460 0.809289 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -237649902086.804596, -92294873647.713394, 195775100379.684265 mu:0.000000 unit_bearing:0.457755 -0.359214 0.813281 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -237061636658.498718, -92165628633.987503, 196547670847.269562 mu:0.000000 unit_bearing:0.460426 -0.359108 0.811818 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -237009114765.280426, -90709204425.893326, 197287174805.638153 mu:0.000000 unit_bearing:0.463256 -0.354891 0.812063 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -236740629992.190186, -91372894035.050858, 197303263882.661438 mu:0.000000 unit_bearing:0.463176 -0.356947 0.811207 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -279939750573.769226, -96869241968.550156, 124795014328.757294 mu:0.000000 unit_bearing:0.220281 -0.346428 0.911846 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] If point is visible? -280190363444.878906, -96190208534.830307, 124757819822.377533 mu:0.000000 unit_bearing:0.220310 -0.344317 0.912638 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] If point is visible? -239406559881.782349, -81132645966.447861, 198559065359.010986 mu:0.000000 unit_bearing:0.469668 -0.325803 0.820527 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -238807757151.743408, -81006450377.762466, 199330177628.826752 mu:0.000000 unit_bearing:0.472339 -0.325706 0.819031 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -284202287019.589233, -84608647056.236816, 124073149747.750458 mu:0.000000 unit_bearing:0.220776 -0.308296 0.925317 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] If point is visible? -275582312586.835510, -81894510359.780304, 143775476888.116608 mu:0.000000 unit_bearing:0.285845 -0.307385 0.907638 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] If point is visible? -284320843684.223267, -85409045110.180038, 123250405485.086395 mu:0.000000 unit_bearing:0.217908 -0.310456 0.925275 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] If point is visible? -209068381136.945007, -68263996759.618622, 234423011556.837463 mu:0.000000 unit_bearing:0.597615 -0.299664 0.743679 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -288686266236.511597, -109389158200.367981, -89543069786.600525 mu:0.000000 unit_bearing:-0.443326 -0.303824 0.843299 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] If point is visible? -209298557037.102509, -67606077549.150024, 234408280341.805084 mu:0.000000 unit_bearing:0.597714 -0.297627 0.744417 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -282990754595.085999, -108331083134.190552, -107258187719.392731 mu:0.000000 unit_bearing:-0.494528 -0.293841 0.817985 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] If point is visible? -210490556278.584656, -66416627485.502213, 233679838461.046967 mu:0.000000 unit_bearing:0.595403 -0.293678 0.747829 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -276209985869.207153, -81331922691.311539, 142887618951.568176 mu:0.000000 unit_bearing:0.283063 -0.305311 0.909209 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] If point is visible? -282762612179.127869, -108995264118.962952, -107186972834.600021 mu:0.000000 unit_bearing:-0.494458 -0.295918 0.817278 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] If point is visible? -278675794402.063049, -79076621937.685883, 139321208254.466705 mu:0.000000 unit_bearing:0.271912 -0.296995 0.915346 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] If point is visible? -210715801443.627441, -65757552142.594139, 233663229778.201782 mu:0.000000 unit_bearing:0.595499 -0.291637 0.748551 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -211672999116.442505, -65224758493.468765, 232946306939.423218 mu:0.000000 unit_bearing:0.593082 -0.289720 0.751210 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.019] If point is visible? -279669420144.147705, -78629361338.631699, 137572339385.124634 mu:0.000000 unit_bearing:0.266292 -0.294951 0.917656 T_cur_ref: x=0.092102 y=0.000000 z=0.017636 +[21:40:51.019] init seeds +[21:40:51.019] DepthFilter: Initialized 4 new seeds +[21:40:51.022] DepthFilter: Initialized 3 new seeds +[21:40:51.404] add new frame +[21:40:51.404] update seed +[21:40:51.404] If point is visible? -1.092219, -0.680651, 0.085628 mu:0.721250 unit_bearing:-0.127416 -0.492913 0.860699 T_cur_ref: x=0.113977 y=0.000000 z=0.021324 +[21:40:51.404] If point is visible? -1.100418, 0.182268, -0.622378 mu:0.721250 unit_bearing:-0.555485 0.187061 0.810213 T_cur_ref: x=0.113977 y=0.000000 z=0.021324 +[21:40:51.404] If point is visible? -1.115158, 0.149780, -0.602472 mu:0.721250 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=0.113977 y=0.000000 z=0.021324 +[21:40:51.405] If point is visible? -1.097014, -0.670453, 0.100833 mu:0.721250 unit_bearing:-0.116188 -0.486949 0.865668 T_cur_ref: x=0.113977 y=0.000000 z=0.021324 +[21:40:51.405] If point is visible? -1.092219, -0.680651, 0.085628 mu:0.721250 unit_bearing:-0.127416 -0.492913 0.860699 T_cur_ref: x=0.113977 y=0.000000 z=0.021324 +[21:40:51.405] If point is visible? -1.100418, 0.182268, -0.622378 mu:0.721250 unit_bearing:-0.555485 0.187061 0.810213 T_cur_ref: x=0.113977 y=0.000000 z=0.021324 +[21:40:51.405] If point is visible? -1.115158, 0.149780, -0.602472 mu:0.721250 unit_bearing:-0.545578 0.162055 0.822243 T_cur_ref: x=0.113977 y=0.000000 z=0.021324 +[21:40:51.405] If point is visible? -320473687492.684143, -24625002243.317902, 105716989678.320724 mu:0.000000 unit_bearing:0.179239 -0.110313 0.977601 T_cur_ref: x=0.109027 y=0.000000 z=0.020678 +[21:40:51.405] If point is visible? -336630327084.273254, 15886710840.320305, -30224035519.603008 mu:0.000000 unit_bearing:-0.207897 0.057489 0.976460 T_cur_ref: x=0.109027 y=0.000000 z=0.020678 +[21:40:51.405] If point is visible? -328639335449.856689, 78316429548.446442, 18670326058.816822 mu:0.000000 unit_bearing:-0.040329 0.223011 0.973981 T_cur_ref: x=0.109027 y=0.000000 z=0.020678 +[21:40:51.405] If point is visible? -328303555719.489685, 79763199474.203140, 18451675502.815479 mu:0.000000 unit_bearing:-0.040323 0.227333 0.972982 T_cur_ref: x=0.109027 y=0.000000 z=0.020678 +[21:40:51.405] If point is visible? -304138609081.707397, 40846608637.394012, -142538128393.596283 mu:0.000000 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.109027 y=0.000000 z=0.020678 +[21:40:51.405] If point is visible? -320473687492.684143, -24625002243.317902, 105716989678.320724 mu:0.000000 unit_bearing:0.179239 -0.110313 0.977601 T_cur_ref: x=0.109027 y=0.000000 z=0.020678 +[21:40:51.405] If point is visible? -336630327084.273254, 15886710840.320305, -30224035519.603008 mu:0.000000 unit_bearing:-0.207897 0.057489 0.976460 T_cur_ref: x=0.109027 y=0.000000 z=0.020678 +[21:40:51.405] If point is visible? -328303555719.489685, 79763199474.203140, 18451675502.815479 mu:0.000000 unit_bearing:-0.040323 0.227333 0.972982 T_cur_ref: x=0.109027 y=0.000000 z=0.020678 +[21:40:51.405] If point is visible? -304676976812.811035, 38004724340.243927, -142173969999.114624 mu:0.000000 unit_bearing:-0.513838 0.162692 0.842319 T_cur_ref: x=0.109027 y=0.000000 z=0.020678 +[21:40:51.405] If point is visible? -306363989603.525146, 38541630974.117928, -138352830015.678131 mu:0.000000 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.109027 y=0.000000 z=0.020678 +[21:40:51.405] If point is visible? -304138609081.707397, 40846608637.394012, -142538128393.596283 mu:0.000000 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.109027 y=0.000000 z=0.020678 +[21:40:51.405] If point is visible? -105923367319.242676, 6168022952.595758, -37902951673.780624 mu:0.000000 unit_bearing:-0.449843 0.095334 0.888005 T_cur_ref: x=0.102939 y=0.000000 z=0.019838 +[21:40:51.405] If point is visible? -106795927326.975952, 6506956877.494275, -35309027394.442932 mu:0.000000 unit_bearing:-0.427868 0.095514 0.898780 T_cur_ref: x=0.102939 y=0.000000 z=0.019838 +[21:40:51.405] If point is visible? -105923367319.242676, 6168022952.595758, -37902951673.780624 mu:0.000000 unit_bearing:-0.449843 0.095334 0.888005 T_cur_ref: x=0.102939 y=0.000000 z=0.019838 +[21:40:51.405] If point is visible? -106795927326.975952, 6506956877.494275, -35309027394.442932 mu:0.000000 unit_bearing:-0.427868 0.095514 0.898780 T_cur_ref: x=0.102939 y=0.000000 z=0.019838 +[21:40:51.405] If point is visible? -280889607285.217468, -155886294810.840881, -11144559276.874828 mu:0.000000 unit_bearing:-0.217715 -0.477122 0.851443 T_cur_ref: x=0.098335 y=0.000000 z=0.019000 +[21:40:51.405] If point is visible? -280976061113.838867, -155793378783.296173, -10226719924.226604 mu:0.000000 unit_bearing:-0.214914 -0.477183 0.852120 T_cur_ref: x=0.098335 y=0.000000 z=0.019000 +[21:40:51.405] If point is visible? -282634743890.897705, -153075922739.854797, -3012144624.766309 mu:0.000000 unit_bearing:-0.192585 -0.471528 0.860565 T_cur_ref: x=0.098335 y=0.000000 z=0.019000 +[21:40:51.405] add key frame +[21:40:51.405] If point is visible? -282150242724.051086, -153921603302.599182, -4805222126.831708 mu:0.000000 unit_bearing:-0.198167 -0.473459 0.858235 T_cur_ref: x=0.098335 y=0.000000 z=0.019000 +[21:40:51.405] remove key frame +[21:40:51.405] init seeds +[21:40:51.405] update seed +[21:40:51.405] init seeds +[21:40:51.408] DepthFilter: Initialized 0 new seeds +[21:40:51.410] DepthFilter: Initialized 166 new seeds +[21:40:51.790] add new frame +[21:40:51.790] update seed +[21:40:51.790] If point is visible? -320473687492.678223, -24625002243.317902, 105716989678.322311 mu:0.000000 unit_bearing:0.179239 -0.110313 0.977601 T_cur_ref: x=0.114936 y=0.000000 z=0.022262 +[21:40:51.790] If point is visible? -336630327084.267334, 15886710840.320305, -30224035519.601425 mu:0.000000 unit_bearing:-0.207897 0.057489 0.976460 T_cur_ref: x=0.114936 y=0.000000 z=0.022262 +[21:40:51.790] If point is visible? -328639335449.850769, 78316429548.446442, 18670326058.818405 mu:0.000000 unit_bearing:-0.040329 0.223011 0.973981 T_cur_ref: x=0.114936 y=0.000000 z=0.022262 +[21:40:51.790] If point is visible? -328303555719.483765, 79763199474.203140, 18451675502.817062 mu:0.000000 unit_bearing:-0.040323 0.227333 0.972982 T_cur_ref: x=0.114936 y=0.000000 z=0.022262 +[21:40:51.790] If point is visible? -304138609081.701477, 40846608637.394012, -142538128393.594727 mu:0.000000 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.114936 y=0.000000 z=0.022262 +[21:40:51.790] If point is visible? -320473687492.678223, -24625002243.317902, 105716989678.322311 mu:0.000000 unit_bearing:0.179239 -0.110313 0.977601 T_cur_ref: x=0.114936 y=0.000000 z=0.022262 +[21:40:51.790] If point is visible? -336630327084.267334, 15886710840.320305, -30224035519.601425 mu:0.000000 unit_bearing:-0.207897 0.057489 0.976460 T_cur_ref: x=0.114936 y=0.000000 z=0.022262 +[21:40:51.790] If point is visible? -328303555719.483765, 79763199474.203140, 18451675502.817062 mu:0.000000 unit_bearing:-0.040323 0.227333 0.972982 T_cur_ref: x=0.114936 y=0.000000 z=0.022262 +[21:40:51.790] If point is visible? -304676976812.805115, 38004724340.243927, -142173969999.113068 mu:0.000000 unit_bearing:-0.513838 0.162692 0.842319 T_cur_ref: x=0.114936 y=0.000000 z=0.022262 +[21:40:51.790] If point is visible? -306363989603.519226, 38541630974.117928, -138352830015.676575 mu:0.000000 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.114936 y=0.000000 z=0.022262 +[21:40:51.790] If point is visible? -304138609081.701477, 40846608637.394012, -142538128393.594727 mu:0.000000 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.114936 y=0.000000 z=0.022262 +[21:40:51.790] If point is visible? -105923367319.236771, 6168022952.595758, -37902951673.779037 mu:0.000000 unit_bearing:-0.449843 0.095334 0.888005 T_cur_ref: x=0.108848 y=0.000000 z=0.021422 +[21:40:51.790] If point is visible? -106795927326.970047, 6506956877.494275, -35309027394.441345 mu:0.000000 unit_bearing:-0.427868 0.095514 0.898780 T_cur_ref: x=0.108848 y=0.000000 z=0.021422 +[21:40:51.790] If point is visible? -105923367319.236771, 6168022952.595758, -37902951673.779037 mu:0.000000 unit_bearing:-0.449843 0.095334 0.888005 T_cur_ref: x=0.108848 y=0.000000 z=0.021422 +[21:40:51.790] If point is visible? -106795927326.970047, 6506956877.494275, -35309027394.441345 mu:0.000000 unit_bearing:-0.427868 0.095514 0.898780 T_cur_ref: x=0.108848 y=0.000000 z=0.021422 +[21:40:51.790] add key frame +[21:40:51.790] remove key frame +[21:40:51.790] If point is visible? -280889607285.211548, -155886294810.840881, -11144559276.873245 mu:0.000000 unit_bearing:-0.217715 -0.477122 0.851443 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] init seeds +[21:40:51.790] update seed +[21:40:51.790] If point is visible? -105923367319.236771, 6168022952.595758, -37902951673.779037 mu:0.000000 unit_bearing:-0.449843 0.095334 0.888005 T_cur_ref: x=0.108848 y=0.000000 z=0.021422 +[21:40:51.790] If point is visible? -106795927326.970047, 6506956877.494275, -35309027394.441345 mu:0.000000 unit_bearing:-0.427868 0.095514 0.898780 T_cur_ref: x=0.108848 y=0.000000 z=0.021422 +[21:40:51.790] If point is visible? -105923367319.236771, 6168022952.595758, -37902951673.779037 mu:0.000000 unit_bearing:-0.449843 0.095334 0.888005 T_cur_ref: x=0.108848 y=0.000000 z=0.021422 +[21:40:51.790] If point is visible? -106795927326.970047, 6506956877.494275, -35309027394.441345 mu:0.000000 unit_bearing:-0.427868 0.095514 0.898780 T_cur_ref: x=0.108848 y=0.000000 z=0.021422 +[21:40:51.790] If point is visible? -280889607285.211548, -155886294810.840881, -11144559276.873245 mu:0.000000 unit_bearing:-0.217715 -0.477122 0.851443 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] If point is visible? -280976061113.832947, -155793378783.296173, -10226719924.225021 mu:0.000000 unit_bearing:-0.214914 -0.477183 0.852120 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] If point is visible? -282634743890.891785, -153075922739.854797, -3012144624.764724 mu:0.000000 unit_bearing:-0.192585 -0.471528 0.860565 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] If point is visible? -282150242724.045166, -153921603302.599182, -4805222126.830124 mu:0.000000 unit_bearing:-0.198167 -0.473459 0.858235 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] If point is visible? -281577342544.960449, -154859357956.377075, -7515917164.603867 mu:0.000000 unit_bearing:-0.206547 -0.475327 0.855221 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] If point is visible? -284049191358.239929, -150429334269.865021, 3283576102.914414 mu:0.000000 unit_bearing:-0.172983 -0.465742 0.867848 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] If point is visible? -284088893109.925781, -150331524184.503845, 4200385709.618668 mu:0.000000 unit_bearing:-0.170162 -0.465788 0.868382 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] If point is visible? -285646404621.250732, -147101727843.105011, 9535343973.560013 mu:0.000000 unit_bearing:-0.153341 -0.457838 0.875712 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] If point is visible? -288654069207.560425, -139711421865.306549, 21983096289.182510 mu:0.000000 unit_bearing:-0.113868 -0.439737 0.890879 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] If point is visible? -257738154099.548828, -149953886117.425446, -120035767801.969147 mu:0.000000 unit_bearing:-0.537941 -0.417519 0.732323 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] If point is visible? -258182649728.192413, -149899200065.456848, -119145536178.383163 mu:0.000000 unit_bearing:-0.535398 -0.417688 0.734088 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.790] If point is visible? -271399935812.946625, -147759403235.502014, -88503916231.905014 mu:0.000000 unit_bearing:-0.446845 -0.422698 0.788452 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] If point is visible? -290718571391.875000, -134416330092.197601, 27178521751.204056 mu:0.000000 unit_bearing:-0.096924 -0.425357 0.899821 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] If point is visible? -292091904711.906067, -130645724014.529526, 30622272787.271378 mu:0.000000 unit_bearing:-0.085597 -0.415019 0.905777 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] If point is visible? -193000237382.245087, -107245429391.000443, 233608723804.000702 mu:0.000000 unit_bearing:0.587659 -0.419723 0.691729 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -197872371484.107239, -104007974701.965973, 230981764201.952606 mu:0.000000 unit_bearing:0.578675 -0.408730 0.705744 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -197145224337.282196, -103862917107.803375, 231667789222.101807 mu:0.000000 unit_bearing:0.581150 -0.408543 0.703816 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -219124843532.169983, -99119701386.298157, 213268134835.665802 mu:0.000000 unit_bearing:0.516907 -0.386920 0.763610 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -237716080855.929138, -103926047129.643066, 189773947692.222260 mu:0.000000 unit_bearing:0.435022 -0.392854 0.810199 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -239179224135.253479, -100622673828.895996, 189715802836.156036 mu:0.000000 unit_bearing:0.435431 -0.382632 0.814857 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -207596444887.948151, -96778623024.142853, 225524552516.193909 mu:0.000000 unit_bearing:0.560378 -0.384338 0.733663 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -223877999952.693604, -97970112549.179352, 208816205732.391083 mu:0.000000 unit_bearing:0.501615 -0.381683 0.776338 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -223240193940.130493, -97835546921.376877, 209560805401.099701 mu:0.000000 unit_bearing:0.504225 -0.381550 0.774711 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -238306304536.888000, -102605797933.006546, 189752114719.938354 mu:0.000000 unit_bearing:0.435187 -0.388769 0.812078 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -238889905460.522644, -101284077682.978943, 189728380241.745483 mu:0.000000 unit_bearing:0.435351 -0.384679 0.813936 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -238012020888.982605, -103266108003.707626, 189763269476.194458 mu:0.000000 unit_bearing:0.435105 -0.390812 0.811141 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -237445782239.970306, -103134710351.387100, 190542492923.153381 mu:0.000000 unit_bearing:0.437788 -0.390702 0.809749 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.791] If point is visible? -295709392111.390991, -120363203291.101227, 37314398062.732620 mu:0.000000 unit_bearing:-0.062900 -0.385806 0.920433 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] If point is visible? -239466889222.607971, -99960911680.662750, 189702753522.987457 mu:0.000000 unit_bearing:0.435512 -0.380583 0.815773 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.791] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] calculated Z= 1.022077 +[21:40:51.792] update seeds 305 +[21:40:51.792] If point is visible? -209925155677.985535, -91585463395.109528, 225537672020.595337 mu:0.000000 unit_bearing:0.561329 -0.368308 0.741120 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -241163853383.777527, -97439687987.406204, 188862946652.300751 mu:0.000000 unit_bearing:0.433135 -0.372480 0.820763 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -274228604092.156219, -106420597656.167450, 129603389941.572281 mu:0.000000 unit_bearing:0.233936 -0.377744 0.895870 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] If point is visible? -276111191781.408569, -104756746623.997513, 126934405903.131454 mu:0.000000 unit_bearing:0.225565 -0.371594 0.900576 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] If point is visible? -225878835169.967407, -93373844598.467636, 208767302419.102417 mu:0.000000 unit_bearing:0.502299 -0.367472 0.782726 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -225241414971.923309, -93241094330.129791, 209513992138.365021 mu:0.000000 unit_bearing:0.504915 -0.367345 0.781101 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -224601118824.108276, -93108199492.086243, 210259150104.079956 mu:0.000000 unit_bearing:0.507527 -0.367217 0.779466 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -225520707618.039490, -92583286734.327759, 209505262571.413940 mu:0.000000 unit_bearing:0.505010 -0.365311 0.781993 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -224880466669.443604, -92450650209.611969, 210250713621.957886 mu:0.000000 unit_bearing:0.507623 -0.365184 0.780358 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -209787376511.086517, -90147112842.781952, 226244258037.412872 mu:0.000000 unit_bearing:0.564089 -0.364134 0.741087 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -225798352853.531860, -91925124320.279495, 209496026118.688354 mu:0.000000 unit_bearing:0.505105 -0.363275 0.782879 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -238720071912.521851, -89637709129.195999, 195707736076.875183 mu:0.000000 unit_bearing:0.458069 -0.350984 0.816690 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -235751226347.078186, -88994657830.551605, 199562069907.230408 mu:0.000000 unit_bearing:0.471412 -0.350460 0.809289 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -237649902086.792450, -92294873647.713394, 195775100379.687225 mu:0.000000 unit_bearing:0.457755 -0.359214 0.813281 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -237061636658.486572, -92165628633.987503, 196547670847.272522 mu:0.000000 unit_bearing:0.460426 -0.359108 0.811818 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -237009114765.268280, -90709204425.893326, 197287174805.641113 mu:0.000000 unit_bearing:0.463256 -0.354891 0.812063 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -236740629992.178040, -91372894035.050858, 197303263882.664398 mu:0.000000 unit_bearing:0.463176 -0.356947 0.811207 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -279939750573.757080, -96869241968.550156, 124795014328.760239 mu:0.000000 unit_bearing:0.220281 -0.346428 0.911846 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] If point is visible? -280190363444.866760, -96190208534.830307, 124757819822.380478 mu:0.000000 unit_bearing:0.220310 -0.344317 0.912638 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] If point is visible? -239406559881.770203, -81132645966.447861, 198559065359.013947 mu:0.000000 unit_bearing:0.469668 -0.325803 0.820527 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -238807757151.731262, -81006450377.762466, 199330177628.829712 mu:0.000000 unit_bearing:0.472339 -0.325706 0.819031 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.792] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.792] If point is visible? -284202287019.577087, -84608647056.236816, 124073149747.753403 mu:0.000000 unit_bearing:0.220776 -0.308296 0.925317 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -275582312586.823364, -81894510359.780304, 143775476888.119568 mu:0.000000 unit_bearing:0.285845 -0.307385 0.907638 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -284320843684.211121, -85409045110.180038, 123250405485.089340 mu:0.000000 unit_bearing:0.217908 -0.310456 0.925275 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -209068381136.932861, -68263996759.618622, 234423011556.840424 mu:0.000000 unit_bearing:0.597615 -0.299664 0.743679 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.793] If point is visible? -288686266236.499451, -109389158200.367981, -89543069786.597580 mu:0.000000 unit_bearing:-0.443326 -0.303824 0.843299 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -209298557037.090363, -67606077549.150024, 234408280341.808044 mu:0.000000 unit_bearing:0.597714 -0.297627 0.744417 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.793] If point is visible? -282990754595.073853, -108331083134.190552, -107258187719.389786 mu:0.000000 unit_bearing:-0.494528 -0.293841 0.817985 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -210490556278.572510, -66416627485.502213, 233679838461.049927 mu:0.000000 unit_bearing:0.595403 -0.293678 0.747829 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.793] If point is visible? -276209985869.195007, -81331922691.311539, 142887618951.571136 mu:0.000000 unit_bearing:0.283063 -0.305311 0.909209 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -282762612179.115723, -108995264118.962952, -107186972834.597076 mu:0.000000 unit_bearing:-0.494458 -0.295918 0.817278 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -278675794402.050903, -79076621937.685883, 139321208254.469666 mu:0.000000 unit_bearing:0.271912 -0.296995 0.915346 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -210715801443.615295, -65757552142.594139, 233663229778.204742 mu:0.000000 unit_bearing:0.595499 -0.291637 0.748551 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.793] If point is visible? -211672999116.430359, -65224758493.468765, 232946306939.426178 mu:0.000000 unit_bearing:0.593082 -0.289720 0.751210 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] Z inverse min: 0.745672, Z inverse max: 0.000000 +[21:40:51.793] If point is visible? -279669420144.135559, -78629361338.631699, 137572339385.127594 mu:0.000000 unit_bearing:0.266292 -0.294951 0.917656 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -279281046195.653320, -78511595756.174561, 138425923005.249847 mu:0.000000 unit_bearing:0.269118 -0.294911 0.916844 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -280860878738.420776, -77497607383.546890, 135775539904.219254 mu:0.000000 unit_bearing:0.260695 -0.290775 0.920591 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -307521556523.422607, -90199705363.961029, 24863930056.015671 mu:0.000000 unit_bearing:-0.094894 -0.287946 0.952933 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -307477685340.498047, -90090657259.184845, 25784803362.100754 mu:0.000000 unit_bearing:-0.092019 -0.287959 0.953212 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -308078744980.101196, -89261425882.484848, 21061679255.832687 mu:0.000000 unit_bearing:-0.106410 -0.283608 0.953018 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] If point is visible? -308045817773.044617, -89152644494.549484, 21983851444.386795 mu:0.000000 unit_bearing:-0.103536 -0.283621 0.953331 T_cur_ref: x=0.104244 y=0.000000 z=0.020585 +[21:40:51.793] init seeds +[21:40:51.793] DepthFilter: Initialized 0 new seeds +[21:40:51.795] DepthFilter: Initialized 0 new seeds +[21:40:52.174] add new frame +[21:40:52.174] update seed +[21:40:52.174] If point is visible? -105923367319.235855, 6168022952.595758, -37902951673.778824 mu:0.000000 unit_bearing:-0.449843 0.095334 0.888005 T_cur_ref: x=0.109762 y=0.000000 z=0.021633 +[21:40:52.174] If point is visible? -106795927326.969131, 6506956877.494275, -35309027394.441132 mu:0.000000 unit_bearing:-0.427868 0.095514 0.898780 T_cur_ref: x=0.109762 y=0.000000 z=0.021633 +[21:40:52.174] If point is visible? -105923367319.235855, 6168022952.595758, -37902951673.778824 mu:0.000000 unit_bearing:-0.449843 0.095334 0.888005 T_cur_ref: x=0.109762 y=0.000000 z=0.021633 +[21:40:52.174] If point is visible? -106795927326.969131, 6506956877.494275, -35309027394.441132 mu:0.000000 unit_bearing:-0.427868 0.095514 0.898780 T_cur_ref: x=0.109762 y=0.000000 z=0.021633 +[21:40:52.174] If point is visible? -280889607285.210632, -155886294810.840881, -11144559276.873034 mu:0.000000 unit_bearing:-0.217715 -0.477122 0.851443 T_cur_ref: x=0.105158 y=0.000000 z=0.020795 +[21:40:52.174] If point is visible? -280976061113.832031, -155793378783.296173, -10226719924.224810 mu:0.000000 unit_bearing:-0.214914 -0.477183 0.852120 T_cur_ref: x=0.105158 y=0.000000 z=0.020795 +[21:40:52.174] If point is visible? -282634743890.890869, -153075922739.854797, -3012144624.764513 mu:0.000000 unit_bearing:-0.192585 -0.471528 0.860565 T_cur_ref: x=0.105158 y=0.000000 z=0.020795 +[21:40:52.174] If point is visible? -282150242724.044250, -153921603302.599182, -4805222126.829912 mu:0.000000 unit_bearing:-0.198167 -0.473459 0.858235 T_cur_ref: x=0.105158 y=0.000000 z=0.020795 +[21:40:52.174] If point is visible? -281577342544.959534, -154859357956.377075, -7515917164.603655 mu:0.000000 unit_bearing:-0.206547 -0.475327 0.855221 T_cur_ref: x=0.105158 y=0.000000 z=0.020795 +[21:40:52.174] If point is visible? -284049191358.239014, -150429334269.865021, 3283576102.914625 mu:0.000000 unit_bearing:-0.172983 -0.465742 0.867848 T_cur_ref: x=0.105158 y=0.000000 z=0.020795 +[21:40:52.174] If point is visible? -284088893109.924866, -150331524184.503845, 4200385709.618879 mu:0.000000 unit_bearing:-0.170162 -0.465788 0.868382 T_cur_ref: x=0.105158 y=0.000000 z=0.020795 +[21:40:52.174] If point is visible? -285646404621.249817, -147101727843.105011, 9535343973.560225 mu:0.000000 unit_bearing:-0.153341 -0.457838 0.875712 T_cur_ref: x=0.105158 y=0.000000 z=0.020795 +[21:40:52.174] If point is visible? -288654069207.559509, -139711421865.306549, 21983096289.182720 mu:0.000000 unit_bearing:-0.113868 -0.439737 0.890879 T_cur_ref: x=0.105158 y=0.000000 z=0.020795 +[21:40:52.174] add key frame +[21:40:52.174] If point is visible? -257738154099.547913, -149953886117.425446, -120035767801.968933 mu:0.000000 unit_bearing:-0.537941 -0.417519 0.732323 T_cur_ref: x=0.105158 y=0.000000 z=0.020795 +[21:40:52.174] init seeds +[21:40:52.174] remove key frame +[21:40:52.174] update seed +[21:40:52.174] init seeds +[21:40:52.177] DepthFilter: Initialized 5 new seeds +[21:40:52.179] DepthFilter: Initialized 154 new seeds +[21:40:52.563] add new frame +[21:40:52.563] update seed +[21:40:52.563] If point is visible? -280889607285.204163, -155886294810.840881, -11144559276.871561 mu:0.000000 unit_bearing:-0.217715 -0.477122 0.851443 T_cur_ref: x=0.111650 y=0.000000 z=0.022268 +[21:40:52.563] If point is visible? -280976061113.825562, -155793378783.296173, -10226719924.223337 mu:0.000000 unit_bearing:-0.214914 -0.477183 0.852120 T_cur_ref: x=0.111650 y=0.000000 z=0.022268 +[21:40:52.563] If point is visible? -282634743890.884399, -153075922739.854797, -3012144624.763041 mu:0.000000 unit_bearing:-0.192585 -0.471528 0.860565 T_cur_ref: x=0.111650 y=0.000000 z=0.022268 +[21:40:52.563] If point is visible? -282150242724.037781, -153921603302.599182, -4805222126.828440 mu:0.000000 unit_bearing:-0.198167 -0.473459 0.858235 T_cur_ref: x=0.111650 y=0.000000 z=0.022268 +[21:40:52.563] If point is visible? -281577342544.953064, -154859357956.377075, -7515917164.602182 mu:0.000000 unit_bearing:-0.206547 -0.475327 0.855221 T_cur_ref: x=0.111650 y=0.000000 z=0.022268 +[21:40:52.563] If point is visible? -284049191358.232544, -150429334269.865021, 3283576102.916097 mu:0.000000 unit_bearing:-0.172983 -0.465742 0.867848 T_cur_ref: x=0.111650 y=0.000000 z=0.022268 +[21:40:52.563] If point is visible? -284088893109.918396, -150331524184.503845, 4200385709.620351 mu:0.000000 unit_bearing:-0.170162 -0.465788 0.868382 T_cur_ref: x=0.111650 y=0.000000 z=0.022268 +[21:40:52.563] If point is visible? -285646404621.243347, -147101727843.105011, 9535343973.561697 mu:0.000000 unit_bearing:-0.153341 -0.457838 0.875712 T_cur_ref: x=0.111650 y=0.000000 z=0.022268 +[21:40:52.563] add key frame +[21:40:52.563] If point is visible? -288654069207.553040, -139711421865.306549, 21983096289.184193 mu:0.000000 unit_bearing:-0.113868 -0.439737 0.890879 T_cur_ref: x=0.111650 y=0.000000 z=0.022268 +[21:40:52.563] remove key frame +[21:40:52.563] init seeds +[21:40:52.563] update seed +[21:40:52.563] If point is visible? -1338232251401.993652, -661703199690.191040, 46226667112.463417 mu:0.000000 unit_bearing:-0.147878 -0.443494 0.883994 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] If point is visible? -1334403784365.802734, -670653886882.057617, 21059254621.778851 mu:0.000000 unit_bearing:-0.164805 -0.447389 0.879024 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] If point is visible? -1323389177892.235840, -690599331589.673584, -50667888949.699303 mu:0.000000 unit_bearing:-0.212590 -0.454790 0.864853 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] If point is visible? -869998550531.419189, -499082436070.341125, 1106739730923.437012 mu:0.000000 unit_bearing:0.606809 -0.421959 0.673597 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.563] If point is visible? -1345961306323.343506, -641509401090.634033, 87792016252.661667 mu:0.000000 unit_bearing:-0.119615 -0.433466 0.893196 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] If point is visible? -1345906229275.181396, -641028591439.238281, 92045395760.466110 mu:0.000000 unit_bearing:-0.116772 -0.433494 0.893559 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] If point is visible? -1345838040732.377930, -640546893134.597168, 96297631010.639694 mu:0.000000 unit_bearing:-0.113929 -0.433521 0.893913 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] If point is visible? -870582655335.805786, -483007831169.334473, 1113392501853.102539 mu:0.000000 unit_bearing:0.612431 -0.411820 0.674783 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.563] If point is visible? -1343054926331.774902, -649608697524.084106, 71172978594.598434 mu:0.000000 unit_bearing:-0.130935 -0.437492 0.889638 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] If point is visible? -1347322245482.115234, -637449325688.730225, 96097408565.607468 mu:0.000000 unit_bearing:-0.113949 -0.431446 0.894914 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] If point is visible? -891141161941.834229, -480564819923.854248, 1098079446702.133789 mu:0.000000 unit_bearing:0.600634 -0.408947 0.687023 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.563] If point is visible? -896103057371.101807, -478294343651.189148, 1095028501604.681274 mu:0.000000 unit_bearing:0.598347 -0.407189 0.690056 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.563] If point is visible? -1297448835362.986816, -648775689982.945923, -355767074962.517761 mu:0.000000 unit_bearing:-0.407561 -0.402103 0.819883 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] If point is visible? -910342902442.753784, -464831129895.819763, 1089064464839.904175 mu:0.000000 unit_bearing:0.594182 -0.397756 0.699098 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.563] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1240898116540.235596, -657850691062.219360, -508190830850.838501 mu:0.000000 unit_bearing:-0.503321 -0.395697 0.768174 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] If point is visible? -1298957537530.650391, -643061109277.914062, -360604095028.842102 mu:0.000000 unit_bearing:-0.410423 -0.397911 0.820500 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] If point is visible? -1093294067879.512695, -463207226043.667114, 906090908687.147461 mu:0.000000 unit_bearing:0.456842 -0.381747 0.803470 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -954236567494.971802, -434239710633.195374, 1063824250000.793457 mu:0.000000 unit_bearing:0.575950 -0.375367 0.726210 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1366824882515.270752, -574110636031.307251, 181769926164.521271 mu:0.000000 unit_bearing:-0.054274 -0.396346 0.916496 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] If point is visible? -1366466752228.800781, -573606756353.507446, 186004010827.436066 mu:0.000000 unit_bearing:-0.051413 -0.396356 0.916656 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] If point is visible? -997562770447.183350, -462639486235.534180, 1010785245597.989136 mu:0.000000 unit_bearing:0.534712 -0.389912 0.749701 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1005812197233.812256, -444495206154.848999, 1010751909978.988770 mu:0.000000 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -956201182631.452271, -437894013402.074707, 1060557268272.662720 mu:0.000000 unit_bearing:0.573322 -0.377529 0.727168 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -946190449187.219849, -435946675680.993042, 1070293285858.935913 mu:0.000000 unit_bearing:0.580820 -0.377030 0.721455 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1022575362944.629883, -444622820958.246643, 993732238637.204468 mu:0.000000 unit_bearing:0.522612 -0.376548 0.764910 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1028288464062.751953, -439170428503.453125, 990255400050.248901 mu:0.000000 unit_bearing:0.520232 -0.372641 0.768438 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1025246059263.421631, -438543590156.924683, 993681853221.753784 mu:0.000000 unit_bearing:0.522821 -0.372504 0.766745 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1098608704809.113403, -450932624110.700134, 905854442035.463379 mu:0.000000 unit_bearing:0.457182 -0.373571 0.807112 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1095887654116.804199, -450323509640.569275, 909446300858.092651 mu:0.000000 unit_bearing:0.459849 -0.373459 0.805647 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1023914546585.494385, -441584081190.362000, 993708251175.869873 mu:0.000000 unit_bearing:0.522717 -0.374527 0.765830 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1097291568822.421143, -454003764680.008972, 905916873986.078735 mu:0.000000 unit_bearing:0.457098 -0.375617 0.806209 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1094570234382.387817, -453393601401.945068, 909507466784.610352 mu:0.000000 unit_bearing:0.459764 -0.375505 0.804744 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.564] If point is visible? -1080592125363.511719, -443589564648.006226, 930807469170.110107 mu:0.000000 unit_bearing:0.475876 -0.370727 0.797561 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.564] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -1247782643259.421631, -471858571708.909546, 671745153618.853516 mu:0.000000 unit_bearing:0.287521 -0.368375 0.884099 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1084696572972.266357, -441133573804.315063, 927193670475.568848 mu:0.000000 unit_bearing:0.473314 -0.368800 0.799975 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -1263040338888.111084, -480086985782.983215, 636474018596.414062 mu:0.000000 unit_bearing:0.262222 -0.370965 0.890856 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1379930519893.348145, -528689581829.168030, 217100608606.203888 mu:0.000000 unit_bearing:-0.028577 -0.369045 0.928972 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1087995455988.620850, -418405442162.831970, 933839580250.131592 mu:0.000000 unit_bearing:0.479216 -0.354239 0.803036 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -1085169945933.409180, -417800897367.695496, 937391159829.627563 mu:0.000000 unit_bearing:0.481865 -0.354127 0.801498 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -1087648371191.337524, -411644590622.595520, 937242412389.180420 mu:0.000000 unit_bearing:0.482034 -0.350024 0.803198 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -1084810024530.485352, -411041635328.013306, 940789866351.750732 mu:0.000000 unit_bearing:0.484682 -0.349913 0.801651 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -1083186582039.498779, -407359861181.121399, 944255452678.559448 mu:0.000000 unit_bearing:0.487411 -0.347749 0.800938 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -1292123356873.501709, -429431972240.768799, 613888426152.833740 mu:0.000000 unit_bearing:0.248740 -0.335460 0.908622 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1298786217196.524414, -410475107054.782166, 612795346289.241943 mu:0.000000 unit_bearing:0.248931 -0.322774 0.913154 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1303716293088.328613, -401531634411.853210, 608234955940.232910 mu:0.000000 unit_bearing:0.246192 -0.316459 0.916102 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1092724194195.241699, -366032863808.229736, 950172282250.860352 mu:0.000000 unit_bearing:0.493754 -0.320769 0.808279 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -1249848777821.513916, -402866258218.539001, 711639233384.529785 mu:0.000000 unit_bearing:0.319155 -0.325783 0.889947 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1252184266533.449463, -389705251185.589661, 714855207555.713623 mu:0.000000 unit_bearing:0.322116 -0.317299 0.891943 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1251101954732.287354, -392856637889.708923, 715025278473.497803 mu:0.000000 unit_bearing:0.322075 -0.319407 0.891205 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1093846331694.331665, -362936982003.705505, 950068701546.366699 mu:0.000000 unit_bearing:0.493831 -0.318703 0.809048 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -1305831388970.777100, -395196277263.913696, 607846916534.449707 mu:0.000000 unit_bearing:0.246252 -0.312217 0.917541 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1304777598845.733643, -398364489917.197266, 608041724430.500488 mu:0.000000 unit_bearing:0.246222 -0.314338 0.916824 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1352115816769.687744, -502558632943.682434, -387390276620.371765 mu:0.000000 unit_bearing:-0.421656 -0.302357 0.854861 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -950241495035.047852, -316517010871.464111, 1108021511915.581055 mu:0.000000 unit_bearing:0.614919 -0.300743 0.728992 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -1343571830109.982178, -516223034322.961182, -398976320217.503601 mu:0.000000 unit_bearing:-0.429587 -0.310492 0.847968 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1307248233346.589355, -385137255283.075867, 611248671925.168701 mu:0.000000 unit_bearing:0.249171 -0.305810 0.918909 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1410249190511.682129, -438402261268.363892, 223280688598.307648 mu:0.000000 unit_bearing:-0.020043 -0.309550 0.950672 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -951321029025.881226, -313472078432.631226, 1107960804226.126221 mu:0.000000 unit_bearing:0.615024 -0.298715 0.729736 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -958017167558.923950, -304924720055.699524, 1104571233414.336426 mu:0.000000 unit_bearing:0.612859 -0.292758 0.733959 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -960107658283.388306, -298819750896.377563, 1104424569133.154541 mu:0.000000 unit_bearing:0.613061 -0.288689 0.735401 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.565] If point is visible? -1277567168013.012451, -358837279277.956116, 685500930809.476074 mu:0.000000 unit_bearing:0.302926 -0.294391 0.906405 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -1273639567751.202637, -357733195489.027893, 693341762934.263184 mu:0.000000 unit_bearing:0.308541 -0.294297 0.904539 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] If point is visible? -882289084459.732422, -266970592190.955017, 1175221792800.650879 mu:0.000000 unit_bearing:0.669482 -0.273301 0.690725 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.565] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.566] If point is visible? -1300334516482.610596, -351642273150.863525, 645237510458.183105 mu:0.000000 unit_bearing:0.274888 -0.286325 0.917853 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] If point is visible? -1298507750756.620117, -351095179860.328247, 649202113235.063965 mu:0.000000 unit_bearing:0.277712 -0.286285 0.917015 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] If point is visible? -1281484428143.091797, -353050754232.829712, 681180162135.873291 mu:0.000000 unit_bearing:0.300185 -0.290193 0.908668 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] If point is visible? -1419242876268.427490, -413921898349.779602, 212771962797.821564 mu:0.000000 unit_bearing:-0.025819 -0.292425 0.955940 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] If point is visible? -1279540578687.428711, -352500198348.754761, 685108097734.495850 mu:0.000000 unit_bearing:0.302996 -0.290148 0.907749 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] If point is visible? -889034093836.646851, -258475306849.401886, 1172033482316.233154 mu:0.000000 unit_bearing:0.667441 -0.267396 0.694998 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.566] If point is visible? -890002703769.147583, -255444241219.039398, 1171962889701.202148 mu:0.000000 unit_bearing:0.667549 -0.265376 0.695668 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.566] If point is visible? -1428540217022.409424, -394643991552.180969, 185425338630.750275 mu:0.000000 unit_bearing:-0.043125 -0.277383 0.959791 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] If point is visible? -1429454928852.395752, -391445300059.433594, 185156072992.409943 mu:0.000000 unit_bearing:-0.043129 -0.275235 0.960409 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] If point is visible? -896643258931.173462, -246921996981.936737, 1168723227092.236572 mu:0.000000 unit_bearing:0.665486 -0.259448 0.699868 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.566] If point is visible? -895697404817.030762, -249958396741.312012, 1168803040220.081055 mu:0.000000 unit_bearing:0.665382 -0.261473 0.699213 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.566] If point is visible? -894743996253.849854, -252993592975.364899, 1168880238093.818359 mu:0.000000 unit_bearing:0.665276 -0.263496 0.698554 T_cur_ref: x=0.106743 y=0.000000 z=0.021525 +[21:40:52.566] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.566] init seeds +[21:40:52.566] DepthFilter: Initialized 0 new seeds +[21:40:52.568] DepthFilter: Initialized 0 new seeds +[21:40:52.947] add new frame +[21:40:52.947] update seed +[21:40:52.947] If point is visible? -1338232251401.987549, -661703199690.191040, 46226667112.464699 mu:0.000000 unit_bearing:-0.147878 -0.443494 0.883994 T_cur_ref: x=0.112791 y=0.000000 z=0.022802 +[21:40:52.947] If point is visible? -1334403784365.796631, -670653886882.057617, 21059254621.780125 mu:0.000000 unit_bearing:-0.164805 -0.447389 0.879024 T_cur_ref: x=0.112791 y=0.000000 z=0.022802 +[21:40:52.947] If point is visible? -1323389177892.229736, -690599331589.673584, -50667888949.698021 mu:0.000000 unit_bearing:-0.212590 -0.454790 0.864853 T_cur_ref: x=0.112791 y=0.000000 z=0.022802 +[21:40:52.947] If point is visible? -869998550531.413086, -499082436070.341125, 1106739730923.438232 mu:0.000000 unit_bearing:0.606809 -0.421959 0.673597 T_cur_ref: x=0.112791 y=0.000000 z=0.022802 +[21:40:52.947] Z inverse min: 0.740641, Z inverse max: 0.000000 +[21:40:52.947] If point is visible? -1345961306323.337402, -641509401090.634033, 87792016252.662933 mu:0.000000 unit_bearing:-0.119615 -0.433466 0.893196 T_cur_ref: x=0.112791 y=0.000000 z=0.022802 +[21:40:52.947] If point is visible? -1345906229275.175293, -641028591439.238281, 92045395760.467377 mu:0.000000 unit_bearing:-0.116772 -0.433494 0.893559 T_cur_ref: x=0.112791 y=0.000000 z=0.022802 +[21:40:52.947] add key frame +[21:40:52.947] If point is visible? -1345838040732.371826, -640546893134.597168, 96297631010.640961 mu:0.000000 unit_bearing:-0.113929 -0.433521 0.893913 T_cur_ref: x=0.112791 y=0.000000 z=0.022802 +[21:40:52.947] init seeds +[21:40:52.947] remove key frame +[21:40:52.947] update seed +[21:40:52.947] init seeds +[21:40:52.950] DepthFilter: Initialized 5 new seeds +[21:40:52.952] DepthFilter: Initialized 135 new seeds +[21:40:53.338] add new frame +[21:40:53.338] update seed +[21:40:53.338] If point is visible? -1023165499753.405762, -507831526131.872742, -24946782550.487141 mu:0.000000 unit_bearing:-0.204467 -0.438504 0.875161 T_cur_ref: x=0.112843 y=0.000000 z=0.023480 +[21:40:53.338] If point is visible? -691797763802.692993, -350068298010.235107, 839196569049.594360 mu:0.000000 unit_bearing:0.596921 -0.393626 0.699102 T_cur_ref: x=0.112843 y=0.000000 z=0.023480 +[21:40:53.338] Z inverse min: 0.716039, Z inverse max: 0.000000 +[21:40:53.338] add key frame +[21:40:53.338] remove key frame +[21:40:53.338] init seeds +[21:40:53.338] update seed +[21:40:53.339] If point is visible? 4081906381.876910, -199463356.578768, 158910812.028887 mu:-0.000000 unit_bearing:-0.202162 0.053142 0.977909 T_cur_ref: x=0.101968 y=0.000000 z=0.021574 +[21:40:53.339] If point is visible? 4081906381.876910, -199463356.578768, 158910812.028887 mu:-0.000000 unit_bearing:-0.202162 0.053142 0.977909 T_cur_ref: x=0.101968 y=0.000000 z=0.021574 +[21:40:53.339] If point is visible? -2198707.178701, 114554.103687, -106646.228044 mu:0.000000 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.097096 y=0.000000 z=0.020679 +[21:40:53.339] If point is visible? -2198707.178701, 114554.103687, -106646.228044 mu:0.000000 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.097096 y=0.000000 z=0.020679 +[21:40:53.339] If point is visible? -1.099778, -0.651597, 0.924051 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.091067 y=0.000000 z=0.019612 +[21:40:53.339] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.339] If point is visible? -1.093227, 0.220165, 1.119465 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.091067 y=0.000000 z=0.019612 +[21:40:53.339] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.339] If point is visible? -1.099778, -0.651597, 0.924051 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.091067 y=0.000000 z=0.019612 +[21:40:53.339] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.339] If point is visible? -1.093227, 0.220165, 1.119465 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.091067 y=0.000000 z=0.019612 +[21:40:53.339] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.339] If point is visible? -354192778.938045, 63214356.397420, 339357083.431265 mu:0.000000 unit_bearing:0.568218 0.043240 0.821741 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -353975276.026013, 67369988.803086, 338783999.256997 mu:0.000000 unit_bearing:0.568167 0.051721 0.821286 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -353718877.289072, 71523024.222996, 338199974.034539 mu:0.000000 unit_bearing:0.568106 0.060200 0.820750 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -364126690.223129, -125420557.098108, 310311532.017605 mu:0.000000 unit_bearing:0.461567 -0.328162 0.824176 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -463600873.268432, -165019949.391267, 49542468.241421 mu:0.000000 unit_bearing:-0.097482 -0.343376 0.934125 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] If point is visible? -462585449.062050, -172870327.619456, 27246315.272756 mu:0.000000 unit_bearing:-0.143174 -0.353636 0.924361 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] If point is visible? -462560135.955286, -172708552.808475, 28665065.201854 mu:0.000000 unit_bearing:-0.140319 -0.353661 0.924789 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] If point is visible? -463167892.747834, -167775230.940029, 44031631.382684 mu:0.000000 unit_bearing:-0.108912 -0.347547 0.931316 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] If point is visible? -458555963.216507, -164926306.654963, -84484031.150097 mu:0.000000 unit_bearing:-0.361013 -0.310163 0.879471 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] If point is visible? -364104711.771792, -119890699.636482, 312515261.363513 mu:0.000000 unit_bearing:0.467280 -0.317607 0.825091 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -465084080.787447, -147492316.910222, 80960631.193661 mu:0.000000 unit_bearing:-0.031542 -0.315942 0.948254 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] If point is visible? -355452405.276827, -118175043.899964, 322955192.190643 mu:0.000000 unit_bearing:0.491259 -0.316737 0.811383 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -344395266.285372, -116063471.229475, 335459357.880363 mu:0.000000 unit_bearing:0.520225 -0.315580 0.793583 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -338140468.538469, -114904761.263255, 342154539.587104 mu:0.000000 unit_bearing:0.535854 -0.314905 0.783387 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -420451085.894117, -137808459.953615, 221001181.674125 mu:0.000000 unit_bearing:0.262923 -0.331016 0.906256 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] If point is visible? -333011091.474494, -131380460.022891, 341254446.512328 mu:0.000000 unit_bearing:0.531789 -0.347747 0.772187 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -327694532.274922, -130378474.148218, 346741339.592384 mu:0.000000 unit_bearing:0.544674 -0.347088 0.763453 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -326618112.921907, -130177507.495417, 347830755.454802 mu:0.000000 unit_bearing:0.547239 -0.346953 0.761677 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -368346821.626738, -116331465.407552, 308867963.265200 mu:0.000000 unit_bearing:0.459504 -0.309566 0.832481 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -367416429.700783, -116143023.282609, 310044795.000481 mu:0.000000 unit_bearing:0.462191 -0.309478 0.831025 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -354566264.387777, -114710502.886385, 325170838.585844 mu:0.000000 unit_bearing:0.496783 -0.310330 0.810495 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -353574462.880133, -114520020.521721, 326315910.859271 mu:0.000000 unit_bearing:0.499428 -0.310230 0.808906 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -419084322.579992, -139718016.212722, 222393831.027815 mu:0.000000 unit_bearing:0.265674 -0.335191 0.903916 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] If point is visible? -459630367.670512, -180190169.966504, -29719308.740630 mu:0.000000 unit_bearing:-0.256700 -0.354289 0.899213 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] If point is visible? -351074752.121691, -132710695.775241, 322096568.176383 mu:0.000000 unit_bearing:0.487495 -0.345696 0.801775 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -350094727.232409, -132514533.019007, 323241999.258281 mu:0.000000 unit_bearing:0.490138 -0.345585 0.800210 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -324171794.776979, -127552704.051269, 351076579.605463 mu:0.000000 unit_bearing:0.555121 -0.342486 0.757987 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -323768480.812451, -128563340.787236, 351080115.963980 mu:0.000000 unit_bearing:0.555018 -0.344515 0.757143 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -462985674.182545, -169314395.639236, 39858631.218327 mu:0.000000 unit_bearing:-0.117484 -0.349608 0.929501 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] If point is visible? -367991359.727336, -117364261.168987, 308900953.291387 mu:0.000000 unit_bearing:0.459438 -0.311647 0.831741 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -367060884.539500, -117175502.102379, 310077439.241206 mu:0.000000 unit_bearing:0.462124 -0.311558 0.830285 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.339] If point is visible? -326996809.372445, -113978997.354343, 353119929.215441 mu:0.000000 unit_bearing:0.561516 -0.315749 0.764854 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.339] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.340] If point is visible? -325895142.448607, -113783558.329088, 354199756.591365 mu:0.000000 unit_bearing:0.564070 -0.315623 0.763025 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.340] If point is visible? -440936601.900547, -180920430.925519, -132115556.718390 mu:0.000000 unit_bearing:-0.453258 -0.330523 0.827835 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -441413343.895323, -180791953.352633, -130691770.907533 mu:0.000000 unit_bearing:-0.450569 -0.330616 0.829265 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -363916525.503467, -128697704.707276, 309214283.058402 mu:0.000000 unit_bearing:0.458670 -0.334468 0.823257 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.340] If point is visible? -425590027.821365, -126637428.934731, 217825387.355316 mu:0.000000 unit_bearing:0.257630 -0.307815 0.915902 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -417069781.339896, -141442437.164088, 225074752.090499 mu:0.000000 unit_bearing:0.271236 -0.339312 0.900721 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -465581184.958075, -145212485.950392, 82214984.582067 mu:0.000000 unit_bearing:-0.028672 -0.311676 0.949756 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -425929955.316978, -125586735.947666, 217769268.911642 mu:0.000000 unit_bearing:0.257660 -0.305692 0.916604 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -411914661.856812, -112675894.637158, 249483994.844031 mu:0.000000 unit_bearing:0.328262 -0.287597 0.899740 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -411592811.060166, -113725004.446952, 249539156.878077 mu:0.000000 unit_bearing:0.328224 -0.289716 0.899074 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -412234047.803202, -111626469.357425, 249428207.584384 mu:0.000000 unit_bearing:0.328299 -0.285477 0.900401 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -449742093.550097, -154352565.347895, -136085063.129346 mu:0.000000 unit_bearing:-0.457610 -0.276228 0.845157 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -430356727.443836, -103976201.988675, 220440119.143049 mu:0.000000 unit_bearing:0.266713 -0.262982 0.927203 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -430688399.570084, -105209851.636691, 219203556.445147 mu:0.000000 unit_bearing:0.263855 -0.265153 0.927402 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -418831257.335787, -102008190.822082, 242459308.855125 mu:0.000000 unit_bearing:0.314633 -0.264458 0.911630 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -420798143.053575, -100256732.694347, 239769305.621991 mu:0.000000 unit_bearing:0.309075 -0.260280 0.914728 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -419818122.570892, -101132796.489641, 241115555.287896 mu:0.000000 unit_bearing:0.311855 -0.262370 0.913186 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -419123281.542488, -100954629.441072, 242395641.937298 mu:0.000000 unit_bearing:0.314665 -0.262328 0.912234 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -429387489.272980, -102565297.202743, 222976575.966581 mu:0.000000 unit_bearing:0.272401 -0.260775 0.926172 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -429038515.681955, -101331680.594846, 224208947.487778 mu:0.000000 unit_bearing:0.275256 -0.258603 0.925936 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -469160491.750880, -120180581.105677, -100283949.116434 mu:0.000000 unit_bearing:-0.384965 -0.216472 0.897186 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -484247459.327109, -85395383.166829, 53139779.990181 mu:0.000000 unit_bearing:-0.077936 -0.184469 0.979743 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -485601170.689508, -81974833.866905, 45644705.994578 mu:0.000000 unit_bearing:-0.092392 -0.175757 0.980088 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -485494461.611357, -81803925.231449, 47064371.974528 mu:0.000000 unit_bearing:-0.089505 -0.175764 0.980355 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -464891787.212094, -6043096.075062, 168673995.413128 mu:0.000000 unit_bearing:0.176484 -0.053690 0.982838 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -465549031.485260, 13242909.131192, 166434774.601755 mu:0.000000 unit_bearing:0.176519 -0.014435 0.984191 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -458421121.941883, 44265769.985310, 180284292.501483 mu:0.000000 unit_bearing:0.213856 0.044411 0.975855 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -457877233.153810, 44427908.169823, 181621611.855025 mu:0.000000 unit_bearing:0.216724 0.044406 0.975222 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -493759019.592368, 28480305.542744, -1646909.848771 mu:0.000000 unit_bearing:-0.161879 0.057561 0.985130 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -493699042.530239, 29371611.262617, -3220776.488410 mu:0.000000 unit_bearing:-0.164757 0.059738 0.984523 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -493695688.153685, 29549656.441729, -1787413.582712 mu:0.000000 unit_bearing:-0.161876 0.059742 0.985001 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -453373976.148793, 69754448.459857, 184927456.668143 mu:0.000000 unit_bearing:0.230931 0.094418 0.968378 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -451540725.310829, 81609546.968344, 184560734.687387 mu:0.000000 unit_bearing:0.233700 0.118300 0.965085 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -464466507.932512, 81712283.057603, 149016023.842678 mu:0.000000 unit_bearing:0.159047 0.127264 0.979034 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -465913888.941890, 77128160.648969, 146926187.185990 mu:0.000000 unit_bearing:0.153312 0.118580 0.981037 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -452546367.036132, 82357565.779142, 181743848.864299 mu:0.000000 unit_bearing:0.227970 0.120495 0.966183 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -451981086.388261, 82514796.411454, 183074344.131796 mu:0.000000 unit_bearing:0.230831 0.120483 0.965506 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -451411632.964848, 82671798.194047, 184403690.218891 mu:0.000000 unit_bearing:0.233691 0.120470 0.964819 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -452281185.679008, 84481984.789261, 181428588.942228 mu:0.000000 unit_bearing:0.227952 0.124836 0.965637 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -451715854.598293, 84638971.088812, 182758969.236585 mu:0.000000 unit_bearing:0.230812 0.124823 0.964959 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -452414959.219099, 83419871.656350, 181586451.163934 mu:0.000000 unit_bearing:0.227961 0.122666 0.965912 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -451849653.564023, 83576980.314482, 182916889.582197 mu:0.000000 unit_bearing:0.230822 0.122653 0.965234 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -451280174.786059, 83733858.465457, 184246178.659260 mu:0.000000 unit_bearing:0.233681 0.122640 0.964548 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -389663352.116649, 245605834.700592, 180144540.710253 mu:0.000000 unit_bearing:0.285557 0.448502 0.846938 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -388996440.833373, 245724064.085190, 181420128.205375 mu:0.000000 unit_bearing:0.288333 0.448425 0.846037 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -437500229.535233, 230646847.023392, 2718578.550093 mu:0.000000 unit_bearing:-0.085252 0.462201 0.882668 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -437393360.823138, 230828798.615621, 4113780.758123 mu:0.000000 unit_bearing:-0.082411 0.462222 0.882927 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -437282169.737006, 231010324.476223, 5508499.811679 mu:0.000000 unit_bearing:-0.079569 0.462243 0.883176 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -351870035.638550, -130667006.605701, 322064311.878468 mu:0.000000 unit_bearing:0.487661 -0.341587 0.803433 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.340] If point is visible? -349905932.095482, -130275967.904976, 324354467.292434 mu:0.000000 unit_bearing:0.492947 -0.341366 0.800295 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.340] If point is visible? -347924315.711087, -129884255.919730, 326635209.650341 mu:0.000000 unit_bearing:0.498220 -0.341142 0.797119 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.340] If point is visible? -327145056.270843, -125929264.186681, 348897896.476237 mu:0.000000 unit_bearing:0.550207 -0.338691 0.763257 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.340] If point is visible? -324970903.871829, -125529896.115618, 351066897.335793 mu:0.000000 unit_bearing:0.555326 -0.338424 0.759660 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.340] If point is visible? -458913987.591493, -181530268.957367, -32504199.646637 mu:0.000000 unit_bearing:-0.262297 -0.356292 0.896803 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -327694532.274922, -130378474.148218, 346741339.592384 mu:0.000000 unit_bearing:0.544674 -0.347088 0.763453 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.340] If point is visible? -350492203.272772, -117217260.802155, 328674822.273997 mu:0.000000 unit_bearing:0.504474 -0.316224 0.803435 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.340] If point is visible? -328503147.146358, -128354212.962694, 346731434.854044 mu:0.000000 unit_bearing:0.544875 -0.343023 0.765145 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.340] If point is visible? -416432222.761293, -141259472.035656, 226366461.678582 mu:0.000000 unit_bearing:0.274050 -0.339263 0.899887 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.340] If point is visible? -415144318.852097, -140893162.644284, 228945672.184086 mu:0.000000 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -463852854.673801, -154659450.843958, 74382746.845638 mu:0.000000 unit_bearing:-0.045888 -0.328705 0.943317 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -463507073.270751, -154321856.608639, 77186573.662143 mu:0.000000 unit_bearing:-0.040142 -0.328718 0.943575 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -457057250.265094, -169964422.493092, -82598877.805128 mu:0.000000 unit_bearing:-0.358004 -0.320738 0.876904 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -457878952.913480, -166108458.378831, -85829214.615804 mu:0.000000 unit_bearing:-0.363736 -0.312203 0.877625 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -328067183.327006, -117418893.092923, 350993641.474075 mu:0.000000 unit_bearing:0.556113 -0.322128 0.766140 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.341] If point is visible? -431033916.562177, -108732875.670281, 216791914.252462 mu:0.000000 unit_bearing:0.258110 -0.271628 0.927145 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -429800970.657380, -108377414.126698, 219402076.775039 mu:0.000000 unit_bearing:0.263776 -0.271558 0.925569 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -428551091.770535, -108021707.005869, 222006941.608027 mu:0.000000 unit_bearing:0.269436 -0.271486 0.923958 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -417940487.230484, -105167215.868977, 242646688.431656 mu:0.000000 unit_bearing:0.314535 -0.270844 0.909787 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -458592134.111449, -164034060.000393, -86010994.869648 mu:0.000000 unit_bearing:-0.363831 -0.307996 0.879071 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -466549018.665395, -135394711.454840, 92801373.078938 mu:0.000000 unit_bearing:-0.005660 -0.294582 0.955609 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -429729900.374198, -103798890.785680, 221742671.942414 mu:0.000000 unit_bearing:0.269544 -0.262947 0.926394 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -428463539.481492, -103444107.309062, 224343757.574075 mu:0.000000 unit_bearing:0.275203 -0.262876 0.924749 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -347740966.171427, -118881978.274742, 330991095.454264 mu:0.000000 unit_bearing:0.509576 -0.320136 0.798652 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.341] If point is visible? -429145385.711688, -105910840.668120, 221875959.300599 mu:0.000000 unit_bearing:0.269491 -0.267218 0.925186 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -427878792.449603, -105555474.206305, 224476257.990662 mu:0.000000 unit_bearing:0.275148 -0.267145 0.923540 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -471354833.976750, -121932767.104605, -86999024.927284 mu:0.000000 unit_bearing:-0.359834 -0.223262 0.905910 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -469699171.053657, -126446096.600327, -89475599.531798 mu:0.000000 unit_bearing:-0.365277 -0.231709 0.901600 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -469258079.548248, -121075643.486025, -98738811.408633 mu:0.000000 unit_bearing:-0.382157 -0.218649 0.897858 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -485789980.604261, -80905851.786971, 45542808.861111 mu:0.000000 unit_bearing:-0.092397 -0.173587 0.980475 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -486515149.754581, -86577822.315596, -20471914.604736 mu:0.000000 unit_bearing:-0.224665 -0.168703 0.959721 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -486160440.390390, -78767471.093723, 45337856.639603 mu:0.000000 unit_bearing:-0.092407 -0.169245 0.981232 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -493491534.768091, 32757084.205888, -2210902.816154 mu:0.000000 unit_bearing:-0.161867 0.066283 0.984584 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -493632445.000402, 30262583.305477, -4795293.440661 mu:0.000000 unit_bearing:-0.167635 0.061914 0.983903 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -388817803.411470, 83510609.636322, 294038268.601794 mu:0.000000 unit_bearing:0.471853 0.095139 0.876529 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.341] If point is visible? -433698060.484273, 81827483.316611, 223208568.092124 mu:0.000000 unit_bearing:0.316222 0.109214 0.942378 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -454341569.684728, 89004165.071892, 173964956.857256 mu:0.000000 unit_bearing:0.213589 0.135750 0.967446 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -461529929.959863, 86774586.301046, 155151875.527346 mu:0.000000 unit_bearing:0.173405 0.135912 0.975427 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -462778409.290996, 84325657.274879, 152764972.997991 mu:0.000000 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -475594876.865027, 125951905.387660, 50571139.780793 mu:0.000000 unit_bearing:-0.028762 0.240304 0.970272 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -384528085.135211, 244675468.253781, 192051754.867903 mu:0.000000 unit_bearing:0.310617 0.443700 0.840623 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -461809015.544546, -164073410.960297, 66514348.304549 mu:0.000000 unit_bearing:-0.063063 -0.345658 0.936239 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -461203444.261582, -163403017.384116, 72129373.101975 mu:0.000000 unit_bearing:-0.051584 -0.345696 0.936927 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -418455411.785212, -139535618.917361, 223688821.730439 mu:0.000000 unit_bearing:0.268492 -0.335144 0.903101 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -415897183.372355, -138804811.205543, 228854903.412414 mu:0.000000 unit_bearing:0.279751 -0.334950 0.899749 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -369270495.104882, -127597016.452675, 303265745.535137 mu:0.000000 unit_bearing:0.445370 -0.330794 0.831998 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.341] If point is visible? -350251926.934756, -123750661.156639, 326528974.401280 mu:0.000000 unit_bearing:0.498720 -0.328807 0.801975 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.341] If point is visible? -419930185.985267, -135351682.115080, 223495795.514973 mu:0.000000 unit_bearing:0.268632 -0.326700 0.906148 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -417373015.676636, -134623461.199474, 228665911.421385 mu:0.000000 unit_bearing:0.279898 -0.326512 0.902799 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -414747662.833535, -133893416.022972, 233813470.285556 mu:0.000000 unit_bearing:0.291143 -0.326316 0.899307 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -351753599.047475, -119652488.899573, 326442180.238385 mu:0.000000 unit_bearing:0.499041 -0.320561 0.805108 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.341] If point is visible? -442524638.455984, -209792687.819735, 69070848.068804 mu:0.000000 unit_bearing:-0.062648 -0.438039 0.896770 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -348710209.378954, -127841593.727506, 326603010.350690 mu:0.000000 unit_bearing:0.498389 -0.337035 0.798759 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.341] If point is visible? -429145385.711688, -105910840.668120, 221875959.300599 mu:0.000000 unit_bearing:0.269491 -0.267218 0.925186 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -426595238.290593, -105199877.874934, 227071129.665902 mu:0.000000 unit_bearing:0.280800 -0.267071 0.921859 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -414811630.088549, -115678270.275096, 243231697.969119 mu:0.000000 unit_bearing:0.314187 -0.292082 0.903313 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -426709423.116956, -114347533.090560, 222385969.575329 mu:0.000000 unit_bearing:0.269267 -0.284275 0.920154 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -424157350.261578, -113631780.784937, 227574537.635513 mu:0.000000 unit_bearing:0.280565 -0.284117 0.916821 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -421537292.197149, -112914858.243071, 232740962.533427 mu:0.000000 unit_bearing:0.291842 -0.283951 0.913346 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -416092689.978716, -111477488.396287, 243005046.232377 mu:0.000000 unit_bearing:0.314330 -0.283596 0.905964 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -444482617.740297, -205677442.113927, 68875263.251997 mu:0.000000 unit_bearing:-0.062691 -0.429732 0.900777 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] If point is visible? -443886778.823881, -205017618.809532, 74458801.488928 mu:0.000000 unit_bearing:-0.051281 -0.429784 0.901474 T_cur_ref: x=0.086274 y=0.000000 z=0.018786 +[21:40:53.341] init seeds +[21:40:53.341] DepthFilter: Initialized 1 new seeds +[21:40:53.343] DepthFilter: Initialized 1 new seeds +[21:40:53.729] add new frame +[21:40:53.729] update seed +[21:40:53.729] If point is visible? 4081906381.882905, -199463356.578768, 158910812.030429 mu:-0.000000 unit_bearing:-0.202162 0.053142 0.977909 T_cur_ref: x=0.107963 y=0.000000 z=0.023116 +[21:40:53.729] If point is visible? 4081906381.882905, -199463356.578768, 158910812.030429 mu:-0.000000 unit_bearing:-0.202162 0.053142 0.977909 T_cur_ref: x=0.107963 y=0.000000 z=0.023116 +[21:40:53.729] If point is visible? -2198707.172706, 114554.103687, -106646.226502 mu:0.000000 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.103091 y=0.000000 z=0.022222 +[21:40:53.729] If point is visible? -2198707.172706, 114554.103687, -106646.226502 mu:0.000000 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.103091 y=0.000000 z=0.022222 +[21:40:53.729] If point is visible? -1.093783, -0.651597, 0.925594 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.097062 y=0.000000 z=0.021154 +[21:40:53.729] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.729] If point is visible? -1.087232, 0.220165, 1.121007 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.097062 y=0.000000 z=0.021154 +[21:40:53.729] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.729] If point is visible? -1.093783, -0.651597, 0.925594 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.097062 y=0.000000 z=0.021154 +[21:40:53.729] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.729] add key frame +[21:40:53.729] If point is visible? -1.087232, 0.220165, 1.121007 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.097062 y=0.000000 z=0.021154 +[21:40:53.729] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.729] remove key frame +[21:40:53.729] init seeds +[21:40:53.730] update seed +[21:40:53.730] If point is visible? 4081906381.882905, -199463356.578768, 158910812.030429 mu:-0.000000 unit_bearing:-0.202162 0.053142 0.977909 T_cur_ref: x=0.107963 y=0.000000 z=0.023116 +[21:40:53.730] If point is visible? 4081906381.882905, -199463356.578768, 158910812.030429 mu:-0.000000 unit_bearing:-0.202162 0.053142 0.977909 T_cur_ref: x=0.107963 y=0.000000 z=0.023116 +[21:40:53.730] If point is visible? -2198707.172706, 114554.103687, -106646.226502 mu:0.000000 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.103091 y=0.000000 z=0.022222 +[21:40:53.730] If point is visible? -2198707.172706, 114554.103687, -106646.226502 mu:0.000000 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.103091 y=0.000000 z=0.022222 +[21:40:53.730] If point is visible? -1.093783, -0.651597, 0.925594 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.097062 y=0.000000 z=0.021154 +[21:40:53.730] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.730] If point is visible? -1.087232, 0.220165, 1.121007 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.097062 y=0.000000 z=0.021154 +[21:40:53.730] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.730] If point is visible? -1.093783, -0.651597, 0.925594 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.097062 y=0.000000 z=0.021154 +[21:40:53.730] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.730] If point is visible? -1.087232, 0.220165, 1.121007 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.097062 y=0.000000 z=0.021154 +[21:40:53.730] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:53.730] If point is visible? -354192778.932050, 63214356.397420, 339357083.432807 mu:0.000000 unit_bearing:0.568218 0.043240 0.821741 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -353975276.020018, 67369988.803086, 338783999.258539 mu:0.000000 unit_bearing:0.568167 0.051721 0.821286 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -353718877.283077, 71523024.222996, 338199974.036081 mu:0.000000 unit_bearing:0.568106 0.060200 0.820750 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -364126690.217134, -125420557.098108, 310311532.019147 mu:0.000000 unit_bearing:0.461567 -0.328162 0.824176 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -463600873.262437, -165019949.391267, 49542468.242963 mu:0.000000 unit_bearing:-0.097482 -0.343376 0.934125 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] If point is visible? -462585449.056055, -172870327.619456, 27246315.274298 mu:0.000000 unit_bearing:-0.143174 -0.353636 0.924361 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] If point is visible? -462560135.949291, -172708552.808475, 28665065.203396 mu:0.000000 unit_bearing:-0.140319 -0.353661 0.924789 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] If point is visible? -463167892.741839, -167775230.940029, 44031631.384226 mu:0.000000 unit_bearing:-0.108912 -0.347547 0.931316 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] If point is visible? -458555963.210512, -164926306.654963, -84484031.148555 mu:0.000000 unit_bearing:-0.361013 -0.310163 0.879471 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] If point is visible? -364104711.765797, -119890699.636482, 312515261.365055 mu:0.000000 unit_bearing:0.467280 -0.317607 0.825091 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -465084080.781452, -147492316.910222, 80960631.195203 mu:0.000000 unit_bearing:-0.031542 -0.315942 0.948254 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] If point is visible? -355452405.270832, -118175043.899964, 322955192.192185 mu:0.000000 unit_bearing:0.491259 -0.316737 0.811383 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -344395266.279377, -116063471.229475, 335459357.881905 mu:0.000000 unit_bearing:0.520225 -0.315580 0.793583 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -338140468.532474, -114904761.263255, 342154539.588646 mu:0.000000 unit_bearing:0.535854 -0.314905 0.783387 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -420451085.888122, -137808459.953615, 221001181.675668 mu:0.000000 unit_bearing:0.262923 -0.331016 0.906256 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] If point is visible? -333011091.468498, -131380460.022891, 341254446.513870 mu:0.000000 unit_bearing:0.531789 -0.347747 0.772187 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -327694532.268927, -130378474.148218, 346741339.593926 mu:0.000000 unit_bearing:0.544674 -0.347088 0.763453 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -326618112.915912, -130177507.495417, 347830755.456344 mu:0.000000 unit_bearing:0.547239 -0.346953 0.761677 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -368346821.620742, -116331465.407552, 308867963.266742 mu:0.000000 unit_bearing:0.459504 -0.309566 0.832481 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -367416429.694788, -116143023.282609, 310044795.002023 mu:0.000000 unit_bearing:0.462191 -0.309478 0.831025 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -354566264.381782, -114710502.886385, 325170838.587387 mu:0.000000 unit_bearing:0.496783 -0.310330 0.810495 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -353574462.874138, -114520020.521721, 326315910.860813 mu:0.000000 unit_bearing:0.499428 -0.310230 0.808906 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -419084322.573997, -139718016.212722, 222393831.029358 mu:0.000000 unit_bearing:0.265674 -0.335191 0.903916 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] If point is visible? -459630367.664517, -180190169.966504, -29719308.739088 mu:0.000000 unit_bearing:-0.256700 -0.354289 0.899213 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] If point is visible? -351074752.115696, -132710695.775241, 322096568.177925 mu:0.000000 unit_bearing:0.487495 -0.345696 0.801775 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -350094727.226414, -132514533.019007, 323241999.259823 mu:0.000000 unit_bearing:0.490138 -0.345585 0.800210 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.730] If point is visible? -324171794.770984, -127552704.051269, 351076579.607005 mu:0.000000 unit_bearing:0.555121 -0.342486 0.757987 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.730] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -323768480.806456, -128563340.787236, 351080115.965522 mu:0.000000 unit_bearing:0.555018 -0.344515 0.757143 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -462985674.176550, -169314395.639236, 39858631.219869 mu:0.000000 unit_bearing:-0.117484 -0.349608 0.929501 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -367991359.721341, -117364261.168987, 308900953.292929 mu:0.000000 unit_bearing:0.459438 -0.311647 0.831741 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -367060884.533505, -117175502.102379, 310077439.242748 mu:0.000000 unit_bearing:0.462124 -0.311558 0.830285 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -326996809.366450, -113978997.354343, 353119929.216983 mu:0.000000 unit_bearing:0.561516 -0.315749 0.764854 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -325895142.442612, -113783558.329088, 354199756.592907 mu:0.000000 unit_bearing:0.564070 -0.315623 0.763025 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -440936601.894552, -180920430.925519, -132115556.716848 mu:0.000000 unit_bearing:-0.453258 -0.330523 0.827835 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -441413343.889328, -180791953.352633, -130691770.905991 mu:0.000000 unit_bearing:-0.450569 -0.330616 0.829265 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -363916525.497472, -128697704.707276, 309214283.059944 mu:0.000000 unit_bearing:0.458670 -0.334468 0.823257 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -425590027.815370, -126637428.934731, 217825387.356858 mu:0.000000 unit_bearing:0.257630 -0.307815 0.915902 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -417069781.333901, -141442437.164088, 225074752.092042 mu:0.000000 unit_bearing:0.271236 -0.339312 0.900721 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -465581184.952080, -145212485.950392, 82214984.583609 mu:0.000000 unit_bearing:-0.028672 -0.311676 0.949756 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -425929955.310982, -125586735.947666, 217769268.913184 mu:0.000000 unit_bearing:0.257660 -0.305692 0.916604 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -411914661.850817, -112675894.637158, 249483994.845574 mu:0.000000 unit_bearing:0.328262 -0.287597 0.899740 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -411592811.054171, -113725004.446952, 249539156.879619 mu:0.000000 unit_bearing:0.328224 -0.289716 0.899074 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -412234047.797207, -111626469.357425, 249428207.585927 mu:0.000000 unit_bearing:0.328299 -0.285477 0.900401 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -449742093.544102, -154352565.347895, -136085063.127804 mu:0.000000 unit_bearing:-0.457610 -0.276228 0.845157 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -430356727.437840, -103976201.988675, 220440119.144591 mu:0.000000 unit_bearing:0.266713 -0.262982 0.927203 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -430688399.564088, -105209851.636691, 219203556.446690 mu:0.000000 unit_bearing:0.263855 -0.265153 0.927402 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -418831257.329792, -102008190.822082, 242459308.856667 mu:0.000000 unit_bearing:0.314633 -0.264458 0.911630 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -420798143.047580, -100256732.694347, 239769305.623533 mu:0.000000 unit_bearing:0.309075 -0.260280 0.914728 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -419818122.564897, -101132796.489641, 241115555.289438 mu:0.000000 unit_bearing:0.311855 -0.262370 0.913186 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -419123281.536493, -100954629.441072, 242395641.938840 mu:0.000000 unit_bearing:0.314665 -0.262328 0.912234 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -429387489.266985, -102565297.202743, 222976575.968124 mu:0.000000 unit_bearing:0.272401 -0.260775 0.926172 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -429038515.675960, -101331680.594846, 224208947.489320 mu:0.000000 unit_bearing:0.275256 -0.258603 0.925936 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -469160491.744884, -120180581.105677, -100283949.114892 mu:0.000000 unit_bearing:-0.384965 -0.216472 0.897186 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -484247459.321114, -85395383.166829, 53139779.991723 mu:0.000000 unit_bearing:-0.077936 -0.184469 0.979743 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -485601170.683513, -81974833.866905, 45644705.996120 mu:0.000000 unit_bearing:-0.092392 -0.175757 0.980088 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -485494461.605362, -81803925.231449, 47064371.976070 mu:0.000000 unit_bearing:-0.089505 -0.175764 0.980355 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -464891787.206099, -6043096.075062, 168673995.414670 mu:0.000000 unit_bearing:0.176484 -0.053690 0.982838 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -465549031.479265, 13242909.131192, 166434774.603297 mu:0.000000 unit_bearing:0.176519 -0.014435 0.984191 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -458421121.935888, 44265769.985310, 180284292.503025 mu:0.000000 unit_bearing:0.213856 0.044411 0.975855 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -457877233.147815, 44427908.169823, 181621611.856567 mu:0.000000 unit_bearing:0.216724 0.044406 0.975222 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -493759019.586373, 28480305.542744, -1646909.847229 mu:0.000000 unit_bearing:-0.161879 0.057561 0.985130 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -493699042.524244, 29371611.262617, -3220776.486868 mu:0.000000 unit_bearing:-0.164757 0.059738 0.984523 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -493695688.147690, 29549656.441729, -1787413.581170 mu:0.000000 unit_bearing:-0.161876 0.059742 0.985001 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -453373976.142798, 69754448.459857, 184927456.669685 mu:0.000000 unit_bearing:0.230931 0.094418 0.968378 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -451540725.304834, 81609546.968344, 184560734.688929 mu:0.000000 unit_bearing:0.233700 0.118300 0.965085 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -464466507.926517, 81712283.057603, 149016023.844220 mu:0.000000 unit_bearing:0.159047 0.127264 0.979034 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -465913888.935895, 77128160.648969, 146926187.187532 mu:0.000000 unit_bearing:0.153312 0.118580 0.981037 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -452546367.030137, 82357565.779142, 181743848.865842 mu:0.000000 unit_bearing:0.227970 0.120495 0.966183 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -451981086.382266, 82514796.411454, 183074344.133338 mu:0.000000 unit_bearing:0.230831 0.120483 0.965506 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -451411632.958852, 82671798.194047, 184403690.220433 mu:0.000000 unit_bearing:0.233691 0.120470 0.964819 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -452281185.673013, 84481984.789261, 181428588.943770 mu:0.000000 unit_bearing:0.227952 0.124836 0.965637 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -451715854.592297, 84638971.088812, 182758969.238127 mu:0.000000 unit_bearing:0.230812 0.124823 0.964959 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -452414959.213104, 83419871.656350, 181586451.165476 mu:0.000000 unit_bearing:0.227961 0.122666 0.965912 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -451849653.558028, 83576980.314482, 182916889.583739 mu:0.000000 unit_bearing:0.230822 0.122653 0.965234 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -451280174.780064, 83733858.465457, 184246178.660802 mu:0.000000 unit_bearing:0.233681 0.122640 0.964548 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -389663352.110654, 245605834.700592, 180144540.711795 mu:0.000000 unit_bearing:0.285557 0.448502 0.846938 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -388996440.827378, 245724064.085190, 181420128.206917 mu:0.000000 unit_bearing:0.288333 0.448425 0.846037 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -437500229.529237, 230646847.023392, 2718578.551635 mu:0.000000 unit_bearing:-0.085252 0.462201 0.882668 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -437393360.817143, 230828798.615621, 4113780.759666 mu:0.000000 unit_bearing:-0.082411 0.462222 0.882927 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -437282169.731010, 231010324.476223, 5508499.813221 mu:0.000000 unit_bearing:-0.079569 0.462243 0.883176 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] If point is visible? -351870035.632555, -130667006.605701, 322064311.880010 mu:0.000000 unit_bearing:0.487661 -0.341587 0.803433 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -349905932.089487, -130275967.904976, 324354467.293976 mu:0.000000 unit_bearing:0.492947 -0.341366 0.800295 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -347924315.705092, -129884255.919730, 326635209.651883 mu:0.000000 unit_bearing:0.498220 -0.341142 0.797119 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -327145056.264848, -125929264.186681, 348897896.477779 mu:0.000000 unit_bearing:0.550207 -0.338691 0.763257 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -324970903.865834, -125529896.115618, 351066897.337335 mu:0.000000 unit_bearing:0.555326 -0.338424 0.759660 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.731] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.731] If point is visible? -458913987.585498, -181530268.957367, -32504199.645095 mu:0.000000 unit_bearing:-0.262297 -0.356292 0.896803 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -327694532.268927, -130378474.148218, 346741339.593926 mu:0.000000 unit_bearing:0.544674 -0.347088 0.763453 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.732] If point is visible? -350492203.266777, -117217260.802155, 328674822.275539 mu:0.000000 unit_bearing:0.504474 -0.316224 0.803435 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.732] If point is visible? -328503147.140363, -128354212.962694, 346731434.855586 mu:0.000000 unit_bearing:0.544875 -0.343023 0.765145 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.732] If point is visible? -416432222.755298, -141259472.035656, 226366461.680124 mu:0.000000 unit_bearing:0.274050 -0.339263 0.899887 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -415144318.846102, -140893162.644284, 228945672.185628 mu:0.000000 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -463852854.667806, -154659450.843958, 74382746.847180 mu:0.000000 unit_bearing:-0.045888 -0.328705 0.943317 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -463507073.264756, -154321856.608639, 77186573.663685 mu:0.000000 unit_bearing:-0.040142 -0.328718 0.943575 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -457057250.259099, -169964422.493092, -82598877.803586 mu:0.000000 unit_bearing:-0.358004 -0.320738 0.876904 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -457878952.907485, -166108458.378831, -85829214.614262 mu:0.000000 unit_bearing:-0.363736 -0.312203 0.877625 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -328067183.321010, -117418893.092923, 350993641.475617 mu:0.000000 unit_bearing:0.556113 -0.322128 0.766140 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.732] If point is visible? -431033916.556181, -108732875.670281, 216791914.254004 mu:0.000000 unit_bearing:0.258110 -0.271628 0.927145 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -429800970.651385, -108377414.126698, 219402076.776581 mu:0.000000 unit_bearing:0.263776 -0.271558 0.925569 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -428551091.764540, -108021707.005869, 222006941.609569 mu:0.000000 unit_bearing:0.269436 -0.271486 0.923958 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -417940487.224489, -105167215.868977, 242646688.433198 mu:0.000000 unit_bearing:0.314535 -0.270844 0.909787 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -458592134.105454, -164034060.000393, -86010994.868106 mu:0.000000 unit_bearing:-0.363831 -0.307996 0.879071 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -466549018.659400, -135394711.454840, 92801373.080480 mu:0.000000 unit_bearing:-0.005660 -0.294582 0.955609 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -429729900.368203, -103798890.785680, 221742671.943956 mu:0.000000 unit_bearing:0.269544 -0.262947 0.926394 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -428463539.475497, -103444107.309062, 224343757.575617 mu:0.000000 unit_bearing:0.275203 -0.262876 0.924749 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -347740966.165432, -118881978.274742, 330991095.455806 mu:0.000000 unit_bearing:0.509576 -0.320136 0.798652 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.732] If point is visible? -429145385.705692, -105910840.668120, 221875959.302141 mu:0.000000 unit_bearing:0.269491 -0.267218 0.925186 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -427878792.443608, -105555474.206305, 224476257.992204 mu:0.000000 unit_bearing:0.275148 -0.267145 0.923540 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -471354833.970755, -121932767.104605, -86999024.925742 mu:0.000000 unit_bearing:-0.359834 -0.223262 0.905910 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -469699171.047662, -126446096.600327, -89475599.530256 mu:0.000000 unit_bearing:-0.365277 -0.231709 0.901600 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -469258079.542253, -121075643.486025, -98738811.407091 mu:0.000000 unit_bearing:-0.382157 -0.218649 0.897858 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -485789980.598265, -80905851.786971, 45542808.862653 mu:0.000000 unit_bearing:-0.092397 -0.173587 0.980475 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -486515149.748586, -86577822.315596, -20471914.603194 mu:0.000000 unit_bearing:-0.224665 -0.168703 0.959721 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -486160440.384394, -78767471.093723, 45337856.641145 mu:0.000000 unit_bearing:-0.092407 -0.169245 0.981232 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -493491534.762095, 32757084.205888, -2210902.814611 mu:0.000000 unit_bearing:-0.161867 0.066283 0.984584 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -493632444.994407, 30262583.305477, -4795293.439119 mu:0.000000 unit_bearing:-0.167635 0.061914 0.983903 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -388817803.405475, 83510609.636322, 294038268.603336 mu:0.000000 unit_bearing:0.471853 0.095139 0.876529 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.732] If point is visible? -433698060.478278, 81827483.316611, 223208568.093666 mu:0.000000 unit_bearing:0.316222 0.109214 0.942378 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -454341569.678733, 89004165.071892, 173964956.858799 mu:0.000000 unit_bearing:0.213589 0.135750 0.967446 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -461529929.953868, 86774586.301046, 155151875.528888 mu:0.000000 unit_bearing:0.173405 0.135912 0.975427 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -462778409.285001, 84325657.274879, 152764972.999533 mu:0.000000 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -475594876.859032, 125951905.387660, 50571139.782335 mu:0.000000 unit_bearing:-0.028762 0.240304 0.970272 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -384528085.129215, 244675468.253781, 192051754.869445 mu:0.000000 unit_bearing:0.310617 0.443700 0.840623 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -461809015.538551, -164073410.960297, 66514348.306091 mu:0.000000 unit_bearing:-0.063063 -0.345658 0.936239 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -461203444.255587, -163403017.384116, 72129373.103517 mu:0.000000 unit_bearing:-0.051584 -0.345696 0.936927 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -418455411.779217, -139535618.917361, 223688821.731981 mu:0.000000 unit_bearing:0.268492 -0.335144 0.903101 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -415897183.366360, -138804811.205543, 228854903.413956 mu:0.000000 unit_bearing:0.279751 -0.334950 0.899749 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -369270495.098887, -127597016.452675, 303265745.536679 mu:0.000000 unit_bearing:0.445370 -0.330794 0.831998 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.732] If point is visible? -350251926.928761, -123750661.156639, 326528974.402822 mu:0.000000 unit_bearing:0.498720 -0.328807 0.801975 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.732] If point is visible? -419930185.979272, -135351682.115080, 223495795.516515 mu:0.000000 unit_bearing:0.268632 -0.326700 0.906148 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -417373015.670641, -134623461.199474, 228665911.422927 mu:0.000000 unit_bearing:0.279898 -0.326512 0.902799 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -414747662.827540, -133893416.022972, 233813470.287098 mu:0.000000 unit_bearing:0.291143 -0.326316 0.899307 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -351753599.041480, -119652488.899573, 326442180.239927 mu:0.000000 unit_bearing:0.499041 -0.320561 0.805108 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.732] If point is visible? -442524638.449989, -209792687.819735, 69070848.070346 mu:0.000000 unit_bearing:-0.062648 -0.438039 0.896770 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -348710209.372959, -127841593.727506, 326603010.352232 mu:0.000000 unit_bearing:0.498389 -0.337035 0.798759 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:53.732] If point is visible? -429145385.705692, -105910840.668120, 221875959.302141 mu:0.000000 unit_bearing:0.269491 -0.267218 0.925186 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -426595238.284597, -105199877.874934, 227071129.667444 mu:0.000000 unit_bearing:0.280800 -0.267071 0.921859 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -414811630.082553, -115678270.275096, 243231697.970661 mu:0.000000 unit_bearing:0.314187 -0.292082 0.903313 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] If point is visible? -426709423.110961, -114347533.090560, 222385969.576872 mu:0.000000 unit_bearing:0.269267 -0.284275 0.920154 T_cur_ref: x=0.092269 y=0.000000 z=0.020329 +[21:40:53.732] init seeds +[21:40:53.732] DepthFilter: Initialized 1 new seeds +[21:40:53.734] DepthFilter: Initialized 1 new seeds +[21:40:54.123] add new frame +[21:40:54.123] update seed +[21:40:54.123] If point is visible? 4081906381.889030, -199463356.578768, 158910812.031937 mu:-0.000000 unit_bearing:-0.202162 0.053142 0.977909 T_cur_ref: x=0.114089 y=0.000000 z=0.024624 +[21:40:54.123] If point is visible? 4081906381.889030, -199463356.578768, 158910812.031937 mu:-0.000000 unit_bearing:-0.202162 0.053142 0.977909 T_cur_ref: x=0.114089 y=0.000000 z=0.024624 +[21:40:54.123] If point is visible? -2198707.166580, 114554.103687, -106646.224994 mu:0.000000 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.109217 y=0.000000 z=0.023730 +[21:40:54.123] If point is visible? -2198707.166580, 114554.103687, -106646.224994 mu:0.000000 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.109217 y=0.000000 z=0.023730 +[21:40:54.123] If point is visible? -1.087657, -0.651597, 0.927102 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.103188 y=0.000000 z=0.022662 +[21:40:54.123] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.123] add key frame +[21:40:54.123] If point is visible? -1.081107, 0.220165, 1.122515 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.103188 y=0.000000 z=0.022662 +[21:40:54.123] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.123] remove key frame +[21:40:54.123] init seeds +[21:40:54.123] update seed +[21:40:54.123] init seeds +[21:40:54.126] DepthFilter: Initialized 2 new seeds +[21:40:54.128] DepthFilter: Initialized 138 new seeds +[21:40:54.532] add new frame +[21:40:54.532] update seed +[21:40:54.532] If point is visible? -2198707.160483, 114554.103687, -106646.223477 mu:0.000000 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.115314 y=0.000000 z=0.025246 +[21:40:54.532] If point is visible? -2198707.160483, 114554.103687, -106646.223477 mu:0.000000 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.115314 y=0.000000 z=0.025246 +[21:40:54.532] If point is visible? -1.081560, -0.651597, 0.928618 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.109285 y=0.000000 z=0.024179 +[21:40:54.532] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.532] If point is visible? -1.075009, 0.220165, 1.124032 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.109285 y=0.000000 z=0.024179 +[21:40:54.532] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.532] add key frame +[21:40:54.532] remove key frame +[21:40:54.532] init seeds +[21:40:54.532] update seed +[21:40:54.532] If point is visible? -1.081560, -0.651597, 0.928618 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.109285 y=0.000000 z=0.024179 +[21:40:54.532] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.532] If point is visible? -1.075009, 0.220165, 1.124032 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.109285 y=0.000000 z=0.024179 +[21:40:54.532] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.532] If point is visible? -1.081560, -0.651597, 0.928618 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.109285 y=0.000000 z=0.024179 +[21:40:54.532] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.532] If point is visible? -1.075009, 0.220165, 1.124032 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.109285 y=0.000000 z=0.024179 +[21:40:54.532] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.532] If point is visible? -354192778.919827, 63214356.397420, 339357083.435832 mu:0.000000 unit_bearing:0.568218 0.043240 0.821741 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.532] If point is visible? -353975276.007795, 67369988.803086, 338783999.261564 mu:0.000000 unit_bearing:0.568167 0.051721 0.821286 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.532] If point is visible? -353718877.270854, 71523024.222996, 338199974.039106 mu:0.000000 unit_bearing:0.568106 0.060200 0.820750 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.532] If point is visible? -364126690.204911, -125420557.098108, 310311532.022172 mu:0.000000 unit_bearing:0.461567 -0.328162 0.824176 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.532] If point is visible? -463600873.250215, -165019949.391267, 49542468.245988 mu:0.000000 unit_bearing:-0.097482 -0.343376 0.934125 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] If point is visible? -462585449.043833, -172870327.619456, 27246315.277323 mu:0.000000 unit_bearing:-0.143174 -0.353636 0.924361 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] If point is visible? -462560135.937068, -172708552.808475, 28665065.206421 mu:0.000000 unit_bearing:-0.140319 -0.353661 0.924789 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] If point is visible? -463167892.729616, -167775230.940029, 44031631.387251 mu:0.000000 unit_bearing:-0.108912 -0.347547 0.931316 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] If point is visible? -458555963.198289, -164926306.654963, -84484031.145530 mu:0.000000 unit_bearing:-0.361013 -0.310163 0.879471 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] If point is visible? -364104711.753574, -119890699.636482, 312515261.368080 mu:0.000000 unit_bearing:0.467280 -0.317607 0.825091 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.532] If point is visible? -465084080.769229, -147492316.910222, 80960631.198228 mu:0.000000 unit_bearing:-0.031542 -0.315942 0.948254 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] If point is visible? -355452405.258609, -118175043.899964, 322955192.195210 mu:0.000000 unit_bearing:0.491259 -0.316737 0.811383 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.532] If point is visible? -344395266.267155, -116063471.229475, 335459357.884930 mu:0.000000 unit_bearing:0.520225 -0.315580 0.793583 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.532] If point is visible? -338140468.520251, -114904761.263255, 342154539.591671 mu:0.000000 unit_bearing:0.535854 -0.314905 0.783387 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.532] If point is visible? -420451085.875900, -137808459.953615, 221001181.678692 mu:0.000000 unit_bearing:0.262923 -0.331016 0.906256 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] If point is visible? -333011091.456276, -131380460.022891, 341254446.516895 mu:0.000000 unit_bearing:0.531789 -0.347747 0.772187 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.532] If point is visible? -327694532.256704, -130378474.148218, 346741339.596951 mu:0.000000 unit_bearing:0.544674 -0.347088 0.763453 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.532] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -326618112.903690, -130177507.495417, 347830755.459369 mu:0.000000 unit_bearing:0.547239 -0.346953 0.761677 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -368346821.608520, -116331465.407552, 308867963.269767 mu:0.000000 unit_bearing:0.459504 -0.309566 0.832481 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -367416429.682566, -116143023.282609, 310044795.005048 mu:0.000000 unit_bearing:0.462191 -0.309478 0.831025 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -354566264.369559, -114710502.886385, 325170838.590411 mu:0.000000 unit_bearing:0.496783 -0.310330 0.810495 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -353574462.861915, -114520020.521721, 326315910.863838 mu:0.000000 unit_bearing:0.499428 -0.310230 0.808906 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -419084322.561774, -139718016.212722, 222393831.032383 mu:0.000000 unit_bearing:0.265674 -0.335191 0.903916 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -459630367.652294, -180190169.966504, -29719308.736063 mu:0.000000 unit_bearing:-0.256700 -0.354289 0.899213 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -351074752.103473, -132710695.775241, 322096568.180950 mu:0.000000 unit_bearing:0.487495 -0.345696 0.801775 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -350094727.214191, -132514533.019007, 323241999.262848 mu:0.000000 unit_bearing:0.490138 -0.345585 0.800210 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -324171794.758761, -127552704.051269, 351076579.610030 mu:0.000000 unit_bearing:0.555121 -0.342486 0.757987 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -323768480.794233, -128563340.787236, 351080115.968547 mu:0.000000 unit_bearing:0.555018 -0.344515 0.757143 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -462985674.164327, -169314395.639236, 39858631.222894 mu:0.000000 unit_bearing:-0.117484 -0.349608 0.929501 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -367991359.709119, -117364261.168987, 308900953.295954 mu:0.000000 unit_bearing:0.459438 -0.311647 0.831741 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -367060884.521282, -117175502.102379, 310077439.245773 mu:0.000000 unit_bearing:0.462124 -0.311558 0.830285 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -326996809.354227, -113978997.354343, 353119929.220008 mu:0.000000 unit_bearing:0.561516 -0.315749 0.764854 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -325895142.430389, -113783558.329088, 354199756.595932 mu:0.000000 unit_bearing:0.564070 -0.315623 0.763025 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -440936601.882329, -180920430.925519, -132115556.713823 mu:0.000000 unit_bearing:-0.453258 -0.330523 0.827835 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -441413343.877105, -180791953.352633, -130691770.902966 mu:0.000000 unit_bearing:-0.450569 -0.330616 0.829265 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -363916525.485250, -128697704.707276, 309214283.062969 mu:0.000000 unit_bearing:0.458670 -0.334468 0.823257 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.533] If point is visible? -425590027.803148, -126637428.934731, 217825387.359883 mu:0.000000 unit_bearing:0.257630 -0.307815 0.915902 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -417069781.321679, -141442437.164088, 225074752.095066 mu:0.000000 unit_bearing:0.271236 -0.339312 0.900721 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -465581184.939857, -145212485.950392, 82214984.586634 mu:0.000000 unit_bearing:-0.028672 -0.311676 0.949756 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -425929955.298760, -125586735.947666, 217769268.916209 mu:0.000000 unit_bearing:0.257660 -0.305692 0.916604 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -411914661.838594, -112675894.637158, 249483994.848599 mu:0.000000 unit_bearing:0.328262 -0.287597 0.899740 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -411592811.041948, -113725004.446952, 249539156.882644 mu:0.000000 unit_bearing:0.328224 -0.289716 0.899074 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -412234047.784984, -111626469.357425, 249428207.588951 mu:0.000000 unit_bearing:0.328299 -0.285477 0.900401 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -449742093.531879, -154352565.347895, -136085063.124779 mu:0.000000 unit_bearing:-0.457610 -0.276228 0.845157 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -430356727.425618, -103976201.988675, 220440119.147616 mu:0.000000 unit_bearing:0.266713 -0.262982 0.927203 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -430688399.551866, -105209851.636691, 219203556.449715 mu:0.000000 unit_bearing:0.263855 -0.265153 0.927402 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -418831257.317569, -102008190.822082, 242459308.859692 mu:0.000000 unit_bearing:0.314633 -0.264458 0.911630 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -420798143.035357, -100256732.694347, 239769305.626558 mu:0.000000 unit_bearing:0.309075 -0.260280 0.914728 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -419818122.552674, -101132796.489641, 241115555.292463 mu:0.000000 unit_bearing:0.311855 -0.262370 0.913186 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -419123281.524270, -100954629.441072, 242395641.941865 mu:0.000000 unit_bearing:0.314665 -0.262328 0.912234 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -429387489.254762, -102565297.202743, 222976575.971148 mu:0.000000 unit_bearing:0.272401 -0.260775 0.926172 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -429038515.663737, -101331680.594846, 224208947.492345 mu:0.000000 unit_bearing:0.275256 -0.258603 0.925936 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -469160491.732662, -120180581.105677, -100283949.111867 mu:0.000000 unit_bearing:-0.384965 -0.216472 0.897186 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -484247459.308891, -85395383.166829, 53139779.994748 mu:0.000000 unit_bearing:-0.077936 -0.184469 0.979743 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -485601170.671290, -81974833.866905, 45644705.999145 mu:0.000000 unit_bearing:-0.092392 -0.175757 0.980088 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -485494461.593139, -81803925.231449, 47064371.979095 mu:0.000000 unit_bearing:-0.089505 -0.175764 0.980355 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -464891787.193876, -6043096.075062, 168673995.417695 mu:0.000000 unit_bearing:0.176484 -0.053690 0.982838 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -465549031.467042, 13242909.131192, 166434774.606322 mu:0.000000 unit_bearing:0.176519 -0.014435 0.984191 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -458421121.923666, 44265769.985310, 180284292.506050 mu:0.000000 unit_bearing:0.213856 0.044411 0.975855 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -457877233.135592, 44427908.169823, 181621611.859592 mu:0.000000 unit_bearing:0.216724 0.044406 0.975222 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -493759019.574150, 28480305.542744, -1646909.844204 mu:0.000000 unit_bearing:-0.161879 0.057561 0.985130 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -493699042.512022, 29371611.262617, -3220776.483843 mu:0.000000 unit_bearing:-0.164757 0.059738 0.984523 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -493695688.135467, 29549656.441729, -1787413.578145 mu:0.000000 unit_bearing:-0.161876 0.059742 0.985001 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -453373976.130575, 69754448.459857, 184927456.672710 mu:0.000000 unit_bearing:0.230931 0.094418 0.968378 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -451540725.292611, 81609546.968344, 184560734.691954 mu:0.000000 unit_bearing:0.233700 0.118300 0.965085 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -464466507.914294, 81712283.057603, 149016023.847245 mu:0.000000 unit_bearing:0.159047 0.127264 0.979034 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -465913888.923672, 77128160.648969, 146926187.190557 mu:0.000000 unit_bearing:0.153312 0.118580 0.981037 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -452546367.017914, 82357565.779142, 181743848.868866 mu:0.000000 unit_bearing:0.227970 0.120495 0.966183 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -451981086.370044, 82514796.411454, 183074344.136363 mu:0.000000 unit_bearing:0.230831 0.120483 0.965506 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -451411632.946630, 82671798.194047, 184403690.223458 mu:0.000000 unit_bearing:0.233691 0.120470 0.964819 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -452281185.660790, 84481984.789261, 181428588.946795 mu:0.000000 unit_bearing:0.227952 0.124836 0.965637 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -451715854.580075, 84638971.088812, 182758969.241152 mu:0.000000 unit_bearing:0.230812 0.124823 0.964959 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -452414959.200881, 83419871.656350, 181586451.168501 mu:0.000000 unit_bearing:0.227961 0.122666 0.965912 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -451849653.545805, 83576980.314482, 182916889.586764 mu:0.000000 unit_bearing:0.230822 0.122653 0.965234 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -451280174.767841, 83733858.465457, 184246178.663827 mu:0.000000 unit_bearing:0.233681 0.122640 0.964548 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.533] If point is visible? -389663352.098432, 245605834.700592, 180144540.714820 mu:0.000000 unit_bearing:0.285557 0.448502 0.846938 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -388996440.815156, 245724064.085190, 181420128.209942 mu:0.000000 unit_bearing:0.288333 0.448425 0.846037 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -437500229.517015, 230646847.023392, 2718578.554660 mu:0.000000 unit_bearing:-0.085252 0.462201 0.882668 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -437393360.804921, 230828798.615621, 4113780.762691 mu:0.000000 unit_bearing:-0.082411 0.462222 0.882927 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -437282169.718788, 231010324.476223, 5508499.816246 mu:0.000000 unit_bearing:-0.079569 0.462243 0.883176 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -351870035.620332, -130667006.605701, 322064311.883035 mu:0.000000 unit_bearing:0.487661 -0.341587 0.803433 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -349905932.077264, -130275967.904976, 324354467.297001 mu:0.000000 unit_bearing:0.492947 -0.341366 0.800295 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -347924315.692869, -129884255.919730, 326635209.654908 mu:0.000000 unit_bearing:0.498220 -0.341142 0.797119 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -327145056.252625, -125929264.186681, 348897896.480804 mu:0.000000 unit_bearing:0.550207 -0.338691 0.763257 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -324970903.853611, -125529896.115618, 351066897.340360 mu:0.000000 unit_bearing:0.555326 -0.338424 0.759660 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -458913987.573276, -181530268.957367, -32504199.642070 mu:0.000000 unit_bearing:-0.262297 -0.356292 0.896803 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -327694532.256704, -130378474.148218, 346741339.596951 mu:0.000000 unit_bearing:0.544674 -0.347088 0.763453 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -350492203.254554, -117217260.802155, 328674822.278564 mu:0.000000 unit_bearing:0.504474 -0.316224 0.803435 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -328503147.128140, -128354212.962694, 346731434.858611 mu:0.000000 unit_bearing:0.544875 -0.343023 0.765145 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -416432222.743075, -141259472.035656, 226366461.683149 mu:0.000000 unit_bearing:0.274050 -0.339263 0.899887 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -415144318.833879, -140893162.644284, 228945672.188653 mu:0.000000 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -463852854.655583, -154659450.843958, 74382746.850205 mu:0.000000 unit_bearing:-0.045888 -0.328705 0.943317 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -463507073.252534, -154321856.608639, 77186573.666710 mu:0.000000 unit_bearing:-0.040142 -0.328718 0.943575 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -457057250.246877, -169964422.493092, -82598877.800561 mu:0.000000 unit_bearing:-0.358004 -0.320738 0.876904 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -457878952.895262, -166108458.378831, -85829214.611237 mu:0.000000 unit_bearing:-0.363736 -0.312203 0.877625 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -328067183.308788, -117418893.092923, 350993641.478642 mu:0.000000 unit_bearing:0.556113 -0.322128 0.766140 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -431033916.543959, -108732875.670281, 216791914.257029 mu:0.000000 unit_bearing:0.258110 -0.271628 0.927145 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -429800970.639162, -108377414.126698, 219402076.779606 mu:0.000000 unit_bearing:0.263776 -0.271558 0.925569 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -428551091.752318, -108021707.005869, 222006941.612594 mu:0.000000 unit_bearing:0.269436 -0.271486 0.923958 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -417940487.212266, -105167215.868977, 242646688.436223 mu:0.000000 unit_bearing:0.314535 -0.270844 0.909787 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -458592134.093232, -164034060.000393, -86010994.865081 mu:0.000000 unit_bearing:-0.363831 -0.307996 0.879071 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -466549018.647177, -135394711.454840, 92801373.083505 mu:0.000000 unit_bearing:-0.005660 -0.294582 0.955609 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -429729900.355980, -103798890.785680, 221742671.946981 mu:0.000000 unit_bearing:0.269544 -0.262947 0.926394 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -428463539.463275, -103444107.309062, 224343757.578642 mu:0.000000 unit_bearing:0.275203 -0.262876 0.924749 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -347740966.153209, -118881978.274742, 330991095.458831 mu:0.000000 unit_bearing:0.509576 -0.320136 0.798652 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -429145385.693470, -105910840.668120, 221875959.305166 mu:0.000000 unit_bearing:0.269491 -0.267218 0.925186 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -427878792.431385, -105555474.206305, 224476257.995229 mu:0.000000 unit_bearing:0.275148 -0.267145 0.923540 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -471354833.958532, -121932767.104605, -86999024.922717 mu:0.000000 unit_bearing:-0.359834 -0.223262 0.905910 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -469699171.035439, -126446096.600327, -89475599.527231 mu:0.000000 unit_bearing:-0.365277 -0.231709 0.901600 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -469258079.530030, -121075643.486025, -98738811.404066 mu:0.000000 unit_bearing:-0.382157 -0.218649 0.897858 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -485789980.586043, -80905851.786971, 45542808.865678 mu:0.000000 unit_bearing:-0.092397 -0.173587 0.980475 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -486515149.736364, -86577822.315596, -20471914.600169 mu:0.000000 unit_bearing:-0.224665 -0.168703 0.959721 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -486160440.372172, -78767471.093723, 45337856.644170 mu:0.000000 unit_bearing:-0.092407 -0.169245 0.981232 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -493491534.749873, 32757084.205888, -2210902.811586 mu:0.000000 unit_bearing:-0.161867 0.066283 0.984584 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -493632444.982185, 30262583.305477, -4795293.436094 mu:0.000000 unit_bearing:-0.167635 0.061914 0.983903 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -388817803.393252, 83510609.636322, 294038268.606361 mu:0.000000 unit_bearing:0.471853 0.095139 0.876529 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -433698060.466055, 81827483.316611, 223208568.096691 mu:0.000000 unit_bearing:0.316222 0.109214 0.942378 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -454341569.666510, 89004165.071892, 173964956.861824 mu:0.000000 unit_bearing:0.213589 0.135750 0.967446 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -461529929.941646, 86774586.301046, 155151875.531913 mu:0.000000 unit_bearing:0.173405 0.135912 0.975427 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -462778409.272778, 84325657.274879, 152764973.002558 mu:0.000000 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -475594876.846809, 125951905.387660, 50571139.785360 mu:0.000000 unit_bearing:-0.028762 0.240304 0.970272 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -384528085.116993, 244675468.253781, 192051754.872470 mu:0.000000 unit_bearing:0.310617 0.443700 0.840623 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -461809015.526329, -164073410.960297, 66514348.309116 mu:0.000000 unit_bearing:-0.063063 -0.345658 0.936239 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -461203444.243364, -163403017.384116, 72129373.106542 mu:0.000000 unit_bearing:-0.051584 -0.345696 0.936927 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -418455411.766995, -139535618.917361, 223688821.735006 mu:0.000000 unit_bearing:0.268492 -0.335144 0.903101 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -415897183.354137, -138804811.205543, 228854903.416981 mu:0.000000 unit_bearing:0.279751 -0.334950 0.899749 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -369270495.086664, -127597016.452675, 303265745.539704 mu:0.000000 unit_bearing:0.445370 -0.330794 0.831998 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -350251926.916538, -123750661.156639, 326528974.405847 mu:0.000000 unit_bearing:0.498720 -0.328807 0.801975 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -419930185.967049, -135351682.115080, 223495795.519540 mu:0.000000 unit_bearing:0.268632 -0.326700 0.906148 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -417373015.658418, -134623461.199474, 228665911.425952 mu:0.000000 unit_bearing:0.279898 -0.326512 0.902799 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -414747662.815317, -133893416.022972, 233813470.290123 mu:0.000000 unit_bearing:0.291143 -0.326316 0.899307 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -351753599.029257, -119652488.899573, 326442180.242952 mu:0.000000 unit_bearing:0.499041 -0.320561 0.805108 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -442524638.437767, -209792687.819735, 69070848.073371 mu:0.000000 unit_bearing:-0.062648 -0.438039 0.896770 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] If point is visible? -348710209.360736, -127841593.727506, 326603010.355257 mu:0.000000 unit_bearing:0.498389 -0.337035 0.798759 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.534] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.534] If point is visible? -429145385.693470, -105910840.668120, 221875959.305166 mu:0.000000 unit_bearing:0.269491 -0.267218 0.925186 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.535] If point is visible? -426595238.272375, -105199877.874934, 227071129.670469 mu:0.000000 unit_bearing:0.280800 -0.267071 0.921859 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.535] If point is visible? -414811630.070331, -115678270.275096, 243231697.973686 mu:0.000000 unit_bearing:0.314187 -0.292082 0.903313 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.535] If point is visible? -426709423.098738, -114347533.090560, 222385969.579897 mu:0.000000 unit_bearing:0.269267 -0.284275 0.920154 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.535] If point is visible? -424157350.243361, -113631780.784937, 227574537.640080 mu:0.000000 unit_bearing:0.280565 -0.284117 0.916821 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.535] If point is visible? -421537292.178931, -112914858.243071, 232740962.537994 mu:0.000000 unit_bearing:0.291842 -0.283951 0.913346 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.535] If point is visible? -416092689.960498, -111477488.396287, 243005046.236944 mu:0.000000 unit_bearing:0.314330 -0.283596 0.905964 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.535] If point is visible? -444482617.722079, -205677442.113927, 68875263.256564 mu:0.000000 unit_bearing:-0.062691 -0.429732 0.900777 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.535] If point is visible? -443886778.805663, -205017618.809532, 74458801.493495 mu:0.000000 unit_bearing:-0.051281 -0.429784 0.901474 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.535] If point is visible? -425395906.626841, -109418118.311206, 227327533.664565 mu:0.000000 unit_bearing:0.280685 -0.275600 0.919381 T_cur_ref: x=0.104491 y=0.000000 z=0.023354 +[21:40:54.535] init seeds +[21:40:54.535] DepthFilter: Initialized 0 new seeds +[21:40:54.537] DepthFilter: Initialized 0 new seeds +[21:40:54.947] add new frame +[21:40:54.947] update seed +[21:40:54.947] If point is visible? -1.075332, -0.651597, 0.930269 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.115513 y=0.000000 z=0.025829 +[21:40:54.947] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.947] If point is visible? -1.068782, 0.220165, 1.125682 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.115513 y=0.000000 z=0.025829 +[21:40:54.947] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.947] If point is visible? -1.075332, -0.651597, 0.930269 mu:0.613059 unit_bearing:0.375489 -0.464063 0.802280 T_cur_ref: x=0.115513 y=0.000000 z=0.025829 +[21:40:54.947] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.947] If point is visible? -1.068782, 0.220165, 1.125682 mu:0.613059 unit_bearing:0.557706 0.051794 0.828421 T_cur_ref: x=0.115513 y=0.000000 z=0.025829 +[21:40:54.947] Z inverse min: 1.214198, Z inverse max: 0.011919 +[21:40:54.947] If point is visible? -354192778.913599, 63214356.397420, 339357083.437482 mu:0.000000 unit_bearing:0.568218 0.043240 0.821741 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.947] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.947] add key frame +[21:40:54.947] init seeds +[21:40:54.947] remove key frame +[21:40:54.947] update seed +[21:40:54.947] If point is visible? -354192778.913599, 63214356.397420, 339357083.437482 mu:0.000000 unit_bearing:0.568218 0.043240 0.821741 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.947] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.947] If point is visible? -353975276.001568, 67369988.803086, 338783999.263214 mu:0.000000 unit_bearing:0.568167 0.051721 0.821286 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.947] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.947] If point is visible? -353718877.264626, 71523024.222996, 338199974.040756 mu:0.000000 unit_bearing:0.568106 0.060200 0.820750 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.947] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.947] If point is visible? -364126690.198684, -125420557.098108, 310311532.023823 mu:0.000000 unit_bearing:0.461567 -0.328162 0.824176 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.947] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.947] If point is visible? -463600873.243987, -165019949.391267, 49542468.247638 mu:0.000000 unit_bearing:-0.097482 -0.343376 0.934125 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.947] If point is visible? -462585449.037605, -172870327.619456, 27246315.278973 mu:0.000000 unit_bearing:-0.143174 -0.353636 0.924361 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.947] If point is visible? -462560135.930840, -172708552.808475, 28665065.208071 mu:0.000000 unit_bearing:-0.140319 -0.353661 0.924789 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.947] If point is visible? -463167892.723388, -167775230.940029, 44031631.388901 mu:0.000000 unit_bearing:-0.108912 -0.347547 0.931316 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.947] If point is visible? -458555963.192062, -164926306.654963, -84484031.143880 mu:0.000000 unit_bearing:-0.361013 -0.310163 0.879471 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.947] If point is visible? -364104711.747347, -119890699.636482, 312515261.369730 mu:0.000000 unit_bearing:0.467280 -0.317607 0.825091 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.947] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -465084080.763002, -147492316.910222, 80960631.199879 mu:0.000000 unit_bearing:-0.031542 -0.315942 0.948254 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -355452405.252382, -118175043.899964, 322955192.196860 mu:0.000000 unit_bearing:0.491259 -0.316737 0.811383 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -344395266.260927, -116063471.229475, 335459357.886580 mu:0.000000 unit_bearing:0.520225 -0.315580 0.793583 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -338140468.514023, -114904761.263255, 342154539.593321 mu:0.000000 unit_bearing:0.535854 -0.314905 0.783387 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -420451085.869672, -137808459.953615, 221001181.680343 mu:0.000000 unit_bearing:0.262923 -0.331016 0.906256 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -333011091.450048, -131380460.022891, 341254446.518545 mu:0.000000 unit_bearing:0.531789 -0.347747 0.772187 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -327694532.250476, -130378474.148218, 346741339.598602 mu:0.000000 unit_bearing:0.544674 -0.347088 0.763453 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -326618112.897462, -130177507.495417, 347830755.461019 mu:0.000000 unit_bearing:0.547239 -0.346953 0.761677 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -368346821.602292, -116331465.407552, 308867963.271418 mu:0.000000 unit_bearing:0.459504 -0.309566 0.832481 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -367416429.676338, -116143023.282609, 310044795.006698 mu:0.000000 unit_bearing:0.462191 -0.309478 0.831025 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -354566264.363331, -114710502.886385, 325170838.592062 mu:0.000000 unit_bearing:0.496783 -0.310330 0.810495 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -353574462.855687, -114520020.521721, 326315910.865489 mu:0.000000 unit_bearing:0.499428 -0.310230 0.808906 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -419084322.555546, -139718016.212722, 222393831.034033 mu:0.000000 unit_bearing:0.265674 -0.335191 0.903916 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -459630367.646067, -180190169.966504, -29719308.734412 mu:0.000000 unit_bearing:-0.256700 -0.354289 0.899213 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -351074752.097246, -132710695.775241, 322096568.182600 mu:0.000000 unit_bearing:0.487495 -0.345696 0.801775 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -350094727.207963, -132514533.019007, 323241999.264498 mu:0.000000 unit_bearing:0.490138 -0.345585 0.800210 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -324171794.752533, -127552704.051269, 351076579.611680 mu:0.000000 unit_bearing:0.555121 -0.342486 0.757987 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -323768480.788005, -128563340.787236, 351080115.970197 mu:0.000000 unit_bearing:0.555018 -0.344515 0.757143 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -462985674.158099, -169314395.639236, 39858631.224545 mu:0.000000 unit_bearing:-0.117484 -0.349608 0.929501 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -367991359.702891, -117364261.168987, 308900953.297604 mu:0.000000 unit_bearing:0.459438 -0.311647 0.831741 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -367060884.515054, -117175502.102379, 310077439.247424 mu:0.000000 unit_bearing:0.462124 -0.311558 0.830285 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -326996809.348000, -113978997.354343, 353119929.221658 mu:0.000000 unit_bearing:0.561516 -0.315749 0.764854 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -325895142.424162, -113783558.329088, 354199756.597582 mu:0.000000 unit_bearing:0.564070 -0.315623 0.763025 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -440936601.876101, -180920430.925519, -132115556.712173 mu:0.000000 unit_bearing:-0.453258 -0.330523 0.827835 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -441413343.870877, -180791953.352633, -130691770.901316 mu:0.000000 unit_bearing:-0.450569 -0.330616 0.829265 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -363916525.479022, -128697704.707276, 309214283.064619 mu:0.000000 unit_bearing:0.458670 -0.334468 0.823257 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.948] If point is visible? -425590027.796920, -126637428.934731, 217825387.361534 mu:0.000000 unit_bearing:0.257630 -0.307815 0.915902 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -417069781.315451, -141442437.164088, 225074752.096717 mu:0.000000 unit_bearing:0.271236 -0.339312 0.900721 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -465581184.933630, -145212485.950392, 82214984.588284 mu:0.000000 unit_bearing:-0.028672 -0.311676 0.949756 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -425929955.292532, -125586735.947666, 217769268.917859 mu:0.000000 unit_bearing:0.257660 -0.305692 0.916604 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -411914661.832367, -112675894.637158, 249483994.850249 mu:0.000000 unit_bearing:0.328262 -0.287597 0.899740 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -411592811.035720, -113725004.446952, 249539156.884295 mu:0.000000 unit_bearing:0.328224 -0.289716 0.899074 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -412234047.778756, -111626469.357425, 249428207.590602 mu:0.000000 unit_bearing:0.328299 -0.285477 0.900401 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -449742093.525651, -154352565.347895, -136085063.123129 mu:0.000000 unit_bearing:-0.457610 -0.276228 0.845157 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -430356727.419390, -103976201.988675, 220440119.149266 mu:0.000000 unit_bearing:0.266713 -0.262982 0.927203 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -430688399.545638, -105209851.636691, 219203556.451365 mu:0.000000 unit_bearing:0.263855 -0.265153 0.927402 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -418831257.311341, -102008190.822082, 242459308.861342 mu:0.000000 unit_bearing:0.314633 -0.264458 0.911630 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -420798143.029130, -100256732.694347, 239769305.628208 mu:0.000000 unit_bearing:0.309075 -0.260280 0.914728 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -419818122.546447, -101132796.489641, 241115555.294113 mu:0.000000 unit_bearing:0.311855 -0.262370 0.913186 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -419123281.518042, -100954629.441072, 242395641.943515 mu:0.000000 unit_bearing:0.314665 -0.262328 0.912234 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.948] If point is visible? -429387489.248535, -102565297.202743, 222976575.972799 mu:0.000000 unit_bearing:0.272401 -0.260775 0.926172 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -429038515.657509, -101331680.594846, 224208947.493996 mu:0.000000 unit_bearing:0.275256 -0.258603 0.925936 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -469160491.726434, -120180581.105677, -100283949.110217 mu:0.000000 unit_bearing:-0.384965 -0.216472 0.897186 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -484247459.302663, -85395383.166829, 53139779.996399 mu:0.000000 unit_bearing:-0.077936 -0.184469 0.979743 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -485601170.665063, -81974833.866905, 45644706.000795 mu:0.000000 unit_bearing:-0.092392 -0.175757 0.980088 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -485494461.586912, -81803925.231449, 47064371.980746 mu:0.000000 unit_bearing:-0.089505 -0.175764 0.980355 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -464891787.187648, -6043096.075062, 168673995.419345 mu:0.000000 unit_bearing:0.176484 -0.053690 0.982838 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -465549031.460815, 13242909.131192, 166434774.607972 mu:0.000000 unit_bearing:0.176519 -0.014435 0.984191 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -458421121.917438, 44265769.985310, 180284292.507700 mu:0.000000 unit_bearing:0.213856 0.044411 0.975855 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -457877233.129365, 44427908.169823, 181621611.861242 mu:0.000000 unit_bearing:0.216724 0.044406 0.975222 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -493759019.567923, 28480305.542744, -1646909.842553 mu:0.000000 unit_bearing:-0.161879 0.057561 0.985130 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -493699042.505794, 29371611.262617, -3220776.482193 mu:0.000000 unit_bearing:-0.164757 0.059738 0.984523 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -493695688.129239, 29549656.441729, -1787413.576495 mu:0.000000 unit_bearing:-0.161876 0.059742 0.985001 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -453373976.124348, 69754448.459857, 184927456.674360 mu:0.000000 unit_bearing:0.230931 0.094418 0.968378 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -451540725.286383, 81609546.968344, 184560734.693605 mu:0.000000 unit_bearing:0.233700 0.118300 0.965085 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -464466507.908067, 81712283.057603, 149016023.848895 mu:0.000000 unit_bearing:0.159047 0.127264 0.979034 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -465913888.917445, 77128160.648969, 146926187.192207 mu:0.000000 unit_bearing:0.153312 0.118580 0.981037 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -452546367.011686, 82357565.779142, 181743848.870517 mu:0.000000 unit_bearing:0.227970 0.120495 0.966183 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -451981086.363816, 82514796.411454, 183074344.138013 mu:0.000000 unit_bearing:0.230831 0.120483 0.965506 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -451411632.940402, 82671798.194047, 184403690.225108 mu:0.000000 unit_bearing:0.233691 0.120470 0.964819 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -452281185.654562, 84481984.789261, 181428588.948446 mu:0.000000 unit_bearing:0.227952 0.124836 0.965637 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -451715854.573847, 84638971.088812, 182758969.242802 mu:0.000000 unit_bearing:0.230812 0.124823 0.964959 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -452414959.194654, 83419871.656350, 181586451.170152 mu:0.000000 unit_bearing:0.227961 0.122666 0.965912 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -451849653.539578, 83576980.314482, 182916889.588414 mu:0.000000 unit_bearing:0.230822 0.122653 0.965234 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -451280174.761613, 83733858.465457, 184246178.665478 mu:0.000000 unit_bearing:0.233681 0.122640 0.964548 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -389663352.092204, 245605834.700592, 180144540.716470 mu:0.000000 unit_bearing:0.285557 0.448502 0.846938 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -388996440.808928, 245724064.085190, 181420128.211592 mu:0.000000 unit_bearing:0.288333 0.448425 0.846037 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -437500229.510787, 230646847.023392, 2718578.556310 mu:0.000000 unit_bearing:-0.085252 0.462201 0.882668 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -437393360.798693, 230828798.615621, 4113780.764341 mu:0.000000 unit_bearing:-0.082411 0.462222 0.882927 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -437282169.712560, 231010324.476223, 5508499.817896 mu:0.000000 unit_bearing:-0.079569 0.462243 0.883176 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -351870035.614104, -130667006.605701, 322064311.884686 mu:0.000000 unit_bearing:0.487661 -0.341587 0.803433 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.949] If point is visible? -349905932.071036, -130275967.904976, 324354467.298651 mu:0.000000 unit_bearing:0.492947 -0.341366 0.800295 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.949] If point is visible? -347924315.686642, -129884255.919730, 326635209.656558 mu:0.000000 unit_bearing:0.498220 -0.341142 0.797119 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.949] If point is visible? -327145056.246397, -125929264.186681, 348897896.482454 mu:0.000000 unit_bearing:0.550207 -0.338691 0.763257 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.949] If point is visible? -324970903.847383, -125529896.115618, 351066897.342010 mu:0.000000 unit_bearing:0.555326 -0.338424 0.759660 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.949] If point is visible? -458913987.567048, -181530268.957367, -32504199.640420 mu:0.000000 unit_bearing:-0.262297 -0.356292 0.896803 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -327694532.250476, -130378474.148218, 346741339.598602 mu:0.000000 unit_bearing:0.544674 -0.347088 0.763453 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.949] If point is visible? -350492203.248326, -117217260.802155, 328674822.280214 mu:0.000000 unit_bearing:0.504474 -0.316224 0.803435 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.949] If point is visible? -328503147.121913, -128354212.962694, 346731434.860261 mu:0.000000 unit_bearing:0.544875 -0.343023 0.765145 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.949] If point is visible? -416432222.736847, -141259472.035656, 226366461.684800 mu:0.000000 unit_bearing:0.274050 -0.339263 0.899887 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -415144318.827652, -140893162.644284, 228945672.190303 mu:0.000000 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -463852854.649356, -154659450.843958, 74382746.851855 mu:0.000000 unit_bearing:-0.045888 -0.328705 0.943317 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -463507073.246306, -154321856.608639, 77186573.668360 mu:0.000000 unit_bearing:-0.040142 -0.328718 0.943575 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -457057250.240649, -169964422.493092, -82598877.798911 mu:0.000000 unit_bearing:-0.358004 -0.320738 0.876904 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -457878952.889035, -166108458.378831, -85829214.609586 mu:0.000000 unit_bearing:-0.363736 -0.312203 0.877625 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -328067183.302560, -117418893.092923, 350993641.480292 mu:0.000000 unit_bearing:0.556113 -0.322128 0.766140 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.949] If point is visible? -431033916.537731, -108732875.670281, 216791914.258679 mu:0.000000 unit_bearing:0.258110 -0.271628 0.927145 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -429800970.632935, -108377414.126698, 219402076.781256 mu:0.000000 unit_bearing:0.263776 -0.271558 0.925569 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -428551091.746090, -108021707.005869, 222006941.614244 mu:0.000000 unit_bearing:0.269436 -0.271486 0.923958 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -417940487.206039, -105167215.868977, 242646688.437873 mu:0.000000 unit_bearing:0.314535 -0.270844 0.909787 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -458592134.087004, -164034060.000393, -86010994.863431 mu:0.000000 unit_bearing:-0.363831 -0.307996 0.879071 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -466549018.640949, -135394711.454840, 92801373.085155 mu:0.000000 unit_bearing:-0.005660 -0.294582 0.955609 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -429729900.349752, -103798890.785680, 221742671.948631 mu:0.000000 unit_bearing:0.269544 -0.262947 0.926394 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -428463539.457047, -103444107.309062, 224343757.580292 mu:0.000000 unit_bearing:0.275203 -0.262876 0.924749 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -347740966.146982, -118881978.274742, 330991095.460482 mu:0.000000 unit_bearing:0.509576 -0.320136 0.798652 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.949] If point is visible? -429145385.687242, -105910840.668120, 221875959.306816 mu:0.000000 unit_bearing:0.269491 -0.267218 0.925186 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -427878792.425157, -105555474.206305, 224476257.996879 mu:0.000000 unit_bearing:0.275148 -0.267145 0.923540 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -471354833.952304, -121932767.104605, -86999024.921067 mu:0.000000 unit_bearing:-0.359834 -0.223262 0.905910 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.949] If point is visible? -469699171.029211, -126446096.600327, -89475599.525581 mu:0.000000 unit_bearing:-0.365277 -0.231709 0.901600 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -469258079.523802, -121075643.486025, -98738811.402416 mu:0.000000 unit_bearing:-0.382157 -0.218649 0.897858 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -485789980.579815, -80905851.786971, 45542808.867328 mu:0.000000 unit_bearing:-0.092397 -0.173587 0.980475 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -486515149.730136, -86577822.315596, -20471914.598519 mu:0.000000 unit_bearing:-0.224665 -0.168703 0.959721 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -486160440.365944, -78767471.093723, 45337856.645820 mu:0.000000 unit_bearing:-0.092407 -0.169245 0.981232 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -493491534.743645, 32757084.205888, -2210902.809936 mu:0.000000 unit_bearing:-0.161867 0.066283 0.984584 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -493632444.975957, 30262583.305477, -4795293.434444 mu:0.000000 unit_bearing:-0.167635 0.061914 0.983903 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -388817803.387025, 83510609.636322, 294038268.608012 mu:0.000000 unit_bearing:0.471853 0.095139 0.876529 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.950] If point is visible? -433698060.459828, 81827483.316611, 223208568.098341 mu:0.000000 unit_bearing:0.316222 0.109214 0.942378 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -454341569.660283, 89004165.071892, 173964956.863474 mu:0.000000 unit_bearing:0.213589 0.135750 0.967446 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -461529929.935418, 86774586.301046, 155151875.533563 mu:0.000000 unit_bearing:0.173405 0.135912 0.975427 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -462778409.266551, 84325657.274879, 152764973.004208 mu:0.000000 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -475594876.840582, 125951905.387660, 50571139.787010 mu:0.000000 unit_bearing:-0.028762 0.240304 0.970272 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -384528085.110765, 244675468.253781, 192051754.874120 mu:0.000000 unit_bearing:0.310617 0.443700 0.840623 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -461809015.520101, -164073410.960297, 66514348.310766 mu:0.000000 unit_bearing:-0.063063 -0.345658 0.936239 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -461203444.237137, -163403017.384116, 72129373.108192 mu:0.000000 unit_bearing:-0.051584 -0.345696 0.936927 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -418455411.760767, -139535618.917361, 223688821.736656 mu:0.000000 unit_bearing:0.268492 -0.335144 0.903101 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -415897183.347910, -138804811.205543, 228854903.418632 mu:0.000000 unit_bearing:0.279751 -0.334950 0.899749 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -369270495.080436, -127597016.452675, 303265745.541354 mu:0.000000 unit_bearing:0.445370 -0.330794 0.831998 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.950] If point is visible? -350251926.910311, -123750661.156639, 326528974.407498 mu:0.000000 unit_bearing:0.498720 -0.328807 0.801975 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.950] If point is visible? -419930185.960821, -135351682.115080, 223495795.521190 mu:0.000000 unit_bearing:0.268632 -0.326700 0.906148 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -417373015.652191, -134623461.199474, 228665911.427602 mu:0.000000 unit_bearing:0.279898 -0.326512 0.902799 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -414747662.809090, -133893416.022972, 233813470.291774 mu:0.000000 unit_bearing:0.291143 -0.326316 0.899307 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] If point is visible? -351753599.023029, -119652488.899573, 326442180.244603 mu:0.000000 unit_bearing:0.499041 -0.320561 0.805108 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:54.950] If point is visible? -442524638.431539, -209792687.819735, 69070848.075021 mu:0.000000 unit_bearing:-0.062648 -0.438039 0.896770 T_cur_ref: x=0.110719 y=0.000000 z=0.025004 +[21:40:54.950] init seeds +[21:40:54.950] DepthFilter: Initialized 2 new seeds +[21:40:54.952] DepthFilter: Initialized 2 new seeds +[21:40:55.375] add new frame +[21:40:55.375] update seed +[21:40:55.375] If point is visible? -354192778.907580, 63214356.397420, 339357083.439153 mu:0.000000 unit_bearing:0.568218 0.043240 0.821741 T_cur_ref: x=0.116738 y=0.000000 z=0.026675 +[21:40:55.375] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:55.375] If point is visible? -353975275.995549, 67369988.803086, 338783999.264885 mu:0.000000 unit_bearing:0.568167 0.051721 0.821286 T_cur_ref: x=0.116738 y=0.000000 z=0.026675 +[21:40:55.375] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:55.375] If point is visible? -353718877.258607, 71523024.222996, 338199974.042427 mu:0.000000 unit_bearing:0.568106 0.060200 0.820750 T_cur_ref: x=0.116738 y=0.000000 z=0.026675 +[21:40:55.375] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:55.375] If point is visible? -364126690.192664, -125420557.098108, 310311532.025494 mu:0.000000 unit_bearing:0.461567 -0.328162 0.824176 T_cur_ref: x=0.116738 y=0.000000 z=0.026675 +[21:40:55.375] add key frame +[21:40:55.375] Z inverse min: 0.530533, Z inverse max: 0.000000 +[21:40:55.375] remove key frame +[21:40:55.375] init seeds +[21:40:55.375] update seed +[21:40:55.375] If point is visible? -13318.971496, 3705.098758, 1319.336171 mu:0.000072 unit_bearing:-0.040284 0.253225 0.966568 T_cur_ref: x=0.110883 y=0.000000 z=0.025417 +[21:40:55.375] If point is visible? -13318.971496, 3705.098758, 1319.336171 mu:0.000072 unit_bearing:-0.040284 0.253225 0.966568 T_cur_ref: x=0.110883 y=0.000000 z=0.025417 +[21:40:55.375] If point is visible? -8430786266984.419922, -3261246553832.468750, -1002063408593.194214 mu:0.000000 unit_bearing:-0.324186 -0.342478 0.881823 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.375] If point is visible? -8101542578593.283203, 1286435688800.976562, 3927863071075.444336 mu:0.000000 unit_bearing:0.270924 0.087759 0.958592 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.375] If point is visible? -6618678060902.252930, -2521077070430.859863, 5705724175806.109375 mu:0.000000 unit_bearing:0.441966 -0.351584 0.825261 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.375] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.375] If point is visible? -7741760348313.606445, -2774822042541.893555, 3883751611625.265625 mu:0.000000 unit_bearing:0.220161 -0.354862 0.908627 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.375] If point is visible? -8295466419096.031250, -3438514336964.815918, -1442176578452.208740 mu:0.000000 unit_bearing:-0.370907 -0.355926 0.857756 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.375] If point is visible? -6701101131856.137695, -2497286736944.713867, 5619325565707.663086 mu:0.000000 unit_bearing:0.431318 -0.347830 0.832454 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.375] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.375] If point is visible? -6763254361116.059570, -2428442037611.545410, 5574861160253.680664 mu:0.000000 unit_bearing:0.426176 -0.339721 0.838429 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.375] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.375] If point is visible? -6382473582581.278320, -2392696970900.264648, 6021382682772.804688 mu:0.000000 unit_bearing:0.482363 -0.341803 0.806534 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.375] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.375] If point is visible? -8612081923730.503906, -2905502506386.832520, 328812049099.143738 mu:0.000000 unit_bearing:-0.180579 -0.321488 0.929536 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.375] If point is visible? -8531040272519.318359, -3048360872171.220215, -804279243153.597534 mu:0.000000 unit_bearing:-0.302250 -0.321896 0.897234 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.375] If point is visible? -6373446296511.450195, -2148784695743.770508, 6122084928855.631836 mu:0.000000 unit_bearing:0.496554 -0.316534 0.808233 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.375] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -8546721029210.367188, -3047982385911.525879, -617559926909.908081 mu:0.000000 unit_bearing:-0.282553 -0.324356 0.902750 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -6641787168721.309570, -2261002943834.798828, 5787274499509.997070 mu:0.000000 unit_bearing:0.453654 -0.324295 0.830079 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -8622528649853.426758, -2843037640035.977539, 535867426789.639832 mu:0.000000 unit_bearing:-0.157776 -0.317446 0.935059 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -6376687055891.264648, -2250177165233.041992, 6082152756680.154297 mu:0.000000 unit_bearing:0.490872 -0.327064 0.807510 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -6383565880901.433594, -2231302269758.150879, 6081890665283.504883 mu:0.000000 unit_bearing:0.490951 -0.325001 0.808295 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -6634973530834.645508, -2279972206261.215820, 5787648073535.514648 mu:0.000000 unit_bearing:0.453585 -0.326370 0.829303 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -8414720807681.368164, -3069515061806.117188, -1577519652308.091553 mu:0.000000 unit_bearing:-0.383017 -0.313843 0.868792 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8593104328333.780273, -2979315109450.860352, 16022492555.575350 mu:0.000000 unit_bearing:-0.214688 -0.325352 0.920899 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8632149188223.425781, -2792331130112.214844, 637890657839.223755 mu:0.000000 unit_bearing:-0.146371 -0.313279 0.938313 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8631151125284.917969, -2789321470701.466797, 664028030188.004028 mu:0.000000 unit_bearing:-0.143509 -0.313301 0.938748 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7756145394543.184570, -2459478377224.097168, 4063396605055.023438 mu:0.000000 unit_bearing:0.243272 -0.322855 0.914649 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7744678988610.967773, -2456187547058.356445, 4087188194387.711914 mu:0.000000 unit_bearing:0.246102 -0.322815 0.913906 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -6991292683410.729492, -2230759252539.697266, 5372481457519.923828 mu:0.000000 unit_bearing:0.402381 -0.315436 0.859412 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -7840770966267.064453, -2463140502643.432617, 3895287763192.848633 mu:0.000000 unit_bearing:0.223458 -0.321002 0.920339 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7829846479241.636719, -2459864360062.223633, 3919258690224.726562 mu:0.000000 unit_bearing:0.226296 -0.320966 0.919658 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7760957887665.348633, -2482070728256.590820, 4040405277334.914062 mu:0.000000 unit_bearing:0.240410 -0.325013 0.914642 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -6775106205816.049805, -2247085008423.058105, 5636183292276.123047 mu:0.000000 unit_bearing:0.434892 -0.320751 0.841420 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -6758226127037.085938, -2243656714905.195801, 5657773537425.608398 mu:0.000000 unit_bearing:0.437599 -0.320666 0.840048 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -8421353500005.711914, -3050473293916.275391, -1579061477696.092529 mu:0.000000 unit_bearing:-0.383069 -0.311744 0.869525 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -6988351036607.389648, -2189145651224.556152, 5393385610743.246094 mu:0.000000 unit_bearing:0.405230 -0.311175 0.859627 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -8156000398574.956055, -3173665851244.013672, -2474978747866.612305 mu:0.000000 unit_bearing:-0.475257 -0.313183 0.822221 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7029687458435.970703, -2115973068388.107422, 5368814529285.166016 mu:0.000000 unit_bearing:0.402707 -0.302860 0.863772 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -6997776214528.000977, -2109252312819.052979, 5412965912653.881836 mu:0.000000 unit_bearing:0.408187 -0.302718 0.861246 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -8447860551870.932617, -2957809153420.416992, -1613392186476.659912 mu:0.000000 unit_bearing:-0.386076 -0.301172 0.871918 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8641869498962.916016, -2681481770703.315430, 919654454444.127075 mu:0.000000 unit_bearing:-0.114909 -0.304958 0.945408 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8648008806761.416016, -2662070473910.785156, 918336381402.848755 mu:0.000000 unit_bearing:-0.114921 -0.302822 0.946093 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8479266853718.545898, -2845899904601.649414, -1649516473308.739014 mu:0.000000 unit_bearing:-0.389123 -0.288475 0.874852 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -6455747730655.423828, -1842129168560.904297, 6135788344114.703125 mu:0.000000 unit_bearing:0.500362 -0.283252 0.818172 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -7046450846299.143555, -1955915671421.948242, 5407396933486.146484 mu:0.000000 unit_bearing:0.408604 -0.285910 0.866775 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -8667468690231.732422, -2495332168168.424805, 1168897392269.814697 mu:0.000000 unit_bearing:-0.086269 -0.287983 0.953742 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7052331453170.122070, -1936720818354.680664, 5406639509499.241211 mu:0.000000 unit_bearing:0.408654 -0.283805 0.867443 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -7058166858404.145508, -1917520027225.554688, 5405868550326.907227 mu:0.000000 unit_bearing:0.408704 -0.281699 0.868105 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -8503096023414.315430, -2752947897288.445801, -1684236661134.459717 mu:0.000000 unit_bearing:-0.392113 -0.277865 0.876948 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8508943723342.903320, -2733801715400.062988, -1685889122438.857178 mu:0.000000 unit_bearing:-0.392158 -0.275754 0.877594 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8673173021850.481445, -2398870607967.500488, 1318903627477.514893 mu:0.000000 unit_bearing:-0.069037 -0.279466 0.957671 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8058532571172.697266, -1935784219419.190186, 3745772216045.086914 mu:0.000000 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7751124185858.145508, -1932966540922.415771, 4347612154548.556641 mu:0.000000 unit_bearing:0.280772 -0.269204 0.921247 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8284694183099.304688, -2708560248639.564453, -2597221767833.604492 mu:0.000000 unit_bearing:-0.484893 -0.260788 0.834787 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7784896947471.683594, -1858507748489.586426, 4319646479209.757812 mu:0.000000 unit_bearing:0.278057 -0.260704 0.924509 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7092606538066.774414, -1741184013296.540283, 5420445366140.335938 mu:0.000000 unit_bearing:0.411877 -0.262650 0.872566 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -7076479088860.630859, -1737910190257.906006, 5442529661362.922852 mu:0.000000 unit_bearing:0.414620 -0.262589 0.871285 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.376] If point is visible? -8063538200218.630859, -1874088470655.515625, 3766319335514.438477 mu:0.000000 unit_bearing:0.212793 -0.254990 0.943239 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7812765426054.577148, -1803404266304.015869, 4292603719075.611328 mu:0.000000 unit_bearing:0.275309 -0.254328 0.927104 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8058408463400.360352, -1893587823938.117676, 3767545013577.106445 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7807616731218.379883, -1822852847820.393555, 4293756596838.128906 mu:0.000000 unit_bearing:0.275283 -0.256466 0.926523 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7795330199930.280273, -1819629771733.013184, 4317382518051.514648 mu:0.000000 unit_bearing:0.278111 -0.256431 0.925688 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7881268378111.500977, -1738399043751.646973, 4193041229962.100586 mu:0.000000 unit_bearing:0.264080 -0.245900 0.932628 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8056526311689.903320, -1766936898607.487549, 3832536369649.556641 mu:0.000000 unit_bearing:0.221446 -0.244183 0.944106 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8045708432452.563477, -1763739128074.093750, 3856658832118.952148 mu:0.000000 unit_bearing:0.224297 -0.244158 0.943439 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8034813857763.821289, -1760540848733.194092, 3880757584586.706055 mu:0.000000 unit_bearing:0.227147 -0.244132 0.942764 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7898085159467.905273, -1722122838283.130371, 4168040424822.619141 mu:0.000000 unit_bearing:0.261267 -0.243788 0.933974 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7914778570755.923828, -1705837027064.358398, 4142996192648.269531 mu:0.000000 unit_bearing:0.258453 -0.241676 0.935305 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -7902962042666.338867, -1702635313198.553223, 4166802272933.447266 mu:0.000000 unit_bearing:0.261290 -0.241645 0.934524 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8967341228686.523438, -1370022502625.114258, 654100045786.798950 mu:0.000000 unit_bearing:-0.132825 -0.158278 0.978420 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.376] If point is visible? -8965869014861.437500, -1366884880156.743896, 680320345164.756958 mu:0.000000 unit_bearing:-0.129943 -0.158286 0.978806 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8974933464269.937500, -1333822097996.103271, 624103486709.944458 mu:0.000000 unit_bearing:-0.135720 -0.153925 0.978717 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8973536895297.994141, -1330682377977.996582, 650336249153.529419 mu:0.000000 unit_bearing:-0.132838 -0.153934 0.979111 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8333834731088.023438, -1155991283129.849609, -3453823977497.601562 mu:0.000000 unit_bearing:-0.557295 -0.079875 0.826464 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8335551623439.309570, -1136832718943.476074, -3456039314217.418457 mu:0.000000 unit_bearing:-0.557316 -0.077755 0.826652 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8623182818954.991211, -258920521348.814148, 2879530425920.634766 mu:0.000000 unit_bearing:0.127452 -0.066841 0.989590 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8628075688104.292969, -180006246048.603882, 2870875286567.824219 mu:0.000000 unit_bearing:0.127462 -0.058113 0.990140 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8639810277114.674805, 96174606967.894409, 2839444674533.559570 mu:0.000000 unit_bearing:0.127486 -0.027552 0.991458 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8642536154788.312500, 234229055574.385742, 2823069747987.174805 mu:0.000000 unit_bearing:0.127491 -0.012266 0.991764 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8634254604855.641602, 237301454579.709167, 2848043657931.223633 mu:0.000000 unit_bearing:0.130379 -0.012266 0.991388 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8520420769491.719727, 375543468638.666809, 3159021090983.061523 mu:0.000000 unit_bearing:0.167882 -0.001346 0.985806 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8634887554712.559570, 375306166267.477966, 2831232847776.837891 mu:0.000000 unit_bearing:0.130381 0.003020 0.991459 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8634309558266.360352, 454141592886.681458, 2821430684057.166992 mu:0.000000 unit_bearing:0.130380 0.011755 0.991394 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -9069324923457.738281, 636316521040.089722, -245894198992.717621 mu:0.000000 unit_bearing:-0.204996 0.072737 0.976056 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8276900870240.008789, 1204265274727.810303, 3572208612553.844727 mu:0.000000 unit_bearing:0.228102 0.083557 0.970045 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8286084211336.207031, 1220947282275.998535, 3545153510900.002930 mu:0.000000 unit_bearing:0.225232 0.085740 0.970525 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8295148981127.233398, 1237626711279.050049, 3518067757126.250000 mu:0.000000 unit_bearing:0.222361 0.087923 0.970992 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8671880801458.233398, 1266438214083.823730, 2431591013000.966797 mu:0.000000 unit_bearing:0.098507 0.105626 0.989515 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8390217403859.519531, 1551974460954.279297, 3148594039856.093750 mu:0.000000 unit_bearing:0.184933 0.127179 0.974487 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8581658599962.545898, 1581569368365.441650, 2563550515600.536133 mu:0.000000 unit_bearing:0.118661 0.138249 0.983263 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -7309427784702.875977, 1703179765099.073486, 5137067391739.169922 mu:0.000000 unit_bearing:0.422364 0.117036 0.898839 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.377] If point is visible? -8401870751017.559570, 1604763259065.851318, 3090520992461.760742 mu:0.000000 unit_bearing:0.179162 0.133718 0.974690 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8392223580023.614258, 1607686891127.415527, 3115115324075.749023 mu:0.000000 unit_bearing:0.182036 0.133708 0.974159 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8407057115835.252930, 1565671924331.251953, 3096462387264.467773 mu:0.000000 unit_bearing:0.179178 0.129373 0.975273 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8397410626050.437500, 1568599101682.314941, 3121058934880.196289 mu:0.000000 unit_bearing:0.182052 0.129363 0.974742 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8145645143789.649414, 1618057090853.674561, 3707879944320.363281 mu:0.000000 unit_bearing:0.250798 0.126897 0.959686 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8480474550956.163086, 1673043375379.302734, 2828514538407.588867 mu:0.000000 unit_bearing:0.150354 0.144681 0.977988 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8592341173629.934570, 1558992141065.996338, 2541502291822.101562 mu:0.000000 unit_bearing:0.115780 0.136080 0.983909 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8554241666538.141602, 1665796564584.684082, 2601555026360.075195 mu:0.000000 unit_bearing:0.124409 0.146931 0.981292 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8529374441764.663086, 1674760982696.598877, 2676371521726.317383 mu:0.000000 unit_bearing:0.133059 0.146907 0.980160 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -3579359313460.798828, 2182539225020.250977, 8071104427257.124023 mu:0.000000 unit_bearing:0.820103 0.130034 0.557245 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.377] If point is visible? -3384368634670.217285, 2133342868161.102539, 8167797401431.229492 mu:0.000000 unit_bearing:0.833842 0.123369 0.538041 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.377] If point is visible? -3553372139279.011719, 2165429495189.258789, 8087179902812.858398 mu:0.000000 unit_bearing:0.822137 0.127951 0.554724 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.377] If point is visible? -3524429624712.160156, 2165984297328.521973, 8099686727490.003906 mu:0.000000 unit_bearing:0.824082 0.127844 0.551856 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.377] If point is visible? -8450866206348.320312, 1757064480792.103516, 2865938242886.187500 mu:0.000000 unit_bearing:0.156082 0.153349 0.975768 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8614327701255.660156, 1661272412159.000977, 2398238826155.053711 mu:0.000000 unit_bearing:0.101316 0.149162 0.983609 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8606716499620.083984, 1664294839998.468750, 2423338816595.940430 mu:0.000000 unit_bearing:0.104203 0.149155 0.983308 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8599030002420.399414, 1667313382527.302002, 2448421193589.444336 mu:0.000000 unit_bearing:0.107090 0.149149 0.982999 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -7402171326119.823242, 4259411409474.458496, 3127825337659.918945 mu:0.000000 unit_bearing:0.238715 0.422925 0.874157 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -7390735265279.746094, 4261797925050.552246, 3151527871348.148438 mu:0.000000 unit_bearing:0.241523 0.422868 0.873413 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -7379221157153.443359, 4264174394856.129883, 3175205360818.643555 mu:0.000000 unit_bearing:0.244330 0.422810 0.872660 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8205441292885.059570, 3914434390466.227539, -256814779657.986176 mu:0.000000 unit_bearing:-0.145206 0.430630 0.890771 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8182263134777.190430, 3970898324814.827148, 23531394937.109531 mu:0.000000 unit_bearing:-0.113934 0.433035 0.894147 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8172632107135.626953, 3987844643679.981934, 152304886945.544098 mu:0.000000 unit_bearing:-0.099708 0.433159 0.895785 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -6734579450948.168945, -3539488909971.133789, 4983520353561.056641 mu:0.000000 unit_bearing:0.348754 -0.453048 0.820438 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.377] If point is visible? -7847251247516.602539, -2443810107394.324707, 3894413595991.756836 mu:0.000000 unit_bearing:0.223485 -0.318881 0.921070 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -7825326856958.134766, -2437260670851.554199, 3942339057385.724609 mu:0.000000 unit_bearing:0.229161 -0.318808 0.919699 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -7780551360517.616211, -2424141419752.241211, 4037892537288.248047 mu:0.000000 unit_bearing:0.240500 -0.318657 0.916852 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -6452364597652.614258, -2203958848277.831543, 6018934601186.199219 mu:0.000000 unit_bearing:0.483144 -0.321173 0.814506 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.377] If point is visible? -7767534427291.221680, -2462767430273.416016, 4039579525709.223633 mu:0.000000 unit_bearing:0.240440 -0.322895 0.915384 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8279026983393.823242, -2727536992837.497070, -2595432796324.831055 mu:0.000000 unit_bearing:-0.484834 -0.262883 0.834164 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8662163793277.200195, -2463517560085.415039, 1271226529335.765869 mu:0.000000 unit_bearing:-0.074771 -0.285882 0.955343 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8656165711702.362305, -2457333368066.808594, 1322998537048.496338 mu:0.000000 unit_bearing:-0.069017 -0.285901 0.955771 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8040797938879.126953, -1783251874292.532715, 3857926709807.784180 mu:0.000000 unit_bearing:0.224277 -0.246304 0.942886 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8018930521053.801758, -1776850647094.028076, 3906094253308.834961 mu:0.000000 unit_bearing:0.229975 -0.246251 0.941526 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -7881268378111.500977, -1738399043751.646973, 4193041229962.100586 mu:0.000000 unit_bearing:0.264080 -0.245900 0.932628 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -7103225324885.647461, -1763708167108.451904, 5399216676933.547852 mu:0.000000 unit_bearing:0.409086 -0.264824 0.873222 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.377] If point is visible? -8030843715779.182617, -1822264800661.602051, 3860429697365.137695 mu:0.000000 unit_bearing:0.224237 -0.250595 0.941764 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8008973186298.854492, -1815855218357.147461, 3908584854702.536133 mu:0.000000 unit_bearing:0.229934 -0.250541 0.940404 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8646115407847.362305, -2181720195438.385254, -1789637556126.730225 mu:0.000000 unit_bearing:-0.398842 -0.214114 0.891673 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8735674272082.781250, -1965215424724.149414, -1594973537647.506592 mu:0.000000 unit_bearing:-0.376972 -0.193095 0.905873 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8976569180762.826172, -1311009148047.453369, 648442746904.862427 mu:0.000000 unit_bearing:-0.132845 -0.151761 0.979449 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8973543148904.228516, -1304725378707.429199, 700879647449.781372 mu:0.000000 unit_bearing:-0.127079 -0.151778 0.980211 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.377] If point is visible? -8964138275539.427734, -1448431352511.246826, -514090296903.203918 mu:0.000000 unit_bearing:-0.259015 -0.151181 0.953968 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8754492971479.475586, -1920572866204.533203, -1545402833313.668701 mu:0.000000 unit_bearing:-0.371459 -0.188887 0.909033 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8850909954740.875000, -1723350008384.838135, -1187213106804.089600 mu:0.000000 unit_bearing:-0.332455 -0.172164 0.927272 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8982502747966.554688, -1271656585993.478271, 644632569275.963989 mu:0.000000 unit_bearing:-0.132858 -0.147416 0.980111 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -9088219771472.501953, -35073590480.815857, -347920203445.580872 mu:0.000000 unit_bearing:-0.225159 0.000834 0.974322 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -9072951722636.574219, 574126688246.180542, -264467056262.316254 mu:0.000000 unit_bearing:-0.207880 0.066199 0.975912 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -9073919762473.619141, 580733792229.310059, -211531666783.641449 mu:0.000000 unit_bearing:-0.202138 0.066211 0.977116 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -9070227559299.740234, 613382401904.772461, -269724472103.484222 mu:0.000000 unit_bearing:-0.207871 0.070554 0.975609 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -9071197439016.164062, 619996282905.621582, -216792229723.264496 mu:0.000000 unit_bearing:-0.202129 0.070566 0.976813 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8667654706268.934570, 1305679858424.870117, 2425897615213.041992 mu:0.000000 unit_bearing:0.098501 0.109985 0.989040 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8466075875584.339844, 1377773745162.915771, 3024122354549.735352 mu:0.000000 unit_bearing:0.167733 0.109836 0.979695 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8157117256469.630859, 1615233261520.285889, 3683812809357.017578 mu:0.000000 unit_bearing:0.247945 0.126911 0.960425 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8134096511599.583008, 1620876238362.985840, 3731923284205.170898 mu:0.000000 unit_bearing:0.253651 0.126882 0.958938 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8451553227677.328125, 1344511731403.799316, 3079213127270.236328 mu:0.000000 unit_bearing:0.173500 0.105468 0.979170 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -7314100264541.981445, 1664571763144.271729, 5143068675884.939453 mu:0.000000 unit_bearing:0.422403 0.112742 0.899369 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.378] If point is visible? -8092088412884.932617, 1593123190643.303467, 3833807618645.842773 mu:0.000000 unit_bearing:0.265074 0.122488 0.956417 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8450866206348.320312, 1757064480792.103516, 2865938242886.187500 mu:0.000000 unit_bearing:0.156082 0.153349 0.975768 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8764241664847.533203, 2326804999995.961914, 701472573550.078247 mu:0.000000 unit_bearing:-0.074901 0.244529 0.966745 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8617042314418.579102, 1683883189386.846191, -2372580113572.270020 mu:0.000000 unit_bearing:-0.409852 0.215557 0.886316 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -6488751881291.118164, -2210900739700.569824, 5977125913140.181641 mu:0.000000 unit_bearing:0.477820 -0.321371 0.817563 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.378] If point is visible? -8692834670438.673828, -2021400782227.494629, -1751165757239.430420 mu:0.000000 unit_bearing:-0.393571 -0.197134 0.897909 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8032091562868.523438, -1991016781269.813232, 3773509578853.246094 mu:0.000000 unit_bearing:0.212673 -0.267847 0.939696 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -7989246658077.098633, -1978140382375.725342, 3870002028851.833984 mu:0.000000 unit_bearing:0.224069 -0.267734 0.937076 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -7945172459790.727539, -1965250088957.707520, 3966111938830.483398 mu:0.000000 unit_bearing:0.235450 -0.267616 0.934315 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -7899867044636.891602, -1952346007604.631348, 4061830004191.369141 mu:0.000000 unit_bearing:0.246815 -0.267490 0.931414 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -7872719446745.772461, -2366426089751.409180, 3890801114664.409180 mu:0.000000 unit_bearing:0.223591 -0.310387 0.923941 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -7828576199371.626953, -2353357371073.411621, 3986617741136.656250 mu:0.000000 unit_bearing:0.234944 -0.310245 0.921167 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -7783197615284.318359, -2340263762425.227051, 4082035967873.243164 mu:0.000000 unit_bearing:0.246281 -0.310095 0.918252 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -6752859596416.448242, -2100143072605.187012, 5718942523314.435547 mu:0.000000 unit_bearing:0.446156 -0.305824 0.841081 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.378] If point is visible? -6468305787737.092773, -2045555275551.048340, 6057618433864.210938 mu:0.000000 unit_bearing:0.489046 -0.304405 0.817417 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.378] If point is visible? -5524967562977.985352, -2912140007335.048340, 6611519586677.434570 mu:0.000000 unit_bearing:0.556468 -0.406399 0.724695 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.378] If point is visible? -7847251247516.602539, -2443810107394.324707, 3894413595991.756836 mu:0.000000 unit_bearing:0.223485 -0.318881 0.921070 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -7803093633939.628906, -2430704444515.469727, 3990165771328.626953 mu:0.000000 unit_bearing:0.234832 -0.318734 0.918293 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8625847539769.667969, -2631471678588.628906, 1178188552284.487549 mu:0.000000 unit_bearing:-0.086206 -0.302964 0.949095 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8638848919428.342773, -2541385643362.227051, 1276583564950.934814 mu:0.000000 unit_bearing:-0.074741 -0.294451 0.952739 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8010401626266.372070, -1900238760096.177734, 3865304086334.755859 mu:0.000000 unit_bearing:0.224155 -0.259170 0.939460 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -7966340548096.883789, -1887383002873.932373, 3961467015072.700195 mu:0.000000 unit_bearing:0.235541 -0.259056 0.936702 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -7921049025629.484375, -1874515599222.830078, 4057239312777.036133 mu:0.000000 unit_bearing:0.246910 -0.258935 0.933803 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8430786266984.419922, -3261246553832.468750, -1002063408593.194214 mu:0.000000 unit_bearing:-0.324186 -0.342478 0.881823 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8467032085731.962891, -2867684779514.889160, -1674445849773.206787 mu:0.000000 unit_bearing:-0.391830 -0.290518 0.872966 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8221433993286.747070, -3720288597959.073242, 1133795872819.977783 mu:0.000000 unit_bearing:-0.096957 -0.421194 0.901773 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8255865420118.647461, -3644269374412.432617, 1130488447931.934814 mu:0.000000 unit_bearing:-0.097021 -0.412853 0.905615 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] If point is visible? -8246356030400.943359, -3632325170168.951172, 1233630137977.302979 mu:0.000000 unit_bearing:-0.085611 -0.412932 0.906729 T_cur_ref: x=0.106051 y=0.000000 z=0.024569 +[21:40:55.378] DepthFilter: Initialized 0 new seeds +[21:40:55.378] init seeds +[21:40:55.381] DepthFilter: Initialized 0 new seeds +[21:40:55.806] add new frame +[21:40:55.806] update seed +[21:40:55.806] If point is visible? -13318.965189, 3705.098758, 1319.337889 mu:0.000072 unit_bearing:-0.040284 0.253225 0.966568 T_cur_ref: x=0.117190 y=0.000000 z=0.027135 +[21:40:55.806] If point is visible? -13318.965189, 3705.098758, 1319.337889 mu:0.000072 unit_bearing:-0.040284 0.253225 0.966568 T_cur_ref: x=0.117190 y=0.000000 z=0.027135 +[21:40:55.806] If point is visible? -8430786266984.414062, -3261246553832.468750, -1002063408593.192505 mu:0.000000 unit_bearing:-0.324186 -0.342478 0.881823 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.806] If point is visible? -8101542578593.277344, 1286435688800.976562, 3927863071075.446289 mu:0.000000 unit_bearing:0.270924 0.087759 0.958592 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.806] If point is visible? -6618678060902.247070, -2521077070430.859863, 5705724175806.111328 mu:0.000000 unit_bearing:0.441966 -0.351584 0.825261 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.806] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.806] If point is visible? -7741760348313.600586, -2774822042541.893555, 3883751611625.267578 mu:0.000000 unit_bearing:0.220161 -0.354862 0.908627 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.806] If point is visible? -8295466419096.025391, -3438514336964.815918, -1442176578452.207031 mu:0.000000 unit_bearing:-0.370907 -0.355926 0.857756 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.806] If point is visible? -6701101131856.131836, -2497286736944.713867, 5619325565707.665039 mu:0.000000 unit_bearing:0.431318 -0.347830 0.832454 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.806] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.806] If point is visible? -6763254361116.053711, -2428442037611.545410, 5574861160253.682617 mu:0.000000 unit_bearing:0.426176 -0.339721 0.838429 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.806] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.806] add key frame +[21:40:55.806] init seeds +[21:40:55.806] remove key frame +[21:40:55.806] update seed +[21:40:55.806] If point is visible? -8430786266984.414062, -3261246553832.468750, -1002063408593.192505 mu:0.000000 unit_bearing:-0.324186 -0.342478 0.881823 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.806] If point is visible? -8101542578593.277344, 1286435688800.976562, 3927863071075.446289 mu:0.000000 unit_bearing:0.270924 0.087759 0.958592 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.806] If point is visible? -6618678060902.247070, -2521077070430.859863, 5705724175806.111328 mu:0.000000 unit_bearing:0.441966 -0.351584 0.825261 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.806] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.806] If point is visible? -7741760348313.600586, -2774822042541.893555, 3883751611625.267578 mu:0.000000 unit_bearing:0.220161 -0.354862 0.908627 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -8295466419096.025391, -3438514336964.815918, -1442176578452.207031 mu:0.000000 unit_bearing:-0.370907 -0.355926 0.857756 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -6701101131856.131836, -2497286736944.713867, 5619325565707.665039 mu:0.000000 unit_bearing:0.431318 -0.347830 0.832454 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -6763254361116.053711, -2428442037611.545410, 5574861160253.682617 mu:0.000000 unit_bearing:0.426176 -0.339721 0.838429 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -6382473582581.272461, -2392696970900.264648, 6021382682772.806641 mu:0.000000 unit_bearing:0.482363 -0.341803 0.806534 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -8612081923730.498047, -2905502506386.832520, 328812049099.145447 mu:0.000000 unit_bearing:-0.180579 -0.321488 0.929536 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -8531040272519.312500, -3048360872171.220215, -804279243153.595825 mu:0.000000 unit_bearing:-0.302250 -0.321896 0.897234 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -6373446296511.444336, -2148784695743.770508, 6122084928855.633789 mu:0.000000 unit_bearing:0.496554 -0.316534 0.808233 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -8546721029210.361328, -3047982385911.525879, -617559926909.906372 mu:0.000000 unit_bearing:-0.282553 -0.324356 0.902750 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -6641787168721.303711, -2261002943834.798828, 5787274499509.999023 mu:0.000000 unit_bearing:0.453654 -0.324295 0.830079 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -8622528649853.420898, -2843037640035.977539, 535867426789.641541 mu:0.000000 unit_bearing:-0.157776 -0.317446 0.935059 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -6376687055891.258789, -2250177165233.041992, 6082152756680.156250 mu:0.000000 unit_bearing:0.490872 -0.327064 0.807510 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -6383565880901.427734, -2231302269758.150879, 6081890665283.506836 mu:0.000000 unit_bearing:0.490951 -0.325001 0.808295 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -6634973530834.639648, -2279972206261.215820, 5787648073535.516602 mu:0.000000 unit_bearing:0.453585 -0.326370 0.829303 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -8414720807681.362305, -3069515061806.117188, -1577519652308.089844 mu:0.000000 unit_bearing:-0.383017 -0.313843 0.868792 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -8593104328333.774414, -2979315109450.860352, 16022492555.577068 mu:0.000000 unit_bearing:-0.214688 -0.325352 0.920899 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -8632149188223.419922, -2792331130112.214844, 637890657839.225464 mu:0.000000 unit_bearing:-0.146371 -0.313279 0.938313 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -8631151125284.912109, -2789321470701.466797, 664028030188.005737 mu:0.000000 unit_bearing:-0.143509 -0.313301 0.938748 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -7756145394543.178711, -2459478377224.097168, 4063396605055.025391 mu:0.000000 unit_bearing:0.243272 -0.322855 0.914649 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -7744678988610.961914, -2456187547058.356445, 4087188194387.713867 mu:0.000000 unit_bearing:0.246102 -0.322815 0.913906 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -6991292683410.723633, -2230759252539.697266, 5372481457519.925781 mu:0.000000 unit_bearing:0.402381 -0.315436 0.859412 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -7840770966267.058594, -2463140502643.432617, 3895287763192.850586 mu:0.000000 unit_bearing:0.223458 -0.321002 0.920339 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -7829846479241.630859, -2459864360062.223633, 3919258690224.728516 mu:0.000000 unit_bearing:0.226296 -0.320966 0.919658 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -7760957887665.342773, -2482070728256.590820, 4040405277334.916016 mu:0.000000 unit_bearing:0.240410 -0.325013 0.914642 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -6775106205816.043945, -2247085008423.058105, 5636183292276.125000 mu:0.000000 unit_bearing:0.434892 -0.320751 0.841420 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -6758226127037.080078, -2243656714905.195801, 5657773537425.610352 mu:0.000000 unit_bearing:0.437599 -0.320666 0.840048 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -8421353500005.706055, -3050473293916.275391, -1579061477696.090820 mu:0.000000 unit_bearing:-0.383069 -0.311744 0.869525 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -6988351036607.383789, -2189145651224.556152, 5393385610743.248047 mu:0.000000 unit_bearing:0.405230 -0.311175 0.859627 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -8156000398574.950195, -3173665851244.013672, -2474978747866.610352 mu:0.000000 unit_bearing:-0.475257 -0.313183 0.822221 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -7029687458435.964844, -2115973068388.107422, 5368814529285.167969 mu:0.000000 unit_bearing:0.402707 -0.302860 0.863772 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -6997776214527.995117, -2109252312819.052979, 5412965912653.883789 mu:0.000000 unit_bearing:0.408187 -0.302718 0.861246 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -8447860551870.926758, -2957809153420.416992, -1613392186476.658203 mu:0.000000 unit_bearing:-0.386076 -0.301172 0.871918 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -8641869498962.910156, -2681481770703.315430, 919654454444.128784 mu:0.000000 unit_bearing:-0.114909 -0.304958 0.945408 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -8648008806761.410156, -2662070473910.785156, 918336381402.850464 mu:0.000000 unit_bearing:-0.114921 -0.302822 0.946093 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -8479266853718.540039, -2845899904601.649414, -1649516473308.737305 mu:0.000000 unit_bearing:-0.389123 -0.288475 0.874852 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -6455747730655.417969, -1842129168560.904297, 6135788344114.705078 mu:0.000000 unit_bearing:0.500362 -0.283252 0.818172 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -7046450846299.137695, -1955915671421.948242, 5407396933486.148438 mu:0.000000 unit_bearing:0.408604 -0.285910 0.866775 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -8667468690231.726562, -2495332168168.424805, 1168897392269.816406 mu:0.000000 unit_bearing:-0.086269 -0.287983 0.953742 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -7052331453170.116211, -1936720818354.680664, 5406639509499.243164 mu:0.000000 unit_bearing:0.408654 -0.283805 0.867443 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -7058166858404.139648, -1917520027225.554688, 5405868550326.909180 mu:0.000000 unit_bearing:0.408704 -0.281699 0.868105 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.807] If point is visible? -8503096023414.309570, -2752947897288.445801, -1684236661134.458008 mu:0.000000 unit_bearing:-0.392113 -0.277865 0.876948 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -8508943723342.897461, -2733801715400.062988, -1685889122438.855469 mu:0.000000 unit_bearing:-0.392158 -0.275754 0.877594 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -8673173021850.475586, -2398870607967.500488, 1318903627477.516602 mu:0.000000 unit_bearing:-0.069037 -0.279466 0.957671 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -8058532571172.691406, -1935784219419.190186, 3745772216045.088867 mu:0.000000 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.807] If point is visible? -7751124185858.139648, -1932966540922.415771, 4347612154548.558594 mu:0.000000 unit_bearing:0.280772 -0.269204 0.921247 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8284694183099.298828, -2708560248639.564453, -2597221767833.602539 mu:0.000000 unit_bearing:-0.484893 -0.260788 0.834787 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7784896947471.677734, -1858507748489.586426, 4319646479209.759766 mu:0.000000 unit_bearing:0.278057 -0.260704 0.924509 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7092606538066.768555, -1741184013296.540283, 5420445366140.337891 mu:0.000000 unit_bearing:0.411877 -0.262650 0.872566 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.808] If point is visible? -7076479088860.625000, -1737910190257.906006, 5442529661362.924805 mu:0.000000 unit_bearing:0.414620 -0.262589 0.871285 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.808] If point is visible? -8063538200218.625000, -1874088470655.515625, 3766319335514.440430 mu:0.000000 unit_bearing:0.212793 -0.254990 0.943239 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7812765426054.571289, -1803404266304.015869, 4292603719075.613281 mu:0.000000 unit_bearing:0.275309 -0.254328 0.927104 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8058408463400.354492, -1893587823938.117676, 3767545013577.108398 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7807616731218.374023, -1822852847820.393555, 4293756596838.130859 mu:0.000000 unit_bearing:0.275283 -0.256466 0.926523 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7795330199930.274414, -1819629771733.013184, 4317382518051.516602 mu:0.000000 unit_bearing:0.278111 -0.256431 0.925688 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7881268378111.495117, -1738399043751.646973, 4193041229962.102539 mu:0.000000 unit_bearing:0.264080 -0.245900 0.932628 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8056526311689.897461, -1766936898607.487549, 3832536369649.558594 mu:0.000000 unit_bearing:0.221446 -0.244183 0.944106 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8045708432452.557617, -1763739128074.093750, 3856658832118.954102 mu:0.000000 unit_bearing:0.224297 -0.244158 0.943439 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8034813857763.815430, -1760540848733.194092, 3880757584586.708008 mu:0.000000 unit_bearing:0.227147 -0.244132 0.942764 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7898085159467.899414, -1722122838283.130371, 4168040424822.621094 mu:0.000000 unit_bearing:0.261267 -0.243788 0.933974 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7914778570755.917969, -1705837027064.358398, 4142996192648.271484 mu:0.000000 unit_bearing:0.258453 -0.241676 0.935305 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7902962042666.333008, -1702635313198.553223, 4166802272933.449219 mu:0.000000 unit_bearing:0.261290 -0.241645 0.934524 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8967341228686.515625, -1370022502625.114258, 654100045786.800659 mu:0.000000 unit_bearing:-0.132825 -0.158278 0.978420 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8965869014861.429688, -1366884880156.743896, 680320345164.758667 mu:0.000000 unit_bearing:-0.129943 -0.158286 0.978806 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8974933464269.929688, -1333822097996.103271, 624103486709.946167 mu:0.000000 unit_bearing:-0.135720 -0.153925 0.978717 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8973536895297.986328, -1330682377977.996582, 650336249153.531128 mu:0.000000 unit_bearing:-0.132838 -0.153934 0.979111 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8333834731088.017578, -1155991283129.849609, -3453823977497.599609 mu:0.000000 unit_bearing:-0.557295 -0.079875 0.826464 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8335551623439.303711, -1136832718943.476074, -3456039314217.416504 mu:0.000000 unit_bearing:-0.557316 -0.077755 0.826652 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8623182818954.985352, -258920521348.814148, 2879530425920.636719 mu:0.000000 unit_bearing:0.127452 -0.066841 0.989590 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8628075688104.287109, -180006246048.603882, 2870875286567.826172 mu:0.000000 unit_bearing:0.127462 -0.058113 0.990140 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8639810277114.668945, 96174606967.894409, 2839444674533.561523 mu:0.000000 unit_bearing:0.127486 -0.027552 0.991458 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8642536154788.306641, 234229055574.385742, 2823069747987.176758 mu:0.000000 unit_bearing:0.127491 -0.012266 0.991764 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8634254604855.635742, 237301454579.709167, 2848043657931.225586 mu:0.000000 unit_bearing:0.130379 -0.012266 0.991388 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8520420769491.713867, 375543468638.666809, 3159021090983.063477 mu:0.000000 unit_bearing:0.167882 -0.001346 0.985806 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8634887554712.553711, 375306166267.477966, 2831232847776.839844 mu:0.000000 unit_bearing:0.130381 0.003020 0.991459 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8634309558266.354492, 454141592886.681458, 2821430684057.168945 mu:0.000000 unit_bearing:0.130380 0.011755 0.991394 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -9069324923457.730469, 636316521040.089722, -245894198992.715912 mu:0.000000 unit_bearing:-0.204996 0.072737 0.976056 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8276900870240.002930, 1204265274727.810303, 3572208612553.846680 mu:0.000000 unit_bearing:0.228102 0.083557 0.970045 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8286084211336.201172, 1220947282275.998535, 3545153510900.004883 mu:0.000000 unit_bearing:0.225232 0.085740 0.970525 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8295148981127.227539, 1237626711279.050049, 3518067757126.251953 mu:0.000000 unit_bearing:0.222361 0.087923 0.970992 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8671880801458.227539, 1266438214083.823730, 2431591013000.968750 mu:0.000000 unit_bearing:0.098507 0.105626 0.989515 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8390217403859.513672, 1551974460954.279297, 3148594039856.095703 mu:0.000000 unit_bearing:0.184933 0.127179 0.974487 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8581658599962.540039, 1581569368365.441650, 2563550515600.538086 mu:0.000000 unit_bearing:0.118661 0.138249 0.983263 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7309427784702.870117, 1703179765099.073486, 5137067391739.171875 mu:0.000000 unit_bearing:0.422364 0.117036 0.898839 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.808] If point is visible? -8401870751017.553711, 1604763259065.851318, 3090520992461.762695 mu:0.000000 unit_bearing:0.179162 0.133718 0.974690 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8392223580023.608398, 1607686891127.415527, 3115115324075.750977 mu:0.000000 unit_bearing:0.182036 0.133708 0.974159 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8407057115835.247070, 1565671924331.251953, 3096462387264.469727 mu:0.000000 unit_bearing:0.179178 0.129373 0.975273 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8397410626050.431641, 1568599101682.314941, 3121058934880.198242 mu:0.000000 unit_bearing:0.182052 0.129363 0.974742 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8145645143789.643555, 1618057090853.674561, 3707879944320.365234 mu:0.000000 unit_bearing:0.250798 0.126897 0.959686 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8480474550956.157227, 1673043375379.302734, 2828514538407.590820 mu:0.000000 unit_bearing:0.150354 0.144681 0.977988 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8592341173629.928711, 1558992141065.996338, 2541502291822.103516 mu:0.000000 unit_bearing:0.115780 0.136080 0.983909 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8554241666538.135742, 1665796564584.684082, 2601555026360.077148 mu:0.000000 unit_bearing:0.124409 0.146931 0.981292 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8529374441764.657227, 1674760982696.598877, 2676371521726.319336 mu:0.000000 unit_bearing:0.133059 0.146907 0.980160 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -3579359313460.792480, 2182539225020.250977, 8071104427257.125977 mu:0.000000 unit_bearing:0.820103 0.130034 0.557245 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.808] If point is visible? -3384368634670.210938, 2133342868161.102539, 8167797401431.231445 mu:0.000000 unit_bearing:0.833842 0.123369 0.538041 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.808] If point is visible? -3553372139279.005371, 2165429495189.258789, 8087179902812.860352 mu:0.000000 unit_bearing:0.822137 0.127951 0.554724 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.808] If point is visible? -3524429624712.153809, 2165984297328.521973, 8099686727490.005859 mu:0.000000 unit_bearing:0.824082 0.127844 0.551856 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.808] If point is visible? -8450866206348.314453, 1757064480792.103516, 2865938242886.189453 mu:0.000000 unit_bearing:0.156082 0.153349 0.975768 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8614327701255.654297, 1661272412159.000977, 2398238826155.055664 mu:0.000000 unit_bearing:0.101316 0.149162 0.983609 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8606716499620.078125, 1664294839998.468750, 2423338816595.942383 mu:0.000000 unit_bearing:0.104203 0.149155 0.983308 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8599030002420.393555, 1667313382527.302002, 2448421193589.446289 mu:0.000000 unit_bearing:0.107090 0.149149 0.982999 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7402171326119.817383, 4259411409474.458496, 3127825337659.920898 mu:0.000000 unit_bearing:0.238715 0.422925 0.874157 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7390735265279.740234, 4261797925050.552246, 3151527871348.150391 mu:0.000000 unit_bearing:0.241523 0.422868 0.873413 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -7379221157153.437500, 4264174394856.129883, 3175205360818.645508 mu:0.000000 unit_bearing:0.244330 0.422810 0.872660 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8205441292885.053711, 3914434390466.227539, -256814779657.984467 mu:0.000000 unit_bearing:-0.145206 0.430630 0.890771 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8182263134777.184570, 3970898324814.827148, 23531394937.111248 mu:0.000000 unit_bearing:-0.113934 0.433035 0.894147 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -8172632107135.621094, 3987844643679.981934, 152304886945.545807 mu:0.000000 unit_bearing:-0.099708 0.433159 0.895785 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] If point is visible? -6734579450948.163086, -3539488909971.133789, 4983520353561.058594 mu:0.000000 unit_bearing:0.348754 -0.453048 0.820438 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.808] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.808] If point is visible? -7847251247516.596680, -2443810107394.324707, 3894413595991.758789 mu:0.000000 unit_bearing:0.223485 -0.318881 0.921070 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -7825326856958.128906, -2437260670851.554199, 3942339057385.726562 mu:0.000000 unit_bearing:0.229161 -0.318808 0.919699 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -7780551360517.610352, -2424141419752.241211, 4037892537288.250000 mu:0.000000 unit_bearing:0.240500 -0.318657 0.916852 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -6452364597652.608398, -2203958848277.831543, 6018934601186.201172 mu:0.000000 unit_bearing:0.483144 -0.321173 0.814506 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.809] If point is visible? -7767534427291.215820, -2462767430273.416016, 4039579525709.225586 mu:0.000000 unit_bearing:0.240440 -0.322895 0.915384 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8279026983393.817383, -2727536992837.497070, -2595432796324.829102 mu:0.000000 unit_bearing:-0.484834 -0.262883 0.834164 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8662163793277.194336, -2463517560085.415039, 1271226529335.767578 mu:0.000000 unit_bearing:-0.074771 -0.285882 0.955343 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8656165711702.356445, -2457333368066.808594, 1322998537048.498047 mu:0.000000 unit_bearing:-0.069017 -0.285901 0.955771 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8040797938879.121094, -1783251874292.532715, 3857926709807.786133 mu:0.000000 unit_bearing:0.224277 -0.246304 0.942886 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8018930521053.795898, -1776850647094.028076, 3906094253308.836914 mu:0.000000 unit_bearing:0.229975 -0.246251 0.941526 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -7881268378111.495117, -1738399043751.646973, 4193041229962.102539 mu:0.000000 unit_bearing:0.264080 -0.245900 0.932628 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -7103225324885.641602, -1763708167108.451904, 5399216676933.549805 mu:0.000000 unit_bearing:0.409086 -0.264824 0.873222 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.809] If point is visible? -8030843715779.176758, -1822264800661.602051, 3860429697365.139648 mu:0.000000 unit_bearing:0.224237 -0.250595 0.941764 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8008973186298.848633, -1815855218357.147461, 3908584854702.538086 mu:0.000000 unit_bearing:0.229934 -0.250541 0.940404 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8646115407847.356445, -2181720195438.385254, -1789637556126.728516 mu:0.000000 unit_bearing:-0.398842 -0.214114 0.891673 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8735674272082.775391, -1965215424724.149414, -1594973537647.504883 mu:0.000000 unit_bearing:-0.376972 -0.193095 0.905873 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8976569180762.818359, -1311009148047.453369, 648442746904.864136 mu:0.000000 unit_bearing:-0.132845 -0.151761 0.979449 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8973543148904.220703, -1304725378707.429199, 700879647449.783081 mu:0.000000 unit_bearing:-0.127079 -0.151778 0.980211 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8964138275539.419922, -1448431352511.246826, -514090296903.202209 mu:0.000000 unit_bearing:-0.259015 -0.151181 0.953968 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8754492971479.469727, -1920572866204.533203, -1545402833313.666992 mu:0.000000 unit_bearing:-0.371459 -0.188887 0.909033 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8850909954740.867188, -1723350008384.838135, -1187213106804.087891 mu:0.000000 unit_bearing:-0.332455 -0.172164 0.927272 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8982502747966.546875, -1271656585993.478271, 644632569275.965698 mu:0.000000 unit_bearing:-0.132858 -0.147416 0.980111 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -9088219771472.494141, -35073590480.815857, -347920203445.579163 mu:0.000000 unit_bearing:-0.225159 0.000834 0.974322 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -9072951722636.566406, 574126688246.180542, -264467056262.314545 mu:0.000000 unit_bearing:-0.207880 0.066199 0.975912 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -9073919762473.611328, 580733792229.310059, -211531666783.639740 mu:0.000000 unit_bearing:-0.202138 0.066211 0.977116 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -9070227559299.732422, 613382401904.772461, -269724472103.482513 mu:0.000000 unit_bearing:-0.207871 0.070554 0.975609 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -9071197439016.156250, 619996282905.621582, -216792229723.262787 mu:0.000000 unit_bearing:-0.202129 0.070566 0.976813 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8667654706268.928711, 1305679858424.870117, 2425897615213.043945 mu:0.000000 unit_bearing:0.098501 0.109985 0.989040 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8466075875584.333984, 1377773745162.915771, 3024122354549.737305 mu:0.000000 unit_bearing:0.167733 0.109836 0.979695 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8157117256469.625000, 1615233261520.285889, 3683812809357.019531 mu:0.000000 unit_bearing:0.247945 0.126911 0.960425 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8134096511599.577148, 1620876238362.985840, 3731923284205.172852 mu:0.000000 unit_bearing:0.253651 0.126882 0.958938 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8451553227677.322266, 1344511731403.799316, 3079213127270.238281 mu:0.000000 unit_bearing:0.173500 0.105468 0.979170 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -7314100264541.975586, 1664571763144.271729, 5143068675884.941406 mu:0.000000 unit_bearing:0.422403 0.112742 0.899369 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.809] If point is visible? -8092088412884.926758, 1593123190643.303467, 3833807618645.844727 mu:0.000000 unit_bearing:0.265074 0.122488 0.956417 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8450866206348.314453, 1757064480792.103516, 2865938242886.189453 mu:0.000000 unit_bearing:0.156082 0.153349 0.975768 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8764241664847.527344, 2326804999995.961914, 701472573550.079956 mu:0.000000 unit_bearing:-0.074901 0.244529 0.966745 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8617042314418.573242, 1683883189386.846191, -2372580113572.268066 mu:0.000000 unit_bearing:-0.409852 0.215557 0.886316 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -6488751881291.112305, -2210900739700.569824, 5977125913140.183594 mu:0.000000 unit_bearing:0.477820 -0.321371 0.817563 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:55.809] If point is visible? -8692834670438.667969, -2021400782227.494629, -1751165757239.428711 mu:0.000000 unit_bearing:-0.393571 -0.197134 0.897909 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] If point is visible? -8032091562868.517578, -1991016781269.813232, 3773509578853.248047 mu:0.000000 unit_bearing:0.212673 -0.267847 0.939696 T_cur_ref: x=0.112358 y=0.000000 z=0.026286 +[21:40:55.809] init seeds +[21:40:55.809] DepthFilter: Initialized 0 new seeds +[21:40:55.811] DepthFilter: Initialized 0 new seeds +[21:40:56.253] add new frame +[21:40:56.253] update seed +[21:40:56.253] If point is visible? -8430786266984.406250, -3261246553832.468750, -1002063408593.190552 mu:0.000000 unit_bearing:-0.324186 -0.342478 0.881823 T_cur_ref: x=0.119679 y=0.000000 z=0.028226 +[21:40:56.253] If point is visible? -8101542578593.269531, 1286435688800.976562, 3927863071075.448242 mu:0.000000 unit_bearing:0.270924 0.087759 0.958592 T_cur_ref: x=0.119679 y=0.000000 z=0.028226 +[21:40:56.253] If point is visible? -6618678060902.239258, -2521077070430.859863, 5705724175806.113281 mu:0.000000 unit_bearing:0.441966 -0.351584 0.825261 T_cur_ref: x=0.119679 y=0.000000 z=0.028226 +[21:40:56.253] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:56.253] If point is visible? -7741760348313.592773, -2774822042541.893555, 3883751611625.269531 mu:0.000000 unit_bearing:0.220161 -0.354862 0.908627 T_cur_ref: x=0.119679 y=0.000000 z=0.028226 +[21:40:56.253] If point is visible? -8295466419096.017578, -3438514336964.815918, -1442176578452.205078 mu:0.000000 unit_bearing:-0.370907 -0.355926 0.857756 T_cur_ref: x=0.119679 y=0.000000 z=0.028226 +[21:40:56.253] If point is visible? -6701101131856.124023, -2497286736944.713867, 5619325565707.666992 mu:0.000000 unit_bearing:0.431318 -0.347830 0.832454 T_cur_ref: x=0.119679 y=0.000000 z=0.028226 +[21:40:56.253] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:56.253] If point is visible? -6763254361116.045898, -2428442037611.545410, 5574861160253.684570 mu:0.000000 unit_bearing:0.426176 -0.339721 0.838429 T_cur_ref: x=0.119679 y=0.000000 z=0.028226 +[21:40:56.253] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:56.253] If point is visible? -6382473582581.264648, -2392696970900.264648, 6021382682772.808594 mu:0.000000 unit_bearing:0.482363 -0.341803 0.806534 T_cur_ref: x=0.119679 y=0.000000 z=0.028226 +[21:40:56.253] add key frame +[21:40:56.253] Z inverse min: 0.000000, Z inverse max: 0.000000 +[21:40:56.253] remove key frame +[21:40:56.253] init seeds +[21:40:56.253] update seed +[21:40:56.253] If point is visible? -1.567039, -0.225629, -0.618297 mu:0.551173 unit_bearing:-0.536217 -0.080091 0.840272 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.638384, 0.448934, 0.171293 mu:0.551173 unit_bearing:-0.074925 0.235901 0.968884 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.634564, 0.464386, 0.168702 mu:0.551173 unit_bearing:-0.074901 0.244529 0.966745 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.630601, 0.479820, 0.166087 mu:0.551173 unit_bearing:-0.074876 0.253147 0.964526 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.560621, -0.645865, -0.240728 mu:0.551173 unit_bearing:-0.360422 -0.335349 0.870424 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.167787, -0.462806, 1.225151 mu:0.551173 unit_bearing:0.480026 -0.333669 0.811320 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.253] If point is visible? -1.415130, -0.540384, 0.841076 mu:0.551173 unit_bearing:0.242857 -0.350310 0.904601 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.228691, -0.470839, 1.153181 mu:0.551173 unit_bearing:0.434500 -0.333228 0.836761 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.253] If point is visible? -1.416551, -0.536550, 0.840942 mu:0.551173 unit_bearing:0.242891 -0.348203 0.905405 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.190869, -0.430920, 1.212065 mu:0.551173 unit_bearing:0.472700 -0.315346 0.822868 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.253] If point is visible? -1.169071, -0.426791, 1.237088 mu:0.551173 unit_bearing:0.488681 -0.314767 0.813703 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.253] If point is visible? -1.573520, -0.605138, -0.254553 mu:0.551173 unit_bearing:-0.366504 -0.312140 0.876495 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.432394, -0.469202, 0.852530 mu:0.551173 unit_bearing:0.251912 -0.312138 0.916029 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.242122, -0.432895, 1.152316 mu:0.551173 unit_bearing:0.435142 -0.312413 0.844422 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.253] If point is visible? -1.444830, -0.476981, 0.824205 mu:0.551173 unit_bearing:0.234889 -0.314491 0.919741 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.282566, -0.416770, 1.108086 mu:0.551173 unit_bearing:0.408240 -0.300620 0.861956 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.253] If point is visible? -1.602722, -0.573886, -0.102309 mu:0.551173 unit_bearing:-0.285684 -0.305270 0.908403 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.614552, -0.547338, 0.102675 mu:0.551173 unit_bearing:-0.175034 -0.304515 0.936287 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.614503, -0.546742, 0.107910 mu:0.551173 unit_bearing:-0.172177 -0.304541 0.936808 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.614439, -0.546146, 0.113143 mu:0.551173 unit_bearing:-0.169320 -0.304566 0.937321 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.600839, -0.572872, -0.129036 mu:0.551173 unit_bearing:-0.299780 -0.302919 0.904639 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.616169, -0.534816, 0.143963 mu:0.551173 unit_bearing:-0.152194 -0.300438 0.941581 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.615804, -0.533612, 0.154403 mu:0.551173 unit_bearing:-0.146468 -0.300481 0.942475 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.253] If point is visible? -1.531924, -0.604149, -0.441089 mu:0.551173 unit_bearing:-0.462332 -0.299069 0.834750 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.281321, -0.420589, 1.108214 mu:0.551173 unit_bearing:0.408187 -0.302718 0.861246 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.254] If point is visible? -1.283037, -0.404638, 1.112079 mu:0.551173 unit_bearing:0.411137 -0.294251 0.862776 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.254] If point is visible? -1.584030, -0.568090, -0.268240 mu:0.551173 unit_bearing:-0.372505 -0.290953 0.881241 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.467081, -0.437066, 0.803000 mu:0.551173 unit_bearing:0.223817 -0.291230 0.930103 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.617292, -0.523452, 0.174719 mu:0.551173 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.617022, -0.522847, 0.179929 mu:0.551173 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.284246, -0.400814, 1.111941 mu:0.551173 unit_bearing:0.411190 -0.292150 0.863465 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.254] If point is visible? -1.619002, -0.502467, 0.220452 mu:0.551173 unit_bearing:-0.109261 -0.287878 0.951414 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.618615, -0.507568, 0.210334 mu:0.551173 unit_bearing:-0.114993 -0.289990 0.950096 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.291849, -0.398319, 1.103001 mu:0.551173 unit_bearing:0.405761 -0.290185 0.866690 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.254] If point is visible? -1.478261, -0.415102, 0.792131 mu:0.551173 unit_bearing:0.218265 -0.278485 0.935311 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.294830, -0.354186, 1.114474 mu:0.551173 unit_bearing:0.414526 -0.266812 0.870046 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.254] If point is visible? -1.621659, -0.453730, 0.300503 mu:0.551173 unit_bearing:-0.063315 -0.266594 0.961727 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.293728, -0.358022, 1.114644 mu:0.551173 unit_bearing:0.414479 -0.268922 0.869418 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.254] If point is visible? -1.598017, -0.515615, -0.283403 mu:0.551173 unit_bearing:-0.378644 -0.261227 0.887913 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.622476, -0.459482, 0.285296 mu:0.551173 unit_bearing:-0.071949 -0.268719 0.960528 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.623109, -0.445317, 0.305092 mu:0.551173 unit_bearing:-0.060445 -0.262300 0.963092 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.622434, -0.444697, 0.310249 mu:0.551173 unit_bearing:-0.057563 -0.262306 0.963266 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.621384, -0.448594, 0.310534 mu:0.551173 unit_bearing:-0.057558 -0.264458 0.962678 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.493155, -0.369120, 0.784527 mu:0.551173 unit_bearing:0.215665 -0.252819 0.943171 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.299051, -0.326653, 1.117613 mu:0.551173 unit_bearing:0.417590 -0.251960 0.873003 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.254] If point is visible? -1.298012, -0.330496, 1.117800 mu:0.551173 unit_bearing:0.417545 -0.254075 0.872411 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.254] If point is visible? -1.433179, -0.360865, 0.903924 mu:0.551173 unit_bearing:0.286589 -0.256323 0.923128 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.492140, -0.373011, 0.784772 mu:0.551173 unit_bearing:0.215645 -0.254964 0.942598 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.494012, -0.356806, 0.788597 mu:0.551173 unit_bearing:0.218575 -0.246356 0.944211 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.440730, -0.342108, 0.898073 mu:0.551173 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.446669, -0.339504, 0.888421 mu:0.551173 unit_bearing:0.278267 -0.243596 0.929101 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.444198, -0.338865, 0.893130 mu:0.551173 unit_bearing:0.281096 -0.243562 0.928258 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.493024, -0.360699, 0.788848 mu:0.551173 unit_bearing:0.218555 -0.248502 0.943653 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.456880, -0.329761, 0.873522 mu:0.551173 unit_bearing:0.269844 -0.237265 0.933215 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.457826, -0.325873, 0.873271 mu:0.551173 unit_bearing:0.269867 -0.235121 0.933750 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.461172, -0.322620, 0.868285 mu:0.551173 unit_bearing:0.267055 -0.233007 0.935088 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.622797, -0.409007, -0.303884 mu:0.551173 unit_bearing:-0.385190 -0.201530 0.900563 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.636057, -0.377859, -0.269253 mu:0.551173 unit_bearing:-0.365908 -0.186816 0.911708 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.662513, -0.265882, 0.284941 mu:0.551173 unit_bearing:-0.063530 -0.162783 0.984614 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.679300, -0.240416, 0.166720 mu:0.551173 unit_bearing:-0.127109 -0.140911 0.981829 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.678969, -0.239788, 0.171948 mu:0.551173 unit_bearing:-0.124224 -0.140918 0.982197 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.678623, -0.239159, 0.177174 mu:0.551173 unit_bearing:-0.121339 -0.140925 0.982556 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.679853, -0.236488, 0.166334 mu:0.551173 unit_bearing:-0.127114 -0.138736 0.982138 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.675785, -0.249058, 0.193983 mu:0.551173 unit_bearing:-0.112666 -0.147470 0.982629 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.595883, -0.071954, 0.630545 mu:0.551173 unit_bearing:0.141864 -0.079906 0.986656 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.594150, -0.071336, 0.635502 mu:0.551173 unit_bearing:0.144748 -0.079902 0.986237 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.567039, -0.225629, -0.618297 mu:0.551173 unit_bearing:-0.536217 -0.080091 0.840272 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.562270, -0.208274, -0.636285 mu:0.551173 unit_bearing:-0.544241 -0.069388 0.836055 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.564416, -0.207671, -0.631029 mu:0.551173 unit_bearing:-0.541600 -0.069411 0.837766 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.602000, -0.033841, 0.616363 mu:0.551173 unit_bearing:0.136123 -0.058104 0.988987 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.623798, 0.021732, 0.549263 mu:0.551173 unit_bearing:0.101474 -0.023195 0.994568 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.592472, 0.041256, 0.642946 mu:0.551173 unit_bearing:0.156349 -0.018806 0.987523 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.606677, 0.059968, 0.600436 mu:0.551173 unit_bearing:0.133268 -0.005714 0.991064 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.696373, 0.120653, -0.008612 mu:0.551173 unit_bearing:-0.199262 0.068395 0.977557 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.696425, 0.121311, -0.003336 mu:0.551173 unit_bearing:-0.196390 0.068400 0.978137 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.694907, 0.140229, -0.011255 mu:0.551173 unit_bearing:-0.199238 0.079282 0.976739 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.694960, 0.140890, -0.005980 mu:0.551173 unit_bearing:-0.196366 0.079288 0.977320 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.544177, 0.272697, 0.711965 mu:0.551173 unit_bearing:0.213716 0.103171 0.971433 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.561233, 0.279173, 0.666349 mu:0.551173 unit_bearing:0.187864 0.109778 0.976041 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.611501, 0.265810, 0.522131 mu:0.551173 unit_bearing:0.104276 0.112154 0.988204 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.609963, 0.266416, 0.527136 mu:0.551173 unit_bearing:0.107165 0.112149 0.987896 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.611058, 0.269722, 0.521558 mu:0.551173 unit_bearing:0.104273 0.114333 0.987955 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.553993, 0.322667, 0.664800 mu:0.551173 unit_bearing:0.190653 0.133675 0.972513 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.556859, 0.329299, 0.653818 mu:0.551173 unit_bearing:0.184892 0.138041 0.973016 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.554899, 0.329879, 0.658714 mu:0.551173 unit_bearing:0.187765 0.138030 0.972467 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.502043, 0.336331, 0.780881 mu:0.551173 unit_bearing:0.259318 0.133353 0.956541 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.606156, 0.308806, 0.515734 mu:0.551173 unit_bearing:0.104231 0.136105 0.985196 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.605619, 0.312710, 0.515142 mu:0.551173 unit_bearing:0.104227 0.138281 0.984893 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.557397, 0.325402, 0.654416 mu:0.551173 unit_bearing:0.184901 0.135869 0.973320 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.555438, 0.325983, 0.659312 mu:0.551173 unit_bearing:0.187773 0.135858 0.972771 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.553463, 0.326563, 0.664204 mu:0.551173 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -0.591798, 0.442629, 1.638875 mu:0.551173 unit_bearing:0.821890 0.133873 0.553692 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.254] If point is visible? -1.579217, 0.355566, 0.574468 mu:0.551173 unit_bearing:0.141671 0.157741 0.977265 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.577483, 0.356156, 0.579421 mu:0.551173 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.564921, 0.360265, 0.613984 mu:0.551173 unit_bearing:0.164697 0.157657 0.973663 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.563066, 0.360848, 0.618906 mu:0.551173 unit_bearing:0.167572 0.157646 0.973174 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -0.596958, 0.446048, 1.635663 mu:0.551173 unit_bearing:0.819854 0.135959 0.556197 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.254] If point is visible? -0.591196, 0.446149, 1.638168 mu:0.551173 unit_bearing:0.821805 0.135846 0.553337 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.254] If point is visible? -1.566136, 0.363571, 0.608444 mu:0.551173 unit_bearing:0.161812 0.159838 0.973791 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.525722, 0.777139, 0.004725 mu:0.551173 unit_bearing:-0.131055 0.426639 0.894876 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.365775, 0.842532, 0.654177 mu:0.551173 unit_bearing:0.238800 0.418789 0.876122 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.254] If point is visible? -1.363489, 0.843009, 0.658904 mu:0.551173 unit_bearing:0.241610 0.418732 0.875379 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.361188, 0.843485, 0.663627 mu:0.551173 unit_bearing:0.244417 0.418675 0.874626 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.522131, 0.784944, 0.034867 mu:0.551173 unit_bearing:-0.113973 0.428884 0.896141 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.521772, 0.785622, 0.040010 mu:0.551173 unit_bearing:-0.111128 0.428910 0.896486 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.175671, -0.383823, 1.244443 mu:0.551173 unit_bearing:0.494782 -0.291755 0.818578 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.444830, -0.476981, 0.824205 mu:0.551173 unit_bearing:0.234889 -0.314491 0.919741 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.440324, -0.475674, 0.833724 mu:0.551173 unit_bearing:0.240558 -0.314416 0.918300 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.187586, -0.418198, 1.220203 mu:0.551173 unit_bearing:0.478253 -0.308932 0.822092 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.598902, -0.577268, -0.134031 mu:0.551173 unit_bearing:-0.302552 -0.304989 0.903019 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.617502, -0.474432, 0.291577 mu:0.551173 unit_bearing:-0.069043 -0.277319 0.958294 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.619701, -0.466649, 0.291023 mu:0.551173 unit_bearing:-0.069056 -0.273025 0.959525 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.592409, -0.538050, -0.276114 mu:0.551173 unit_bearing:-0.375625 -0.273990 0.885345 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.620592, -0.457625, 0.300785 mu:0.551173 unit_bearing:-0.063309 -0.268743 0.961129 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.619259, -0.456385, 0.311099 mu:0.551173 unit_bearing:-0.057548 -0.268758 0.961487 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.177717, -0.424390, 1.228708 mu:0.551173 unit_bearing:0.483439 -0.312891 0.817549 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.302288, -0.327301, 1.113213 mu:0.551173 unit_bearing:0.414847 -0.252019 0.874293 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.489194, -0.338682, 0.806809 mu:0.551173 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.484762, -0.337408, 0.816399 mu:0.551173 unit_bearing:0.235752 -0.237611 0.942317 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.491651, -0.347744, 0.797714 mu:0.551173 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.621639, -0.409584, -0.309202 mu:0.551173 unit_bearing:-0.387965 -0.201489 0.899381 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.680376, -0.261530, -0.044291 mu:0.551173 unit_bearing:-0.241979 -0.138287 0.960376 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.623299, -0.401864, -0.309943 mu:0.551173 unit_bearing:-0.388026 -0.197215 0.900301 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.643778, -0.356114, -0.249856 mu:0.551173 unit_bearing:-0.354855 -0.176223 0.918163 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.647095, -0.347160, -0.239974 mu:0.551173 unit_bearing:-0.349300 -0.171988 0.921092 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.633189, -0.382906, -0.279520 mu:0.551173 unit_bearing:-0.371459 -0.188887 0.909033 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.664396, -0.254097, 0.283840 mu:0.551173 unit_bearing:-0.063539 -0.156262 0.985670 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.679853, -0.236488, 0.166334 mu:0.551173 unit_bearing:-0.127114 -0.138736 0.982138 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.679175, -0.235231, 0.176788 mu:0.551173 unit_bearing:-0.121345 -0.138751 0.982865 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.678436, -0.233974, 0.187233 mu:0.551173 unit_bearing:-0.115573 -0.138765 0.983558 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.680931, -0.228632, 0.165557 mu:0.551173 unit_bearing:-0.127125 -0.134386 0.982741 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.678739, -0.244343, 0.167104 mu:0.551173 unit_bearing:-0.127103 -0.143085 0.981515 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.678062, -0.243087, 0.177558 mu:0.551173 unit_bearing:-0.121334 -0.143100 0.982243 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.695452, 0.131740, -0.015471 mu:0.551173 unit_bearing:-0.202120 0.074921 0.976491 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.695572, 0.133060, -0.004918 mu:0.551173 unit_bearing:-0.196376 0.074934 0.977661 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.534598, 0.241021, 0.746107 mu:0.551173 unit_bearing:0.230965 0.083549 0.969368 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.603325, 0.257697, 0.553822 mu:0.551173 unit_bearing:0.121617 0.105587 0.986945 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.329368, 0.349617, 1.069756 mu:0.551173 unit_bearing:0.433339 0.121217 0.893042 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.336925, 0.340938, 1.062117 mu:0.551173 unit_bearing:0.427877 0.116983 0.896235 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.567065, 0.277415, 0.651643 mu:0.551173 unit_bearing:0.179240 0.109804 0.977658 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -0.602707, 0.445944, 1.633140 mu:0.551173 unit_bearing:0.817894 0.136071 0.559047 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.502567, 0.332444, 0.781482 mu:0.551173 unit_bearing:0.259330 0.131187 0.956838 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.497842, 0.333560, 0.791035 mu:0.551173 unit_bearing:0.265027 0.131155 0.955280 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -0.912290, 0.485399, 1.442491 mu:0.551173 unit_bearing:0.685895 0.170462 0.707453 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.523900, 0.781239, 0.035628 mu:0.551173 unit_bearing:-0.113993 0.426806 0.897130 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.184982, -0.425764, 1.220364 mu:0.551173 unit_bearing:0.478111 -0.313083 0.820603 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.438706, -0.433151, 0.860352 mu:0.551173 unit_bearing:0.257837 -0.292941 0.920709 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.242283, -0.388323, 1.168272 mu:0.551173 unit_bearing:0.446638 -0.289101 0.846720 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.228464, -0.385647, 1.185384 mu:0.551173 unit_bearing:0.457445 -0.288786 0.841039 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.016272, -0.475035, 1.364692 mu:0.551173 unit_bearing:0.569935 -0.349731 0.743547 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.523535, -0.764093, 0.193593 mu:0.551173 unit_bearing:-0.131027 -0.429201 0.893655 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.522386, -0.761767, 0.214249 mu:0.551173 unit_bearing:-0.119657 -0.429316 0.895193 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.611781, -0.509210, 0.262728 mu:0.551173 unit_bearing:-0.086243 -0.294408 0.951781 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.609554, -0.506752, 0.283403 mu:0.551173 unit_bearing:-0.074741 -0.294451 0.952739 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.483639, -0.378868, 0.799686 mu:0.551173 unit_bearing:0.224155 -0.259170 0.939460 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.456473, -0.371171, 0.856972 mu:0.551173 unit_bearing:0.258263 -0.258807 0.930763 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.531294, -0.724389, 0.274753 mu:0.551173 unit_bearing:-0.085611 -0.412932 0.906729 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.452291, -0.453814, 0.823109 mu:0.551173 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.443222, -0.451211, 0.842147 mu:0.551173 unit_bearing:0.246395 -0.301598 0.921047 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.195182, -0.395464, 1.219648 mu:0.551173 unit_bearing:0.478664 -0.296458 0.826434 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] If point is visible? -1.616232, -0.473195, 0.301897 mu:0.551173 unit_bearing:-0.063285 -0.277336 0.958686 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.487716, -0.363313, 0.798718 mu:0.551173 unit_bearing:0.224237 -0.250595 0.941764 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.478908, -0.360756, 0.817902 mu:0.551173 unit_bearing:0.235628 -0.250485 0.939008 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.469856, -0.358198, 0.837008 mu:0.551173 unit_bearing:0.247002 -0.250369 0.936112 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.538006, -0.709187, 0.274083 mu:0.551173 unit_bearing:-0.085666 -0.404570 0.910486 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.535832, -0.706786, 0.294630 mu:0.551173 unit_bearing:-0.074243 -0.404637 0.911459 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.438281, -0.466653, 0.842874 mu:0.551173 unit_bearing:0.246281 -0.310095 0.918252 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.628805, -0.385248, -0.300801 mu:0.551173 unit_bearing:-0.382591 -0.188739 0.904435 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.633189, -0.382906, -0.279520 mu:0.551173 unit_bearing:-0.371459 -0.188887 0.909033 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.625597, -0.400705, -0.299306 mu:0.551173 unit_bearing:-0.382474 -0.197296 0.902656 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.681296, -0.219516, 0.175230 mu:0.551173 unit_bearing:-0.121366 -0.130049 0.984052 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.679755, -0.216998, 0.196115 mu:0.551173 unit_bearing:-0.109819 -0.130074 0.985404 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.676915, -0.250941, 0.178321 mu:0.551173 unit_bearing:-0.121322 -0.147448 0.981601 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.559164, -0.220362, -0.640208 mu:0.551173 unit_bearing:-0.546823 -0.075738 0.833816 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.601604, 0.273344, 0.551537 mu:0.551173 unit_bearing:0.121600 0.114300 0.985976 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.595001, 0.275744, 0.571450 mu:0.551173 unit_bearing:0.133143 0.114276 0.984487 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.581075, 0.280509, 0.611095 mu:0.551173 unit_bearing:0.156204 0.114220 0.981098 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.502567, 0.332444, 0.781482 mu:0.551173 unit_bearing:0.259330 0.131187 0.956838 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.595616, 0.320219, 0.544513 mu:0.551173 unit_bearing:0.121541 0.140416 0.982604 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.575081, 0.327346, 0.604041 mu:0.551173 unit_bearing:0.156127 0.140316 0.977720 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.337858, 0.333240, 1.063316 mu:0.551173 unit_bearing:0.427916 0.112691 0.896766 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.255] calculated Z= 1.082758 +[21:40:56.255] update seeds 305 +[21:40:56.255] If point is visible? -1.634564, 0.464386, 0.168702 mu:0.551173 unit_bearing:-0.074901 0.244529 0.966745 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.255] If point is visible? -1.591146, 0.306998, 0.566788 mu:0.551173 unit_bearing:0.133101 0.131687 0.982315 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.256] If point is visible? -1.577217, 0.311745, 0.606421 mu:0.551173 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.256] If point is visible? -1.630601, 0.479820, 0.166087 mu:0.551173 unit_bearing:-0.074876 0.253147 0.964526 T_cur_ref: x=0.113574 y=0.000000 z=0.026963 +[21:40:56.256] If point is visible? -1.020965, 0.481034, 1.543204 mu:0.512486 unit_bearing:0.686547 0.149913 0.711463 T_cur_ref: x=0.107527 y=0.000000 z=0.025778 +[21:40:56.256] Z inverse min: 1.176125, Z inverse max: 0.000000 +[21:40:56.256] If point is visible? -1.018092, 0.496844, 1.540241 mu:0.512486 unit_bearing:0.686297 0.158139 0.709922 T_cur_ref: x=0.107527 y=0.000000 z=0.025778 +[21:40:56.256] Z inverse min: 1.176125, Z inverse max: 0.000000 +[21:40:56.256] If point is visible? -1.018092, 0.496844, 1.540241 mu:0.512486 unit_bearing:0.686297 0.158139 0.709922 T_cur_ref: x=0.107527 y=0.000000 z=0.025778 +[21:40:56.256] Z inverse min: 1.176125, Z inverse max: 0.000000 +[21:40:56.256] If point is visible? -177691202530.893585, 49767032405.092789, -72565493024.307053 mu:0.000000 unit_bearing:-0.483900 0.293718 0.824361 T_cur_ref: x=0.100872 y=0.000000 z=0.024520 +[21:40:56.256] If point is visible? -126107192421.876526, -50517618034.941772, 144435515150.235565 mu:0.000000 unit_bearing:0.570372 -0.341647 0.746962 T_cur_ref: x=0.100872 y=0.000000 z=0.024520 +[21:40:56.256] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.256] If point is visible? -180461749232.899597, -75096683683.278854, 33327419833.008560 mu:0.000000 unit_bearing:-0.039970 -0.396393 0.917210 T_cur_ref: x=0.100872 y=0.000000 z=0.024520 +[21:40:56.256] If point is visible? -139847069272.480530, -45609353769.126999, 132963362674.925262 mu:0.000000 unit_bearing:0.504708 -0.310027 0.805700 T_cur_ref: x=0.100872 y=0.000000 z=0.024520 +[21:40:56.256] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.256] If point is visible? -139818236315.642883, -46920534294.475800, 132536772271.951080 mu:0.000000 unit_bearing:0.501837 -0.316328 0.805044 T_cur_ref: x=0.100872 y=0.000000 z=0.024520 +[21:40:56.256] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.256] If point is visible? -146497481394.131622, -46895449213.929512, 125123844799.307419 mu:0.000000 unit_bearing:0.459438 -0.311647 0.831741 T_cur_ref: x=0.100872 y=0.000000 z=0.024520 +[21:40:56.256] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.256] If point is visible? -146120264002.750092, -46820174851.357079, 125592242689.651886 mu:0.000000 unit_bearing:0.462124 -0.311558 0.830285 T_cur_ref: x=0.100872 y=0.000000 z=0.024520 +[21:40:56.256] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.256] If point is visible? -145741300246.695282, -46744853821.003593, 126059762782.646713 mu:0.000000 unit_bearing:0.464807 -0.311468 0.828820 T_cur_ref: x=0.100872 y=0.000000 z=0.024520 +[21:40:56.256] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.256] If point is visible? -140367414952.931427, -46585263598.584846, 132073743734.494263 mu:0.000000 unit_bearing:0.499275 -0.314366 0.807403 T_cur_ref: x=0.100872 y=0.000000 z=0.024520 +[21:40:56.256] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.256] If point is visible? -166237792715.087830, -49577816037.876350, 96040138376.024368 mu:0.000000 unit_bearing:0.297094 -0.307198 0.904082 T_cur_ref: x=0.100872 y=0.000000 z=0.024520 +[21:40:56.256] If point is visible? -140512059889.008545, -46173403502.855782, 132064565966.322052 mu:0.000000 unit_bearing:0.499351 -0.312298 0.808157 T_cur_ref: x=0.100872 y=0.000000 z=0.024520 +[21:40:56.256] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.256] init seeds +[21:40:56.256] DepthFilter: Initialized 2 new seeds +[21:40:56.258] DepthFilter: Initialized 2 new seeds +[21:40:56.706] add new frame +[21:40:56.706] update seed +[21:40:56.706] If point is visible? -1.560818, -0.225629, -0.616535 mu:0.551173 unit_bearing:-0.536217 -0.080091 0.840272 T_cur_ref: x=0.119796 y=0.000000 z=0.028725 +[21:40:56.706] If point is visible? -1.632163, 0.448934, 0.173055 mu:0.551173 unit_bearing:-0.074925 0.235901 0.968884 T_cur_ref: x=0.119796 y=0.000000 z=0.028725 +[21:40:56.706] If point is visible? -1.628342, 0.464386, 0.170464 mu:0.551173 unit_bearing:-0.074901 0.244529 0.966745 T_cur_ref: x=0.119796 y=0.000000 z=0.028725 +[21:40:56.706] If point is visible? -1.624380, 0.479820, 0.167849 mu:0.551173 unit_bearing:-0.074876 0.253147 0.964526 T_cur_ref: x=0.119796 y=0.000000 z=0.028725 +[21:40:56.706] If point is visible? -1.554400, -0.645865, -0.238966 mu:0.551173 unit_bearing:-0.360422 -0.335349 0.870424 T_cur_ref: x=0.119796 y=0.000000 z=0.028725 +[21:40:56.706] If point is visible? -1.161565, -0.462806, 1.226913 mu:0.551173 unit_bearing:0.480026 -0.333669 0.811320 T_cur_ref: x=0.119796 y=0.000000 z=0.028725 +[21:40:56.706] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.706] If point is visible? -1.408908, -0.540384, 0.842838 mu:0.551173 unit_bearing:0.242857 -0.350310 0.904601 T_cur_ref: x=0.119796 y=0.000000 z=0.028725 +[21:40:56.706] If point is visible? -1.222469, -0.470839, 1.154943 mu:0.551173 unit_bearing:0.434500 -0.333228 0.836761 T_cur_ref: x=0.119796 y=0.000000 z=0.028725 +[21:40:56.706] Z inverse min: 1.124094, Z inverse max: 0.000000 +[21:40:56.706] add key frame +[21:40:56.706] remove key frame +[21:40:56.706] init seeds +[21:40:56.707] update seed +[21:40:56.707] If point is visible? -1.014744, 0.481034, 1.544966 mu:0.512486 unit_bearing:0.686547 0.149913 0.711463 T_cur_ref: x=0.113748 y=0.000000 z=0.027540 +[21:40:56.707] Z inverse min: 1.176125, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -1.011870, 0.496844, 1.542003 mu:0.512486 unit_bearing:0.686297 0.158139 0.709922 T_cur_ref: x=0.113748 y=0.000000 z=0.027540 +[21:40:56.707] Z inverse min: 1.176125, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -1.011870, 0.496844, 1.542003 mu:0.512486 unit_bearing:0.686297 0.158139 0.709922 T_cur_ref: x=0.113748 y=0.000000 z=0.027540 +[21:40:56.707] Z inverse min: 1.176125, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -177691202530.887360, 49767032405.092789, -72565493024.305298 mu:0.000000 unit_bearing:-0.483900 0.293718 0.824361 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -126107192421.870316, -50517618034.941772, 144435515150.237335 mu:0.000000 unit_bearing:0.570372 -0.341647 0.746962 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -180461749232.893372, -75096683683.278854, 33327419833.010323 mu:0.000000 unit_bearing:-0.039970 -0.396393 0.917210 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -139847069272.474304, -45609353769.126999, 132963362674.927017 mu:0.000000 unit_bearing:0.504708 -0.310027 0.805700 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -139818236315.636658, -46920534294.475800, 132536772271.952835 mu:0.000000 unit_bearing:0.501837 -0.316328 0.805044 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -146497481394.125397, -46895449213.929512, 125123844799.309174 mu:0.000000 unit_bearing:0.459438 -0.311647 0.831741 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -146120264002.743866, -46820174851.357079, 125592242689.653641 mu:0.000000 unit_bearing:0.462124 -0.311558 0.830285 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -145741300246.689056, -46744853821.003593, 126059762782.648468 mu:0.000000 unit_bearing:0.464807 -0.311468 0.828820 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -140367414952.925201, -46585263598.584846, 132073743734.496017 mu:0.000000 unit_bearing:0.499275 -0.314366 0.807403 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -166237792715.081604, -49577816037.876350, 96040138376.026123 mu:0.000000 unit_bearing:0.297094 -0.307198 0.904082 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -140512059889.002319, -46173403502.855782, 132064565966.323807 mu:0.000000 unit_bearing:0.499351 -0.312298 0.808157 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -168500190789.732941, -50649172357.032646, 91427669731.458618 mu:0.000000 unit_bearing:0.271721 -0.309726 0.911174 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -168102212802.157349, -50997738246.416214, 91964930782.999054 mu:0.000000 unit_bearing:0.274508 -0.311801 0.909629 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -151414533795.297363, -43901417504.170357, 120262114757.041946 mu:0.000000 unit_bearing:0.432960 -0.293671 0.852234 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -150693820208.452545, -43753824334.929749, 121217355012.430237 mu:0.000000 unit_bearing:0.438392 -0.293520 0.849505 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -150463849114.408264, -43263562956.335999, 121678124488.992081 mu:0.000000 unit_bearing:0.441162 -0.291349 0.848818 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -150362253599.110260, -42356783162.270111, 122121936448.372177 mu:0.000000 unit_bearing:0.443988 -0.287083 0.848798 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -141604489413.577393, -38926425509.708244, 133227526150.261505 mu:0.000000 unit_bearing:0.508508 -0.276737 0.815375 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -190194020593.189789, -53882272231.698242, 15479244777.807898 mu:0.000000 unit_bearing:-0.123666 -0.279231 0.952227 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -190165730182.106079, -53815518876.550934, 16048574438.214117 mu:0.000000 unit_bearing:-0.120795 -0.279247 0.952591 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -150595856109.563721, -42847011683.940430, 121662210490.944000 mu:0.000000 unit_bearing:0.441220 -0.289254 0.849504 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -190057154610.163849, -51736083550.550964, 22766804551.450264 mu:0.000000 unit_bearing:-0.086327 -0.272967 0.958142 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -190006786520.407166, -51668623551.821068, 23333370215.078682 mu:0.000000 unit_bearing:-0.083450 -0.272977 0.958394 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -189960941316.511322, -49919130519.909698, 27195457919.047005 mu:0.000000 unit_bearing:-0.063315 -0.266594 0.961727 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -190020027225.187256, -51108431375.146179, 24433363355.388008 mu:0.000000 unit_bearing:-0.077700 -0.270849 0.959481 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -151982572916.585358, -38256103879.326187, 121467854985.537628 mu:0.000000 unit_bearing:0.441820 -0.266154 0.856713 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.707] If point is visible? -165896332246.083069, -39516363901.957649, 101160939499.491669 mu:0.000000 unit_bearing:0.328724 -0.259981 0.907937 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -190025475053.396210, -50547868694.896881, 25532401968.478218 mu:0.000000 unit_bearing:-0.071949 -0.268719 0.960528 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -189936269867.963531, -47739950890.866669, 31012613993.784554 mu:0.000000 unit_bearing:-0.043160 -0.258031 0.965172 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -173039520603.613464, -40936214206.446243, 87739514614.954987 mu:0.000000 unit_bearing:0.255426 -0.258840 0.931536 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -165780339073.829895, -39938622413.683563, 101185262590.051971 mu:0.000000 unit_bearing:0.328690 -0.262110 0.907337 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] If point is visible? -151738431048.177032, -37765703110.521202, 121925682121.381866 mu:0.000000 unit_bearing:0.444588 -0.263981 0.855953 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.707] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -151857608996.204193, -37347575284.055046, 121906098943.065460 mu:0.000000 unit_bearing:0.444640 -0.261875 0.856573 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -189972575539.102325, -47245661545.920113, 31542665665.320107 mu:0.000000 unit_bearing:-0.040280 -0.255883 0.965868 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -189927174913.576141, -46682940382.733612, 32634997406.400917 mu:0.000000 unit_bearing:-0.034516 -0.253738 0.966657 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -189846471638.103546, -46614635810.913002, 33197359592.662331 mu:0.000000 unit_bearing:-0.031631 -0.253741 0.966755 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -189764099822.354431, -46546300129.260010, 33759444782.671333 mu:0.000000 unit_bearing:-0.028747 -0.253745 0.966844 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -173313371602.029663, -37824801441.255562, 88591372994.319702 mu:0.000000 unit_bearing:0.261267 -0.243788 0.933974 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -166863210990.869476, -37051326121.147263, 100501441778.888275 mu:0.000000 unit_bearing:0.326114 -0.247237 0.912427 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -166972333691.778168, -36628273949.605385, 100475275954.577057 mu:0.000000 unit_bearing:0.326145 -0.245103 0.912992 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -189874072920.224396, -46119944888.477211, 33726234081.423683 mu:0.000000 unit_bearing:-0.028749 -0.251590 0.967407 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -168934317717.606659, -34862855652.852333, 97787777059.143921 mu:0.000000 unit_bearing:0.312241 -0.234614 0.920577 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -168651528324.469421, -34792618071.067177, 98299580216.475739 mu:0.000000 unit_bearing:0.315055 -0.234577 0.919627 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -168367034812.442657, -34722371333.262848, 98810780113.379425 mu:0.000000 unit_bearing:0.317867 -0.234540 0.918668 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -172558775615.175446, -35350320407.211502, 91052158428.296417 mu:0.000000 unit_bearing:0.275558 -0.232914 0.932641 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -171974560029.441437, -34290673902.661522, 92550376202.013153 mu:0.000000 unit_bearing:0.284097 -0.228531 0.931162 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -188043555144.120117, -19599747614.636749, -59767407601.000511 mu:0.000000 unit_bearing:-0.471909 -0.061376 0.879508 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -184764000956.884186, -1888558334.978008, 71940037857.710724 mu:0.000000 unit_bearing:0.190867 -0.053669 0.980148 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -187764052565.968170, -18047388133.168522, -61119752083.237724 mu:0.000000 unit_bearing:-0.477390 -0.052774 0.877106 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -187787965947.066376, -17625429736.424767, -61169402655.339867 mu:0.000000 unit_bearing:-0.477400 -0.050631 0.877226 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -185434601868.420349, 5278722298.662877, 70020106183.458160 mu:0.000000 unit_bearing:0.185152 -0.016612 0.982570 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -185228411777.679688, 5345122192.732974, 70558747779.505676 mu:0.000000 unit_bearing:0.188028 -0.016611 0.982023 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -197661878721.998047, 14772171000.775364, 5313794609.947242 mu:0.000000 unit_bearing:-0.138793 0.070679 0.987796 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -179682977897.714386, 30606489688.622398, 78063704702.634430 mu:0.000000 unit_bearing:0.245187 0.105227 0.963748 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -186245115770.605133, 29477952516.299065, 61322743873.613441 mu:0.000000 unit_bearing:0.156215 0.109867 0.981594 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -186055288573.646271, 29543088057.576900, 61865234913.864326 mu:0.000000 unit_bearing:0.159096 0.109859 0.981132 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -186102029872.715973, 29115841554.272411, 61927166873.589363 mu:0.000000 unit_bearing:0.159101 0.107683 0.981372 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -185910557353.662689, 29180931323.593456, 62469269730.695869 mu:0.000000 unit_bearing:0.161981 0.107675 0.980902 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -179307983116.692657, 35652147512.909233, 76773975522.256317 mu:0.000000 unit_bearing:0.242213 0.131276 0.961301 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -179068240400.359985, 35714202227.974625, 77302864036.778717 mu:0.000000 unit_bearing:0.245069 0.131262 0.960579 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -178826824039.401917, 35776157326.049202, 77831261843.253632 mu:0.000000 unit_bearing:0.247923 0.131247 0.959848 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -185782082257.403168, 33320240529.558517, 60757314228.856636 mu:0.000000 unit_bearing:0.156161 0.129448 0.979212 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -73588330135.794006, 46815138401.006752, 178072379198.735718 mu:0.000000 unit_bearing:0.841282 0.124895 0.525972 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -185536029642.113678, 33811589666.427975, 61235854350.356300 mu:0.000000 unit_bearing:0.159034 0.131613 0.978461 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -185344490530.890594, 33876309219.641747, 61777724566.773659 mu:0.000000 unit_bearing:0.161912 0.131604 0.977990 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -185478912458.170197, 34238021745.575794, 61171910624.339424 mu:0.000000 unit_bearing:0.159027 0.133787 0.978167 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -185287366687.609741, 34302706915.295513, 61713756921.799202 mu:0.000000 unit_bearing:0.161905 0.133778 0.977696 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -182302109947.111877, 38901729516.649757, 67596360098.705208 mu:0.000000 unit_bearing:0.196310 0.153183 0.968503 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -182088940955.058167, 38964873700.609634, 68132429492.204567 mu:0.000000 unit_bearing:0.199178 0.153170 0.967919 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -180256870191.824127, 39891117244.610893, 72338311168.940887 mu:0.000000 unit_bearing:0.222081 0.155221 0.962594 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -180028698008.186218, 39953312855.682655, 72870243820.665619 mu:0.000000 unit_bearing:0.224941 0.155206 0.961932 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -179529307371.479340, 82947063310.036499, 14341695579.837957 mu:0.000000 unit_bearing:-0.037081 0.406391 0.912946 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -179057882671.599365, -79652910752.367416, 30172176106.259651 mu:0.000000 unit_bearing:-0.057044 -0.417261 0.906995 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -141313759409.201263, -46325518276.964577, 131152733510.096466 mu:0.000000 unit_bearing:0.494060 -0.312499 0.811326 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -169031546799.003784, -49879164737.012711, 90868459110.009521 mu:0.000000 unit_bearing:0.268963 -0.305528 0.913407 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -166919262032.942749, -49301975413.919678, 94994457374.191406 mu:0.000000 unit_bearing:0.291508 -0.305175 0.906582 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -168240357792.074921, -50576988178.806198, 91944668284.295135 mu:0.000000 unit_bearing:0.274541 -0.309683 0.910343 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -167715590970.521271, -50432508436.903214, 92976956216.711121 mu:0.000000 unit_bearing:0.280179 -0.309594 0.908654 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -167184018091.253845, -50287879841.512962, 94006941153.633728 mu:0.000000 unit_bearing:0.285811 -0.309503 0.906929 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -145502862195.595367, -46255657212.185265, 126514833193.260941 mu:0.000000 unit_bearing:0.467556 -0.309299 0.828085 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -142432469251.030457, -40390662423.060036, 131902455781.694397 mu:0.000000 unit_bearing:0.500362 -0.283252 0.818172 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -141624615177.456665, -40242338168.394287, 132814511043.557693 mu:0.000000 unit_bearing:0.505658 -0.283070 0.814973 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -151861451523.164398, -38674101056.893547, 121486975424.847076 mu:0.000000 unit_bearing:0.441768 -0.268258 0.856083 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -142690903892.182281, -39562162480.832916, 131874231734.002151 mu:0.000000 unit_bearing:0.500497 -0.279088 0.819520 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -172035692425.162201, -35210198029.207718, 92090359081.131378 mu:0.000000 unit_bearing:0.281220 -0.232851 0.930965 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -189307038886.024231, -46698956364.339127, 36037816968.192940 mu:0.000000 unit_bearing:-0.017207 -0.255909 0.966548 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -146105761022.393250, -39320787956.965485, 128154804746.723679 mu:0.000000 unit_bearing:0.479306 -0.275593 0.833255 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -147128250427.880890, -38635183451.154800, 127189906340.425888 mu:0.000000 unit_bearing:0.474065 -0.271568 0.837564 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -146355781657.501862, -38489058454.398300, 128122009443.638199 mu:0.000000 unit_bearing:0.479428 -0.271410 0.834557 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.708] If point is visible? -172352072936.595795, -36199769597.936821, 91109886316.838806 mu:0.000000 unit_bearing:0.275510 -0.237202 0.931574 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.708] If point is visible? -168547376251.330444, -35216422906.749756, 98327296645.434265 mu:0.000000 unit_bearing:0.315027 -0.236716 0.919089 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -168336152042.589691, -36063756382.835960, 98381996016.585571 mu:0.000000 unit_bearing:0.314969 -0.240991 0.917997 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -192768276379.091095, -38470743850.879944, -26020477292.633125 mu:0.000000 unit_bearing:-0.321152 -0.176579 0.930420 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -195735760748.958893, -22371672310.457127, 22443083371.138435 mu:0.000000 unit_bearing:-0.075148 -0.125779 0.989208 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -195617942462.655884, -22233753366.066147, 23578645997.556435 mu:0.000000 unit_bearing:-0.069364 -0.125787 0.989629 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -195724275603.060120, -21374122633.878136, 23490989132.715767 mu:0.000000 unit_bearing:-0.069370 -0.121430 0.990173 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -187395288810.932892, -17761675876.454426, -62323353172.532295 mu:0.000000 unit_bearing:-0.482825 -0.050604 0.874254 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -197637061073.754272, 15486855131.623508, 4052302728.557166 mu:0.000000 unit_bearing:-0.144556 0.075031 0.986648 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -180771478856.760712, 31144732256.017776, 75288444224.799072 mu:0.000000 unit_bearing:0.230876 0.109627 0.966788 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -180303893250.635651, 31270526936.093925, 76350062036.337250 mu:0.000000 unit_bearing:0.236596 0.109604 0.965406 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -185863810513.875458, 29608144754.946949, 62407318918.381172 mu:0.000000 unit_bearing:0.161975 0.109852 0.980661 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -180807796124.916901, 37704396570.543335, 72135920932.996429 mu:0.000000 unit_bearing:0.219275 0.144400 0.964918 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -153678122815.855469, 37106742450.469818, 119677884262.997681 mu:0.000000 unit_bearing:0.477114 0.112188 0.871651 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.709] If point is visible? -152909228957.627533, 37211025795.810158, 120626609866.835571 mu:0.000000 unit_bearing:0.482530 0.112127 0.868673 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.709] If point is visible? -172640945879.887848, 36384263555.553665, 90487352267.431183 mu:0.000000 unit_bearing:0.316115 0.126512 0.940248 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -180680877934.496704, 38554437656.510887, 72004495935.736908 mu:0.000000 unit_bearing:0.219253 0.148736 0.964264 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -189289263660.493927, 52942444731.889557, 26140848452.650398 mu:0.000000 unit_bearing:-0.005671 0.248946 0.968501 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -177691202530.887360, 49767032405.092789, -72565493024.305298 mu:0.000000 unit_bearing:-0.483900 0.293718 0.824361 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -189070913854.477570, 53786061343.969910, 25998478580.121956 mu:0.000000 unit_bearing:-0.005670 0.253256 0.967383 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -145851777470.200714, -40151981023.505798, 128186384525.936844 mu:0.000000 unit_bearing:0.479182 -0.279773 0.831932 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.709] If point is visible? -169300815037.238678, -49036478211.103561, 90825820015.741852 mu:0.000000 unit_bearing:0.269026 -0.301284 0.914797 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -168258478908.205200, -48748666097.666016, 92894152551.971405 mu:0.000000 unit_bearing:0.280312 -0.301114 0.911458 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -167188934093.179413, -48460310944.845581, 94953306046.021027 mu:0.000000 unit_bearing:0.291577 -0.300936 0.907976 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -146335580593.531158, -43769412085.782219, 126438950356.206223 mu:0.000000 unit_bearing:0.467954 -0.296807 0.832421 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.709] If point is visible? -172790405942.784119, -40865586339.730202, 88261833293.844147 mu:0.000000 unit_bearing:0.258263 -0.258807 0.930763 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -171777044759.994141, -40582892120.055252, 90345711076.108337 mu:0.000000 unit_bearing:0.269597 -0.258673 0.927581 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -168574257324.298065, -39733067915.150978, 96543642104.309814 mu:0.000000 unit_bearing:0.303478 -0.258228 0.917180 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -167452249277.878204, -39449216420.768311, 98590949304.288544 mu:0.000000 unit_bearing:0.314728 -0.258066 0.913427 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -146969012475.082581, -72552238941.942108, 111592803288.426773 mu:0.000000 unit_bearing:0.376802 -0.431760 0.819514 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.709] If point is visible? -188967024499.101013, -49528061726.225098, 33986857794.528053 mu:0.000000 unit_bearing:-0.028729 -0.268810 0.962765 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -188621195650.320648, -49254725808.916794, 36231040367.040779 mu:0.000000 unit_bearing:-0.017198 -0.268821 0.963037 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -126107192421.870316, -50517618034.941772, 144435515150.237335 mu:0.000000 unit_bearing:0.570372 -0.341647 0.746962 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.709] If point is visible? -145331909419.340881, -41812707502.194641, 128245878471.882217 mu:0.000000 unit_bearing:0.478928 -0.288123 0.829225 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:56.709] If point is visible? -171185211868.725067, -38604870766.375877, 92314456829.491638 mu:0.000000 unit_bearing:0.281018 -0.249982 0.926573 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -170118004197.952728, -38322579452.987015, 94381758305.978333 mu:0.000000 unit_bearing:0.292318 -0.249839 0.923109 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -167902009757.502716, -37757282211.130013, 98488448604.770508 mu:0.000000 unit_bearing:0.314851 -0.249533 0.915752 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -180461749232.893372, -75096683683.278854, 33327419833.010323 mu:0.000000 unit_bearing:-0.039970 -0.396393 0.917210 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -180146867531.657288, -74827990644.351334, 35560507361.515846 mu:0.000000 unit_bearing:-0.028523 -0.396420 0.917626 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -188808946653.042175, -51502216572.831055, 31864950980.660164 mu:0.000000 unit_bearing:-0.040244 -0.277388 0.959915 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -188490075633.954193, -51229673090.928055, 34112808908.811073 mu:0.000000 unit_bearing:-0.028719 -0.277405 0.960324 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -170551385299.853760, -36626956478.418541, 94272810399.298309 mu:0.000000 unit_bearing:0.292426 -0.241284 0.925348 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -167715590970.521271, -50432508436.903214, 92976956216.711121 mu:0.000000 unit_bearing:0.280179 -0.309594 0.908654 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -179297926768.608582, -78690670372.586456, 31252257549.489357 mu:0.000000 unit_bearing:-0.051349 -0.413108 0.909233 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -180031861895.134979, -77029002784.250275, 31172635143.388741 mu:0.000000 unit_bearing:-0.051382 -0.404741 0.912987 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -179744588267.563934, -76761990062.841446, 33408855401.886665 mu:0.000000 unit_bearing:-0.039945 -0.404779 0.913542 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -196043523815.307007, -19792612807.765633, 22177939432.304482 mu:0.000000 unit_bearing:-0.075165 -0.112706 0.990781 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -193103448790.248383, -37489437948.820168, -24945377462.278938 mu:0.000000 unit_bearing:-0.315554 -0.172328 0.933128 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -198119672534.247437, -2517151252.629732, -7676656409.914208 mu:0.000000 unit_bearing:-0.213687 -0.007882 0.976870 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -182227024659.597076, 29912099812.595436, 72216684482.614075 mu:0.000000 unit_bearing:0.213709 0.105344 0.971201 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] If point is visible? -181325255313.139099, 30165843313.807030, 74349481719.387817 mu:0.000000 unit_bearing:0.225168 0.105304 0.968613 T_cur_ref: x=0.107094 y=0.000000 z=0.026282 +[21:40:56.709] init seeds +[21:40:56.709] DepthFilter: Initialized 0 new seeds +[21:40:56.712] DepthFilter: Initialized 0 new seeds +[21:40:57.158] add new frame +[21:40:57.158] update seed +[21:40:57.158] If point is visible? -1.007364, 0.481034, 1.547142 mu:0.512486 unit_bearing:0.686547 0.149913 0.711463 T_cur_ref: x=0.121128 y=0.000000 z=0.029715 +[21:40:57.158] Z inverse min: 1.176125, Z inverse max: 0.000000 +[21:40:57.158] If point is visible? -1.004491, 0.496844, 1.544179 mu:0.512486 unit_bearing:0.686297 0.158139 0.709922 T_cur_ref: x=0.121128 y=0.000000 z=0.029715 +[21:40:57.158] Z inverse min: 1.176125, Z inverse max: 0.000000 +[21:40:57.158] If point is visible? -1.004491, 0.496844, 1.544179 mu:0.512486 unit_bearing:0.686297 0.158139 0.709922 T_cur_ref: x=0.121128 y=0.000000 z=0.029715 +[21:40:57.158] Z inverse min: 1.176125, Z inverse max: 0.000000 +[21:40:57.158] If point is visible? -177691202530.879974, 49767032405.092789, -72565493024.303116 mu:0.000000 unit_bearing:-0.483900 0.293718 0.824361 T_cur_ref: x=0.114473 y=0.000000 z=0.028457 +[21:40:57.158] If point is visible? -126107192421.862930, -50517618034.941772, 144435515150.239502 mu:0.000000 unit_bearing:0.570372 -0.341647 0.746962 T_cur_ref: x=0.114473 y=0.000000 z=0.028457 +[21:40:57.158] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:57.158] If point is visible? -180461749232.885986, -75096683683.278854, 33327419833.012497 mu:0.000000 unit_bearing:-0.039970 -0.396393 0.917210 T_cur_ref: x=0.114473 y=0.000000 z=0.028457 +[21:40:57.158] If point is visible? -139847069272.466919, -45609353769.126999, 132963362674.929199 mu:0.000000 unit_bearing:0.504708 -0.310027 0.805700 T_cur_ref: x=0.114473 y=0.000000 z=0.028457 +[21:40:57.158] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:57.159] If point is visible? -139818236315.629272, -46920534294.475800, 132536772271.955017 mu:0.000000 unit_bearing:0.501837 -0.316328 0.805044 T_cur_ref: x=0.114473 y=0.000000 z=0.028457 +[21:40:57.159] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:57.158] add key frame +[21:40:57.159] init seeds +[21:40:57.159] remove key frame +[21:40:57.159] update seed +[21:40:57.159] init seeds +[21:40:57.161] DepthFilter: Initialized 2 new seeds +[21:40:57.164] DepthFilter: Initialized 178 new seeds +[21:40:57.621] add new frame +[21:40:57.621] update seed +[21:40:57.621] If point is visible? -177691202530.873871, 49767032405.092789, -72565493024.301346 mu:0.000000 unit_bearing:-0.483900 0.293718 0.824361 T_cur_ref: x=0.120571 y=0.000000 z=0.030221 +[21:40:57.621] If point is visible? -126107192421.856827, -50517618034.941772, 144435515150.241272 mu:0.000000 unit_bearing:0.570372 -0.341647 0.746962 T_cur_ref: x=0.120571 y=0.000000 z=0.030221 +[21:40:57.621] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:57.621] If point is visible? -180461749232.879883, -75096683683.278854, 33327419833.014259 mu:0.000000 unit_bearing:-0.039970 -0.396393 0.917210 T_cur_ref: x=0.120571 y=0.000000 z=0.030221 +[21:40:57.621] If point is visible? -139847069272.460815, -45609353769.126999, 132963362674.930969 mu:0.000000 unit_bearing:0.504708 -0.310027 0.805700 T_cur_ref: x=0.120571 y=0.000000 z=0.030221 +[21:40:57.621] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:57.621] If point is visible? -139818236315.623169, -46920534294.475800, 132536772271.956787 mu:0.000000 unit_bearing:0.501837 -0.316328 0.805044 T_cur_ref: x=0.120571 y=0.000000 z=0.030221 +[21:40:57.621] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:57.621] If point is visible? -146497481394.111908, -46895449213.929512, 125123844799.313126 mu:0.000000 unit_bearing:0.459438 -0.311647 0.831741 T_cur_ref: x=0.120571 y=0.000000 z=0.030221 +[21:40:57.621] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:57.621] If point is visible? -146120264002.730377, -46820174851.357079, 125592242689.657593 mu:0.000000 unit_bearing:0.462124 -0.311558 0.830285 T_cur_ref: x=0.120571 y=0.000000 z=0.030221 +[21:40:57.621] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:57.621] add key frame +[21:40:57.621] If point is visible? -145741300246.675568, -46744853821.003593, 126059762782.652420 mu:0.000000 unit_bearing:0.464807 -0.311468 0.828820 T_cur_ref: x=0.120571 y=0.000000 z=0.030221 +[21:40:57.621] remove key frame +[21:40:57.621] Z inverse min: 0.557947, Z inverse max: 0.000000 +[21:40:57.621] init seeds +[21:40:57.621] update seed +[21:40:57.621] init seeds +[21:40:57.624] DepthFilter: Initialized 4 new seeds +[21:40:57.626] DepthFilter: Initialized 178 new seeds +[21:40:58.096] add new frame +[21:40:58.096] update seed +[21:40:58.096] If point is visible? -1.726402, 0.331741, -0.241790 mu:0.527454 unit_bearing:-0.315369 0.191189 0.929510 T_cur_ref: x=0.120252 y=0.000000 z=0.030697 +[21:40:58.096] If point is visible? -1.359290, 0.290441, 1.180058 mu:0.527454 unit_bearing:0.450161 0.078171 0.889519 T_cur_ref: x=0.120252 y=0.000000 z=0.030697 +[21:40:58.096] Z inverse min: 1.889963, Z inverse max: 0.000000 +[21:40:58.096] If point is visible? -1.614877, 0.763351, 0.063170 mu:0.527454 unit_bearing:-0.119956 0.397544 0.909708 T_cur_ref: x=0.120252 y=0.000000 z=0.030697 +[21:40:58.096] If point is visible? -1.359290, 0.290441, 1.180058 mu:0.527454 unit_bearing:0.450161 0.078171 0.889519 T_cur_ref: x=0.120252 y=0.000000 z=0.030697 +[21:40:58.096] Z inverse min: 1.889963, Z inverse max: 0.000000 +[21:40:58.096] If point is visible? -1.726402, 0.331741, -0.241790 mu:0.527454 unit_bearing:-0.315369 0.191189 0.929510 T_cur_ref: x=0.120252 y=0.000000 z=0.030697 +[21:40:58.096] If point is visible? -1.614877, 0.763351, 0.063170 mu:0.527454 unit_bearing:-0.119956 0.397544 0.909708 T_cur_ref: x=0.120252 y=0.000000 z=0.030697 +[21:40:58.096] If point is visible? -73720.979156, -32591.942290, 9311.708609 mu:0.000012 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.096] If point is visible? -73585.654951, -32157.896901, 11608.040612 mu:0.000012 unit_bearing:-0.091332 -0.410805 0.907137 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.096] If point is visible? -73560.693686, -32131.263581, 11837.728624 mu:0.000012 unit_bearing:-0.088479 -0.410825 0.907411 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.096] If point is visible? -73610.095907, -31934.540999, 12060.864290 mu:0.000012 unit_bearing:-0.085639 -0.408753 0.908618 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.096] If point is visible? -73658.351423, -31737.668482, 12283.861064 mu:0.000012 unit_bearing:-0.082798 -0.406680 0.909811 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.096] If point is visible? -73631.262352, -31710.897793, 12513.263490 mu:0.000012 unit_bearing:-0.079943 -0.406697 0.910059 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.096] add key frame +[21:40:58.096] If point is visible? -73683.312229, -30813.593131, 14318.438108 mu:0.000012 unit_bearing:-0.057125 -0.398432 0.915417 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.096] init seeds +[21:40:58.096] remove key frame +[21:40:58.097] update seed +[21:40:58.097] If point is visible? -73720.979156, -32591.942290, 9311.708609 mu:0.000012 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -73585.654951, -32157.896901, 11608.040612 mu:0.000012 unit_bearing:-0.091332 -0.410805 0.907137 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -73560.693686, -32131.263581, 11837.728624 mu:0.000012 unit_bearing:-0.088479 -0.410825 0.907411 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -73610.095907, -31934.540999, 12060.864290 mu:0.000012 unit_bearing:-0.085639 -0.408753 0.908618 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -73658.351423, -31737.668482, 12283.861064 mu:0.000012 unit_bearing:-0.082798 -0.406680 0.909811 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -73631.262352, -31710.897793, 12513.263490 mu:0.000012 unit_bearing:-0.079943 -0.406697 0.910059 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -73683.312229, -30813.593131, 14318.438108 mu:0.000012 unit_bearing:-0.057125 -0.398432 0.915417 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -68299.402443, -22650.795392, 37494.818344 mu:0.000012 unit_bearing:0.245945 -0.333391 0.910144 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -68879.902641, -22624.923159, 36433.500737 mu:0.000012 unit_bearing:0.231824 -0.331480 0.914537 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -59669.733554, -19199.912929, 51522.979088 mu:0.000012 unit_bearing:0.440560 -0.312248 0.841670 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -59727.366464, -19029.863600, 51519.288680 mu:0.000012 unit_bearing:0.440622 -0.310162 0.842408 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -61386.033351, -17904.590316, 49949.086061 mu:0.000012 unit_bearing:0.419338 -0.294039 0.858893 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -60019.209077, -17637.570276, 51675.349227 mu:0.000012 unit_bearing:0.443814 -0.293365 0.846739 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -60676.470340, -18127.410343, 50729.614573 mu:0.000012 unit_bearing:0.430127 -0.297937 0.852188 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -60119.487639, -17837.816289, 51489.712983 mu:0.000012 unit_bearing:0.441046 -0.295536 0.847430 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -63139.501174, -17715.213883, 47783.937663 mu:0.000012 unit_bearing:0.389314 -0.288470 0.874768 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -63192.072200, -17543.641393, 47777.743304 mu:0.000012 unit_bearing:0.389362 -0.286362 0.875439 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -63244.241752, -17372.016795, 47771.424542 mu:0.000012 unit_bearing:0.389409 -0.284253 0.876106 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -63448.909037, -16685.009545, 47744.910039 mu:0.000012 unit_bearing:0.389592 -0.275810 0.878719 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -63165.724179, -16626.737317, 48139.100740 mu:0.000012 unit_bearing:0.395105 -0.275689 0.876292 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -75690.662207, -23712.911494, -17098.094964 mu:0.000012 unit_bearing:-0.428063 -0.264387 0.864212 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -62247.829048, -14991.335838, 49841.730170 mu:0.000012 unit_bearing:0.420193 -0.258241 0.869913 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -60571.683834, -14673.348091, 51956.663900 mu:0.000012 unit_bearing:0.450170 -0.257528 0.855001 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -63265.699187, -16283.093470, 48125.276876 mu:0.000012 unit_bearing:0.395196 -0.271465 0.877569 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -63554.546345, -15796.212912, 47906.464259 mu:0.000012 unit_bearing:0.392572 -0.265180 0.880662 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -63270.074570, -15738.317807, 48300.446446 mu:0.000012 unit_bearing:0.398085 -0.265064 0.878219 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.097] If point is visible? -78230.142841, -21337.533755, -2911.705003 mu:0.000012 unit_bearing:-0.260926 -0.256638 0.930621 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -78369.167580, -20453.623405, 4862.809115 mu:0.000012 unit_bearing:-0.166828 -0.257502 0.951767 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -78361.364252, -20426.474954, 5097.036318 mu:0.000012 unit_bearing:-0.163963 -0.257522 0.952260 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -78369.113344, -20143.612526, 6020.055366 mu:0.000012 unit_bearing:-0.152508 -0.255448 0.954719 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -78357.806974, -20116.356405, 6253.832922 mu:0.000012 unit_bearing:-0.149639 -0.255466 0.955168 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -78345.804335, -20089.082971, 6487.514170 mu:0.000012 unit_bearing:-0.146769 -0.255483 0.955608 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -71498.721082, -15664.256910, 35018.443170 mu:0.000012 unit_bearing:0.218594 -0.244209 0.944764 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.097] If point is visible? -77867.764437, -20537.927280, -9926.131913 mu:0.000012 unit_bearing:-0.342885 -0.236321 0.909166 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -78305.408005, -18805.821652, 9916.073478 mu:0.000012 unit_bearing:-0.103705 -0.244935 0.963977 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -78302.987515, -19264.921872, 9012.726699 mu:0.000012 unit_bearing:-0.115197 -0.249194 0.961578 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -71541.971958, -15490.024704, 35007.610534 mu:0.000012 unit_bearing:0.218613 -0.242061 0.945312 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -78236.438888, -17425.448671, 12614.987454 mu:0.000012 unit_bearing:-0.069168 -0.232103 0.970229 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -63722.396950, -13470.516290, 48391.438594 mu:0.000012 unit_bearing:0.401386 -0.237460 0.884591 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.098] If point is visible? -71627.291186, -15141.454640, 34985.638483 mu:0.000012 unit_bearing:0.218650 -0.237764 0.946393 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -69063.434583, -14461.689111, 40060.327454 mu:0.000012 unit_bearing:0.286827 -0.237071 0.928185 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -69220.368537, -14316.180061, 39841.132049 mu:0.000012 unit_bearing:0.284024 -0.234962 0.929582 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -78206.857571, -19008.536593, -10299.813351 mu:0.000012 unit_bearing:-0.345956 -0.217052 0.912800 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -69499.331371, -13648.634034, 39588.961635 mu:0.000012 unit_bearing:0.281291 -0.226417 0.932529 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -71513.688908, -13807.702529, 35761.251560 mu:0.000012 unit_bearing:0.230187 -0.222614 0.947342 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -71412.031622, -13779.526335, 35974.628465 mu:0.000012 unit_bearing:0.233038 -0.222590 0.946650 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -70028.421731, -13413.213855, 38727.688108 mu:0.000012 unit_bearing:0.270002 -0.222244 0.936860 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -69917.205725, -13385.035464, 38937.811823 mu:0.000012 unit_bearing:0.272838 -0.222215 0.936045 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -71285.003249, -13374.270585, 36377.255955 mu:0.000012 unit_bearing:0.238774 -0.218238 0.946234 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -71574.937320, -14010.357762, 35559.325927 mu:0.000012 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -79020.637124, -15020.967049, -10669.228521 mu:0.000012 unit_bearing:-0.346541 -0.167719 0.922919 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76487.922408, -12656.630361, -23940.138108 mu:0.000012 unit_bearing:-0.495754 -0.118865 0.860290 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76534.984874, -10990.097277, -24603.588784 mu:0.000012 unit_bearing:-0.501368 -0.097482 0.859725 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -75796.782432, -10228.060580, -27091.646346 mu:0.000012 unit_bearing:-0.528219 -0.084424 0.844901 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -75884.662979, -10201.153569, -26854.741411 mu:0.000012 unit_bearing:-0.525559 -0.084451 0.846555 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76566.621540, -8979.745252, -25310.853815 mu:0.000012 unit_bearing:-0.506963 -0.071829 0.858970 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76647.968028, -8952.297638, -25073.253460 mu:0.000012 unit_bearing:-0.504278 -0.071850 0.860547 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -75111.541479, -8757.792409, -29415.645182 mu:0.000012 unit_bearing:-0.552194 -0.062948 0.831336 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76972.852302, -7663.586438, -24498.409853 mu:0.000012 unit_bearing:-0.496304 -0.056949 0.866279 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -77061.539236, -7463.292856, -24280.466565 mu:0.000012 unit_bearing:-0.493619 -0.054826 0.867948 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76007.391122, -369.962641, 28398.338186 mu:0.000012 unit_bearing:0.150561 -0.047179 0.987474 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -77219.561264, -1160.990553, 24890.097642 mu:0.000012 unit_bearing:0.104350 -0.051586 0.993202 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76002.684582, 2119.890133, 28334.148808 mu:0.000012 unit_bearing:0.153466 -0.016625 0.988014 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -77307.907598, 1303.876153, 24607.169567 mu:0.000012 unit_bearing:0.104367 -0.021009 0.994317 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -77236.081033, 1331.340265, 24830.239908 mu:0.000012 unit_bearing:0.107258 -0.021008 0.994009 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -77163.587971, 1358.785806, 25053.141854 mu:0.000012 unit_bearing:0.110150 -0.021007 0.993693 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76339.218847, 3066.470071, 27324.828934 mu:0.000012 unit_bearing:0.141929 -0.003530 0.989871 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -77325.435923, 3063.733850, 24394.998297 mu:0.000012 unit_bearing:0.104370 0.000837 0.994538 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -77253.610196, 3091.122578, 24618.085839 mu:0.000012 unit_bearing:0.107262 0.000837 0.994230 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -75327.416673, 4268.962668, 29854.354586 mu:0.000012 unit_bearing:0.176521 0.007380 0.984269 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -77249.991268, 3794.764101, 24530.880290 mu:0.000012 unit_bearing:0.107261 0.009575 0.994185 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -75996.978028, 5107.987396, 27965.939309 mu:0.000012 unit_bearing:0.153465 0.020480 0.987942 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -80921.776948, 5881.616539, 892.091686 mu:0.000012 unit_bearing:-0.182012 0.070607 0.980758 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -72986.186815, 11650.404440, 33481.511299 mu:0.000012 unit_bearing:0.236660 0.092225 0.967206 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -72883.456314, 11675.909610, 33695.726067 mu:0.000012 unit_bearing:0.239520 0.092216 0.966502 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -73403.938232, 12395.124302, 32279.243580 mu:0.000012 unit_bearing:0.222312 0.103141 0.969505 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -72969.789335, 11824.925542, 33456.060301 mu:0.000012 unit_bearing:0.236653 0.094399 0.966998 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76771.148726, 11867.206524, 23432.576713 mu:0.000012 unit_bearing:0.107169 0.109971 0.988140 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76808.738939, 11517.233428, 23483.961974 mu:0.000012 unit_bearing:0.107176 0.105612 0.988615 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76736.224636, 11544.194413, 23706.727886 mu:0.000012 unit_bearing:0.110065 0.105608 0.988298 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -74304.474236, 12660.972308, 30037.832288 mu:0.000012 unit_bearing:0.193609 0.109759 0.974920 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -62885.626432, 16385.762795, 48586.366215 mu:0.000012 unit_bearing:0.449723 0.127464 0.884026 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.098] If point is visible? -74023.186944, 14256.645684, 30017.368172 mu:0.000012 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -74069.691617, 14579.386712, 29746.407913 mu:0.000012 unit_bearing:0.193524 0.133664 0.971948 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -73977.033449, 14605.117841, 29963.571315 mu:0.000012 unit_bearing:0.196394 0.133653 0.971373 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76513.435158, 13964.511654, 23117.357423 mu:0.000012 unit_bearing:0.107119 0.136099 0.984887 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -71526.617324, 15383.958858, 35085.670074 mu:0.000012 unit_bearing:0.265003 0.135487 0.954682 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -76489.465341, 14139.078094, 23090.554913 mu:0.000012 unit_bearing:0.107114 0.138275 0.984584 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -74113.995556, 14902.017517, 29474.938968 mu:0.000012 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -74022.004815, 14927.754219, 29692.279835 mu:0.000012 unit_bearing:0.193507 0.138007 0.971344 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -75207.332516, 15905.269953, 25973.169888 mu:0.000012 unit_bearing:0.147438 0.155550 0.976763 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -74844.774582, 15687.777202, 27127.099861 mu:0.000012 unit_bearing:0.161845 0.151157 0.975171 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -72408.957818, 15681.561959, 33087.135575 mu:0.000012 unit_bearing:0.239301 0.142129 0.960486 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -74477.768651, 16461.705207, 27673.101346 mu:0.000012 unit_bearing:0.170438 0.159804 0.972324 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -32710.990350, 20595.654450, 71341.072760 mu:0.000012 unit_bearing:0.803611 0.144785 0.577275 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.098] If point is visible? -77621.985058, 15660.347347, -17700.391043 mu:0.000012 unit_bearing:-0.382165 0.218150 0.897976 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -74449.443772, 32152.538872, 2686.892771 mu:0.000012 unit_bearing:-0.105759 0.389270 0.915032 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -74427.835087, 32182.493284, 2917.076551 mu:0.000012 unit_bearing:-0.102903 0.389290 0.915349 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -74405.526101, 32212.387884, 3147.160080 mu:0.000012 unit_bearing:-0.100047 0.389310 0.915657 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -73820.504770, -30697.091554, 13854.503919 mu:0.000012 unit_bearing:-0.062853 -0.396310 0.915963 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -73755.743187, -30642.918588, 14311.798024 mu:0.000012 unit_bearing:-0.057134 -0.396334 0.916327 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -73737.110040, -31092.311058, 13410.161159 mu:0.000012 unit_bearing:-0.068551 -0.400477 0.913739 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -73899.357309, -30301.333263, 14298.245808 mu:0.000012 unit_bearing:-0.057151 -0.392136 0.918130 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -69789.472489, -19487.840223, 36515.496979 mu:0.000012 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -69582.282196, -19430.163695, 36939.175987 mu:0.000012 unit_bearing:0.240834 -0.293160 0.925233 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -69159.678464, -19314.689073, 37783.723847 mu:0.000012 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -69266.239856, -19718.438645, 37377.791160 mu:0.000012 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.098] If point is visible? -61895.159858, -17279.311999, 49539.328461 mu:0.000012 unit_bearing:0.414082 -0.285775 0.864216 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -60694.639330, -17043.640069, 51082.344894 mu:0.000012 unit_bearing:0.435902 -0.285209 0.853607 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -61788.368197, -14360.743151, 50593.450171 mu:0.000012 unit_bearing:0.431270 -0.251657 0.866415 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -61682.043258, -17963.793444, 49561.660753 mu:0.000012 unit_bearing:0.413873 -0.294181 0.861491 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -61789.405932, -17621.661441, 49550.750641 mu:0.000012 unit_bearing:0.413979 -0.289980 0.862864 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -61391.273852, -14646.423236, 50993.376874 mu:0.000012 unit_bearing:0.436629 -0.255752 0.862523 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -77867.764437, -20537.927280, -9926.131913 mu:0.000012 unit_bearing:-0.342885 -0.236321 0.909166 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -78065.549547, -17489.170273, 13550.776056 mu:0.000012 unit_bearing:-0.057625 -0.234288 0.970458 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -77981.818555, -17838.825660, 13577.073669 mu:0.000012 unit_bearing:-0.057616 -0.238605 0.969406 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -71594.617217, -14387.451112, 35368.622500 mu:0.000012 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -77954.258609, -20192.546100, -9955.798067 mu:0.000012 unit_bearing:-0.342947 -0.232052 0.910241 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -78982.937393, -15047.873585, -10907.798845 mu:0.000012 unit_bearing:-0.349345 -0.167690 0.921867 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -79581.402224, -8657.646315, 13250.277243 mu:0.000012 unit_bearing:-0.052006 -0.125806 0.990691 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -80926.160356, 5852.242072, 656.538584 mu:0.000012 unit_bearing:-0.184888 0.070601 0.980220 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -80873.167545, 6552.805412, 561.007357 mu:0.000012 unit_bearing:-0.184870 0.079314 0.979557 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -62081.090792, 12263.129864, 50786.655179 mu:0.000012 unit_bearing:0.472021 0.073729 0.878499 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -74578.312214, 12583.003382, 29384.855811 mu:0.000012 unit_bearing:0.184990 0.109786 0.976589 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -80900.436467, 6202.566091, 608.906177 mu:0.000012 unit_bearing:-0.184879 0.074958 0.979898 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -80890.991820, 6261.349733, 1079.900602 mu:0.000012 unit_bearing:-0.179126 0.074970 0.980965 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -64125.937863, 16042.398239, 47055.662687 mu:0.000012 unit_bearing:0.427793 0.125563 0.895113 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -64170.605697, 15698.512821, 47110.719497 mu:0.000012 unit_bearing:0.427836 0.121273 0.895684 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -63870.513974, 15742.025557, 47502.378893 mu:0.000012 unit_bearing:0.433339 0.121217 0.893042 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -71743.775563, 15334.523208, 34661.367704 mu:0.000012 unit_bearing:0.259306 0.135519 0.956240 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -71526.617324, 15383.958858, 35085.670074 mu:0.000012 unit_bearing:0.265003 0.135487 0.954682 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -74418.329858, 16313.652506, 27919.585439 mu:0.000012 unit_bearing:0.173321 0.157622 0.972170 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -75612.094240, 18223.484359, 23117.992785 mu:0.000012 unit_bearing:0.115634 0.188196 0.975300 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -32964.856037, 20590.761167, 71225.538187 mu:0.000012 unit_bearing:0.801588 0.144898 0.580052 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -77662.371444, 15489.248009, -17673.769735 mu:0.000012 unit_bearing:-0.382198 0.216017 0.898477 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -77707.126643, 21473.777477, 9176.263301 mu:0.000012 unit_bearing:-0.051827 0.248895 0.967143 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -77618.074010, 21818.682887, 9116.147181 mu:0.000012 unit_bearing:-0.051818 0.253204 0.966024 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -77787.189727, -18942.411745, 13193.287283 mu:0.000012 unit_bearing:-0.063353 -0.251528 0.965774 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -73941.678219, -30805.050059, 12938.418146 mu:0.000012 unit_bearing:-0.074289 -0.396255 0.915130 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -73820.504770, -30697.091554, 13854.503919 mu:0.000012 unit_bearing:-0.062853 -0.396310 0.915963 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -69996.773232, -18794.935858, 36481.913049 mu:0.000012 unit_bearing:0.235259 -0.284703 0.929300 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -69579.775816, -18679.880079, 37328.874623 mu:0.000012 unit_bearing:0.246613 -0.284568 0.926393 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -61404.760204, -16819.347906, 50302.043896 mu:0.000012 unit_bearing:0.425117 -0.281294 0.860319 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -71343.309932, -15433.356218, 35435.450149 mu:0.000012 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -70937.811863, -15319.983044, 36288.463667 mu:0.000012 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -70094.060031, -15093.097843, 37983.536813 mu:0.000012 unit_bearing:0.258453 -0.241676 0.935305 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -70690.727372, -14510.044820, 37094.573666 mu:0.000012 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -61002.820394, -16017.459243, 51047.308452 mu:0.000012 unit_bearing:0.436225 -0.272604 0.857551 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -69372.351520, -19372.446647, 37361.921904 mu:0.000012 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -61996.514019, -14761.847594, 50222.013336 mu:0.000012 unit_bearing:0.425712 -0.256005 0.867888 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] If point is visible? -73720.979156, -32591.942290, 9311.708609 mu:0.000012 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -80436.858220, -7574.268907, 7501.067846 mu:0.000012 unit_bearing:-0.121420 -0.103918 0.987147 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] If point is visible? -61805.670032, -15448.452948, 50250.721563 mu:0.000012 unit_bearing:0.425521 -0.264447 0.865448 T_cur_ref: x=0.115508 y=0.000000 z=0.029608 +[21:40:58.099] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.099] init seeds +[21:40:58.099] DepthFilter: Initialized 3 new seeds +[21:40:58.102] DepthFilter: Initialized 1 new seeds +[21:40:58.580] add new frame +[21:40:58.580] update seed +[21:40:58.580] If point is visible? -73720.969856, -32591.942290, 9311.711650 mu:0.000012 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] If point is visible? -73585.645651, -32157.896901, 11608.043653 mu:0.000012 unit_bearing:-0.091332 -0.410805 0.907137 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] If point is visible? -73560.684386, -32131.263581, 11837.731664 mu:0.000012 unit_bearing:-0.088479 -0.410825 0.907411 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] If point is visible? -73610.086607, -31934.540999, 12060.867330 mu:0.000012 unit_bearing:-0.085639 -0.408753 0.908618 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] If point is visible? -73658.342123, -31737.668482, 12283.864105 mu:0.000012 unit_bearing:-0.082798 -0.406680 0.909811 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] If point is visible? -73631.253052, -31710.897793, 12513.266531 mu:0.000012 unit_bearing:-0.079943 -0.406697 0.910059 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] If point is visible? -73683.302928, -30813.593131, 14318.441149 mu:0.000012 unit_bearing:-0.057125 -0.398432 0.915417 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] If point is visible? -68299.393143, -22650.795392, 37494.821385 mu:0.000012 unit_bearing:0.245945 -0.333391 0.910144 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] If point is visible? -68879.893340, -22624.923159, 36433.503778 mu:0.000012 unit_bearing:0.231824 -0.331480 0.914537 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] If point is visible? -59669.724253, -19199.912929, 51522.982129 mu:0.000012 unit_bearing:0.440560 -0.312248 0.841670 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.580] If point is visible? -59727.357164, -19029.863600, 51519.291720 mu:0.000012 unit_bearing:0.440622 -0.310162 0.842408 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.580] If point is visible? -61386.024051, -17904.590316, 49949.089101 mu:0.000012 unit_bearing:0.419338 -0.294039 0.858893 T_cur_ref: x=0.124809 y=0.000000 z=0.032649 +[21:40:58.580] Z inverse min: 1.356610, Z inverse max: 0.000000 +[21:40:58.580] add key frame +[21:40:58.580] init seeds +[21:40:58.580] remove key frame +[21:40:58.580] update seed +[21:40:58.580] init seeds +[21:40:58.583] DepthFilter: Initialized 1 new seeds +[21:40:58.585] DepthFilter: Initialized 121 new seeds +[21:40:59.054] add new frame +[21:40:59.054] update seed +[21:40:59.054] If point is visible? 1636077008800.812256, -406309188878.201294, -522058196716.306091 mu:-0.000000 unit_bearing:0.132905 0.192467 0.972262 T_cur_ref: x=0.124995 y=0.000000 z=0.033262 +[21:40:59.054] If point is visible? 1629250447765.776611, -408585746653.273315, -541276789211.357849 mu:-0.000000 unit_bearing:0.144418 0.192420 0.970628 T_cur_ref: x=0.124995 y=0.000000 z=0.033262 +[21:40:59.054] If point is visible? 1636077008800.812256, -406309188878.201294, -522058196716.306091 mu:-0.000000 unit_bearing:0.132905 0.192467 0.972262 T_cur_ref: x=0.124995 y=0.000000 z=0.033262 +[21:40:59.054] If point is visible? 1629250447765.776611, -408585746653.273315, -541276789211.357849 mu:-0.000000 unit_bearing:0.144418 0.192420 0.970628 T_cur_ref: x=0.124995 y=0.000000 z=0.033262 +[21:40:59.054] If point is visible? -14412934704.967365, -2268684209.010092, 11035580878.734110 mu:0.000000 unit_bearing:0.426855 -0.196606 0.882689 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] Z inverse min: 0.557112, Z inverse max: 0.000000 +[21:40:59.054] If point is visible? -18182424552.031048, 1612700398.073989, 1209253908.479486 mu:0.000000 unit_bearing:-0.109903 0.079443 0.990762 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] If point is visible? -17446353216.002052, 4701124876.332515, 2861440990.012846 mu:0.000000 unit_bearing:0.005874 0.236001 0.971735 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] If point is visible? -17407946781.260136, 4856968720.013307, 2834943366.866064 mu:0.000000 unit_bearing:0.005872 0.244633 0.969598 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] If point is visible? -14412934704.967365, -2268684209.010092, 11035580878.734110 mu:0.000000 unit_bearing:0.426855 -0.196606 0.882689 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] Z inverse min: 0.557112, Z inverse max: 0.000000 +[21:40:59.054] add key frame +[21:40:59.054] init seeds +[21:40:59.054] remove key frame +[21:40:59.054] update seed +[21:40:59.054] If point is visible? -14412934704.967365, -2268684209.010092, 11035580878.734110 mu:0.000000 unit_bearing:0.426855 -0.196606 0.882689 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] Z inverse min: 0.557112, Z inverse max: 0.000000 +[21:40:59.054] If point is visible? -18182424552.031048, 1612700398.073989, 1209253908.479486 mu:0.000000 unit_bearing:-0.109903 0.079443 0.990762 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] If point is visible? -17446353216.002052, 4701124876.332515, 2861440990.012846 mu:0.000000 unit_bearing:0.005874 0.236001 0.971735 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] If point is visible? -17407946781.260136, 4856968720.013307, 2834943366.866064 mu:0.000000 unit_bearing:0.005872 0.244633 0.969598 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] If point is visible? -14412934704.967365, -2268684209.010092, 11035580878.734110 mu:0.000000 unit_bearing:0.426855 -0.196606 0.882689 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] Z inverse min: 0.557112, Z inverse max: 0.000000 +[21:40:59.054] If point is visible? -18182424552.031048, 1612700398.073989, 1209253908.479486 mu:0.000000 unit_bearing:-0.109903 0.079443 0.990762 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] If point is visible? -17407946781.260136, 4856968720.013307, 2834943366.866064 mu:0.000000 unit_bearing:0.005872 0.244633 0.969598 T_cur_ref: x=0.118808 y=0.000000 z=0.031965 +[21:40:59.054] If point is visible? -1.799650, -0.811037, 0.386667 mu:0.474516 unit_bearing:-0.068540 -0.402572 0.912819 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.054] If point is visible? -1.800734, -0.805908, 0.392445 mu:0.474516 unit_bearing:-0.065692 -0.400491 0.913943 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.054] If point is visible? -1.802812, -0.795640, 0.403989 mu:0.474516 unit_bearing:-0.059994 -0.396323 0.916149 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.054] If point is visible? -1.801938, -0.794936, 0.409922 mu:0.474516 unit_bearing:-0.057134 -0.396334 0.916327 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.054] If point is visible? -1.802933, -0.783946, 0.427370 mu:0.474516 unit_bearing:-0.048567 -0.392167 0.918611 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.054] If point is visible? -1.801987, -0.783239, 0.433292 mu:0.474516 unit_bearing:-0.045706 -0.392176 0.918754 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.054] If point is visible? -1.658543, -0.558325, 1.026886 mu:0.474516 unit_bearing:0.254617 -0.320574 0.912361 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.054] If point is visible? -1.655712, -0.557568, 1.032325 mu:0.474516 unit_bearing:0.257443 -0.320532 0.911583 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.054] If point is visible? -1.464085, -0.438220, 1.358485 mu:0.474516 unit_bearing:0.433238 -0.283183 0.855636 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.054] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.054] If point is visible? -1.518403, -0.406461, 1.301770 mu:0.474516 unit_bearing:0.403590 -0.264945 0.875739 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.054] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.055] If point is visible? -1.510828, -0.404960, 1.311905 mu:0.474516 unit_bearing:0.409086 -0.264824 0.873222 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.055] If point is visible? -1.708487, -0.421169, 1.004008 mu:0.474516 unit_bearing:0.246957 -0.254653 0.934967 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.513363, -0.410174, 1.307023 mu:0.474516 unit_bearing:0.406293 -0.266998 0.873864 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.055] If point is visible? -1.710827, -0.412136, 1.003494 mu:0.474516 unit_bearing:0.247002 -0.250369 0.936112 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.721446, -0.381224, 0.996108 mu:0.474516 unit_bearing:0.244310 -0.235383 0.940695 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.722529, -0.376699, 0.995827 mu:0.474516 unit_bearing:0.244331 -0.233236 0.941224 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.723602, -0.372173, 0.995542 mu:0.474516 unit_bearing:0.244351 -0.231088 0.941749 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.893665, -0.546858, -0.311625 mu:0.474516 unit_bearing:-0.384611 -0.237768 0.891931 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.894889, -0.546202, -0.305434 mu:0.474516 unit_bearing:-0.381840 -0.237817 0.893107 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.724007, -0.357860, 1.000174 mu:0.474516 unit_bearing:0.247257 -0.224614 0.942556 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.679597, -0.322831, 1.091295 mu:0.474516 unit_bearing:0.295573 -0.213385 0.931184 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.676527, -0.322103, 1.096685 mu:0.474516 unit_bearing:0.298398 -0.213354 0.930289 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.673439, -0.321375, 1.102068 mu:0.474516 unit_bearing:0.301222 -0.213323 0.929386 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.931202, -0.442059, 0.292763 mu:0.474516 unit_bearing:-0.103786 -0.223361 0.969195 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.926359, -0.420497, 0.357862 mu:0.474516 unit_bearing:-0.072090 -0.216970 0.973513 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.925900, -0.403958, 0.380752 mu:0.474516 unit_bearing:-0.060559 -0.210505 0.975715 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.920273, -0.399615, 0.416617 mu:0.474516 unit_bearing:-0.043233 -0.210533 0.976630 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.714146, -0.321779, 1.030961 mu:0.474516 unit_bearing:0.264451 -0.209401 0.941391 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.933036, -0.450190, 0.262927 mu:0.474516 unit_bearing:-0.118177 -0.225465 0.967057 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.918074, -0.387610, 0.439735 mu:0.474516 unit_bearing:-0.031684 -0.206216 0.977993 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.917004, -0.386885, 0.445688 mu:0.474516 unit_bearing:-0.028795 -0.206219 0.978082 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.917127, -0.392164, 0.440098 mu:0.474516 unit_bearing:-0.031682 -0.208382 0.977534 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.919012, -0.383057, 0.439370 mu:0.474516 unit_bearing:-0.031686 -0.204050 0.978447 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.917942, -0.382331, 0.445323 mu:0.474516 unit_bearing:-0.028797 -0.204053 0.978536 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.941409, -0.186208, 0.463780 mu:0.474516 unit_bearing:-0.011483 -0.112751 0.993557 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.915410, -0.265869, -0.477100 mu:0.474516 unit_bearing:-0.447100 -0.095859 0.889333 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.915871, -0.261375, -0.477591 mu:0.474516 unit_bearing:-0.447118 -0.093714 0.889552 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.904201, -0.244642, -0.529698 mu:0.474516 unit_bearing:-0.469047 -0.082820 0.879282 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.915850, -0.226859, -0.493988 mu:0.474516 unit_bearing:-0.452720 -0.076510 0.888364 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.917526, -0.226137, -0.487782 mu:0.474516 unit_bearing:-0.449982 -0.076528 0.889753 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.901907, -0.206433, -0.552850 mu:0.474516 unit_bearing:-0.477331 -0.063485 0.876427 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.903766, -0.205708, -0.546653 mu:0.474516 unit_bearing:-0.474615 -0.063502 0.877900 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.868271, -0.063188, 0.747139 mu:0.474516 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.926661, -0.187240, -0.467021 mu:0.474516 unit_bearing:-0.439104 -0.059409 0.896470 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.904060, -0.170550, -0.556991 mu:0.474516 unit_bearing:-0.477419 -0.046345 0.877452 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.917619, -0.178146, -0.505818 mu:0.474516 unit_bearing:-0.455588 -0.052883 0.888619 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.917871, -0.173651, -0.506338 mu:0.474516 unit_bearing:-0.455598 -0.050735 0.888739 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.836347, 0.002975, 0.832389 mu:0.474516 unit_bearing:0.179374 -0.044966 0.982753 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.868933, -0.016762, 0.747897 mu:0.474516 unit_bearing:0.136132 -0.049375 0.989460 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.927604, -0.138463, -0.478974 mu:0.474516 unit_bearing:-0.441945 -0.035745 0.896330 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.886635, -0.172670, -0.613225 mu:0.474516 unit_bearing:-0.501755 -0.044092 0.863885 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.904282, -0.166064, -0.557515 mu:0.474516 unit_bearing:-0.477429 -0.044202 0.877558 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.915117, -0.161642, -0.520314 mu:0.474516 unit_bearing:-0.461091 -0.044271 0.886248 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.925814, -0.143708, -0.484654 mu:0.474516 unit_bearing:-0.444685 -0.037887 0.894885 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.915327, -0.157149, -0.520839 mu:0.474516 unit_bearing:-0.461099 -0.042125 0.886348 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.929363, -0.133216, -0.473295 mu:0.474516 unit_bearing:-0.439203 -0.033602 0.897759 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.871089, 0.047222, 0.740542 mu:0.474516 unit_bearing:0.136153 -0.018815 0.990509 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.869010, 0.047929, 0.746278 mu:0.474516 unit_bearing:0.139039 -0.018813 0.990108 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.866914, 0.048635, 0.752009 mu:0.474516 unit_bearing:0.141926 -0.018812 0.989699 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.918770, -0.102475, -0.521038 mu:0.474516 unit_bearing:-0.458433 -0.016363 0.888578 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.870999, 0.042653, 0.741082 mu:0.474516 unit_bearing:0.136152 -0.020998 0.990465 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.918590, -0.111464, -0.519957 mu:0.474516 unit_bearing:-0.458426 -0.020659 0.888492 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.920302, -0.110713, -0.513753 mu:0.474516 unit_bearing:-0.455691 -0.020664 0.889898 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.833533, 0.068288, 0.836312 mu:0.474516 unit_bearing:0.185153 -0.014431 0.982604 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.871442, 0.079201, 0.736697 mu:0.474516 unit_bearing:0.136156 -0.003531 0.990681 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.869363, 0.079906, 0.742434 mu:0.474516 unit_bearing:0.139043 -0.003530 0.990280 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.843071, 0.092882, 0.810339 mu:0.474516 unit_bearing:0.173642 -0.001346 0.984808 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.833685, 0.081978, 0.834667 mu:0.474516 unit_bearing:0.185155 -0.007888 0.982678 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.866933, 0.126267, 0.742482 mu:0.474516 unit_bearing:0.141926 0.018302 0.989708 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.864819, 0.126968, 0.748209 mu:0.474516 unit_bearing:0.144812 0.018301 0.989290 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.985250, 0.172008, 0.134103 mu:0.474516 unit_bearing:-0.147440 0.075027 0.986221 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.984879, 0.172765, 0.140189 mu:0.474516 unit_bearing:-0.144556 0.075031 0.986648 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.858927, 0.316142, 0.704695 mu:0.474516 unit_bearing:0.136037 0.109914 0.984588 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.856847, 0.316833, 0.710427 mu:0.474516 unit_bearing:0.138921 0.109908 0.984185 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.854750, 0.317522, 0.716155 mu:0.474516 unit_bearing:0.141805 0.109902 0.983775 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.760800, 0.330104, 0.937611 mu:0.474516 unit_bearing:0.253760 0.103021 0.961765 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.855726, 0.308440, 0.717498 mu:0.474516 unit_bearing:0.141815 0.105546 0.984250 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.778819, 0.378496, 0.879447 mu:0.474516 unit_bearing:0.227932 0.129176 0.965070 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.784818, 0.390086, 0.860602 mu:0.474516 unit_bearing:0.219316 0.135724 0.966167 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.782231, 0.390743, 0.866184 mu:0.474516 unit_bearing:0.222179 0.135711 0.965515 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.779627, 0.391399, 0.871761 mu:0.474516 unit_bearing:0.225041 0.135697 0.964854 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.851613, 0.375109, 0.695753 mu:0.474516 unit_bearing:0.135967 0.138204 0.981026 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.782846, 0.386224, 0.866891 mu:0.474516 unit_bearing:0.222189 0.133542 0.965815 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.780241, 0.386880, 0.872468 mu:0.474516 unit_bearing:0.225051 0.133528 0.965154 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.714232, 0.410674, 0.997706 mu:0.474516 unit_bearing:0.290566 0.137492 0.946925 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.756314, 0.427537, 0.905607 mu:0.474516 unit_bearing:0.244962 0.150761 0.957739 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.802737, 0.415766, 0.805126 mu:0.474516 unit_bearing:0.193451 0.151027 0.969416 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.813228, 0.421469, 0.775462 mu:0.474516 unit_bearing:0.179077 0.155429 0.971480 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.810885, 0.422137, 0.781115 mu:0.474516 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.730746, 0.415898, 0.963535 mu:0.474516 unit_bearing:0.273499 0.141929 0.951343 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.846271, 0.398434, 0.697941 mu:0.474516 unit_bearing:0.138817 0.149063 0.979035 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.814840, 0.425317, 0.769077 mu:0.474516 unit_bearing:0.176195 0.157610 0.971656 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.790800, 0.431955, 0.825428 mu:0.474516 unit_bearing:0.204890 0.157478 0.966034 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.792558, 0.435808, 0.819086 mu:0.474516 unit_bearing:0.202013 0.159659 0.966281 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.830356, 0.480402, 0.690451 mu:0.474516 unit_bearing:0.141558 0.188101 0.971895 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.821433, 0.817758, 0.209639 mu:0.474516 unit_bearing:-0.060083 0.374794 0.925159 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.805326, -0.797745, 0.386169 mu:0.474516 unit_bearing:-0.068572 -0.396284 0.915564 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.803668, -0.796343, 0.398052 mu:0.474516 unit_bearing:-0.062853 -0.396310 0.915963 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.801938, -0.794936, 0.409922 mu:0.474516 unit_bearing:-0.057134 -0.396334 0.916327 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.467819, -0.700487, 1.235941 mu:0.474516 unit_bearing:0.361551 -0.399619 0.842369 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.055] If point is visible? -1.806836, -0.752296, 0.467727 mu:0.474516 unit_bearing:-0.028557 -0.379595 0.924712 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.805337, -0.762623, 0.456266 mu:0.474516 unit_bearing:-0.034277 -0.383795 0.922782 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.055] If point is visible? -1.464117, -0.424131, 1.363015 mu:0.474516 unit_bearing:0.436120 -0.276809 0.856257 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.485129, -0.409362, 1.342445 mu:0.474516 unit_bearing:0.425423 -0.268664 0.864196 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.469396, -0.434540, 1.353369 mu:0.474516 unit_bearing:0.430569 -0.281154 0.857650 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.665587, -0.487292, 1.051315 mu:0.474516 unit_bearing:0.269208 -0.288531 0.918845 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.659735, -0.485793, 1.062150 mu:0.474516 unit_bearing:0.274858 -0.288452 0.917196 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.482550, -0.418267, 1.342775 mu:0.474516 unit_bearing:0.425323 -0.272877 0.862925 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.484754, -0.381122, 1.351380 mu:0.474516 unit_bearing:0.431176 -0.255880 0.865224 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.487168, -0.372202, 1.351002 mu:0.474516 unit_bearing:0.431270 -0.251657 0.866415 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.475933, -0.351384, 1.370131 mu:0.474516 unit_bearing:0.442362 -0.242958 0.863300 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.714881, -0.345882, 1.021531 mu:0.474516 unit_bearing:0.258669 -0.220208 0.940531 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.711199, -0.335367, 1.031874 mu:0.474516 unit_bearing:0.264390 -0.215854 0.939949 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.964418, -0.313735, -0.139222 mu:0.474516 unit_bearing:-0.298869 -0.137942 0.944272 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.965441, -0.164225, 0.340517 mu:0.474516 unit_bearing:-0.069398 -0.095269 0.993030 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.963101, -0.322802, -0.138323 mu:0.474516 unit_bearing:-0.298839 -0.142264 0.943640 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.941409, -0.186208, 0.463780 mu:0.474516 unit_bearing:-0.011483 -0.112751 0.993557 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.967928, -0.156543, 0.327536 mu:0.474516 unit_bearing:-0.075189 -0.090900 0.993018 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.985603, 0.171251, 0.128015 mu:0.474516 unit_bearing:-0.150324 0.075022 0.985786 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.984879, 0.172765, 0.140189 mu:0.474516 unit_bearing:-0.144556 0.075031 0.986648 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.984898, 0.180354, 0.126764 mu:0.474516 unit_bearing:-0.150316 0.079382 0.985446 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.984174, 0.181870, 0.138937 mu:0.474516 unit_bearing:-0.144549 0.079392 0.986308 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.795633, 0.343520, 0.856377 mu:0.474516 unit_bearing:0.213678 0.114037 0.970225 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.516080, 0.421919, 1.299710 mu:0.474516 unit_bearing:0.449747 0.125324 0.884320 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.728471, 0.412026, 0.969725 mu:0.474516 unit_bearing:0.276355 0.139747 0.950841 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.796652, 0.334460, 0.857740 mu:0.474516 unit_bearing:0.213693 0.109691 0.970723 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.517241, 0.413007, 1.301150 mu:0.474516 unit_bearing:0.449792 0.121043 0.884893 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.793282, 0.431296, 0.819817 mu:0.474516 unit_bearing:0.202024 0.157492 0.966635 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.705722, 0.408050, 1.014706 mu:0.474516 unit_bearing:0.299083 0.135273 0.944590 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.758347, 0.431401, 0.899344 mu:0.474516 unit_bearing:0.242096 0.152942 0.958122 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.889635, 0.576528, 0.346734 mu:0.474516 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.891942, 0.567570, 0.348317 mu:0.474516 unit_bearing:-0.017212 0.248941 0.968366 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.626365, 0.866096, -0.786182 mu:0.474516 unit_bearing:-0.497268 0.455147 0.738624 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.487667, -0.400452, 1.342102 mu:0.474516 unit_bearing:0.425521 -0.264447 0.865448 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.679749, -0.481294, 1.029151 mu:0.474516 unit_bearing:0.257949 -0.284425 0.923344 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.668260, -0.478304, 1.050905 mu:0.474516 unit_bearing:0.269267 -0.284275 0.920154 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.477266, -0.436062, 1.343394 mu:0.474516 unit_bearing:0.425117 -0.281294 0.860319 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.719777, -0.375966, 1.001325 mu:0.474516 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.708593, -0.373033, 1.023257 mu:0.474516 unit_bearing:0.258542 -0.233095 0.937455 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.697124, -0.370100, 1.045089 mu:0.474516 unit_bearing:0.269890 -0.232976 0.934281 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.685371, -0.367166, 1.066820 mu:0.474516 unit_bearing:0.281220 -0.232851 0.930965 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.807545, -0.775770, 0.421102 mu:0.474516 unit_bearing:-0.051444 -0.387954 0.920242 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.803720, -0.772937, 0.444787 mu:0.474516 unit_bearing:-0.039994 -0.387989 0.920796 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.525842, -1.008399, -0.829567 mu:0.474516 unit_bearing:-0.613526 -0.425193 0.665430 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.810952, -0.755144, 0.444085 mu:0.474516 unit_bearing:-0.040017 -0.379569 0.924298 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.544282, -1.037765, -0.756188 mu:0.474516 unit_bearing:-0.583168 -0.443267 0.680756 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.474852, -0.702110, 1.225711 mu:0.474516 unit_bearing:0.356057 -0.399791 0.844624 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.818013, -0.737321, 0.443344 mu:0.474516 unit_bearing:-0.040039 -0.371132 0.927717 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.813893, -0.734470, 0.466999 mu:0.474516 unit_bearing:-0.028573 -0.371157 0.928131 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.476817, -0.379626, 1.361348 mu:0.474516 unit_bearing:0.436629 -0.255752 0.862523 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.482550, -0.418267, 1.342775 mu:0.474516 unit_bearing:0.425323 -0.272877 0.862925 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.701360, -0.352011, 1.043961 mu:0.474516 unit_bearing:0.269980 -0.224392 0.936354 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.971808, -0.150330, 0.302478 mu:0.474516 unit_bearing:-0.086765 -0.086525 0.992464 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.968733, -0.147396, 0.326574 mu:0.474516 unit_bearing:-0.075193 -0.086536 0.993407 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.970224, -0.129101, 0.324627 mu:0.474516 unit_bearing:-0.075201 -0.077807 0.994128 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.372932, 0.290170, 1.496971 mu:0.474516 unit_bearing:0.547188 0.051865 0.835402 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.795633, 0.343520, 0.856377 mu:0.474516 unit_bearing:0.213678 0.114037 0.970225 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.519442, 0.395169, 1.303995 mu:0.474516 unit_bearing:0.449879 0.112478 0.885978 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.815411, 0.338171, 0.811420 mu:0.474516 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.791158, 0.379726, 0.850832 mu:0.474516 unit_bearing:0.213608 0.131410 0.968041 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.734297, 0.410757, 0.958777 mu:0.474516 unit_bearing:0.270669 0.139783 0.952470 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.392507, 0.270239, 1.480728 mu:0.474516 unit_bearing:0.536662 0.043418 0.842680 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -1.829607, 0.369021, 0.760617 mu:0.474516 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.810942, 0.374406, 0.805890 mu:0.474516 unit_bearing:0.190661 0.131503 0.972808 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.894209, 0.558607, 0.349891 mu:0.474516 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -1.889635, 0.576528, 0.346734 mu:0.474516 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.112576 y=0.000000 z=0.030602 +[21:40:59.056] If point is visible? -2.303548, 0.436860, 2.010220 mu:0.317475 unit_bearing:0.450264 0.060997 0.890810 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.056] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:40:59.056] If point is visible? -2.136700, 0.900067, 2.049415 mu:0.317475 unit_bearing:0.491802 0.205441 0.846124 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.056] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:40:59.057] If point is visible? -2.082578, 0.905376, 2.105602 mu:0.317475 unit_bearing:0.513154 0.204940 0.833470 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:40:59.057] If point is visible? -2.923350, 0.811957, 0.323494 mu:0.317475 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.513809, 1.524859, 0.885708 mu:0.317475 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.785474, -1.168946, 0.471471 mu:0.317475 unit_bearing:-0.117207 -0.385472 0.915245 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.784504, -1.167920, 0.480420 mu:0.317475 unit_bearing:-0.114353 -0.385495 0.915597 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.781856, -1.184266, 0.454019 mu:0.317475 unit_bearing:-0.122878 -0.389624 0.912740 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.787888, -1.152575, 0.497839 mu:0.317475 unit_bearing:-0.108674 -0.381333 0.918028 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.786836, -1.151543, 0.506775 mu:0.317475 unit_bearing:-0.105818 -0.381354 0.918353 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.778061, -1.199562, 0.436543 mu:0.317475 unit_bearing:-0.128542 -0.393768 0.910178 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.789314, -1.117660, 0.568252 mu:0.317475 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.647528, -0.696938, 1.390901 mu:0.317475 unit_bearing:0.192657 -0.272311 0.942725 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.643698, -0.695843, 1.399172 mu:0.317475 unit_bearing:0.195513 -0.272286 0.942144 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.655044, -0.684519, 1.381956 mu:0.317475 unit_bearing:0.189837 -0.268052 0.944516 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.390932, -0.620803, 1.846152 mu:0.317475 unit_bearing:0.353759 -0.265934 0.896735 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:40:59.057] If point is visible? -2.394367, -0.543687, 1.866028 mu:0.317475 unit_bearing:0.362515 -0.242403 0.899902 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:40:59.057] If point is visible? -2.683562, -0.605480, 1.360983 mu:0.317475 unit_bearing:0.184318 -0.242334 0.952523 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.882069, -0.792392, -0.576683 mu:0.317475 unit_bearing:-0.431611 -0.226263 0.873222 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.412784, -0.490976, 1.855687 mu:0.317475 unit_bearing:0.359996 -0.225394 0.905318 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:40:59.057] If point is visible? -2.711249, -0.519433, 1.338871 mu:0.317475 unit_bearing:0.178774 -0.214365 0.960254 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.712328, -0.476500, 1.352795 mu:0.317475 unit_bearing:0.184586 -0.201375 0.961965 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.708582, -0.475423, 1.361124 mu:0.317475 unit_bearing:0.187453 -0.201358 0.961414 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.619666, -0.494625, 1.528479 mu:0.317475 unit_bearing:0.244507 -0.213884 0.945764 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.645100, -0.458226, 1.493189 mu:0.317475 unit_bearing:0.233211 -0.201048 0.951416 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.626835, -0.482141, 1.519472 mu:0.317475 unit_bearing:0.241695 -0.209601 0.947444 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.714140, -0.505843, 1.337968 mu:0.317475 unit_bearing:0.178800 -0.210048 0.961203 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.633916, -0.469650, 1.510434 mu:0.317475 unit_bearing:0.238881 -0.205316 0.949095 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.714670, -0.484375, 1.344927 mu:0.317475 unit_bearing:0.181706 -0.203552 0.962055 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.650629, -0.452510, 1.484543 mu:0.317475 unit_bearing:0.230374 -0.198913 0.952555 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.646466, -0.451437, 1.492730 mu:0.317475 unit_bearing:0.233228 -0.198892 0.951865 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.711869, -0.497969, 1.345854 mu:0.317475 unit_bearing:0.181680 -0.207872 0.961136 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.713277, -0.491172, 1.345393 mu:0.317475 unit_bearing:0.181693 -0.205712 0.961598 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.628262, -0.475359, 1.519033 mu:0.317475 unit_bearing:0.241713 -0.207447 0.947914 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.971045, -0.584769, 0.364874 mu:0.317475 unit_bearing:-0.141320 -0.197268 0.970110 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] If point is visible? -2.970246, -0.583695, 0.373933 mu:0.317475 unit_bearing:-0.138443 -0.197280 0.970523 T_cur_ref: x=0.105753 y=0.000000 z=0.028806 +[21:40:59.057] init seeds +[21:40:59.057] DepthFilter: Initialized 1 new seeds +[21:40:59.059] DepthFilter: Initialized 1 new seeds +[21:40:59.552] add new frame +[21:40:59.552] update seed +[21:40:59.552] If point is visible? -14412934704.959881, -2268684209.010092, 11035580878.736469 mu:0.000000 unit_bearing:0.426855 -0.196606 0.882689 T_cur_ref: x=0.126293 y=0.000000 z=0.034325 +[21:40:59.552] Z inverse min: 0.557112, Z inverse max: 0.000000 +[21:40:59.552] If point is visible? -18182424552.023563, 1612700398.073989, 1209253908.481846 mu:0.000000 unit_bearing:-0.109903 0.079443 0.990762 T_cur_ref: x=0.126293 y=0.000000 z=0.034325 +[21:40:59.552] If point is visible? -17446353215.994568, 4701124876.332515, 2861440990.015206 mu:0.000000 unit_bearing:0.005874 0.236001 0.971735 T_cur_ref: x=0.126293 y=0.000000 z=0.034325 +[21:40:59.552] If point is visible? -17407946781.252651, 4856968720.013307, 2834943366.868424 mu:0.000000 unit_bearing:0.005872 0.244633 0.969598 T_cur_ref: x=0.126293 y=0.000000 z=0.034325 +[21:40:59.552] If point is visible? -14412934704.959881, -2268684209.010092, 11035580878.736469 mu:0.000000 unit_bearing:0.426855 -0.196606 0.882689 T_cur_ref: x=0.126293 y=0.000000 z=0.034325 +[21:40:59.552] Z inverse min: 0.557112, Z inverse max: 0.000000 +[21:40:59.552] If point is visible? -18182424552.023563, 1612700398.073989, 1209253908.481846 mu:0.000000 unit_bearing:-0.109903 0.079443 0.990762 T_cur_ref: x=0.126293 y=0.000000 z=0.034325 +[21:40:59.552] If point is visible? -17407946781.252651, 4856968720.013307, 2834943366.868424 mu:0.000000 unit_bearing:0.005872 0.244633 0.969598 T_cur_ref: x=0.126293 y=0.000000 z=0.034325 +[21:40:59.552] If point is visible? -1.792166, -0.811037, 0.389026 mu:0.474516 unit_bearing:-0.068540 -0.402572 0.912819 T_cur_ref: x=0.120061 y=0.000000 z=0.032961 +[21:40:59.552] If point is visible? -1.793249, -0.805908, 0.394804 mu:0.474516 unit_bearing:-0.065692 -0.400491 0.913943 T_cur_ref: x=0.120061 y=0.000000 z=0.032961 +[21:40:59.552] If point is visible? -1.795327, -0.795640, 0.406348 mu:0.474516 unit_bearing:-0.059994 -0.396323 0.916149 T_cur_ref: x=0.120061 y=0.000000 z=0.032961 +[21:40:59.552] If point is visible? -1.794453, -0.794936, 0.412282 mu:0.474516 unit_bearing:-0.057134 -0.396334 0.916327 T_cur_ref: x=0.120061 y=0.000000 z=0.032961 +[21:40:59.552] If point is visible? -1.795449, -0.783946, 0.429730 mu:0.474516 unit_bearing:-0.048567 -0.392167 0.918611 T_cur_ref: x=0.120061 y=0.000000 z=0.032961 +[21:40:59.552] If point is visible? -1.794502, -0.783239, 0.435651 mu:0.474516 unit_bearing:-0.045706 -0.392176 0.918754 T_cur_ref: x=0.120061 y=0.000000 z=0.032961 +[21:40:59.552] If point is visible? -1.651058, -0.558325, 1.029246 mu:0.474516 unit_bearing:0.254617 -0.320574 0.912361 T_cur_ref: x=0.120061 y=0.000000 z=0.032961 +[21:40:59.552] If point is visible? -1.648227, -0.557568, 1.034684 mu:0.474516 unit_bearing:0.257443 -0.320532 0.911583 T_cur_ref: x=0.120061 y=0.000000 z=0.032961 +[21:40:59.552] If point is visible? -1.456600, -0.438220, 1.360845 mu:0.474516 unit_bearing:0.433238 -0.283183 0.855636 T_cur_ref: x=0.120061 y=0.000000 z=0.032961 +[21:40:59.552] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:40:59.552] add key frame +[21:40:59.552] remove key frame +[21:40:59.552] init seeds +[21:40:59.552] update seed +[21:40:59.552] init seeds +[21:40:59.555] DepthFilter: Initialized 0 new seeds +[21:40:59.557] DepthFilter: Initialized 152 new seeds +[21:41:00.054] add new frame +[21:41:00.054] update seed +[21:41:00.054] If point is visible? -1.784616, -0.811037, 0.391413 mu:0.474516 unit_bearing:-0.068540 -0.402572 0.912819 T_cur_ref: x=0.127611 y=0.000000 z=0.035348 +[21:41:00.054] If point is visible? -1.785699, -0.805908, 0.397191 mu:0.474516 unit_bearing:-0.065692 -0.400491 0.913943 T_cur_ref: x=0.127611 y=0.000000 z=0.035348 +[21:41:00.054] If point is visible? -1.787778, -0.795640, 0.408735 mu:0.474516 unit_bearing:-0.059994 -0.396323 0.916149 T_cur_ref: x=0.127611 y=0.000000 z=0.035348 +[21:41:00.054] If point is visible? -1.786904, -0.794936, 0.414668 mu:0.474516 unit_bearing:-0.057134 -0.396334 0.916327 T_cur_ref: x=0.127611 y=0.000000 z=0.035348 +[21:41:00.054] If point is visible? -1.787899, -0.783946, 0.432116 mu:0.474516 unit_bearing:-0.048567 -0.392167 0.918611 T_cur_ref: x=0.127611 y=0.000000 z=0.035348 +[21:41:00.054] If point is visible? -1.786952, -0.783239, 0.438038 mu:0.474516 unit_bearing:-0.045706 -0.392176 0.918754 T_cur_ref: x=0.127611 y=0.000000 z=0.035348 +[21:41:00.054] If point is visible? -1.643509, -0.558325, 1.031632 mu:0.474516 unit_bearing:0.254617 -0.320574 0.912361 T_cur_ref: x=0.127611 y=0.000000 z=0.035348 +[21:41:00.054] If point is visible? -1.640677, -0.557568, 1.037071 mu:0.474516 unit_bearing:0.257443 -0.320532 0.911583 T_cur_ref: x=0.127611 y=0.000000 z=0.035348 +[21:41:00.054] If point is visible? -1.449051, -0.438220, 1.363231 mu:0.474516 unit_bearing:0.433238 -0.283183 0.855636 T_cur_ref: x=0.127611 y=0.000000 z=0.035348 +[21:41:00.054] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:41:00.054] If point is visible? -1.503369, -0.406461, 1.306516 mu:0.474516 unit_bearing:0.403590 -0.264945 0.875739 T_cur_ref: x=0.127611 y=0.000000 z=0.035348 +[21:41:00.054] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:41:00.054] If point is visible? -1.495794, -0.404960, 1.316651 mu:0.474516 unit_bearing:0.409086 -0.264824 0.873222 T_cur_ref: x=0.127611 y=0.000000 z=0.035348 +[21:41:00.054] Z inverse min: 1.813413, Z inverse max: 0.000000 +[21:41:00.054] add key frame +[21:41:00.054] remove key frame +[21:41:00.054] init seeds +[21:41:00.054] update seed +[21:41:00.054] init seeds +[21:41:00.057] DepthFilter: Initialized 4 new seeds +[21:41:00.059] DepthFilter: Initialized 168 new seeds +[21:41:00.558] add new frame +[21:41:00.558] update seed +[21:41:00.558] If point is visible? -2.281093, 0.436860, 2.017462 mu:0.317475 unit_bearing:0.450264 0.060997 0.890810 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.558] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.558] If point is visible? -2.114245, 0.900067, 2.056657 mu:0.317475 unit_bearing:0.491802 0.205441 0.846124 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.558] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.558] If point is visible? -2.060122, 0.905376, 2.112844 mu:0.317475 unit_bearing:0.513154 0.204940 0.833470 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.558] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.558] If point is visible? -2.900894, 0.811957, 0.330736 mu:0.317475 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.558] If point is visible? -2.491353, 1.524859, 0.892950 mu:0.317475 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.558] If point is visible? -2.763018, -1.168946, 0.478713 mu:0.317475 unit_bearing:-0.117207 -0.385472 0.915245 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.558] If point is visible? -2.762049, -1.167920, 0.487662 mu:0.317475 unit_bearing:-0.114353 -0.385495 0.915597 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.558] If point is visible? -2.759401, -1.184266, 0.461261 mu:0.317475 unit_bearing:-0.122878 -0.389624 0.912740 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.558] If point is visible? -2.765433, -1.152575, 0.505081 mu:0.317475 unit_bearing:-0.108674 -0.381333 0.918028 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.558] add key frame +[21:41:00.558] If point is visible? -2.764381, -1.151543, 0.514017 mu:0.317475 unit_bearing:-0.105818 -0.381354 0.918353 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.558] init seeds +[21:41:00.558] remove key frame +[21:41:00.558] update seed +[21:41:00.558] If point is visible? -2.281093, 0.436860, 2.017462 mu:0.317475 unit_bearing:0.450264 0.060997 0.890810 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.558] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.559] If point is visible? -2.114245, 0.900067, 2.056657 mu:0.317475 unit_bearing:0.491802 0.205441 0.846124 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.559] If point is visible? -2.060122, 0.905376, 2.112844 mu:0.317475 unit_bearing:0.513154 0.204940 0.833470 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.559] If point is visible? -2.900894, 0.811957, 0.330736 mu:0.317475 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.491353, 1.524859, 0.892950 mu:0.317475 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.763018, -1.168946, 0.478713 mu:0.317475 unit_bearing:-0.117207 -0.385472 0.915245 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.762049, -1.167920, 0.487662 mu:0.317475 unit_bearing:-0.114353 -0.385495 0.915597 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.759401, -1.184266, 0.461261 mu:0.317475 unit_bearing:-0.122878 -0.389624 0.912740 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.765433, -1.152575, 0.505081 mu:0.317475 unit_bearing:-0.108674 -0.381333 0.918028 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.764381, -1.151543, 0.514017 mu:0.317475 unit_bearing:-0.105818 -0.381354 0.918353 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.755605, -1.199562, 0.443785 mu:0.317475 unit_bearing:-0.128542 -0.393768 0.910178 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.766859, -1.117660, 0.575494 mu:0.317475 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.625072, -0.696938, 1.398143 mu:0.317475 unit_bearing:0.192657 -0.272311 0.942725 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.621242, -0.695843, 1.406414 mu:0.317475 unit_bearing:0.195513 -0.272286 0.942144 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.632588, -0.684519, 1.389197 mu:0.317475 unit_bearing:0.189837 -0.268052 0.944516 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.368476, -0.620803, 1.853394 mu:0.317475 unit_bearing:0.353759 -0.265934 0.896735 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.559] If point is visible? -2.371911, -0.543687, 1.873270 mu:0.317475 unit_bearing:0.362515 -0.242403 0.899902 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.559] If point is visible? -2.661106, -0.605480, 1.368225 mu:0.317475 unit_bearing:0.184318 -0.242334 0.952523 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.859613, -0.792392, -0.569441 mu:0.317475 unit_bearing:-0.431611 -0.226263 0.873222 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.390329, -0.490976, 1.862929 mu:0.317475 unit_bearing:0.359996 -0.225394 0.905318 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.559] If point is visible? -2.688793, -0.519433, 1.346113 mu:0.317475 unit_bearing:0.178774 -0.214365 0.960254 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.689872, -0.476500, 1.360037 mu:0.317475 unit_bearing:0.184586 -0.201375 0.961965 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.686126, -0.475423, 1.368366 mu:0.317475 unit_bearing:0.187453 -0.201358 0.961414 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.597210, -0.494625, 1.535721 mu:0.317475 unit_bearing:0.244507 -0.213884 0.945764 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.622644, -0.458226, 1.500431 mu:0.317475 unit_bearing:0.233211 -0.201048 0.951416 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.604379, -0.482141, 1.526714 mu:0.317475 unit_bearing:0.241695 -0.209601 0.947444 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.691685, -0.505843, 1.345210 mu:0.317475 unit_bearing:0.178800 -0.210048 0.961203 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.611461, -0.469650, 1.517676 mu:0.317475 unit_bearing:0.238881 -0.205316 0.949095 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.692214, -0.484375, 1.352169 mu:0.317475 unit_bearing:0.181706 -0.203552 0.962055 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.628174, -0.452510, 1.491785 mu:0.317475 unit_bearing:0.230374 -0.198913 0.952555 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.624010, -0.451437, 1.499972 mu:0.317475 unit_bearing:0.233228 -0.198892 0.951865 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.689413, -0.497969, 1.353095 mu:0.317475 unit_bearing:0.181680 -0.207872 0.961136 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.690821, -0.491172, 1.352634 mu:0.317475 unit_bearing:0.181693 -0.205712 0.961598 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.605806, -0.475359, 1.526275 mu:0.317475 unit_bearing:0.241713 -0.207447 0.947914 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.948589, -0.584769, 0.372116 mu:0.317475 unit_bearing:-0.141320 -0.197268 0.970110 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.947790, -0.583695, 0.381174 mu:0.317475 unit_bearing:-0.138443 -0.197280 0.970523 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.941451, -0.576171, 0.444453 mu:0.317475 unit_bearing:-0.118285 -0.197358 0.973169 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.940439, -0.575096, 0.453474 mu:0.317475 unit_bearing:-0.115403 -0.197368 0.973513 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.939401, -0.574020, 0.462490 mu:0.317475 unit_bearing:-0.112521 -0.197378 0.973849 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.947904, -0.566865, 0.407226 mu:0.317475 unit_bearing:-0.129823 -0.192985 0.972575 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.946065, -0.564713, 0.425303 mu:0.317475 unit_bearing:-0.124063 -0.193007 0.973323 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.459335, -0.399438, 1.787232 mu:0.317475 unit_bearing:0.335231 -0.193620 0.922026 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.559] If point is visible? -2.942677, -0.536746, 0.486766 mu:0.317475 unit_bearing:-0.103905 -0.186572 0.976931 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.941531, -0.535667, 0.495765 mu:0.317475 unit_bearing:-0.101021 -0.186580 0.977232 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.629525, -0.445720, 1.491321 mu:0.317475 unit_bearing:0.230390 -0.196755 0.952999 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.685066, -0.460751, 1.375740 mu:0.317475 unit_bearing:0.190345 -0.197020 0.961744 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.859353, -0.362229, -0.893923 mu:0.317475 unit_bearing:-0.514947 -0.078161 0.853651 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.856885, -0.356623, -0.903959 mu:0.317475 unit_bearing:-0.517637 -0.076006 0.852218 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.859923, -0.355555, -0.894665 mu:0.317475 unit_bearing:-0.514965 -0.076029 0.853833 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -3.012378, -0.230447, 0.108080 mu:0.317475 unit_bearing:-0.213597 -0.075403 0.974008 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.880435, -0.091424, 0.964101 mu:0.317475 unit_bearing:0.063833 -0.064715 0.995860 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.857371, -0.310986, -0.918511 mu:0.317475 unit_bearing:-0.520418 -0.061062 0.851726 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.854717, -0.305396, -0.928561 mu:0.317475 unit_bearing:-0.523099 -0.058912 0.850233 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.857815, -0.304313, -0.919271 mu:0.317475 unit_bearing:-0.520432 -0.058930 0.851867 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.858244, -0.297639, -0.920033 mu:0.317475 unit_bearing:-0.520445 -0.056798 0.852004 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.873730, -0.226464, -0.890590 mu:0.317475 unit_bearing:-0.509849 -0.035509 0.859531 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.883166, -0.203068, -0.865043 mu:0.317475 unit_bearing:-0.501811 -0.029125 0.864487 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.897076, -0.197482, -0.818488 mu:0.317475 unit_bearing:-0.488321 -0.029166 0.872176 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.828709, -0.255230, -1.018975 mu:0.317475 unit_bearing:-0.547071 -0.039606 0.836149 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.832092, -0.254135, -1.009713 mu:0.317475 unit_bearing:-0.544432 -0.039619 0.837869 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.828997, -0.248577, -1.019756 mu:0.317475 unit_bearing:-0.547081 -0.037479 0.836240 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.832380, -0.247479, -1.010493 mu:0.317475 unit_bearing:-0.544442 -0.037492 0.837960 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.830874, -0.188694, -1.026873 mu:0.317475 unit_bearing:-0.547144 -0.018334 0.836837 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.834256, -0.187576, -1.017612 mu:0.317475 unit_bearing:-0.544505 -0.018340 0.838557 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.890935, 0.022706, 0.933733 mu:0.317475 unit_bearing:0.058056 -0.027577 0.997932 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.888328, 0.023775, 0.942427 mu:0.317475 unit_bearing:0.060952 -0.027576 0.997760 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.885695, 0.024844, 0.951114 mu:0.317475 unit_bearing:0.063848 -0.027576 0.997579 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.834111, -0.194232, -1.016813 mu:0.317475 unit_bearing:-0.544500 -0.020469 0.838511 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.869479, -0.168566, -0.916334 mu:0.317475 unit_bearing:-0.515260 -0.016269 0.856880 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.850206, 0.100174, 1.056143 mu:0.317475 unit_bearing:0.101478 -0.007902 0.994806 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.841153, 0.103339, 1.081895 mu:0.317475 unit_bearing:0.110153 -0.007901 0.993883 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.886630, 0.072701, 0.945467 mu:0.317475 unit_bearing:0.063851 -0.012277 0.997884 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.889353, 0.139971, 0.928411 mu:0.317475 unit_bearing:0.060955 0.009580 0.998095 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -3.012499, 0.239440, 0.050410 mu:0.317475 unit_bearing:-0.213598 0.074894 0.974047 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -3.012356, 0.240588, 0.059583 mu:0.317475 unit_bearing:-0.210730 0.074901 0.974671 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.870135, 0.460268, 0.884381 mu:0.317475 unit_bearing:0.060901 0.112212 0.991816 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.867503, 0.461325, 0.893061 mu:0.317475 unit_bearing:0.063795 0.112209 0.991635 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.864845, 0.462380, 0.901735 mu:0.317475 unit_bearing:0.066688 0.112206 0.991445 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.864083, 0.469172, 0.900714 mu:0.317475 unit_bearing:0.066686 0.114386 0.991196 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.860016, 0.541694, 0.871905 mu:0.317475 unit_bearing:0.060872 0.138353 0.988511 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.766975, 0.592996, 1.125932 mu:0.317475 unit_bearing:0.147474 0.144690 0.978425 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.763569, 0.594005, 1.134392 mu:0.317475 unit_bearing:0.150354 0.144681 0.977988 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.765494, 0.580478, 1.136552 mu:0.317475 unit_bearing:0.150368 0.140335 0.978619 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.762063, 0.581487, 1.145005 mu:0.317475 unit_bearing:0.153248 0.140326 0.978174 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.559] If point is visible? -2.859077, 0.548472, 0.870843 mu:0.317475 unit_bearing:0.060870 0.140530 0.988204 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.856445, 0.549525, 0.879520 mu:0.317475 unit_bearing:0.063762 0.140526 0.988022 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.853787, 0.550578, 0.888189 mu:0.317475 unit_bearing:0.066654 0.140522 0.987831 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.850497, 0.590158, 0.873071 mu:0.317475 unit_bearing:0.063744 0.153579 0.986078 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.847839, 0.591208, 0.881739 mu:0.317475 unit_bearing:0.066635 0.153575 0.985888 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.845156, 0.592258, 0.890399 mu:0.317475 unit_bearing:0.069526 0.153570 0.985689 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.780700, 0.646720, 1.056628 mu:0.317475 unit_bearing:0.127241 0.164300 0.978169 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.776356, 0.654488, 1.064023 mu:0.317475 unit_bearing:0.130117 0.166462 0.977425 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.825466, 0.719509, 0.860484 mu:0.317475 unit_bearing:0.066564 0.194826 0.978577 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.364052, 1.605283, 1.100606 mu:0.317475 unit_bearing:0.206966 0.464650 0.860968 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.360045, 1.606101, 1.108715 mu:0.317475 unit_bearing:0.209774 0.464594 0.860318 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.347865, 1.608530, 1.132985 mu:0.317475 unit_bearing:0.218193 0.464421 0.858315 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.343751, 1.609332, 1.141056 mu:0.317475 unit_bearing:0.220997 0.464361 0.857630 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.764760, -1.161279, 0.487430 mu:0.317475 unit_bearing:-0.114370 -0.383393 0.916477 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.774638, -1.097659, 0.574754 mu:0.317475 unit_bearing:-0.085893 -0.366725 0.926356 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.621242, -0.695843, 1.406414 mu:0.317475 unit_bearing:0.195513 -0.272286 0.942144 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.613504, -0.693652, 1.422930 mu:0.317475 unit_bearing:0.201223 -0.272235 0.940956 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.605660, -0.691460, 1.439410 mu:0.317475 unit_bearing:0.206929 -0.272182 0.939733 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.624955, -0.682331, 1.405753 mu:0.317475 unit_bearing:0.195551 -0.268003 0.943363 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.617218, -0.680142, 1.422273 mu:0.317475 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.609375, -0.677953, 1.438757 mu:0.317475 unit_bearing:0.206969 -0.267900 0.940953 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.372162, -0.607390, 1.852860 mu:0.317475 unit_bearing:0.353834 -0.261687 0.897954 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.386289, -0.553676, 1.850524 mu:0.317475 unit_bearing:0.354120 -0.244671 0.902627 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.389668, -0.540232, 1.849891 mu:0.317475 unit_bearing:0.354188 -0.240410 0.903744 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.688494, -0.483298, 1.360506 mu:0.317475 unit_bearing:0.184573 -0.203535 0.961512 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.680976, -0.481144, 1.377153 mu:0.317475 unit_bearing:0.190306 -0.203501 0.960402 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.673353, -0.478992, 1.393766 mu:0.317475 unit_bearing:0.196035 -0.203465 0.959256 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.944753, -0.588348, 0.399821 mu:0.317475 unit_bearing:-0.132677 -0.199468 0.970881 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.942970, -0.586200, 0.417904 mu:0.317475 unit_bearing:-0.126919 -0.199491 0.971646 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.941079, -0.584050, 0.435969 mu:0.317475 unit_bearing:-0.121158 -0.199512 0.972376 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.943779, -0.570443, 0.434883 mu:0.317475 unit_bearing:-0.121174 -0.195182 0.973253 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.611397, -0.491076, 1.510831 mu:0.317475 unit_bearing:0.235978 -0.211802 0.948396 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.937785, -0.548211, 0.505864 mu:0.317475 unit_bearing:-0.098124 -0.190923 0.976688 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.622620, -0.479661, 1.493597 mu:0.317475 unit_bearing:0.230309 -0.207539 0.950729 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.625427, -0.466087, 1.492700 mu:0.317475 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.970512, -0.439166, -0.319819 mu:0.317475 unit_bearing:-0.349727 -0.124616 0.928527 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.966218, -0.454833, -0.337085 mu:0.317475 unit_bearing:-0.355305 -0.128885 0.925822 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.972919, -0.241358, 0.532368 mu:0.317475 unit_bearing:-0.080971 -0.095257 0.992154 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.996603, -0.220066, 0.365752 mu:0.317475 unit_bearing:-0.133004 -0.082101 0.987709 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.974176, -0.227685, 0.530970 mu:0.317475 unit_bearing:-0.080975 -0.090894 0.992563 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -3.019189, -0.039448, -0.081904 mu:0.317475 unit_bearing:-0.265187 -0.007867 0.964165 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.881022, -0.177435, -0.877532 mu:0.317475 unit_bearing:-0.504522 -0.020564 0.863154 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -3.012499, 0.239440, 0.050410 mu:0.317475 unit_bearing:-0.213598 0.074894 0.974047 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -3.011442, 0.253021, 0.048528 mu:0.317475 unit_bearing:-0.213588 0.079246 0.973704 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -3.011129, 0.255319, 0.066871 mu:0.317475 unit_bearing:-0.207850 0.079261 0.974944 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.781015, 0.510729, 1.130192 mu:0.317475 unit_bearing:0.144667 0.118602 0.982347 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.410422, 0.642243, 1.786608 mu:0.317475 unit_bearing:0.377819 0.134646 0.916036 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.775326, 0.641999, 1.074752 mu:0.317475 unit_bearing:0.133013 0.162111 0.977767 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.796082, 1.166407, 0.134031 mu:0.317475 unit_bearing:-0.137374 0.363754 0.921310 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.678174, -0.494736, 1.378075 mu:0.317475 unit_bearing:0.190279 -0.207819 0.959482 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.371516, -0.649824, 1.839014 mu:0.317475 unit_bearing:0.348034 -0.274523 0.896387 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.802974, -1.137488, -0.153348 mu:0.317475 unit_bearing:-0.312847 -0.351104 0.882526 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.925587, -0.634154, 0.476233 mu:0.317475 unit_bearing:-0.109572 -0.216858 0.970034 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.672388, -0.521905, 1.379867 mu:0.317475 unit_bearing:0.190224 -0.216450 0.957583 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.657035, -0.517587, 1.413038 mu:0.317475 unit_bearing:0.201674 -0.216372 0.955254 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.351211, -1.018691, 1.690233 mu:0.317475 unit_bearing:0.289954 -0.385000 0.876186 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.784566, -1.088484, 0.538570 mu:0.317475 unit_bearing:-0.097367 -0.362433 0.926910 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.266833, -1.289673, 1.624159 mu:0.317475 unit_bearing:0.265571 -0.467832 0.842974 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.647055, -0.486118, 1.444303 mu:0.317475 unit_bearing:0.213174 -0.207666 0.954689 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.602429, -0.531749, 1.513357 mu:0.317475 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -3.000992, -0.210802, 0.328013 mu:0.317475 unit_bearing:-0.144552 -0.077722 0.986440 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -3.002985, -0.183482, 0.325084 mu:0.317475 unit_bearing:-0.144565 -0.069000 0.987087 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -3.004740, -0.156160, 0.322104 mu:0.317475 unit_bearing:-0.144577 -0.060275 0.987656 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.281093, 0.436860, 2.017462 mu:0.317475 unit_bearing:0.450264 0.060997 0.890810 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.779387, 0.524285, 1.128107 mu:0.317475 unit_bearing:0.144656 0.122955 0.981813 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -3.010708, 0.257614, 0.085199 mu:0.317475 unit_bearing:-0.202110 0.079275 0.976149 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.860114, 0.522410, 0.883749 mu:0.317475 unit_bearing:0.063773 0.131818 0.989220 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.849328, 0.526615, 0.918393 mu:0.317475 unit_bearing:0.075341 0.131803 0.988409 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.838130, 0.530799, 0.952928 mu:0.317475 unit_bearing:0.086904 0.131785 0.987462 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.114245, 0.900067, 2.056657 mu:0.317475 unit_bearing:0.491802 0.205441 0.846124 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.060122, 0.905376, 2.112844 mu:0.317475 unit_bearing:0.513154 0.204940 0.833470 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.834461, 0.557905, 0.948687 mu:0.317475 unit_bearing:0.086889 0.140490 0.986262 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.798391, 0.570306, 1.051600 mu:0.317475 unit_bearing:0.121541 0.140416 0.982604 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.900894, 0.811957, 0.330736 mu:0.317475 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.491353, 1.524859, 0.892950 mu:0.317475 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.128208 y=0.000000 z=0.036048 +[21:41:00.560] If point is visible? -2.031988, 0.547207, 0.792181 mu:0.426877 unit_bearing:0.155922 0.192369 0.968856 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.560] If point is visible? -1.617479, 0.351986, 1.569552 mu:0.426877 unit_bearing:0.504484 0.069214 0.860642 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.560] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.180602, 0.432078, -0.134681 mu:0.426877 unit_bearing:-0.247337 0.191808 0.949755 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.560] If point is visible? -1.468685, 0.676019, 1.620935 mu:0.426877 unit_bearing:0.555240 0.203832 0.806326 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.560] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.560] If point is visible? -2.031988, 0.547207, 0.792181 mu:0.426877 unit_bearing:0.155922 0.192369 0.968856 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.026426, -0.855383, 0.442588 mu:0.426877 unit_bearing:-0.060047 -0.383714 0.921498 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.026870, -0.804697, 0.533055 mu:0.426877 unit_bearing:-0.019977 -0.366945 0.930028 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.025630, -0.803900, 0.539611 mu:0.426877 unit_bearing:-0.017109 -0.366948 0.930084 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.027538, -0.798937, 0.539396 mu:0.426877 unit_bearing:-0.017112 -0.364834 0.930915 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.859360, -0.482225, 1.197124 mu:0.426877 unit_bearing:0.286476 -0.264862 0.920750 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.882646, -0.498853, 1.149387 mu:0.426877 unit_bearing:0.263802 -0.269424 0.926185 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.879458, -0.498026, 1.155442 mu:0.426877 unit_bearing:0.266634 -0.269388 0.925384 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.697127, -0.415046, 1.457825 mu:0.426877 unit_bearing:0.412146 -0.249961 0.876159 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -1.727350, -0.400099, 1.422892 mu:0.426877 unit_bearing:0.395789 -0.241811 0.885934 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -1.693795, -0.393516, 1.468134 mu:0.426877 unit_bearing:0.417809 -0.241375 0.875885 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -1.887202, -0.494672, 1.143063 mu:0.426877 unit_bearing:0.260996 -0.267323 0.927588 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.699739, -0.405107, 1.457360 mu:0.426877 unit_bearing:0.412232 -0.245726 0.877316 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -1.729867, -0.390136, 1.422385 mu:0.426877 unit_bearing:0.395867 -0.237563 0.887047 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -1.931498, -0.383233, 1.105684 mu:0.426877 unit_bearing:0.247315 -0.218163 0.944055 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.932611, -0.378196, 1.105346 mu:0.426877 unit_bearing:0.247334 -0.216011 0.944545 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.932822, -0.362272, 1.110431 mu:0.426877 unit_bearing:0.250237 -0.209529 0.945240 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.931742, -0.367311, 1.110778 mu:0.426877 unit_bearing:0.250218 -0.211682 0.944766 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.147435, -0.519823, -0.276398 mu:0.426877 unit_bearing:-0.351722 -0.204135 0.913576 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.870598, -0.331017, 1.230354 mu:0.426877 unit_bearing:0.306985 -0.202525 0.929916 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.867120, -0.330211, 1.236327 mu:0.426877 unit_bearing:0.309806 -0.202494 0.928987 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.877138, -0.316733, 1.223328 mu:0.426877 unit_bearing:0.304229 -0.196107 0.932194 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.929760, -0.329608, 1.126618 mu:0.426877 unit_bearing:0.258881 -0.196531 0.945704 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.926619, -0.328803, 1.132715 mu:0.426877 unit_bearing:0.261724 -0.196507 0.944926 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.149525, -0.396016, 0.480329 mu:0.426877 unit_bearing:-0.031698 -0.191046 0.981069 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.919072, -0.316307, 1.150236 mu:0.426877 unit_bearing:0.270285 -0.192124 0.943416 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.155795, -0.383236, 0.459154 mu:0.426877 unit_bearing:-0.040376 -0.184529 0.981997 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.747266, -0.273685, 1.426977 mu:0.426877 unit_bearing:0.402190 -0.188463 0.895949 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -2.158902, -0.379782, 0.445439 mu:0.426877 unit_bearing:-0.046160 -0.182352 0.982149 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.161790, -0.370451, 0.437918 mu:0.426877 unit_bearing:-0.049056 -0.178008 0.982806 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.150316, -0.362372, 0.504220 mu:0.426877 unit_bearing:-0.020143 -0.178034 0.983818 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.152447, -0.358109, 0.497169 mu:0.426877 unit_bearing:-0.023036 -0.175861 0.984145 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.082384, -0.048120, 0.842012 mu:0.426877 unit_bearing:0.141889 -0.062460 0.987910 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.154479, -0.152860, -0.524224 mu:0.426877 unit_bearing:-0.436445 -0.035762 0.899020 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.156218, -0.152032, -0.517324 mu:0.426877 unit_bearing:-0.433692 -0.035770 0.900351 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.157935, -0.151204, -0.510423 mu:0.426877 unit_bearing:-0.430936 -0.035778 0.901673 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.043023, 0.026154, 0.942768 mu:0.426877 unit_bearing:0.190889 -0.036232 0.980943 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.165521, -0.117813, -0.486377 mu:0.426877 unit_bearing:-0.419921 -0.022882 0.907272 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.174933, -0.107776, -0.445551 mu:0.426877 unit_bearing:-0.403293 -0.020753 0.914835 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.137201, -0.111187, -0.599145 mu:0.426877 unit_bearing:-0.463898 -0.014208 0.885775 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.139165, -0.110349, -0.592254 mu:0.426877 unit_bearing:-0.461168 -0.014211 0.887199 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.141106, -0.109511, -0.585363 mu:0.426877 unit_bearing:-0.458436 -0.014215 0.888614 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.176813, -0.081839, -0.441671 mu:0.426877 unit_bearing:-0.400526 -0.009965 0.916231 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.084367, 0.069500, 0.835035 mu:0.426877 unit_bearing:0.144813 -0.012262 0.989383 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.082012, 0.070283, 0.841401 mu:0.426877 unit_bearing:0.147699 -0.012262 0.988956 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.173968, -0.063457, -0.457927 mu:0.426877 unit_bearing:-0.406086 -0.001331 0.913834 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.175462, -0.062610, -0.451023 mu:0.426877 unit_bearing:-0.403309 -0.001331 0.915063 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.120846, -0.102930, -0.656032 mu:0.426877 unit_bearing:-0.485653 -0.007750 0.874117 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.175463, -0.057592, -0.451639 mu:0.426877 unit_bearing:-0.403309 0.000827 0.915064 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.041804, 0.092874, 0.941294 mu:0.426877 unit_bearing:0.193782 -0.007887 0.981013 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.039120, 0.093646, 0.947566 mu:0.426877 unit_bearing:0.196656 -0.007886 0.980441 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.139408, -0.070396, -0.597130 mu:0.426877 unit_bearing:-0.461177 0.002970 0.887303 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.139419, -0.075390, -0.596515 mu:0.426877 unit_bearing:-0.461177 0.000823 0.887308 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.084529, 0.105036, 0.830710 mu:0.426877 unit_bearing:0.144815 0.003019 0.989454 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.068892, 0.368283, 0.794766 mu:0.426877 unit_bearing:0.144672 0.116426 0.982606 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.066535, 0.369047, 0.801126 mu:0.426877 unit_bearing:0.147555 0.116419 0.982178 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.064159, 0.369810, 0.807482 mu:0.426877 unit_bearing:0.150436 0.116411 0.981742 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.609078, 0.043774, -1.551346 mu:0.426877 unit_bearing:-0.805069 0.100985 0.584522 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -1.614476, 0.044686, -1.545425 mu:0.426877 unit_bearing:-0.803036 0.101063 0.587298 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -1.984446, 0.387176, 0.996304 mu:0.426877 unit_bearing:0.236578 0.113946 0.964908 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.615102, 0.040038, -1.544864 mu:0.426877 unit_bearing:-0.803094 0.099065 0.587559 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -1.595942, 0.093845, -1.563369 mu:0.426877 unit_bearing:-0.806364 0.122825 0.578525 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -2.062467, 0.418682, 0.787088 mu:0.426877 unit_bearing:0.144613 0.138179 0.979793 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.060110, 0.419442, 0.793446 mu:0.426877 unit_bearing:0.147494 0.138170 0.979364 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.057733, 0.420201, 0.799799 mu:0.426877 unit_bearing:0.150375 0.138161 0.978927 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.980370, 0.441726, 0.981596 mu:0.426877 unit_bearing:0.233609 0.137824 0.962513 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.977410, 0.442451, 0.987776 mu:0.426877 unit_bearing:0.236467 0.137809 0.961817 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.974431, 0.443174, 0.993949 mu:0.426877 unit_bearing:0.239324 0.137794 0.961112 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.600591, 0.099427, -1.558032 mu:0.426877 unit_bearing:-0.804270 0.124913 0.580988 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -1.599803, 0.104058, -1.558586 mu:0.426877 unit_bearing:-0.804196 0.126903 0.580659 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] If point is visible? -2.056315, 0.430268, 0.798232 mu:0.426877 unit_bearing:0.150361 0.142508 0.978306 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.057030, 0.425235, 0.799017 mu:0.426877 unit_bearing:0.150368 0.140335 0.978619 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.054952, 0.454659, 0.787923 mu:0.426877 unit_bearing:0.147445 0.153379 0.977105 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.052575, 0.455416, 0.794274 mu:0.426877 unit_bearing:0.150325 0.153369 0.976668 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -2.050179, 0.456171, 0.800619 mu:0.426877 unit_bearing:0.153204 0.153359 0.976222 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] If point is visible? -1.587834, 0.192791, -1.563159 mu:0.426877 unit_bearing:-0.800532 0.164737 0.576203 T_cur_ref: x=0.115668 y=0.000000 z=0.033299 +[21:41:00.561] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:00.561] init seeds +[21:41:00.561] DepthFilter: Initialized 9 new seeds +[21:41:00.564] DepthFilter: Initialized 9 new seeds +[21:41:01.065] add new frame +[21:41:01.065] update seed +[21:41:01.065] If point is visible? -2.273670, 0.436860, 2.020109 mu:0.317475 unit_bearing:0.450264 0.060997 0.890810 T_cur_ref: x=0.135631 y=0.000000 z=0.038695 +[21:41:01.065] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:01.065] If point is visible? -2.106822, 0.900067, 2.059304 mu:0.317475 unit_bearing:0.491802 0.205441 0.846124 T_cur_ref: x=0.135631 y=0.000000 z=0.038695 +[21:41:01.065] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:01.065] If point is visible? -2.052700, 0.905376, 2.115491 mu:0.317475 unit_bearing:0.513154 0.204940 0.833470 T_cur_ref: x=0.135631 y=0.000000 z=0.038695 +[21:41:01.065] Z inverse min: 0.907438, Z inverse max: 0.000000 +[21:41:01.065] If point is visible? -2.893471, 0.811957, 0.333384 mu:0.317475 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.135631 y=0.000000 z=0.038695 +[21:41:01.065] add key frame +[21:41:01.065] If point is visible? -2.483931, 1.524859, 0.895597 mu:0.317475 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.135631 y=0.000000 z=0.038695 +[21:41:01.065] init seeds +[21:41:01.065] remove key frame +[21:41:01.066] update seed +[21:41:01.066] If point is visible? -2.024565, 0.547207, 0.794828 mu:0.426877 unit_bearing:0.155922 0.192369 0.968856 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.610056, 0.351986, 1.572199 mu:0.426877 unit_bearing:0.504484 0.069214 0.860642 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.066] If point is visible? -2.173179, 0.432078, -0.132033 mu:0.426877 unit_bearing:-0.247337 0.191808 0.949755 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.461262, 0.676019, 1.623583 mu:0.426877 unit_bearing:0.555240 0.203832 0.806326 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.066] If point is visible? -2.024565, 0.547207, 0.794828 mu:0.426877 unit_bearing:0.155922 0.192369 0.968856 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.019003, -0.855383, 0.445235 mu:0.426877 unit_bearing:-0.060047 -0.383714 0.921498 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.019448, -0.804697, 0.535702 mu:0.426877 unit_bearing:-0.019977 -0.366945 0.930028 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.018207, -0.803900, 0.542258 mu:0.426877 unit_bearing:-0.017109 -0.366948 0.930084 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.020115, -0.798937, 0.542043 mu:0.426877 unit_bearing:-0.017112 -0.364834 0.930915 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.851937, -0.482225, 1.199771 mu:0.426877 unit_bearing:0.286476 -0.264862 0.920750 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.875223, -0.498853, 1.152034 mu:0.426877 unit_bearing:0.263802 -0.269424 0.926185 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.872035, -0.498026, 1.158090 mu:0.426877 unit_bearing:0.266634 -0.269388 0.925384 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.689704, -0.415046, 1.460472 mu:0.426877 unit_bearing:0.412146 -0.249961 0.876159 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.066] If point is visible? -1.719927, -0.400099, 1.425539 mu:0.426877 unit_bearing:0.395789 -0.241811 0.885934 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.066] If point is visible? -1.686372, -0.393516, 1.470782 mu:0.426877 unit_bearing:0.417809 -0.241375 0.875885 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.066] If point is visible? -1.879779, -0.494672, 1.145710 mu:0.426877 unit_bearing:0.260996 -0.267323 0.927588 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.692316, -0.405107, 1.460007 mu:0.426877 unit_bearing:0.412232 -0.245726 0.877316 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.066] If point is visible? -1.722444, -0.390136, 1.425032 mu:0.426877 unit_bearing:0.395867 -0.237563 0.887047 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.066] If point is visible? -1.924075, -0.383233, 1.108332 mu:0.426877 unit_bearing:0.247315 -0.218163 0.944055 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.925188, -0.378196, 1.107993 mu:0.426877 unit_bearing:0.247334 -0.216011 0.944545 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.925399, -0.362272, 1.113078 mu:0.426877 unit_bearing:0.250237 -0.209529 0.945240 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.924319, -0.367311, 1.113425 mu:0.426877 unit_bearing:0.250218 -0.211682 0.944766 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.140013, -0.519823, -0.273750 mu:0.426877 unit_bearing:-0.351722 -0.204135 0.913576 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.863175, -0.331017, 1.233001 mu:0.426877 unit_bearing:0.306985 -0.202525 0.929916 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.859697, -0.330211, 1.238974 mu:0.426877 unit_bearing:0.309806 -0.202494 0.928987 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.869715, -0.316733, 1.225976 mu:0.426877 unit_bearing:0.304229 -0.196107 0.932194 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.922337, -0.329608, 1.129265 mu:0.426877 unit_bearing:0.258881 -0.196531 0.945704 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.919197, -0.328803, 1.135362 mu:0.426877 unit_bearing:0.261724 -0.196507 0.944926 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.142102, -0.396016, 0.482976 mu:0.426877 unit_bearing:-0.031698 -0.191046 0.981069 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.911649, -0.316307, 1.152883 mu:0.426877 unit_bearing:0.270285 -0.192124 0.943416 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.148372, -0.383236, 0.461802 mu:0.426877 unit_bearing:-0.040376 -0.184529 0.981997 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -1.739843, -0.273685, 1.429624 mu:0.426877 unit_bearing:0.402190 -0.188463 0.895949 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.066] If point is visible? -2.151480, -0.379782, 0.448087 mu:0.426877 unit_bearing:-0.046160 -0.182352 0.982149 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.154367, -0.370451, 0.440565 mu:0.426877 unit_bearing:-0.049056 -0.178008 0.982806 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.142893, -0.362372, 0.506868 mu:0.426877 unit_bearing:-0.020143 -0.178034 0.983818 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.145024, -0.358109, 0.499817 mu:0.426877 unit_bearing:-0.023036 -0.175861 0.984145 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.074961, -0.048120, 0.844660 mu:0.426877 unit_bearing:0.141889 -0.062460 0.987910 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.147056, -0.152860, -0.521577 mu:0.426877 unit_bearing:-0.436445 -0.035762 0.899020 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.148795, -0.152032, -0.514677 mu:0.426877 unit_bearing:-0.433692 -0.035770 0.900351 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.150512, -0.151204, -0.507775 mu:0.426877 unit_bearing:-0.430936 -0.035778 0.901673 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.035600, 0.026154, 0.945415 mu:0.426877 unit_bearing:0.190889 -0.036232 0.980943 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.066] If point is visible? -2.158098, -0.117813, -0.483730 mu:0.426877 unit_bearing:-0.419921 -0.022882 0.907272 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.167510, -0.107776, -0.442904 mu:0.426877 unit_bearing:-0.403293 -0.020753 0.914835 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.129778, -0.111187, -0.596497 mu:0.426877 unit_bearing:-0.463898 -0.014208 0.885775 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.131742, -0.110349, -0.589607 mu:0.426877 unit_bearing:-0.461168 -0.014211 0.887199 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.133683, -0.109511, -0.582716 mu:0.426877 unit_bearing:-0.458436 -0.014215 0.888614 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.169391, -0.081839, -0.439024 mu:0.426877 unit_bearing:-0.400526 -0.009965 0.916231 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.076944, 0.069500, 0.837683 mu:0.426877 unit_bearing:0.144813 -0.012262 0.989383 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.074589, 0.070283, 0.844049 mu:0.426877 unit_bearing:0.147699 -0.012262 0.988956 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.166546, -0.063457, -0.455280 mu:0.426877 unit_bearing:-0.406086 -0.001331 0.913834 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.168039, -0.062610, -0.448376 mu:0.426877 unit_bearing:-0.403309 -0.001331 0.915063 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.113423, -0.102930, -0.653385 mu:0.426877 unit_bearing:-0.485653 -0.007750 0.874117 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.168041, -0.057592, -0.448992 mu:0.426877 unit_bearing:-0.403309 0.000827 0.915064 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.034381, 0.092874, 0.943941 mu:0.426877 unit_bearing:0.193782 -0.007887 0.981013 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.031697, 0.093646, 0.950213 mu:0.426877 unit_bearing:0.196656 -0.007886 0.980441 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.131986, -0.070396, -0.594482 mu:0.426877 unit_bearing:-0.461177 0.002970 0.887303 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.131996, -0.075390, -0.593868 mu:0.426877 unit_bearing:-0.461177 0.000823 0.887308 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.077106, 0.105036, 0.833357 mu:0.426877 unit_bearing:0.144815 0.003019 0.989454 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.061469, 0.368283, 0.797413 mu:0.426877 unit_bearing:0.144672 0.116426 0.982606 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.059112, 0.369047, 0.803774 mu:0.426877 unit_bearing:0.147555 0.116419 0.982178 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.056736, 0.369810, 0.810129 mu:0.426877 unit_bearing:0.150436 0.116411 0.981742 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -1.601655, 0.043774, -1.548699 mu:0.426877 unit_bearing:-0.805069 0.100985 0.584522 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.067] If point is visible? -1.607053, 0.044686, -1.542778 mu:0.426877 unit_bearing:-0.803036 0.101063 0.587298 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.067] If point is visible? -1.977023, 0.387176, 0.998952 mu:0.426877 unit_bearing:0.236578 0.113946 0.964908 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -1.607679, 0.040038, -1.542217 mu:0.426877 unit_bearing:-0.803094 0.099065 0.587559 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.067] If point is visible? -1.588519, 0.093845, -1.560722 mu:0.426877 unit_bearing:-0.806364 0.122825 0.578525 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.067] If point is visible? -2.055044, 0.418682, 0.789735 mu:0.426877 unit_bearing:0.144613 0.138179 0.979793 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.052687, 0.419442, 0.796093 mu:0.426877 unit_bearing:0.147494 0.138170 0.979364 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.050311, 0.420201, 0.802446 mu:0.426877 unit_bearing:0.150375 0.138161 0.978927 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -1.972947, 0.441726, 0.984243 mu:0.426877 unit_bearing:0.233609 0.137824 0.962513 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -1.969987, 0.442451, 0.990423 mu:0.426877 unit_bearing:0.236467 0.137809 0.961817 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -1.967008, 0.443174, 0.996597 mu:0.426877 unit_bearing:0.239324 0.137794 0.961112 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -1.593169, 0.099427, -1.555384 mu:0.426877 unit_bearing:-0.804270 0.124913 0.580988 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.067] If point is visible? -1.592380, 0.104058, -1.555939 mu:0.426877 unit_bearing:-0.804196 0.126903 0.580659 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.067] If point is visible? -2.048892, 0.430268, 0.800880 mu:0.426877 unit_bearing:0.150361 0.142508 0.978306 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.049607, 0.425235, 0.801664 mu:0.426877 unit_bearing:0.150368 0.140335 0.978619 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.047529, 0.454659, 0.790570 mu:0.426877 unit_bearing:0.147445 0.153379 0.977105 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.045152, 0.455416, 0.796921 mu:0.426877 unit_bearing:0.150325 0.153369 0.976668 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.042756, 0.456171, 0.803266 mu:0.426877 unit_bearing:0.153204 0.153359 0.976222 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -1.580412, 0.192791, -1.560511 mu:0.426877 unit_bearing:-0.800532 0.164737 0.576203 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.067] If point is visible? -1.624794, 0.215933, -1.508733 mu:0.426877 unit_bearing:-0.781735 0.171849 0.599466 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.067] If point is visible? -1.555071, 0.250355, -1.579250 mu:0.426877 unit_bearing:-0.803170 0.190102 0.564605 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.067] If point is visible? -1.560505, 0.251431, -1.573418 mu:0.426877 unit_bearing:-0.801168 0.190254 0.567391 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.067] If point is visible? -2.036031, 0.881769, 0.256035 mu:0.426877 unit_bearing:-0.051532 0.362151 0.930694 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.035009, 0.882600, 0.262631 mu:0.426877 unit_bearing:-0.048665 0.362160 0.930845 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.033967, 0.883429, 0.269224 mu:0.426877 unit_bearing:-0.045798 0.362169 0.930987 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -1.691698, 1.123089, 1.001854 mu:0.426877 unit_bearing:0.300073 0.425597 0.853711 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -1.689416, 1.127789, 1.000661 mu:0.426877 unit_bearing:0.300016 0.427651 0.852705 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -2.025766, -0.784036, 0.541381 mu:0.426877 unit_bearing:-0.017119 -0.358486 0.933378 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -1.879354, -0.483826, 1.151244 mu:0.426877 unit_bearing:0.263881 -0.263016 0.928003 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] If point is visible? -1.725295, -0.395940, 1.419589 mu:0.426877 unit_bearing:0.393066 -0.239739 0.887708 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.067] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.068] If point is visible? -1.691903, -0.389367, 1.464916 mu:0.426877 unit_bearing:0.415106 -0.239312 0.877734 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.068] If point is visible? -1.729889, -0.638048, -1.247458 mu:0.426877 unit_bearing:-0.725988 -0.203571 0.656887 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.068] If point is visible? -1.860953, -0.500547, 1.176467 mu:0.426877 unit_bearing:0.275092 -0.271412 0.922312 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.876612, -0.493845, 1.151774 mu:0.426877 unit_bearing:0.263829 -0.267289 0.926796 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.870217, -0.492192, 1.163880 mu:0.426877 unit_bearing:0.269491 -0.267218 0.925186 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.857190, -0.488884, 1.188007 mu:0.426877 unit_bearing:0.280800 -0.267071 0.921859 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.151706, -0.391532, 0.435657 mu:0.426877 unit_bearing:-0.051934 -0.186684 0.981046 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.149607, -0.389918, 0.448952 mu:0.426877 unit_bearing:-0.046154 -0.186692 0.981334 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.919265, -0.344730, 1.130345 mu:0.426877 unit_bearing:0.258826 -0.202994 0.944353 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.912962, -0.343115, 1.142528 mu:0.426877 unit_bearing:0.264510 -0.202944 0.942788 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.151480, -0.379782, 0.448087 mu:0.426877 unit_bearing:-0.046160 -0.182352 0.982149 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.162584, -0.133154, 0.531653 mu:0.426877 unit_bearing:0.000101 -0.082205 0.996615 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.163388, -0.122980, 0.530573 mu:0.426877 unit_bearing:0.000101 -0.077838 0.996966 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.160337, -0.071857, -0.482280 mu:0.426877 unit_bearing:-0.417174 -0.003486 0.908820 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.201203, 0.230186, 0.216045 mu:0.426877 unit_bearing:-0.115670 0.088159 0.989368 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.982921, 0.385713, 0.986579 mu:0.426877 unit_bearing:0.230858 0.113970 0.966289 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.024565, 0.547207, 0.794828 mu:0.426877 unit_bearing:0.155922 0.192369 0.968856 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.981742, 0.395774, 0.985053 mu:0.426877 unit_bearing:0.230840 0.118312 0.965772 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.986370, 0.481794, 0.933619 mu:0.426877 unit_bearing:0.213484 0.157434 0.964178 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.984747, 0.491820, 0.931992 mu:0.426877 unit_bearing:0.213461 0.161766 0.963466 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.599696, 0.206134, -1.537991 mu:0.426877 unit_bearing:-0.792188 0.169219 0.586347 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.068] If point is visible? -1.745822, 1.177320, 0.816233 mu:0.426877 unit_bearing:0.221131 0.458231 0.860886 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.720171, -0.415860, 1.420580 mu:0.426877 unit_bearing:0.392907 -0.248231 0.885441 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.068] If point is visible? -1.888365, -0.475450, 1.138560 mu:0.426877 unit_bearing:0.258263 -0.258807 0.930763 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.875659, -0.472155, 1.162816 mu:0.426877 unit_bearing:0.269597 -0.258673 0.927581 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.862636, -0.468858, 1.186957 mu:0.426877 unit_bearing:0.280911 -0.258532 0.924257 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.624668, -0.927068, 1.290398 mu:0.426877 unit_bearing:0.321173 -0.458054 0.828875 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.068] If point is visible? -2.132812, -0.435719, 0.492908 mu:0.426877 unit_bearing:-0.028793 -0.208384 0.977623 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.908642, -0.331426, 1.153972 mu:0.426877 unit_bearing:0.270228 -0.198587 0.942093 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.031381, -0.800331, 0.489251 mu:0.426877 unit_bearing:-0.040061 -0.362679 0.931053 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.026855, -0.797157, 0.515570 mu:0.426877 unit_bearing:-0.028588 -0.362703 0.931466 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.912815, -0.374952, 1.132423 mu:0.426877 unit_bearing:0.258710 -0.215907 0.941517 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.900127, -0.371708, 1.156744 mu:0.426877 unit_bearing:0.270067 -0.215798 0.938347 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.887122, -0.368465, 1.180954 mu:0.426877 unit_bearing:0.281405 -0.215684 0.935036 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.038853, -0.780458, 0.488326 mu:0.426877 unit_bearing:-0.040082 -0.354210 0.934306 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.034323, -0.777281, 0.514658 mu:0.426877 unit_bearing:-0.028604 -0.354234 0.934719 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.725295, -0.395940, 1.419589 mu:0.426877 unit_bearing:0.393066 -0.239739 0.887708 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.068] If point is visible? -2.191922, -0.100175, 0.380106 mu:0.426877 unit_bearing:-0.063634 -0.060348 0.996147 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.153800, -0.065224, -0.511116 mu:0.426877 unit_bearing:-0.428229 0.000825 0.903670 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.153466, -0.105292, -0.506241 mu:0.426877 unit_bearing:-0.428218 -0.016405 0.903526 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.995170, 0.421544, 0.943160 mu:0.426877 unit_bearing:0.213608 0.131410 0.968041 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -1.610056, 0.351986, 1.572199 mu:0.426877 unit_bearing:0.504484 0.069214 0.860642 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.068] If point is visible? -1.992414, 0.441645, 0.940021 mu:0.426877 unit_bearing:0.213569 0.140090 0.966832 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] If point is visible? -2.003513, 0.438703, 0.915071 mu:0.426877 unit_bearing:0.202104 0.140141 0.969285 T_cur_ref: x=0.123091 y=0.000000 z=0.035946 +[21:41:01.068] init seeds +[21:41:01.068] DepthFilter: Initialized 1 new seeds +[21:41:01.071] DepthFilter: Initialized 1 new seeds +[21:41:01.589] add new frame +[21:41:01.589] update seed +[21:41:01.589] If point is visible? -2.017167, 0.547207, 0.797381 mu:0.426877 unit_bearing:0.155922 0.192369 0.968856 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] If point is visible? -1.602657, 0.351986, 1.574752 mu:0.426877 unit_bearing:0.504484 0.069214 0.860642 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.589] If point is visible? -2.165781, 0.432078, -0.129481 mu:0.426877 unit_bearing:-0.247337 0.191808 0.949755 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] If point is visible? -1.453864, 0.676019, 1.626135 mu:0.426877 unit_bearing:0.555240 0.203832 0.806326 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.589] If point is visible? -2.017167, 0.547207, 0.797381 mu:0.426877 unit_bearing:0.155922 0.192369 0.968856 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] If point is visible? -2.011605, -0.855383, 0.447787 mu:0.426877 unit_bearing:-0.060047 -0.383714 0.921498 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] If point is visible? -2.012049, -0.804697, 0.538254 mu:0.426877 unit_bearing:-0.019977 -0.366945 0.930028 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] If point is visible? -2.010809, -0.803900, 0.544811 mu:0.426877 unit_bearing:-0.017109 -0.366948 0.930084 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] If point is visible? -2.012716, -0.798937, 0.544595 mu:0.426877 unit_bearing:-0.017112 -0.364834 0.930915 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] If point is visible? -1.844539, -0.482225, 1.202323 mu:0.426877 unit_bearing:0.286476 -0.264862 0.920750 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] If point is visible? -1.867825, -0.498853, 1.154586 mu:0.426877 unit_bearing:0.263802 -0.269424 0.926185 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] If point is visible? -1.864637, -0.498026, 1.160642 mu:0.426877 unit_bearing:0.266634 -0.269388 0.925384 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] If point is visible? -1.682306, -0.415046, 1.463025 mu:0.426877 unit_bearing:0.412146 -0.249961 0.876159 T_cur_ref: x=0.130489 y=0.000000 z=0.038499 +[21:41:01.589] add key frame +[21:41:01.589] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:01.589] remove key frame +[21:41:01.589] init seeds +[21:41:01.589] update seed +[21:41:01.589] init seeds +[21:41:01.592] DepthFilter: Initialized 1 new seeds +[21:41:01.595] DepthFilter: Initialized 148 new seeds +[21:41:02.105] add new frame +[21:41:02.105] update seed +[21:41:02.105] If point is visible? -2.009843, 0.547207, 0.800195 mu:0.426877 unit_bearing:0.155922 0.192369 0.968856 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.105] If point is visible? -1.595333, 0.351986, 1.577566 mu:0.426877 unit_bearing:0.504484 0.069214 0.860642 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.105] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:02.105] If point is visible? -2.158456, 0.432078, -0.126666 mu:0.426877 unit_bearing:-0.247337 0.191808 0.949755 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.105] If point is visible? -1.446539, 0.676019, 1.628949 mu:0.426877 unit_bearing:0.555240 0.203832 0.806326 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.105] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:02.105] If point is visible? -2.009843, 0.547207, 0.800195 mu:0.426877 unit_bearing:0.155922 0.192369 0.968856 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.105] If point is visible? -2.004280, -0.855383, 0.450602 mu:0.426877 unit_bearing:-0.060047 -0.383714 0.921498 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.105] If point is visible? -2.004725, -0.804697, 0.541069 mu:0.426877 unit_bearing:-0.019977 -0.366945 0.930028 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.105] If point is visible? -2.003484, -0.803900, 0.547625 mu:0.426877 unit_bearing:-0.017109 -0.366948 0.930084 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.105] If point is visible? -2.005392, -0.798937, 0.547410 mu:0.426877 unit_bearing:-0.017112 -0.364834 0.930915 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.105] If point is visible? -1.837214, -0.482225, 1.205138 mu:0.426877 unit_bearing:0.286476 -0.264862 0.920750 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.105] If point is visible? -1.860500, -0.498853, 1.157401 mu:0.426877 unit_bearing:0.263802 -0.269424 0.926185 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.105] If point is visible? -1.857313, -0.498026, 1.163456 mu:0.426877 unit_bearing:0.266634 -0.269388 0.925384 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.106] If point is visible? -1.674981, -0.415046, 1.465839 mu:0.426877 unit_bearing:0.412146 -0.249961 0.876159 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.106] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:02.106] If point is visible? -1.705205, -0.400099, 1.430906 mu:0.426877 unit_bearing:0.395789 -0.241811 0.885934 T_cur_ref: x=0.137814 y=0.000000 z=0.041313 +[21:41:02.106] Z inverse min: 1.066494, Z inverse max: 0.000000 +[21:41:02.105] add key frame +[21:41:02.106] init seeds +[21:41:02.106] remove key frame +[21:41:02.106] update seed +[21:41:02.106] If point is visible? -1.823152, 1.156614, 0.740125 mu:0.420708 unit_bearing:0.153690 0.447062 0.881201 T_cur_ref: x=0.131746 y=0.000000 z=0.039776 +[21:41:02.106] If point is visible? -1.823152, 1.156614, 0.740125 mu:0.420708 unit_bearing:0.153690 0.447062 0.881201 T_cur_ref: x=0.131746 y=0.000000 z=0.039776 +[21:41:02.106] If point is visible? -1.725769, 1.016431, 0.551641 mu:0.460051 unit_bearing:0.085654 0.435340 0.896182 T_cur_ref: x=0.125751 y=0.000000 z=0.038233 +[21:41:02.106] If point is visible? -1.725769, 1.016431, 0.551641 mu:0.460051 unit_bearing:0.085654 0.435340 0.896182 T_cur_ref: x=0.125751 y=0.000000 z=0.038233 +[21:41:02.106] If point is visible? -1.997690, -0.408389, 0.471457 mu:0.454602 unit_bearing:-0.051901 -0.208355 0.976675 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.894985, 0.514689, 0.754526 mu:0.454602 unit_bearing:0.132905 0.192467 0.972262 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.898926, -0.777908, 0.435609 mu:0.454602 unit_bearing:-0.077271 -0.373101 0.924567 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.897972, -0.777177, 0.441811 mu:0.454602 unit_bearing:-0.074408 -0.373115 0.924796 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.741624, -0.445146, 1.121342 mu:0.454602 unit_bearing:0.258238 -0.260946 0.930172 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.761588, -0.455208, 1.082009 mu:0.454602 unit_bearing:0.238339 -0.263307 0.934807 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.758611, -0.454444, 1.087680 mu:0.454602 unit_bearing:0.241182 -0.263276 0.934086 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.787735, -0.401593, 1.056283 mu:0.454602 unit_bearing:0.227205 -0.237689 0.944395 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.632597, -0.361295, 1.316561 mu:0.454602 unit_bearing:0.359866 -0.233927 0.903203 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.106] If point is visible? -1.797950, -0.384184, 1.043753 mu:0.454602 unit_bearing:0.221576 -0.229140 0.947839 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.808435, -0.321842, 1.045585 mu:0.454602 unit_bearing:0.224649 -0.201112 0.953460 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.747336, -0.306879, 1.158812 mu:0.454602 unit_bearing:0.281554 -0.200634 0.938335 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.744089, -0.306133, 1.164400 mu:0.454602 unit_bearing:0.284388 -0.200607 0.937486 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.011261, -0.358315, 0.448711 mu:0.454602 unit_bearing:-0.060605 -0.184501 0.980962 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.010174, -0.357561, 0.454939 mu:0.454602 unit_bearing:-0.057716 -0.184506 0.981135 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.807450, -0.311608, 1.050667 mu:0.454602 unit_bearing:0.227535 -0.196776 0.953681 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.752467, -0.298161, 1.152596 mu:0.454602 unit_bearing:0.278760 -0.196356 0.940073 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.809360, -0.332075, 1.040487 mu:0.454602 unit_bearing:0.221762 -0.205447 0.953212 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.017994, -0.454530, -0.213842 mu:0.454602 unit_bearing:-0.357476 -0.191208 0.914139 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.809388, -0.317100, 1.045265 mu:0.454602 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.760728, -0.290183, 1.140746 mu:0.454602 unit_bearing:0.273124 -0.192099 0.942603 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.761642, -0.285447, 1.140424 mu:0.454602 unit_bearing:0.273143 -0.189945 0.943035 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.020817, -0.343798, 0.409695 mu:0.454602 unit_bearing:-0.077954 -0.175789 0.981336 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.018844, -0.342288, 0.422195 mu:0.454602 unit_bearing:-0.072177 -0.175801 0.981776 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.010701, -0.325963, 0.477468 mu:0.454602 unit_bearing:-0.046173 -0.171497 0.984102 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.009884, -0.330728, 0.477865 mu:0.454602 unit_bearing:-0.046170 -0.173669 0.983721 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.652730, -0.227999, 1.319523 mu:0.454602 unit_bearing:0.366255 -0.173946 0.914112 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.106] If point is visible? -1.653566, -0.223282, 1.319198 mu:0.454602 unit_bearing:0.366279 -0.171800 0.914508 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.106] If point is visible? -1.948032, -0.056262, 0.785341 mu:0.454602 unit_bearing:0.110118 -0.066861 0.991667 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.916846, -0.036390, 0.867541 mu:0.454602 unit_bearing:0.150543 -0.062448 0.986629 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.039358, -0.151624, -0.356464 mu:0.454602 unit_bearing:-0.406007 -0.046631 0.912680 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.949974, -0.022841, 0.781731 mu:0.454602 unit_bearing:0.110132 -0.051581 0.992578 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.035984, -0.144541, -0.377105 mu:0.454602 unit_bearing:-0.414338 -0.042292 0.909140 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.033054, -0.118642, -0.399958 mu:0.454602 unit_bearing:-0.422673 -0.029340 0.905807 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.025646, -0.131974, -0.431454 mu:0.454602 unit_bearing:-0.436451 -0.033610 0.899100 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.935771, -0.149149, -0.732624 mu:0.454602 unit_bearing:-0.560273 -0.024674 0.827940 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.938233, -0.148375, -0.726164 mu:0.454602 unit_bearing:-0.557651 -0.024683 0.829708 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.918253, 0.059738, 0.862727 mu:0.454602 unit_bearing:0.153465 -0.018808 0.987975 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.025962, -0.122571, -0.432558 mu:0.454602 unit_bearing:-0.436462 -0.029307 0.899245 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.935895, -0.144510, -0.733179 mu:0.454602 unit_bearing:-0.560279 -0.022551 0.827997 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.938357, -0.143734, -0.726719 mu:0.454602 unit_bearing:-0.557657 -0.022558 0.829765 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.041266, -0.099785, -0.362512 mu:0.454602 unit_bearing:-0.406067 -0.022906 0.913556 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.974928, -0.121936, -0.624164 mu:0.454602 unit_bearing:-0.515256 -0.018404 0.856839 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.908141, 0.048342, 0.887973 mu:0.454602 unit_bearing:0.164993 -0.025348 0.985969 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.012704, -0.092110, -0.495707 mu:0.454602 unit_bearing:-0.461171 -0.012063 0.887229 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.025314, -0.085759, -0.443563 mu:0.454602 unit_bearing:-0.439243 -0.012087 0.898287 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.026795, -0.084965, -0.437044 mu:0.454602 unit_bearing:-0.436491 -0.012090 0.899627 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.041636, -0.080937, -0.364765 mu:0.454602 unit_bearing:-0.406078 -0.014276 0.913727 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.012760, -0.087420, -0.496274 mu:0.454602 unit_bearing:-0.461173 -0.009916 0.887255 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.943879, 0.061239, 0.796328 mu:0.454602 unit_bearing:0.121713 -0.014452 0.992460 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.916048, 0.074767, 0.866930 mu:0.454602 unit_bearing:0.156351 -0.012259 0.987625 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.997041, -0.080529, -0.556599 mu:0.454602 unit_bearing:-0.485656 -0.003465 0.874143 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.007782, -0.075745, -0.517531 mu:0.454602 unit_bearing:-0.469360 -0.003470 0.883000 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.022446, -0.068561, -0.458883 mu:0.454602 unit_bearing:-0.444745 -0.003478 0.895651 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.029850, -0.064568, -0.426289 mu:0.454602 unit_bearing:-0.430987 -0.003482 0.902352 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.012805, -0.082730, -0.496843 mu:0.454602 unit_bearing:-0.461175 -0.007768 0.887275 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.946087, 0.060505, 0.790363 mu:0.454602 unit_bearing:0.118823 -0.014452 0.992810 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.012845, -0.054594, -0.500292 mu:0.454602 unit_bearing:-0.461176 0.005118 0.887294 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.023952, -0.048974, -0.454674 mu:0.454602 unit_bearing:-0.441997 0.005127 0.897002 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.948442, 0.107465, 0.778578 mu:0.454602 unit_bearing:0.115934 0.007389 0.993229 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.029803, -0.041061, -0.429183 mu:0.454602 unit_bearing:-0.430985 0.007285 0.902330 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.031220, -0.040257, -0.422665 mu:0.454602 unit_bearing:-0.428227 0.007287 0.903642 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.040402, -0.020505, -0.378798 mu:0.454602 unit_bearing:-0.408854 0.013769 0.912496 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.916200, 0.108128, 0.862873 mu:0.454602 unit_bearing:0.156353 0.003019 0.987697 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -2.040518, -0.029922, -0.377623 mu:0.454602 unit_bearing:-0.408858 0.009455 0.912549 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.106] If point is visible? -1.898595, 0.132225, 0.901653 mu:0.454602 unit_bearing:0.176520 0.011743 0.984227 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.905674, 0.158634, 0.880405 mu:0.454602 unit_bearing:0.167874 0.024836 0.985496 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.897531, 0.179814, 0.895528 mu:0.454602 unit_bearing:0.176507 0.033555 0.983727 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -2.061125, 0.218428, 0.224910 mu:0.454602 unit_bearing:-0.132994 0.088132 0.987191 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.818544, 0.339491, 1.020109 mu:0.454602 unit_bearing:0.248068 0.098701 0.963701 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.931107, 0.332441, 0.759759 mu:0.454602 unit_bearing:0.121609 0.109944 0.986470 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.859226, 0.352883, 0.930267 mu:0.454602 unit_bearing:0.205091 0.109721 0.972573 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.852002, 0.391373, 0.930208 mu:0.454602 unit_bearing:0.207894 0.127092 0.969860 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.924800, 0.384529, 0.751748 mu:0.454602 unit_bearing:0.121557 0.133891 0.983513 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.855635, 0.404164, 0.916381 mu:0.454602 unit_bearing:0.202132 0.133629 0.970199 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.852903, 0.404849, 0.922178 mu:0.454602 unit_bearing:0.205000 0.133617 0.969599 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.920833, 0.412894, 0.747249 mu:0.454602 unit_bearing:0.121524 0.146939 0.981652 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.920136, 0.417618, 0.746490 mu:0.454602 unit_bearing:0.121518 0.149112 0.981325 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.797317, 0.440512, 1.021652 mu:0.454602 unit_bearing:0.256407 0.144198 0.955752 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.855740, 0.422349, 0.907558 mu:0.454602 unit_bearing:0.199227 0.142324 0.969563 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.888352, 0.436244, 0.821909 mu:0.454602 unit_bearing:0.158960 0.153338 0.975305 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.885891, 0.436942, 0.827790 mu:0.454602 unit_bearing:0.161837 0.153328 0.974833 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.890067, 0.440261, 0.815252 mu:0.454602 unit_bearing:0.156074 0.155520 0.975425 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.885162, 0.441658, 0.827019 mu:0.454602 unit_bearing:0.161829 0.155498 0.974491 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.882682, 0.442355, 0.832894 mu:0.454602 unit_bearing:0.164705 0.155487 0.974010 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.864078, 0.451912, 0.873084 mu:0.454602 unit_bearing:0.184811 0.157573 0.970060 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.863327, 0.456622, 0.872305 mu:0.454602 unit_bearing:0.184801 0.159741 0.969707 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.566694, 0.214417, -1.359395 mu:0.454602 unit_bearing:-0.777444 0.174096 0.604377 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.107] If point is visible? -1.571338, 0.215408, -1.353613 mu:0.454602 unit_bearing:-0.775336 0.174222 0.607043 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.107] calculated Z= 1.042126 +[21:41:02.107] update seeds 305 +[21:41:02.107] If point is visible? -1.575958, 0.216398, -1.347821 mu:0.454602 unit_bearing:-0.773220 0.174348 0.609699 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.107] If point is visible? -1.567702, 0.210066, -1.358838 mu:0.454602 unit_bearing:-0.777539 0.172101 0.604825 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.107] If point is visible? -1.572346, 0.211053, -1.353055 mu:0.454602 unit_bearing:-0.775431 0.172227 0.607491 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.107] calculated Z= 1.042293 +[21:41:02.107] update seeds 305 +[21:41:02.107] If point is visible? -1.576965, 0.212040, -1.347261 mu:0.454602 unit_bearing:-0.773315 0.172351 0.610147 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.107] If point is visible? -1.915456, 0.799320, 0.278240 mu:0.454602 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.918172, 0.793950, 0.272994 mu:0.454602 unit_bearing:-0.065934 0.345151 0.936228 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.623653, 0.966903, 0.966712 mu:0.454602 unit_bearing:0.278774 0.384757 0.879913 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.107] If point is visible? -1.650314, 0.966364, 0.915504 mu:0.454602 unit_bearing:0.253475 0.387350 0.886403 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.647215, 0.966931, 0.921099 mu:0.454602 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.899887, -0.737185, 0.502476 mu:0.454602 unit_bearing:-0.045808 -0.358431 0.932432 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.897546, -0.735705, 0.514801 mu:0.454602 unit_bearing:-0.040072 -0.358446 0.932690 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.904434, -0.717007, 0.514093 mu:0.454602 unit_bearing:-0.040092 -0.349970 0.935902 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.902016, -0.715523, 0.526408 mu:0.454602 unit_bearing:-0.034352 -0.349983 0.936126 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.758611, -0.454444, 1.087680 mu:0.454602 unit_bearing:0.241182 -0.263276 0.934086 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.752601, -0.452915, 1.099002 mu:0.454602 unit_bearing:0.246863 -0.263214 0.932618 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.746518, -0.451386, 1.110297 mu:0.454602 unit_bearing:0.252540 -0.263149 0.931115 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.633729, -0.356598, 1.316328 mu:0.454602 unit_bearing:0.359899 -0.231794 0.903739 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.107] If point is visible? -1.805512, -0.336065, 1.046528 mu:0.454602 unit_bearing:0.224601 -0.207582 0.952084 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -2.051634, -0.349978, -0.007400 mu:0.454602 unit_bearing:-0.264681 -0.155470 0.951721 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.807471, -0.326584, 1.045903 mu:0.454602 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.752809, -0.313105, 1.147919 mu:0.454602 unit_bearing:0.275864 -0.202840 0.939551 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.795539, -0.293644, 1.078222 mu:0.454602 unit_bearing:0.241848 -0.190197 0.951491 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.793704, -0.303127, 1.078877 mu:0.454602 unit_bearing:0.241815 -0.194512 0.950626 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -2.027397, -0.095557, 0.505725 mu:0.454602 unit_bearing:-0.023080 -0.069100 0.997343 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.866310, 0.360267, 0.911405 mu:0.454602 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.819006, 0.334765, 1.020818 mu:0.454602 unit_bearing:0.248077 0.096530 0.963919 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.867367, 0.350808, 0.912850 mu:0.454602 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.800377, 0.439852, 1.015970 mu:0.454602 unit_bearing:0.253557 0.144215 0.956510 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.794238, 0.441171, 1.027327 mu:0.454602 unit_bearing:0.259256 0.144181 0.954986 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.865548, 0.442488, 0.874633 mu:0.454602 unit_bearing:0.184830 0.153235 0.970751 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.639987, 1.105367, 0.758338 mu:0.454602 unit_bearing:0.193024 0.458778 0.867332 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.644531, 1.096564, 0.760671 mu:0.454602 unit_bearing:0.193100 0.454676 0.869472 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.912428, -0.710611, 0.489040 mu:0.454602 unit_bearing:-0.051584 -0.345696 0.936927 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.907812, -0.707648, 0.513723 mu:0.454602 unit_bearing:-0.040103 -0.345727 0.937478 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.805512, -0.336065, 1.046528 mu:0.454602 unit_bearing:0.224601 -0.207582 0.952084 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.793876, -0.333063, 1.069381 mu:0.454602 unit_bearing:0.236013 -0.207494 0.949339 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.781948, -0.330062, 1.092129 mu:0.454602 unit_bearing:0.247409 -0.207400 0.946454 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.769726, -0.327062, 1.114768 mu:0.454602 unit_bearing:0.258788 -0.207301 0.943427 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.797754, -0.314105, 1.068128 mu:0.454602 unit_bearing:0.236080 -0.198870 0.951166 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.785828, -0.311112, 1.090885 mu:0.454602 unit_bearing:0.247480 -0.198780 0.948283 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.997690, -0.408389, 0.471457 mu:0.454602 unit_bearing:-0.051901 -0.208355 0.976675 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -2.049417, -0.090159, 0.391583 mu:0.454602 unit_bearing:-0.075214 -0.060341 0.995340 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -2.030969, -0.091990, -0.416353 mu:0.454602 unit_bearing:-0.428218 -0.016405 0.903526 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -2.054295, -0.074120, 0.364402 mu:0.454602 unit_bearing:-0.086795 -0.051598 0.994889 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.874902, 0.412806, 0.867538 mu:0.454602 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.894985, 0.514689, 0.754526 mu:0.454602 unit_bearing:0.132905 0.192467 0.972262 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.918808, 0.363728, 0.779214 mu:0.454602 unit_bearing:0.133123 0.122984 0.983440 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.911738, 0.347637, 0.805822 mu:0.454602 unit_bearing:0.144678 0.114249 0.982861 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.925425, 0.379798, 0.752489 mu:0.454602 unit_bearing:0.121562 0.131715 0.983806 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.887637, 0.391127, 0.847105 mu:0.454602 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -1.816965, 0.445276, 0.980199 mu:0.454602 unit_bearing:0.236410 0.148644 0.960216 T_cur_ref: x=0.119626 y=0.000000 z=0.036725 +[21:41:02.107] If point is visible? -2.295074, 0.715170, 0.478371 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.107301 y=0.000000 z=0.033558 +[21:41:02.107] If point is visible? -2.070022, -1.038245, -0.780101 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.107301 y=0.000000 z=0.033558 +[21:41:02.107] If point is visible? -2.295074, 0.715170, 0.478371 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.107301 y=0.000000 z=0.033558 +[21:41:02.107] If point is visible? -2.070022, -1.038245, -0.780101 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.107301 y=0.000000 z=0.033558 +[21:41:02.107] If point is visible? -2.120571, 1.345270, 0.848390 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.087654 y=0.000000 z=0.028230 +[21:41:02.107] If point is visible? -2.270233, -0.874851, -0.988469 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.087654 y=0.000000 z=0.028230 +[21:41:02.107] If point is visible? -2.120571, 1.345270, 0.848390 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.087654 y=0.000000 z=0.028230 +[21:41:02.107] If point is visible? -2.270233, -0.874851, -0.988469 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.087654 y=0.000000 z=0.028230 +[21:41:02.107] If point is visible? -2.176235, 0.942587, 1.762813 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.107] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:02.107] If point is visible? -1.513416, 0.873989, 2.409833 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.107] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:02.107] If point is visible? -2.314384, -1.353460, 1.223557 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.107] If point is visible? -2.717654, -0.928227, 0.589524 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.107] If point is visible? -2.714693, -0.910497, 0.631429 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.107] If point is visible? -2.714668, -0.941992, 0.581436 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.107] If point is visible? -2.712552, -0.916895, 0.631630 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.107] If point is visible? -2.813618, -0.781176, 0.185042 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.107] If point is visible? -2.489942, -0.478379, 1.497996 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.482886, -0.469915, 1.512904 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.506546, -0.482389, 1.467390 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.478087, -0.428141, 1.533595 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.537278, -0.415222, 1.432576 mu:0.333803 unit_bearing:0.190357 -0.194859 0.962182 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.546126, -0.390311, 1.423236 mu:0.333803 unit_bearing:0.187539 -0.186225 0.964443 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.544933, -0.396789, 1.423647 mu:0.333803 unit_bearing:0.187527 -0.188388 0.964025 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.484829, -0.288297, 1.555217 mu:0.333803 unit_bearing:0.239213 -0.157795 0.958060 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.480401, -0.287316, 1.562776 mu:0.333803 unit_bearing:0.242067 -0.157778 0.957345 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.563314, -0.313508, 1.410196 mu:0.333803 unit_bearing:0.184799 -0.160249 0.969623 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.564325, -0.307021, 1.409724 mu:0.333803 unit_bearing:0.184809 -0.158080 0.969978 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.562289, -0.319994, 1.410663 mu:0.333803 unit_bearing:0.184789 -0.162417 0.969265 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.485828, -0.281820, 1.554753 mu:0.333803 unit_bearing:0.239225 -0.155631 0.958410 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.561356, -0.299544, 1.416992 mu:0.333803 unit_bearing:0.187689 -0.155899 0.969777 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.501875, -0.265324, 1.530586 mu:0.333803 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.497521, -0.264345, 1.538178 mu:0.333803 unit_bearing:0.233550 -0.149167 0.960835 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.559319, -0.285580, 1.423763 mu:0.333803 unit_bearing:0.190579 -0.151548 0.969904 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.555305, -0.284593, 1.431489 mu:0.333803 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.548161, -0.276133, 1.446427 mu:0.333803 unit_bearing:0.199196 -0.149340 0.968514 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.549102, -0.269647, 1.445935 mu:0.333803 unit_bearing:0.199206 -0.147171 0.968844 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.838228, -0.350849, 0.632773 mu:0.333803 unit_bearing:-0.089578 -0.140995 0.985949 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.545944, -0.262175, 1.453139 mu:0.333803 unit_bearing:0.202083 -0.144988 0.968577 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.845689, -0.334426, 0.605659 mu:0.333803 unit_bearing:-0.098257 -0.134450 0.986037 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.844103, -0.333400, 0.614147 mu:0.333803 unit_bearing:-0.095368 -0.134456 0.986320 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.842493, -0.332374, 0.622630 mu:0.333803 unit_bearing:-0.092479 -0.134461 0.986594 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.828722, -0.324179, 0.690269 mu:0.333803 unit_bearing:-0.069353 -0.134497 0.988484 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.888054, -0.411065, -0.153674 mu:0.333803 unit_bearing:-0.346887 -0.128952 0.929000 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.851243, -0.274887, 0.608933 mu:0.333803 unit_bearing:-0.095402 -0.114857 0.988790 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.862379, -0.303652, 0.534079 mu:0.333803 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.846078, -0.257767, 0.641637 mu:0.333803 unit_bearing:-0.083844 -0.110516 0.990331 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.889215, -0.344171, -0.250136 mu:0.333803 unit_bearing:-0.375086 -0.102865 0.921265 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.891298, -0.295861, -0.282109 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.896879, -0.236936, -0.279266 mu:0.333803 unit_bearing:-0.380876 -0.066151 0.922257 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.895265, -0.232624, -0.297824 mu:0.333803 unit_bearing:-0.386466 -0.063968 0.920083 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.733208, -0.014161, 1.070143 mu:0.333803 unit_bearing:0.072527 -0.047237 0.996247 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.730185, -0.013163, 1.078236 mu:0.333803 unit_bearing:0.075422 -0.047236 0.996032 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.883500, -0.119249, -0.437638 mu:0.333803 unit_bearing:-0.425452 -0.020717 0.904744 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.674773, 0.121641, 1.209147 mu:0.333803 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.878171, -0.065980, -0.480427 mu:0.333803 unit_bearing:-0.436497 -0.001328 0.899705 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.842928, -0.131488, -0.645525 mu:0.333803 unit_bearing:-0.488350 -0.016316 0.872495 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.681749, 0.139171, 1.190873 mu:0.333803 unit_bearing:0.121714 -0.001347 0.992564 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.735908, 0.070399, 1.060576 mu:0.333803 unit_bearing:0.072537 -0.018832 0.997188 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.832420, -0.079679, -0.697364 mu:0.333803 unit_bearing:-0.501854 0.002958 0.864947 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.882676, -0.043469, -0.455903 mu:0.333803 unit_bearing:-0.428228 0.005133 0.903656 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.862907, -0.050341, -0.564309 mu:0.333803 unit_bearing:-0.461175 0.007266 0.887280 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.736371, 0.109406, 1.055926 mu:0.333803 unit_bearing:0.072539 -0.005719 0.997349 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.861018, -0.045065, -0.574078 mu:0.333803 unit_bearing:-0.463903 0.009411 0.885836 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.864653, -0.042848, -0.556133 mu:0.333803 unit_bearing:-0.458441 0.009416 0.888675 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.860947, -0.038683, -0.574876 mu:0.333803 unit_bearing:-0.463901 0.011558 0.885811 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.777947, -0.064956, -0.890366 mu:0.333803 unit_bearing:-0.557673 0.015688 0.829912 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.916100, 0.063141, 0.196682 mu:0.333803 unit_bearing:-0.219422 0.013907 0.975531 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.888236, -0.026238, -0.421667 mu:0.333803 unit_bearing:-0.417171 0.009449 0.908779 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.886707, -0.014531, -0.432229 mu:0.333803 unit_bearing:-0.419934 0.013757 0.907450 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.888079, -0.013423, -0.423274 mu:0.333803 unit_bearing:-0.417167 0.013760 0.908726 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.834274, -0.040411, -0.693149 mu:0.333803 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.733263, 0.155886, 1.058410 mu:0.333803 unit_bearing:0.075434 0.009579 0.997105 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.730216, 0.156878, 1.066496 mu:0.333803 unit_bearing:0.078328 0.009579 0.996882 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.886793, -0.020937, -0.431424 mu:0.333803 unit_bearing:-0.419936 0.011602 0.907480 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.838118, -0.012734, -0.678433 mu:0.333803 unit_bearing:-0.493738 0.024368 0.869269 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.869079, 0.005201, -0.534878 mu:0.333803 unit_bearing:-0.450207 0.024470 0.892589 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.880589, 0.000231, -0.470493 mu:0.333803 unit_bearing:-0.430971 0.020204 0.902140 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.840434, -0.017974, -0.668646 mu:0.333803 unit_bearing:-0.491042 0.022234 0.870852 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.878930, 0.005513, -0.480270 mu:0.333803 unit_bearing:-0.433723 0.022352 0.900769 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.837942, -0.006373, -0.679248 mu:0.333803 unit_bearing:-0.493733 0.026509 0.869209 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.859310, 0.070876, -0.579925 mu:0.333803 unit_bearing:-0.461075 0.048062 0.886059 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.868045, 0.076558, -0.535099 mu:0.333803 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.856242, 0.055857, -0.596169 mu:0.333803 unit_bearing:-0.466549 0.043747 0.883413 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.868366, 0.070176, -0.534249 mu:0.333803 unit_bearing:-0.447401 0.045972 0.893151 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.885744, 0.096550, -0.428480 mu:0.333803 unit_bearing:-0.414310 0.050407 0.908739 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.887061, 0.097681, -0.419534 mu:0.333803 unit_bearing:-0.411540 0.050418 0.909996 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.634193, 0.325831, 1.262824 mu:0.333803 unit_bearing:0.156315 0.057569 0.986028 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.894790, 0.118399, -0.358687 mu:0.333803 unit_bearing:-0.392077 0.054807 0.918299 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.895150, 0.111991, -0.357821 mu:0.333803 unit_bearing:-0.392085 0.052649 0.918421 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.894416, 0.124805, -0.359557 mu:0.333803 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.665847, 0.330144, 1.189913 mu:0.333803 unit_bearing:0.130345 0.061964 0.989531 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.891873, 0.325058, 0.293258 mu:0.333803 unit_bearing:-0.176200 0.096755 0.979588 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.883415, 0.357354, 0.341161 mu:0.333803 unit_bearing:-0.158907 0.105506 0.981640 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.712158, 0.510974, 0.999308 mu:0.333803 unit_bearing:0.072452 0.129629 0.988912 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.709135, 0.511955, 1.007393 mu:0.333803 unit_bearing:0.075344 0.129625 0.988696 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.706089, 0.512934, 1.015470 mu:0.333803 unit_bearing:0.078235 0.129621 0.988472 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.565237, 0.544445, 1.332899 mu:0.333803 unit_bearing:0.193549 0.127148 0.972817 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.603463, 0.541622, 1.254038 mu:0.333803 unit_bearing:0.164797 0.129421 0.977800 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.592670, 0.593968, 1.253321 mu:0.333803 unit_bearing:0.167614 0.146793 0.974863 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.588850, 0.594894, 1.261131 mu:0.333803 unit_bearing:0.170490 0.146782 0.974366 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.595528, 0.599460, 1.244417 mu:0.333803 unit_bearing:0.164730 0.148975 0.975023 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.591733, 0.600388, 1.252235 mu:0.333803 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.593612, 0.612297, 1.242233 mu:0.333803 unit_bearing:0.164713 0.153317 0.974353 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.594577, 0.605879, 1.243327 mu:0.333803 unit_bearing:0.164722 0.151146 0.974691 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.590781, 0.606806, 1.251145 mu:0.333803 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.606567, 0.664420, 1.185131 mu:0.333803 unit_bearing:0.147375 0.172909 0.973850 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.604344, 0.677228, 1.182859 mu:0.333803 unit_bearing:0.147358 0.177245 0.973072 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.605462, 0.670825, 1.183997 mu:0.333803 unit_bearing:0.147366 0.175077 0.973464 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.189023, 0.977239, 1.726706 mu:0.333803 unit_bearing:0.370645 0.254519 0.893221 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:02.108] If point is visible? -2.699177, 1.077755, 0.374089 mu:0.333803 unit_bearing:-0.103215 0.342846 0.933704 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.697678, 1.078842, 0.382520 mu:0.333803 unit_bearing:-0.100350 0.342863 0.934010 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.362767, 1.233657, 1.255032 mu:0.333803 unit_bearing:0.214440 0.358661 0.908503 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.349953, 1.236072, 1.277704 mu:0.333803 unit_bearing:0.222938 0.358539 0.906503 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.341287, 1.237667, 1.292769 mu:0.333803 unit_bearing:0.228598 0.358455 0.905126 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.404436, 1.465397, 0.851591 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.518356, 1.473576, 0.311887 mu:0.333803 unit_bearing:-0.090808 0.476518 0.874463 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.224835, 1.548074, 1.161526 mu:0.333803 unit_bearing:0.209731 0.466636 0.859223 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.220607, 1.548821, 1.169023 mu:0.333803 unit_bearing:0.212538 0.466579 0.858564 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] If point is visible? -2.199095, 1.552500, 1.206350 mu:0.333803 unit_bearing:0.226555 0.466279 0.855135 T_cur_ref: x=0.074052 y=0.000000 z=0.024292 +[21:41:02.108] init seeds +[21:41:02.108] DepthFilter: Initialized 1 new seeds +[21:41:02.111] DepthFilter: Initialized 1 new seeds +[21:41:02.647] add new frame +[21:41:02.648] update seed +[21:41:02.648] If point is visible? -1.815601, 1.156614, 0.742847 mu:0.420708 unit_bearing:0.153690 0.447062 0.881201 T_cur_ref: x=0.139298 y=0.000000 z=0.042497 +[21:41:02.648] If point is visible? -1.815601, 1.156614, 0.742847 mu:0.420708 unit_bearing:0.153690 0.447062 0.881201 T_cur_ref: x=0.139298 y=0.000000 z=0.042497 +[21:41:02.648] If point is visible? -1.718217, 1.016431, 0.554363 mu:0.460051 unit_bearing:0.085654 0.435340 0.896182 T_cur_ref: x=0.133303 y=0.000000 z=0.040955 +[21:41:02.648] If point is visible? -1.718217, 1.016431, 0.554363 mu:0.460051 unit_bearing:0.085654 0.435340 0.896182 T_cur_ref: x=0.133303 y=0.000000 z=0.040955 +[21:41:02.648] If point is visible? -1.990138, -0.408389, 0.474179 mu:0.454602 unit_bearing:-0.051901 -0.208355 0.976675 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.887433, 0.514689, 0.757248 mu:0.454602 unit_bearing:0.132905 0.192467 0.972262 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.891374, -0.777908, 0.438331 mu:0.454602 unit_bearing:-0.077271 -0.373101 0.924567 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.890420, -0.777177, 0.444533 mu:0.454602 unit_bearing:-0.074408 -0.373115 0.924796 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.734072, -0.445146, 1.124064 mu:0.454602 unit_bearing:0.258238 -0.260946 0.930172 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.754036, -0.455208, 1.084731 mu:0.454602 unit_bearing:0.238339 -0.263307 0.934807 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.751059, -0.454444, 1.090402 mu:0.454602 unit_bearing:0.241182 -0.263276 0.934086 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.780183, -0.401593, 1.059005 mu:0.454602 unit_bearing:0.227205 -0.237689 0.944395 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.625045, -0.361295, 1.319283 mu:0.454602 unit_bearing:0.359866 -0.233927 0.903203 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.648] If point is visible? -1.790398, -0.384184, 1.046475 mu:0.454602 unit_bearing:0.221576 -0.229140 0.947839 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.800883, -0.321842, 1.048307 mu:0.454602 unit_bearing:0.224649 -0.201112 0.953460 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.739784, -0.306879, 1.161534 mu:0.454602 unit_bearing:0.281554 -0.200634 0.938335 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.736537, -0.306133, 1.167122 mu:0.454602 unit_bearing:0.284388 -0.200607 0.937486 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.003709, -0.358315, 0.451433 mu:0.454602 unit_bearing:-0.060605 -0.184501 0.980962 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.002622, -0.357561, 0.457661 mu:0.454602 unit_bearing:-0.057716 -0.184506 0.981135 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.799898, -0.311608, 1.053389 mu:0.454602 unit_bearing:0.227535 -0.196776 0.953681 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.744915, -0.298161, 1.155318 mu:0.454602 unit_bearing:0.278760 -0.196356 0.940073 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.801808, -0.332075, 1.043209 mu:0.454602 unit_bearing:0.221762 -0.205447 0.953212 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.010442, -0.454530, -0.211120 mu:0.454602 unit_bearing:-0.357476 -0.191208 0.914139 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.801836, -0.317100, 1.047987 mu:0.454602 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.753176, -0.290183, 1.143468 mu:0.454602 unit_bearing:0.273124 -0.192099 0.942603 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.754090, -0.285447, 1.143146 mu:0.454602 unit_bearing:0.273143 -0.189945 0.943035 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.013265, -0.343798, 0.412417 mu:0.454602 unit_bearing:-0.077954 -0.175789 0.981336 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.011292, -0.342288, 0.424917 mu:0.454602 unit_bearing:-0.072177 -0.175801 0.981776 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] add key frame +[21:41:02.648] If point is visible? -2.003149, -0.325963, 0.480190 mu:0.454602 unit_bearing:-0.046173 -0.171497 0.984102 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] init seeds +[21:41:02.648] remove key frame +[21:41:02.648] update seed +[21:41:02.648] If point is visible? -1.718217, 1.016431, 0.554363 mu:0.460051 unit_bearing:0.085654 0.435340 0.896182 T_cur_ref: x=0.133303 y=0.000000 z=0.040955 +[21:41:02.648] If point is visible? -1.718217, 1.016431, 0.554363 mu:0.460051 unit_bearing:0.085654 0.435340 0.896182 T_cur_ref: x=0.133303 y=0.000000 z=0.040955 +[21:41:02.648] If point is visible? -1.990138, -0.408389, 0.474179 mu:0.454602 unit_bearing:-0.051901 -0.208355 0.976675 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.887433, 0.514689, 0.757248 mu:0.454602 unit_bearing:0.132905 0.192467 0.972262 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.891374, -0.777908, 0.438331 mu:0.454602 unit_bearing:-0.077271 -0.373101 0.924567 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.890420, -0.777177, 0.444533 mu:0.454602 unit_bearing:-0.074408 -0.373115 0.924796 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.734072, -0.445146, 1.124064 mu:0.454602 unit_bearing:0.258238 -0.260946 0.930172 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.754036, -0.455208, 1.084731 mu:0.454602 unit_bearing:0.238339 -0.263307 0.934807 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.751059, -0.454444, 1.090402 mu:0.454602 unit_bearing:0.241182 -0.263276 0.934086 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.780183, -0.401593, 1.059005 mu:0.454602 unit_bearing:0.227205 -0.237689 0.944395 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.625045, -0.361295, 1.319283 mu:0.454602 unit_bearing:0.359866 -0.233927 0.903203 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.648] If point is visible? -1.790398, -0.384184, 1.046475 mu:0.454602 unit_bearing:0.221576 -0.229140 0.947839 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.800883, -0.321842, 1.048307 mu:0.454602 unit_bearing:0.224649 -0.201112 0.953460 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.739784, -0.306879, 1.161534 mu:0.454602 unit_bearing:0.281554 -0.200634 0.938335 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.736537, -0.306133, 1.167122 mu:0.454602 unit_bearing:0.284388 -0.200607 0.937486 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.003709, -0.358315, 0.451433 mu:0.454602 unit_bearing:-0.060605 -0.184501 0.980962 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.002622, -0.357561, 0.457661 mu:0.454602 unit_bearing:-0.057716 -0.184506 0.981135 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.799898, -0.311608, 1.053389 mu:0.454602 unit_bearing:0.227535 -0.196776 0.953681 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.744915, -0.298161, 1.155318 mu:0.454602 unit_bearing:0.278760 -0.196356 0.940073 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.801808, -0.332075, 1.043209 mu:0.454602 unit_bearing:0.221762 -0.205447 0.953212 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.010442, -0.454530, -0.211120 mu:0.454602 unit_bearing:-0.357476 -0.191208 0.914139 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.801836, -0.317100, 1.047987 mu:0.454602 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.753176, -0.290183, 1.143468 mu:0.454602 unit_bearing:0.273124 -0.192099 0.942603 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.754090, -0.285447, 1.143146 mu:0.454602 unit_bearing:0.273143 -0.189945 0.943035 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.013265, -0.343798, 0.412417 mu:0.454602 unit_bearing:-0.077954 -0.175789 0.981336 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.011292, -0.342288, 0.424917 mu:0.454602 unit_bearing:-0.072177 -0.175801 0.981776 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.003149, -0.325963, 0.480190 mu:0.454602 unit_bearing:-0.046173 -0.171497 0.984102 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.002333, -0.330728, 0.480587 mu:0.454602 unit_bearing:-0.046170 -0.173669 0.983721 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.645178, -0.227999, 1.322245 mu:0.454602 unit_bearing:0.366255 -0.173946 0.914112 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.648] If point is visible? -1.646014, -0.223282, 1.321920 mu:0.454602 unit_bearing:0.366279 -0.171800 0.914508 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.648] If point is visible? -1.940480, -0.056262, 0.788063 mu:0.454602 unit_bearing:0.110118 -0.066861 0.991667 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.909295, -0.036390, 0.870263 mu:0.454602 unit_bearing:0.150543 -0.062448 0.986629 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.031806, -0.151624, -0.353742 mu:0.454602 unit_bearing:-0.406007 -0.046631 0.912680 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.942422, -0.022841, 0.784453 mu:0.454602 unit_bearing:0.110132 -0.051581 0.992578 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.028432, -0.144541, -0.374383 mu:0.454602 unit_bearing:-0.414338 -0.042292 0.909140 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.025502, -0.118642, -0.397236 mu:0.454602 unit_bearing:-0.422673 -0.029340 0.905807 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -2.018094, -0.131974, -0.428732 mu:0.454602 unit_bearing:-0.436451 -0.033610 0.899100 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.928219, -0.149149, -0.729902 mu:0.454602 unit_bearing:-0.560273 -0.024674 0.827940 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.930681, -0.148375, -0.723442 mu:0.454602 unit_bearing:-0.557651 -0.024683 0.829708 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.648] If point is visible? -1.910701, 0.059738, 0.865449 mu:0.454602 unit_bearing:0.153465 -0.018808 0.987975 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.018410, -0.122571, -0.429836 mu:0.454602 unit_bearing:-0.436462 -0.029307 0.899245 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.928343, -0.144510, -0.730457 mu:0.454602 unit_bearing:-0.560279 -0.022551 0.827997 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.930805, -0.143734, -0.723997 mu:0.454602 unit_bearing:-0.557657 -0.022558 0.829765 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.033714, -0.099785, -0.359790 mu:0.454602 unit_bearing:-0.406067 -0.022906 0.913556 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.967376, -0.121936, -0.621442 mu:0.454602 unit_bearing:-0.515256 -0.018404 0.856839 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.900590, 0.048342, 0.890695 mu:0.454602 unit_bearing:0.164993 -0.025348 0.985969 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.005152, -0.092110, -0.492985 mu:0.454602 unit_bearing:-0.461171 -0.012063 0.887229 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.017762, -0.085759, -0.440841 mu:0.454602 unit_bearing:-0.439243 -0.012087 0.898287 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.019243, -0.084965, -0.434322 mu:0.454602 unit_bearing:-0.436491 -0.012090 0.899627 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.034084, -0.080937, -0.362043 mu:0.454602 unit_bearing:-0.406078 -0.014276 0.913727 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.005208, -0.087420, -0.493552 mu:0.454602 unit_bearing:-0.461173 -0.009916 0.887255 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.936327, 0.061239, 0.799050 mu:0.454602 unit_bearing:0.121713 -0.014452 0.992460 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.908497, 0.074767, 0.869652 mu:0.454602 unit_bearing:0.156351 -0.012259 0.987625 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.989490, -0.080529, -0.553877 mu:0.454602 unit_bearing:-0.485656 -0.003465 0.874143 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.000230, -0.075745, -0.514809 mu:0.454602 unit_bearing:-0.469360 -0.003470 0.883000 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.014894, -0.068561, -0.456161 mu:0.454602 unit_bearing:-0.444745 -0.003478 0.895651 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.022299, -0.064568, -0.423567 mu:0.454602 unit_bearing:-0.430987 -0.003482 0.902352 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.005253, -0.082730, -0.494121 mu:0.454602 unit_bearing:-0.461175 -0.007768 0.887275 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.938535, 0.060505, 0.793085 mu:0.454602 unit_bearing:0.118823 -0.014452 0.992810 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.005293, -0.054594, -0.497570 mu:0.454602 unit_bearing:-0.461176 0.005118 0.887294 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.016401, -0.048974, -0.451952 mu:0.454602 unit_bearing:-0.441997 0.005127 0.897002 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.940890, 0.107465, 0.781300 mu:0.454602 unit_bearing:0.115934 0.007389 0.993229 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.022251, -0.041061, -0.426461 mu:0.454602 unit_bearing:-0.430985 0.007285 0.902330 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.023669, -0.040257, -0.419943 mu:0.454602 unit_bearing:-0.428227 0.007287 0.903642 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.032850, -0.020505, -0.376076 mu:0.454602 unit_bearing:-0.408854 0.013769 0.912496 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.908648, 0.108128, 0.865595 mu:0.454602 unit_bearing:0.156353 0.003019 0.987697 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.032966, -0.029922, -0.374901 mu:0.454602 unit_bearing:-0.408858 0.009455 0.912549 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.891043, 0.132225, 0.904375 mu:0.454602 unit_bearing:0.176520 0.011743 0.984227 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.898122, 0.158634, 0.883127 mu:0.454602 unit_bearing:0.167874 0.024836 0.985496 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.889980, 0.179814, 0.898250 mu:0.454602 unit_bearing:0.176507 0.033555 0.983727 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.053573, 0.218428, 0.227632 mu:0.454602 unit_bearing:-0.132994 0.088132 0.987191 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.810992, 0.339491, 1.022831 mu:0.454602 unit_bearing:0.248068 0.098701 0.963701 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.923555, 0.332441, 0.762481 mu:0.454602 unit_bearing:0.121609 0.109944 0.986470 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.851675, 0.352883, 0.932989 mu:0.454602 unit_bearing:0.205091 0.109721 0.972573 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.844450, 0.391373, 0.932930 mu:0.454602 unit_bearing:0.207894 0.127092 0.969860 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.917249, 0.384529, 0.754470 mu:0.454602 unit_bearing:0.121557 0.133891 0.983513 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.848084, 0.404164, 0.919103 mu:0.454602 unit_bearing:0.202132 0.133629 0.970199 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.845351, 0.404849, 0.924900 mu:0.454602 unit_bearing:0.205000 0.133617 0.969599 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.913282, 0.412894, 0.749971 mu:0.454602 unit_bearing:0.121524 0.146939 0.981652 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.912584, 0.417618, 0.749212 mu:0.454602 unit_bearing:0.121518 0.149112 0.981325 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.789765, 0.440512, 1.024374 mu:0.454602 unit_bearing:0.256407 0.144198 0.955752 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.848188, 0.422349, 0.910280 mu:0.454602 unit_bearing:0.199227 0.142324 0.969563 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.880801, 0.436244, 0.824631 mu:0.454602 unit_bearing:0.158960 0.153338 0.975305 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.878339, 0.436942, 0.830512 mu:0.454602 unit_bearing:0.161837 0.153328 0.974833 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.882515, 0.440261, 0.817974 mu:0.454602 unit_bearing:0.156074 0.155520 0.975425 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.877610, 0.441658, 0.829741 mu:0.454602 unit_bearing:0.161829 0.155498 0.974491 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.875130, 0.442355, 0.835616 mu:0.454602 unit_bearing:0.164705 0.155487 0.974010 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.856526, 0.451912, 0.875806 mu:0.454602 unit_bearing:0.184811 0.157573 0.970060 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.855775, 0.456622, 0.875027 mu:0.454602 unit_bearing:0.184801 0.159741 0.969707 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.559142, 0.214417, -1.356673 mu:0.454602 unit_bearing:-0.777444 0.174096 0.604377 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.649] If point is visible? -0.902345, 0.131148, -0.807043 mu:0.746672 unit_bearing:-0.775336 0.174222 0.607043 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] Z inverse min: 1.149591, Z inverse max: 0.343752 +[21:41:02.649] If point is visible? -1.568406, 0.216398, -1.345099 mu:0.454602 unit_bearing:-0.773220 0.174348 0.609699 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.649] If point is visible? -1.560150, 0.210066, -1.356116 mu:0.454602 unit_bearing:-0.777539 0.172101 0.604825 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.649] If point is visible? -0.903051, 0.128509, -0.806780 mu:0.746604 unit_bearing:-0.775431 0.172227 0.607491 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] Z inverse min: 1.149453, Z inverse max: 0.343756 +[21:41:02.649] If point is visible? -1.569413, 0.212040, -1.344539 mu:0.454602 unit_bearing:-0.773315 0.172351 0.610147 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.649] If point is visible? -1.907904, 0.799320, 0.280962 mu:0.454602 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.910620, 0.793950, 0.275716 mu:0.454602 unit_bearing:-0.065934 0.345151 0.936228 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.616101, 0.966903, 0.969434 mu:0.454602 unit_bearing:0.278774 0.384757 0.879913 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.642763, 0.966364, 0.918226 mu:0.454602 unit_bearing:0.253475 0.387350 0.886403 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.639663, 0.966931, 0.923821 mu:0.454602 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.892336, -0.737185, 0.505198 mu:0.454602 unit_bearing:-0.045808 -0.358431 0.932432 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.889994, -0.735705, 0.517523 mu:0.454602 unit_bearing:-0.040072 -0.358446 0.932690 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.896882, -0.717007, 0.516815 mu:0.454602 unit_bearing:-0.040092 -0.349970 0.935902 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.894464, -0.715523, 0.529130 mu:0.454602 unit_bearing:-0.034352 -0.349983 0.936126 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.751059, -0.454444, 1.090402 mu:0.454602 unit_bearing:0.241182 -0.263276 0.934086 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.745050, -0.452915, 1.101724 mu:0.454602 unit_bearing:0.246863 -0.263214 0.932618 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.738967, -0.451386, 1.113019 mu:0.454602 unit_bearing:0.252540 -0.263149 0.931115 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.626177, -0.356598, 1.319050 mu:0.454602 unit_bearing:0.359899 -0.231794 0.903739 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:02.649] If point is visible? -1.797960, -0.336065, 1.049250 mu:0.454602 unit_bearing:0.224601 -0.207582 0.952084 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.044082, -0.349978, -0.004678 mu:0.454602 unit_bearing:-0.264681 -0.155470 0.951721 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.799919, -0.326584, 1.048625 mu:0.454602 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.745257, -0.313105, 1.150641 mu:0.454602 unit_bearing:0.275864 -0.202840 0.939551 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.787987, -0.293644, 1.080944 mu:0.454602 unit_bearing:0.241848 -0.190197 0.951491 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.786153, -0.303127, 1.081599 mu:0.454602 unit_bearing:0.241815 -0.194512 0.950626 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -2.019845, -0.095557, 0.508447 mu:0.454602 unit_bearing:-0.023080 -0.069100 0.997343 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.858759, 0.360267, 0.914126 mu:0.454602 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.811454, 0.334765, 1.023540 mu:0.454602 unit_bearing:0.248077 0.096530 0.963919 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.859815, 0.350808, 0.915572 mu:0.454602 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.792825, 0.439852, 1.018691 mu:0.454602 unit_bearing:0.253557 0.144215 0.956510 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.786686, 0.441171, 1.030049 mu:0.454602 unit_bearing:0.259256 0.144181 0.954986 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.857996, 0.442488, 0.877355 mu:0.454602 unit_bearing:0.184830 0.153235 0.970751 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.632435, 1.105367, 0.761060 mu:0.454602 unit_bearing:0.193024 0.458778 0.867332 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.636980, 1.096564, 0.763393 mu:0.454602 unit_bearing:0.193100 0.454676 0.869472 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.904876, -0.710611, 0.491761 mu:0.454602 unit_bearing:-0.051584 -0.345696 0.936927 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.900261, -0.707648, 0.516445 mu:0.454602 unit_bearing:-0.040103 -0.345727 0.937478 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.797960, -0.336065, 1.049250 mu:0.454602 unit_bearing:0.224601 -0.207582 0.952084 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.786324, -0.333063, 1.072103 mu:0.454602 unit_bearing:0.236013 -0.207494 0.949339 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.774396, -0.330062, 1.094851 mu:0.454602 unit_bearing:0.247409 -0.207400 0.946454 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.762175, -0.327062, 1.117490 mu:0.454602 unit_bearing:0.258788 -0.207301 0.943427 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.790202, -0.314105, 1.070850 mu:0.454602 unit_bearing:0.236080 -0.198870 0.951166 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.649] If point is visible? -1.778276, -0.311112, 1.093607 mu:0.454602 unit_bearing:0.247480 -0.198780 0.948283 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -1.990138, -0.408389, 0.474179 mu:0.454602 unit_bearing:-0.051901 -0.208355 0.976675 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -2.041865, -0.090159, 0.394305 mu:0.454602 unit_bearing:-0.075214 -0.060341 0.995340 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -2.023417, -0.091990, -0.413631 mu:0.454602 unit_bearing:-0.428218 -0.016405 0.903526 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -2.046744, -0.074120, 0.367124 mu:0.454602 unit_bearing:-0.086795 -0.051598 0.994889 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -1.867350, 0.412806, 0.870260 mu:0.454602 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -1.887433, 0.514689, 0.757248 mu:0.454602 unit_bearing:0.132905 0.192467 0.972262 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -1.911256, 0.363728, 0.781936 mu:0.454602 unit_bearing:0.133123 0.122984 0.983440 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -1.904186, 0.347637, 0.808544 mu:0.454602 unit_bearing:0.144678 0.114249 0.982861 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -1.917874, 0.379798, 0.755211 mu:0.454602 unit_bearing:0.121562 0.131715 0.983806 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -1.880085, 0.391127, 0.849827 mu:0.454602 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -1.809413, 0.445276, 0.982921 mu:0.454602 unit_bearing:0.236410 0.148644 0.960216 T_cur_ref: x=0.127178 y=0.000000 z=0.039447 +[21:41:02.650] If point is visible? -2.287522, 0.715170, 0.481093 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.114853 y=0.000000 z=0.036280 +[21:41:02.650] If point is visible? -2.062471, -1.038245, -0.777379 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.114853 y=0.000000 z=0.036280 +[21:41:02.650] If point is visible? -2.287522, 0.715170, 0.481093 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.114853 y=0.000000 z=0.036280 +[21:41:02.650] If point is visible? -2.062471, -1.038245, -0.777379 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.114853 y=0.000000 z=0.036280 +[21:41:02.650] If point is visible? -2.113019, 1.345270, 0.851112 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.095205 y=0.000000 z=0.030952 +[21:41:02.650] If point is visible? -2.262681, -0.874851, -0.985747 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.095205 y=0.000000 z=0.030952 +[21:41:02.650] If point is visible? -2.113019, 1.345270, 0.851112 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.095205 y=0.000000 z=0.030952 +[21:41:02.650] If point is visible? -2.262681, -0.874851, -0.985747 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.095205 y=0.000000 z=0.030952 +[21:41:02.650] If point is visible? -2.168684, 0.942587, 1.765535 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:02.650] If point is visible? -1.505865, 0.873989, 2.412555 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:02.650] If point is visible? -2.306832, -1.353460, 1.226279 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:02.650] If point is visible? -2.710102, -0.928227, 0.592246 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.707141, -0.910497, 0.634151 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.707116, -0.941992, 0.584158 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.705000, -0.916895, 0.634352 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.806066, -0.781176, 0.187764 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.482390, -0.478379, 1.500718 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.475334, -0.469915, 1.515626 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.498994, -0.482389, 1.470112 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.470536, -0.428141, 1.536317 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.529726, -0.415222, 1.435298 mu:0.333803 unit_bearing:0.190357 -0.194859 0.962182 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.538574, -0.390311, 1.425958 mu:0.333803 unit_bearing:0.187539 -0.186225 0.964443 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.537381, -0.396789, 1.426369 mu:0.333803 unit_bearing:0.187527 -0.188388 0.964025 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.477277, -0.288297, 1.557939 mu:0.333803 unit_bearing:0.239213 -0.157795 0.958060 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.472850, -0.287316, 1.565498 mu:0.333803 unit_bearing:0.242067 -0.157778 0.957345 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.555762, -0.313508, 1.412918 mu:0.333803 unit_bearing:0.184799 -0.160249 0.969623 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.556773, -0.307021, 1.412446 mu:0.333803 unit_bearing:0.184809 -0.158080 0.969978 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.554737, -0.319994, 1.413385 mu:0.333803 unit_bearing:0.184789 -0.162417 0.969265 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.478276, -0.281820, 1.557475 mu:0.333803 unit_bearing:0.239225 -0.155631 0.958410 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.553805, -0.299544, 1.419714 mu:0.333803 unit_bearing:0.187689 -0.155899 0.969777 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.494323, -0.265324, 1.533308 mu:0.333803 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.489969, -0.264345, 1.540900 mu:0.333803 unit_bearing:0.233550 -0.149167 0.960835 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.551767, -0.285580, 1.426485 mu:0.333803 unit_bearing:0.190579 -0.151548 0.969904 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.547754, -0.284593, 1.434211 mu:0.333803 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.540609, -0.276133, 1.449149 mu:0.333803 unit_bearing:0.199196 -0.149340 0.968514 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.541550, -0.269647, 1.448657 mu:0.333803 unit_bearing:0.199206 -0.147171 0.968844 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.830676, -0.350849, 0.635495 mu:0.333803 unit_bearing:-0.089578 -0.140995 0.985949 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.538392, -0.262175, 1.455861 mu:0.333803 unit_bearing:0.202083 -0.144988 0.968577 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.838137, -0.334426, 0.608381 mu:0.333803 unit_bearing:-0.098257 -0.134450 0.986037 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.836552, -0.333400, 0.616869 mu:0.333803 unit_bearing:-0.095368 -0.134456 0.986320 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.834941, -0.332374, 0.625352 mu:0.333803 unit_bearing:-0.092479 -0.134461 0.986594 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.821170, -0.324179, 0.692991 mu:0.333803 unit_bearing:-0.069353 -0.134497 0.988484 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.880502, -0.411065, -0.150952 mu:0.333803 unit_bearing:-0.346887 -0.128952 0.929000 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.843691, -0.274887, 0.611655 mu:0.333803 unit_bearing:-0.095402 -0.114857 0.988790 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.854828, -0.303652, 0.536801 mu:0.333803 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.838526, -0.257767, 0.644359 mu:0.333803 unit_bearing:-0.083844 -0.110516 0.990331 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.881663, -0.344171, -0.247414 mu:0.333803 unit_bearing:-0.375086 -0.102865 0.921265 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.883746, -0.295861, -0.279387 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.889327, -0.236936, -0.276544 mu:0.333803 unit_bearing:-0.380876 -0.066151 0.922257 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.887713, -0.232624, -0.295102 mu:0.333803 unit_bearing:-0.386466 -0.063968 0.920083 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.725657, -0.014161, 1.072865 mu:0.333803 unit_bearing:0.072527 -0.047237 0.996247 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.722633, -0.013163, 1.080958 mu:0.333803 unit_bearing:0.075422 -0.047236 0.996032 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.875949, -0.119249, -0.434916 mu:0.333803 unit_bearing:-0.425452 -0.020717 0.904744 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.667221, 0.121641, 1.211869 mu:0.333803 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.870619, -0.065980, -0.477705 mu:0.333803 unit_bearing:-0.436497 -0.001328 0.899705 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.835376, -0.131488, -0.642803 mu:0.333803 unit_bearing:-0.488350 -0.016316 0.872495 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.674197, 0.139171, 1.193595 mu:0.333803 unit_bearing:0.121714 -0.001347 0.992564 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.728356, 0.070399, 1.063298 mu:0.333803 unit_bearing:0.072537 -0.018832 0.997188 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.824868, -0.079679, -0.694642 mu:0.333803 unit_bearing:-0.501854 0.002958 0.864947 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.875124, -0.043469, -0.453181 mu:0.333803 unit_bearing:-0.428228 0.005133 0.903656 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.855355, -0.050341, -0.561587 mu:0.333803 unit_bearing:-0.461175 0.007266 0.887280 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.728819, 0.109406, 1.058648 mu:0.333803 unit_bearing:0.072539 -0.005719 0.997349 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.853467, -0.045065, -0.571356 mu:0.333803 unit_bearing:-0.463903 0.009411 0.885836 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.857101, -0.042848, -0.553411 mu:0.333803 unit_bearing:-0.458441 0.009416 0.888675 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.853395, -0.038683, -0.572154 mu:0.333803 unit_bearing:-0.463901 0.011558 0.885811 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.770395, -0.064956, -0.887644 mu:0.333803 unit_bearing:-0.557673 0.015688 0.829912 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.908549, 0.063141, 0.199404 mu:0.333803 unit_bearing:-0.219422 0.013907 0.975531 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.880684, -0.026238, -0.418945 mu:0.333803 unit_bearing:-0.417171 0.009449 0.908779 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.879155, -0.014531, -0.429507 mu:0.333803 unit_bearing:-0.419934 0.013757 0.907450 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.880527, -0.013423, -0.420552 mu:0.333803 unit_bearing:-0.417167 0.013760 0.908726 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.826722, -0.040411, -0.690427 mu:0.333803 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.725711, 0.155886, 1.061132 mu:0.333803 unit_bearing:0.075434 0.009579 0.997105 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.722664, 0.156878, 1.069218 mu:0.333803 unit_bearing:0.078328 0.009579 0.996882 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.879241, -0.020937, -0.428702 mu:0.333803 unit_bearing:-0.419936 0.011602 0.907480 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.830566, -0.012734, -0.675711 mu:0.333803 unit_bearing:-0.493738 0.024368 0.869269 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.861527, 0.005201, -0.532156 mu:0.333803 unit_bearing:-0.450207 0.024470 0.892589 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.873037, 0.000231, -0.467771 mu:0.333803 unit_bearing:-0.430971 0.020204 0.902140 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.832882, -0.017974, -0.665924 mu:0.333803 unit_bearing:-0.491042 0.022234 0.870852 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.871378, 0.005513, -0.477548 mu:0.333803 unit_bearing:-0.433723 0.022352 0.900769 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.830390, -0.006373, -0.676526 mu:0.333803 unit_bearing:-0.493733 0.026509 0.869209 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.851758, 0.070876, -0.577203 mu:0.333803 unit_bearing:-0.461075 0.048062 0.886059 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.860494, 0.076558, -0.532377 mu:0.333803 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.848690, 0.055857, -0.593447 mu:0.333803 unit_bearing:-0.466549 0.043747 0.883413 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.860814, 0.070176, -0.531527 mu:0.333803 unit_bearing:-0.447401 0.045972 0.893151 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.878192, 0.096550, -0.425759 mu:0.333803 unit_bearing:-0.414310 0.050407 0.908739 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.879510, 0.097681, -0.416812 mu:0.333803 unit_bearing:-0.411540 0.050418 0.909996 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.626641, 0.325831, 1.265546 mu:0.333803 unit_bearing:0.156315 0.057569 0.986028 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.887238, 0.118399, -0.355965 mu:0.333803 unit_bearing:-0.392077 0.054807 0.918299 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.887599, 0.111991, -0.355099 mu:0.333803 unit_bearing:-0.392085 0.052649 0.918421 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.886864, 0.124805, -0.356835 mu:0.333803 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.658296, 0.330144, 1.192635 mu:0.333803 unit_bearing:0.130345 0.061964 0.989531 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.884321, 0.325058, 0.295980 mu:0.333803 unit_bearing:-0.176200 0.096755 0.979588 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.875863, 0.357354, 0.343883 mu:0.333803 unit_bearing:-0.158907 0.105506 0.981640 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.704606, 0.510974, 1.002030 mu:0.333803 unit_bearing:0.072452 0.129629 0.988912 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.701584, 0.511955, 1.010115 mu:0.333803 unit_bearing:0.075344 0.129625 0.988696 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.698537, 0.512934, 1.018192 mu:0.333803 unit_bearing:0.078235 0.129621 0.988472 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.650] If point is visible? -2.557685, 0.544445, 1.335621 mu:0.333803 unit_bearing:0.193549 0.127148 0.972817 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.595911, 0.541622, 1.256760 mu:0.333803 unit_bearing:0.164797 0.129421 0.977800 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.585118, 0.593968, 1.256043 mu:0.333803 unit_bearing:0.167614 0.146793 0.974863 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.581298, 0.594894, 1.263853 mu:0.333803 unit_bearing:0.170490 0.146782 0.974366 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.587976, 0.599460, 1.247139 mu:0.333803 unit_bearing:0.164730 0.148975 0.975023 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.584181, 0.600388, 1.254957 mu:0.333803 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.586060, 0.612297, 1.244955 mu:0.333803 unit_bearing:0.164713 0.153317 0.974353 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.587025, 0.605879, 1.246049 mu:0.333803 unit_bearing:0.164722 0.151146 0.974691 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.583229, 0.606806, 1.253866 mu:0.333803 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.599015, 0.664420, 1.187853 mu:0.333803 unit_bearing:0.147375 0.172909 0.973850 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.596792, 0.677228, 1.185581 mu:0.333803 unit_bearing:0.147358 0.177245 0.973072 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.597910, 0.670825, 1.186719 mu:0.333803 unit_bearing:0.147366 0.175077 0.973464 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.181471, 0.977239, 1.729428 mu:0.333803 unit_bearing:0.370645 0.254519 0.893221 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:02.651] If point is visible? -2.691626, 1.077755, 0.376811 mu:0.333803 unit_bearing:-0.103215 0.342846 0.933704 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.690127, 1.078842, 0.385242 mu:0.333803 unit_bearing:-0.100350 0.342863 0.934010 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.355216, 1.233657, 1.257753 mu:0.333803 unit_bearing:0.214440 0.358661 0.908503 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.342401, 1.236072, 1.280426 mu:0.333803 unit_bearing:0.222938 0.358539 0.906503 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.333735, 1.237667, 1.295491 mu:0.333803 unit_bearing:0.228598 0.358455 0.905126 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.396884, 1.465397, 0.854313 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.510804, 1.473576, 0.314609 mu:0.333803 unit_bearing:-0.090808 0.476518 0.874463 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.217283, 1.548074, 1.164248 mu:0.333803 unit_bearing:0.209731 0.466636 0.859223 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.213056, 1.548821, 1.171745 mu:0.333803 unit_bearing:0.212538 0.466579 0.858564 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.191544, 1.552500, 1.209072 mu:0.333803 unit_bearing:0.226555 0.466279 0.855135 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.187167, 1.553224, 1.216506 mu:0.333803 unit_bearing:0.229355 0.466217 0.854423 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.442099, -1.377663, -0.814225 mu:0.333803 unit_bearing:-0.555223 -0.422218 0.716561 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.401679, -1.480484, -0.757964 mu:0.333803 unit_bearing:-0.537592 -0.458572 0.707606 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] If point is visible? -2.378610, -1.536842, -0.721437 mu:0.333803 unit_bearing:-0.526032 -0.478731 0.702928 T_cur_ref: x=0.081604 y=0.000000 z=0.027014 +[21:41:02.651] init seeds +[21:41:02.651] DepthFilter: Initialized 4 new seeds +[21:41:02.653] DepthFilter: Initialized 4 new seeds +[21:41:03.200] add new frame +[21:41:03.200] update seed +[21:41:03.200] If point is visible? -1.708659, 1.016431, 0.558217 mu:0.460051 unit_bearing:0.085654 0.435340 0.896182 T_cur_ref: x=0.142862 y=0.000000 z=0.044810 +[21:41:03.200] If point is visible? -1.708659, 1.016431, 0.558217 mu:0.460051 unit_bearing:0.085654 0.435340 0.896182 T_cur_ref: x=0.142862 y=0.000000 z=0.044810 +[21:41:03.200] If point is visible? -1.980580, -0.408389, 0.478033 mu:0.454602 unit_bearing:-0.051901 -0.208355 0.976675 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.877875, 0.514689, 0.761102 mu:0.454602 unit_bearing:0.132905 0.192467 0.972262 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.881815, -0.777908, 0.442185 mu:0.454602 unit_bearing:-0.077271 -0.373101 0.924567 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.880861, -0.777177, 0.448387 mu:0.454602 unit_bearing:-0.074408 -0.373115 0.924796 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.724514, -0.445146, 1.127918 mu:0.454602 unit_bearing:0.258238 -0.260946 0.930172 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.744478, -0.455208, 1.088586 mu:0.454602 unit_bearing:0.238339 -0.263307 0.934807 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.741501, -0.454444, 1.094257 mu:0.454602 unit_bearing:0.241182 -0.263276 0.934086 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.770624, -0.401593, 1.062859 mu:0.454602 unit_bearing:0.227205 -0.237689 0.944395 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.615487, -0.361295, 1.323137 mu:0.454602 unit_bearing:0.359866 -0.233927 0.903203 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.200] If point is visible? -1.780840, -0.384184, 1.050329 mu:0.454602 unit_bearing:0.221576 -0.229140 0.947839 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.791325, -0.321842, 1.052162 mu:0.454602 unit_bearing:0.224649 -0.201112 0.953460 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.730226, -0.306879, 1.165388 mu:0.454602 unit_bearing:0.281554 -0.200634 0.938335 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.726978, -0.306133, 1.170977 mu:0.454602 unit_bearing:0.284388 -0.200607 0.937486 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.200] If point is visible? -1.994150, -0.358315, 0.455287 mu:0.454602 unit_bearing:-0.060605 -0.184501 0.980962 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.993063, -0.357561, 0.461515 mu:0.454602 unit_bearing:-0.057716 -0.184506 0.981135 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.790339, -0.311608, 1.057244 mu:0.454602 unit_bearing:0.227535 -0.196776 0.953681 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.735356, -0.298161, 1.159173 mu:0.454602 unit_bearing:0.278760 -0.196356 0.940073 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.792250, -0.332075, 1.047064 mu:0.454602 unit_bearing:0.221762 -0.205447 0.953212 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -2.000883, -0.454530, -0.207266 mu:0.454602 unit_bearing:-0.357476 -0.191208 0.914139 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.792278, -0.317100, 1.051841 mu:0.454602 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.743618, -0.290183, 1.147322 mu:0.454602 unit_bearing:0.273124 -0.192099 0.942603 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.744532, -0.285447, 1.147000 mu:0.454602 unit_bearing:0.273143 -0.189945 0.943035 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -2.003707, -0.343798, 0.416271 mu:0.454602 unit_bearing:-0.077954 -0.175789 0.981336 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -2.001733, -0.342288, 0.428772 mu:0.454602 unit_bearing:-0.072177 -0.175801 0.981776 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] add key frame +[21:41:03.200] If point is visible? -1.993591, -0.325963, 0.484045 mu:0.454602 unit_bearing:-0.046173 -0.171497 0.984102 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] init seeds +[21:41:03.200] remove key frame +[21:41:03.200] update seed +[21:41:03.200] If point is visible? -1.980580, -0.408389, 0.478033 mu:0.454602 unit_bearing:-0.051901 -0.208355 0.976675 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.877875, 0.514689, 0.761102 mu:0.454602 unit_bearing:0.132905 0.192467 0.972262 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.881815, -0.777908, 0.442185 mu:0.454602 unit_bearing:-0.077271 -0.373101 0.924567 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.880861, -0.777177, 0.448387 mu:0.454602 unit_bearing:-0.074408 -0.373115 0.924796 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.724514, -0.445146, 1.127918 mu:0.454602 unit_bearing:0.258238 -0.260946 0.930172 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.744478, -0.455208, 1.088586 mu:0.454602 unit_bearing:0.238339 -0.263307 0.934807 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.741501, -0.454444, 1.094257 mu:0.454602 unit_bearing:0.241182 -0.263276 0.934086 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.770624, -0.401593, 1.062859 mu:0.454602 unit_bearing:0.227205 -0.237689 0.944395 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.615487, -0.361295, 1.323137 mu:0.454602 unit_bearing:0.359866 -0.233927 0.903203 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.200] If point is visible? -1.780840, -0.384184, 1.050329 mu:0.454602 unit_bearing:0.221576 -0.229140 0.947839 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.791325, -0.321842, 1.052162 mu:0.454602 unit_bearing:0.224649 -0.201112 0.953460 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.730226, -0.306879, 1.165388 mu:0.454602 unit_bearing:0.281554 -0.200634 0.938335 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.726978, -0.306133, 1.170977 mu:0.454602 unit_bearing:0.284388 -0.200607 0.937486 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.200] If point is visible? -1.994150, -0.358315, 0.455287 mu:0.454602 unit_bearing:-0.060605 -0.184501 0.980962 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.993063, -0.357561, 0.461515 mu:0.454602 unit_bearing:-0.057716 -0.184506 0.981135 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.790339, -0.311608, 1.057244 mu:0.454602 unit_bearing:0.227535 -0.196776 0.953681 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.735356, -0.298161, 1.159173 mu:0.454602 unit_bearing:0.278760 -0.196356 0.940073 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.792250, -0.332075, 1.047064 mu:0.454602 unit_bearing:0.221762 -0.205447 0.953212 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -2.000883, -0.454530, -0.207266 mu:0.454602 unit_bearing:-0.357476 -0.191208 0.914139 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.792278, -0.317100, 1.051841 mu:0.454602 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.743618, -0.290183, 1.147322 mu:0.454602 unit_bearing:0.273124 -0.192099 0.942603 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.744532, -0.285447, 1.147000 mu:0.454602 unit_bearing:0.273143 -0.189945 0.943035 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -2.003707, -0.343798, 0.416271 mu:0.454602 unit_bearing:-0.077954 -0.175789 0.981336 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -2.001733, -0.342288, 0.428772 mu:0.454602 unit_bearing:-0.072177 -0.175801 0.981776 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.993591, -0.325963, 0.484045 mu:0.454602 unit_bearing:-0.046173 -0.171497 0.984102 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.992774, -0.330728, 0.484442 mu:0.454602 unit_bearing:-0.046170 -0.173669 0.983721 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.635620, -0.227999, 1.326099 mu:0.454602 unit_bearing:0.366255 -0.173946 0.914112 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.200] If point is visible? -1.636455, -0.223282, 1.325774 mu:0.454602 unit_bearing:0.366279 -0.171800 0.914508 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.200] If point is visible? -1.930921, -0.056262, 0.791918 mu:0.454602 unit_bearing:0.110118 -0.066861 0.991667 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.899736, -0.036390, 0.874118 mu:0.454602 unit_bearing:0.150543 -0.062448 0.986629 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -2.022248, -0.151624, -0.349887 mu:0.454602 unit_bearing:-0.406007 -0.046631 0.912680 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -1.932864, -0.022841, 0.788308 mu:0.454602 unit_bearing:0.110132 -0.051581 0.992578 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -2.018873, -0.144541, -0.370529 mu:0.454602 unit_bearing:-0.414338 -0.042292 0.909140 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.200] If point is visible? -2.015944, -0.118642, -0.393381 mu:0.454602 unit_bearing:-0.422673 -0.029340 0.905807 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.008535, -0.131974, -0.424877 mu:0.454602 unit_bearing:-0.436451 -0.033610 0.899100 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.918660, -0.149149, -0.726048 mu:0.454602 unit_bearing:-0.560273 -0.024674 0.827940 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.921123, -0.148375, -0.719588 mu:0.454602 unit_bearing:-0.557651 -0.024683 0.829708 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.901143, 0.059738, 0.869304 mu:0.454602 unit_bearing:0.153465 -0.018808 0.987975 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.008852, -0.122571, -0.425982 mu:0.454602 unit_bearing:-0.436462 -0.029307 0.899245 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.918784, -0.144510, -0.726602 mu:0.454602 unit_bearing:-0.560279 -0.022551 0.827997 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.921247, -0.143734, -0.720142 mu:0.454602 unit_bearing:-0.557657 -0.022558 0.829765 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.024155, -0.099785, -0.355936 mu:0.454602 unit_bearing:-0.406067 -0.022906 0.913556 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.957818, -0.121936, -0.617588 mu:0.454602 unit_bearing:-0.515256 -0.018404 0.856839 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.891031, 0.048342, 0.894549 mu:0.454602 unit_bearing:0.164993 -0.025348 0.985969 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.995594, -0.092110, -0.489130 mu:0.454602 unit_bearing:-0.461171 -0.012063 0.887229 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.008204, -0.085759, -0.436986 mu:0.454602 unit_bearing:-0.439243 -0.012087 0.898287 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.009685, -0.084965, -0.430467 mu:0.454602 unit_bearing:-0.436491 -0.012090 0.899627 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.024526, -0.080937, -0.358189 mu:0.454602 unit_bearing:-0.406078 -0.014276 0.913727 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.995649, -0.087420, -0.489698 mu:0.454602 unit_bearing:-0.461173 -0.009916 0.887255 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.926769, 0.061239, 0.802905 mu:0.454602 unit_bearing:0.121713 -0.014452 0.992460 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.898938, 0.074767, 0.873506 mu:0.454602 unit_bearing:0.156351 -0.012259 0.987625 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.979931, -0.080529, -0.550022 mu:0.454602 unit_bearing:-0.485656 -0.003465 0.874143 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.990671, -0.075745, -0.510954 mu:0.454602 unit_bearing:-0.469360 -0.003470 0.883000 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.005335, -0.068561, -0.452307 mu:0.454602 unit_bearing:-0.444745 -0.003478 0.895651 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.012740, -0.064568, -0.419713 mu:0.454602 unit_bearing:-0.430987 -0.003482 0.902352 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.995694, -0.082730, -0.490267 mu:0.454602 unit_bearing:-0.461175 -0.007768 0.887275 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.928976, 0.060505, 0.796939 mu:0.454602 unit_bearing:0.118823 -0.014452 0.992810 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.995735, -0.054594, -0.493715 mu:0.454602 unit_bearing:-0.461176 0.005118 0.887294 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.006842, -0.048974, -0.448098 mu:0.454602 unit_bearing:-0.441997 0.005127 0.897002 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.931332, 0.107465, 0.785155 mu:0.454602 unit_bearing:0.115934 0.007389 0.993229 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.012692, -0.041061, -0.422607 mu:0.454602 unit_bearing:-0.430985 0.007285 0.902330 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.014110, -0.040257, -0.416088 mu:0.454602 unit_bearing:-0.428227 0.007287 0.903642 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.023291, -0.020505, -0.372222 mu:0.454602 unit_bearing:-0.408854 0.013769 0.912496 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.899090, 0.108128, 0.869449 mu:0.454602 unit_bearing:0.156353 0.003019 0.987697 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.023407, -0.029922, -0.371046 mu:0.454602 unit_bearing:-0.408858 0.009455 0.912549 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.881485, 0.132225, 0.908230 mu:0.454602 unit_bearing:0.176520 0.011743 0.984227 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.888563, 0.158634, 0.886982 mu:0.454602 unit_bearing:0.167874 0.024836 0.985496 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.880421, 0.179814, 0.902105 mu:0.454602 unit_bearing:0.176507 0.033555 0.983727 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.044015, 0.218428, 0.231486 mu:0.454602 unit_bearing:-0.132994 0.088132 0.987191 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.801433, 0.339491, 1.026686 mu:0.454602 unit_bearing:0.248068 0.098701 0.963701 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.913996, 0.332441, 0.766336 mu:0.454602 unit_bearing:0.121609 0.109944 0.986470 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.842116, 0.352883, 0.936843 mu:0.454602 unit_bearing:0.205091 0.109721 0.972573 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.834891, 0.391373, 0.936784 mu:0.454602 unit_bearing:0.207894 0.127092 0.969860 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.907690, 0.384529, 0.758325 mu:0.454602 unit_bearing:0.121557 0.133891 0.983513 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.838525, 0.404164, 0.922957 mu:0.454602 unit_bearing:0.202132 0.133629 0.970199 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.835793, 0.404849, 0.928754 mu:0.454602 unit_bearing:0.205000 0.133617 0.969599 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.903723, 0.412894, 0.753825 mu:0.454602 unit_bearing:0.121524 0.146939 0.981652 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.903026, 0.417618, 0.753066 mu:0.454602 unit_bearing:0.121518 0.149112 0.981325 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.780206, 0.440512, 1.028228 mu:0.454602 unit_bearing:0.256407 0.144198 0.955752 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.838630, 0.422349, 0.914134 mu:0.454602 unit_bearing:0.199227 0.142324 0.969563 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.871242, 0.436244, 0.828485 mu:0.454602 unit_bearing:0.158960 0.153338 0.975305 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.868781, 0.436942, 0.834366 mu:0.454602 unit_bearing:0.161837 0.153328 0.974833 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.872956, 0.440261, 0.821829 mu:0.454602 unit_bearing:0.156074 0.155520 0.975425 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.868051, 0.441658, 0.833595 mu:0.454602 unit_bearing:0.161829 0.155498 0.974491 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.865572, 0.442355, 0.839470 mu:0.454602 unit_bearing:0.164705 0.155487 0.974010 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.846967, 0.451912, 0.879660 mu:0.454602 unit_bearing:0.184811 0.157573 0.970060 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.846217, 0.456622, 0.878881 mu:0.454602 unit_bearing:0.184801 0.159741 0.969707 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.549583, 0.214417, -1.352818 mu:0.454602 unit_bearing:-0.777444 0.174096 0.604377 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.201] If point is visible? -0.892786, 0.131148, -0.803189 mu:0.746672 unit_bearing:-0.775336 0.174222 0.607043 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] Z inverse min: 1.149591, Z inverse max: 0.343752 +[21:41:03.201] If point is visible? -1.558847, 0.216398, -1.341244 mu:0.454602 unit_bearing:-0.773220 0.174348 0.609699 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.201] If point is visible? -1.550592, 0.210066, -1.352261 mu:0.454602 unit_bearing:-0.777539 0.172101 0.604825 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.201] If point is visible? -0.893492, 0.128509, -0.802925 mu:0.746604 unit_bearing:-0.775431 0.172227 0.607491 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] Z inverse min: 1.149453, Z inverse max: 0.343756 +[21:41:03.201] If point is visible? -1.559855, 0.212040, -1.340684 mu:0.454602 unit_bearing:-0.773315 0.172351 0.610147 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.201] If point is visible? -1.898345, 0.799320, 0.284817 mu:0.454602 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.901062, 0.793950, 0.279570 mu:0.454602 unit_bearing:-0.065934 0.345151 0.936228 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.606543, 0.966903, 0.973289 mu:0.454602 unit_bearing:0.278774 0.384757 0.879913 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.633204, 0.966364, 0.922081 mu:0.454602 unit_bearing:0.253475 0.387350 0.886403 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.630104, 0.966931, 0.927676 mu:0.454602 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.882777, -0.737185, 0.509053 mu:0.454602 unit_bearing:-0.045808 -0.358431 0.932432 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.880435, -0.735705, 0.521377 mu:0.454602 unit_bearing:-0.040072 -0.358446 0.932690 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.887324, -0.717007, 0.520670 mu:0.454602 unit_bearing:-0.040092 -0.349970 0.935902 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.884906, -0.715523, 0.532984 mu:0.454602 unit_bearing:-0.034352 -0.349983 0.936126 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.741501, -0.454444, 1.094257 mu:0.454602 unit_bearing:0.241182 -0.263276 0.934086 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.735491, -0.452915, 1.105579 mu:0.454602 unit_bearing:0.246863 -0.263214 0.932618 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.729408, -0.451386, 1.116873 mu:0.454602 unit_bearing:0.252540 -0.263149 0.931115 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.616619, -0.356598, 1.322905 mu:0.454602 unit_bearing:0.359899 -0.231794 0.903739 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.201] If point is visible? -1.788402, -0.336065, 1.053105 mu:0.454602 unit_bearing:0.224601 -0.207582 0.952084 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.034523, -0.349978, -0.000824 mu:0.454602 unit_bearing:-0.264681 -0.155470 0.951721 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.790361, -0.326584, 1.052479 mu:0.454602 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.735699, -0.313105, 1.154495 mu:0.454602 unit_bearing:0.275864 -0.202840 0.939551 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.778429, -0.293644, 1.084799 mu:0.454602 unit_bearing:0.241848 -0.190197 0.951491 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.776594, -0.303127, 1.085454 mu:0.454602 unit_bearing:0.241815 -0.194512 0.950626 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.010287, -0.095557, 0.512301 mu:0.454602 unit_bearing:-0.023080 -0.069100 0.997343 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.849200, 0.360267, 0.917981 mu:0.454602 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.801895, 0.334765, 1.027395 mu:0.454602 unit_bearing:0.248077 0.096530 0.963919 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.850256, 0.350808, 0.919426 mu:0.454602 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.783266, 0.439852, 1.022546 mu:0.454602 unit_bearing:0.253557 0.144215 0.956510 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.777128, 0.441171, 1.033904 mu:0.454602 unit_bearing:0.259256 0.144181 0.954986 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.848437, 0.442488, 0.881210 mu:0.454602 unit_bearing:0.184830 0.153235 0.970751 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.622877, 1.105367, 0.764915 mu:0.454602 unit_bearing:0.193024 0.458778 0.867332 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.627421, 1.096564, 0.767247 mu:0.454602 unit_bearing:0.193100 0.454676 0.869472 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.895318, -0.710611, 0.495616 mu:0.454602 unit_bearing:-0.051584 -0.345696 0.936927 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.890702, -0.707648, 0.520300 mu:0.454602 unit_bearing:-0.040103 -0.345727 0.937478 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.788402, -0.336065, 1.053105 mu:0.454602 unit_bearing:0.224601 -0.207582 0.952084 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.776766, -0.333063, 1.075958 mu:0.454602 unit_bearing:0.236013 -0.207494 0.949339 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.764837, -0.330062, 1.098705 mu:0.454602 unit_bearing:0.247409 -0.207400 0.946454 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.752616, -0.327062, 1.121345 mu:0.454602 unit_bearing:0.258788 -0.207301 0.943427 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.780644, -0.314105, 1.074704 mu:0.454602 unit_bearing:0.236080 -0.198870 0.951166 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.768718, -0.311112, 1.097462 mu:0.454602 unit_bearing:0.247480 -0.198780 0.948283 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.980580, -0.408389, 0.478033 mu:0.454602 unit_bearing:-0.051901 -0.208355 0.976675 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.032307, -0.090159, 0.398159 mu:0.454602 unit_bearing:-0.075214 -0.060341 0.995340 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.013858, -0.091990, -0.409777 mu:0.454602 unit_bearing:-0.428218 -0.016405 0.903526 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -2.037185, -0.074120, 0.370978 mu:0.454602 unit_bearing:-0.086795 -0.051598 0.994889 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.857792, 0.412806, 0.874114 mu:0.454602 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.877875, 0.514689, 0.761102 mu:0.454602 unit_bearing:0.132905 0.192467 0.972262 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.901697, 0.363728, 0.785791 mu:0.454602 unit_bearing:0.133123 0.122984 0.983440 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.201] If point is visible? -1.894627, 0.347637, 0.812398 mu:0.454602 unit_bearing:0.144678 0.114249 0.982861 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.202] If point is visible? -1.908315, 0.379798, 0.759066 mu:0.454602 unit_bearing:0.121562 0.131715 0.983806 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.202] If point is visible? -1.870526, 0.391127, 0.853682 mu:0.454602 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.202] If point is visible? -1.799855, 0.445276, 0.986776 mu:0.454602 unit_bearing:0.236410 0.148644 0.960216 T_cur_ref: x=0.136736 y=0.000000 z=0.043302 +[21:41:03.202] If point is visible? -2.277964, 0.715170, 0.484948 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.124411 y=0.000000 z=0.040135 +[21:41:03.202] If point is visible? -2.052912, -1.038245, -0.773525 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.124411 y=0.000000 z=0.040135 +[21:41:03.202] If point is visible? -2.277964, 0.715170, 0.484948 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.124411 y=0.000000 z=0.040135 +[21:41:03.202] If point is visible? -2.052912, -1.038245, -0.773525 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.124411 y=0.000000 z=0.040135 +[21:41:03.202] If point is visible? -2.103461, 1.345270, 0.854966 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.104764 y=0.000000 z=0.034806 +[21:41:03.202] If point is visible? -2.253123, -0.874851, -0.981892 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.104764 y=0.000000 z=0.034806 +[21:41:03.202] If point is visible? -2.103461, 1.345270, 0.854966 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.104764 y=0.000000 z=0.034806 +[21:41:03.202] If point is visible? -2.253123, -0.874851, -0.981892 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.104764 y=0.000000 z=0.034806 +[21:41:03.202] If point is visible? -2.159125, 0.942587, 1.769389 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.202] If point is visible? -1.496306, 0.873989, 2.416409 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.202] If point is visible? -2.297274, -1.353460, 1.230133 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.202] If point is visible? -2.700544, -0.928227, 0.596101 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.697582, -0.910497, 0.638006 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.697557, -0.941992, 0.588013 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.695441, -0.916895, 0.638206 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.796508, -0.781176, 0.191618 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.472832, -0.478379, 1.504573 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.465775, -0.469915, 1.519481 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.489436, -0.482389, 1.473967 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.460977, -0.428141, 1.540172 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.520168, -0.415222, 1.439152 mu:0.333803 unit_bearing:0.190357 -0.194859 0.962182 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.529015, -0.390311, 1.429812 mu:0.333803 unit_bearing:0.187539 -0.186225 0.964443 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.527822, -0.396789, 1.430223 mu:0.333803 unit_bearing:0.187527 -0.188388 0.964025 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.467718, -0.288297, 1.561794 mu:0.333803 unit_bearing:0.239213 -0.157795 0.958060 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.463291, -0.287316, 1.569353 mu:0.333803 unit_bearing:0.242067 -0.157778 0.957345 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.546204, -0.313508, 1.416773 mu:0.333803 unit_bearing:0.184799 -0.160249 0.969623 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.547215, -0.307021, 1.416301 mu:0.333803 unit_bearing:0.184809 -0.158080 0.969978 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.545179, -0.319994, 1.417240 mu:0.333803 unit_bearing:0.184789 -0.162417 0.969265 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.468717, -0.281820, 1.561329 mu:0.333803 unit_bearing:0.239225 -0.155631 0.958410 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.544246, -0.299544, 1.423568 mu:0.333803 unit_bearing:0.187689 -0.155899 0.969777 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.484764, -0.265324, 1.537162 mu:0.333803 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.480411, -0.264345, 1.544754 mu:0.333803 unit_bearing:0.233550 -0.149167 0.960835 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.542209, -0.285580, 1.430339 mu:0.333803 unit_bearing:0.190579 -0.151548 0.969904 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.538195, -0.284593, 1.438066 mu:0.333803 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.531050, -0.276133, 1.453004 mu:0.333803 unit_bearing:0.199196 -0.149340 0.968514 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.531992, -0.269647, 1.452512 mu:0.333803 unit_bearing:0.199206 -0.147171 0.968844 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.821117, -0.350849, 0.639349 mu:0.333803 unit_bearing:-0.089578 -0.140995 0.985949 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.528833, -0.262175, 1.459716 mu:0.333803 unit_bearing:0.202083 -0.144988 0.968577 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.828579, -0.334426, 0.612235 mu:0.333803 unit_bearing:-0.098257 -0.134450 0.986037 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.826993, -0.333400, 0.620724 mu:0.333803 unit_bearing:-0.095368 -0.134456 0.986320 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.825383, -0.332374, 0.629207 mu:0.333803 unit_bearing:-0.092479 -0.134461 0.986594 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.811612, -0.324179, 0.696846 mu:0.333803 unit_bearing:-0.069353 -0.134497 0.988484 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.870943, -0.411065, -0.147098 mu:0.333803 unit_bearing:-0.346887 -0.128952 0.929000 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.834132, -0.274887, 0.615509 mu:0.333803 unit_bearing:-0.095402 -0.114857 0.988790 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.845269, -0.303652, 0.540655 mu:0.333803 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.828967, -0.257767, 0.648213 mu:0.333803 unit_bearing:-0.083844 -0.110516 0.990331 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.872105, -0.344171, -0.243560 mu:0.333803 unit_bearing:-0.375086 -0.102865 0.921265 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.874188, -0.295861, -0.275533 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.879768, -0.236936, -0.272689 mu:0.333803 unit_bearing:-0.380876 -0.066151 0.922257 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.878155, -0.232624, -0.291248 mu:0.333803 unit_bearing:-0.386466 -0.063968 0.920083 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.716098, -0.014161, 1.076720 mu:0.333803 unit_bearing:0.072527 -0.047237 0.996247 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.713075, -0.013163, 1.084812 mu:0.333803 unit_bearing:0.075422 -0.047236 0.996032 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.866390, -0.119249, -0.431061 mu:0.333803 unit_bearing:-0.425452 -0.020717 0.904744 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.657663, 0.121641, 1.215723 mu:0.333803 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.861061, -0.065980, -0.473850 mu:0.333803 unit_bearing:-0.436497 -0.001328 0.899705 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.825818, -0.131488, -0.638948 mu:0.333803 unit_bearing:-0.488350 -0.016316 0.872495 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.664638, 0.139171, 1.197450 mu:0.333803 unit_bearing:0.121714 -0.001347 0.992564 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.718798, 0.070399, 1.067152 mu:0.333803 unit_bearing:0.072537 -0.018832 0.997188 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.815310, -0.079679, -0.690787 mu:0.333803 unit_bearing:-0.501854 0.002958 0.864947 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.865565, -0.043469, -0.449327 mu:0.333803 unit_bearing:-0.428228 0.005133 0.903656 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.845797, -0.050341, -0.557733 mu:0.333803 unit_bearing:-0.461175 0.007266 0.887280 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.719261, 0.109406, 1.062503 mu:0.333803 unit_bearing:0.072539 -0.005719 0.997349 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.843908, -0.045065, -0.567502 mu:0.333803 unit_bearing:-0.463903 0.009411 0.885836 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.847543, -0.042848, -0.549556 mu:0.333803 unit_bearing:-0.458441 0.009416 0.888675 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.843836, -0.038683, -0.568300 mu:0.333803 unit_bearing:-0.463901 0.011558 0.885811 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.760836, -0.064956, -0.883789 mu:0.333803 unit_bearing:-0.557673 0.015688 0.829912 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.898990, 0.063141, 0.203259 mu:0.333803 unit_bearing:-0.219422 0.013907 0.975531 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.871125, -0.026238, -0.415090 mu:0.333803 unit_bearing:-0.417171 0.009449 0.908779 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.869597, -0.014531, -0.425652 mu:0.333803 unit_bearing:-0.419934 0.013757 0.907450 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.870969, -0.013423, -0.416697 mu:0.333803 unit_bearing:-0.417167 0.013760 0.908726 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.817164, -0.040411, -0.686573 mu:0.333803 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.716153, 0.155886, 1.064986 mu:0.333803 unit_bearing:0.075434 0.009579 0.997105 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.713105, 0.156878, 1.073073 mu:0.333803 unit_bearing:0.078328 0.009579 0.996882 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.869682, -0.020937, -0.424847 mu:0.333803 unit_bearing:-0.419936 0.011602 0.907480 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.821007, -0.012734, -0.671856 mu:0.333803 unit_bearing:-0.493738 0.024368 0.869269 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.851968, 0.005201, -0.528302 mu:0.333803 unit_bearing:-0.450207 0.024470 0.892589 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.863479, 0.000231, -0.463917 mu:0.333803 unit_bearing:-0.430971 0.020204 0.902140 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.823324, -0.017974, -0.662070 mu:0.333803 unit_bearing:-0.491042 0.022234 0.870852 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.861820, 0.005513, -0.473694 mu:0.333803 unit_bearing:-0.433723 0.022352 0.900769 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.820831, -0.006373, -0.672671 mu:0.333803 unit_bearing:-0.493733 0.026509 0.869209 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.842200, 0.070876, -0.573349 mu:0.333803 unit_bearing:-0.461075 0.048062 0.886059 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.850935, 0.076558, -0.528522 mu:0.333803 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.839132, 0.055857, -0.589592 mu:0.333803 unit_bearing:-0.466549 0.043747 0.883413 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.851256, 0.070176, -0.527672 mu:0.333803 unit_bearing:-0.447401 0.045972 0.893151 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.868633, 0.096550, -0.421904 mu:0.333803 unit_bearing:-0.414310 0.050407 0.908739 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.869951, 0.097681, -0.412957 mu:0.333803 unit_bearing:-0.411540 0.050418 0.909996 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.617082, 0.325831, 1.269401 mu:0.333803 unit_bearing:0.156315 0.057569 0.986028 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.877680, 0.118399, -0.352111 mu:0.333803 unit_bearing:-0.392077 0.054807 0.918299 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.878040, 0.111991, -0.351245 mu:0.333803 unit_bearing:-0.392085 0.052649 0.918421 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.877305, 0.124805, -0.352980 mu:0.333803 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.648737, 0.330144, 1.196490 mu:0.333803 unit_bearing:0.130345 0.061964 0.989531 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.874763, 0.325058, 0.299835 mu:0.333803 unit_bearing:-0.176200 0.096755 0.979588 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.866304, 0.357354, 0.347737 mu:0.333803 unit_bearing:-0.158907 0.105506 0.981640 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.695048, 0.510974, 1.005884 mu:0.333803 unit_bearing:0.072452 0.129629 0.988912 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.692025, 0.511955, 1.013969 mu:0.333803 unit_bearing:0.075344 0.129625 0.988696 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.688978, 0.512934, 1.022047 mu:0.333803 unit_bearing:0.078235 0.129621 0.988472 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.548126, 0.544445, 1.339475 mu:0.333803 unit_bearing:0.193549 0.127148 0.972817 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.586353, 0.541622, 1.260614 mu:0.333803 unit_bearing:0.164797 0.129421 0.977800 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.575560, 0.593968, 1.259898 mu:0.333803 unit_bearing:0.167614 0.146793 0.974863 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.571740, 0.594894, 1.267707 mu:0.333803 unit_bearing:0.170490 0.146782 0.974366 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.578418, 0.599460, 1.250994 mu:0.333803 unit_bearing:0.164730 0.148975 0.975023 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.574622, 0.600388, 1.258812 mu:0.333803 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.202] If point is visible? -2.576501, 0.612297, 1.248809 mu:0.333803 unit_bearing:0.164713 0.153317 0.974353 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.577467, 0.605879, 1.249904 mu:0.333803 unit_bearing:0.164722 0.151146 0.974691 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.573671, 0.606806, 1.257721 mu:0.333803 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.589456, 0.664420, 1.191707 mu:0.333803 unit_bearing:0.147375 0.172909 0.973850 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.587233, 0.677228, 1.189435 mu:0.333803 unit_bearing:0.147358 0.177245 0.973072 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.588352, 0.670825, 1.190573 mu:0.333803 unit_bearing:0.147366 0.175077 0.973464 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.171912, 0.977239, 1.733283 mu:0.333803 unit_bearing:0.370645 0.254519 0.893221 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.203] If point is visible? -2.682067, 1.077755, 0.380666 mu:0.333803 unit_bearing:-0.103215 0.342846 0.933704 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.680568, 1.078842, 0.389097 mu:0.333803 unit_bearing:-0.100350 0.342863 0.934010 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.345657, 1.233657, 1.261608 mu:0.333803 unit_bearing:0.214440 0.358661 0.908503 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.332843, 1.236072, 1.284281 mu:0.333803 unit_bearing:0.222938 0.358539 0.906503 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.324177, 1.237667, 1.299346 mu:0.333803 unit_bearing:0.228598 0.358455 0.905126 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.387326, 1.465397, 0.858168 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.501245, 1.473576, 0.318463 mu:0.333803 unit_bearing:-0.090808 0.476518 0.874463 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.207725, 1.548074, 1.168103 mu:0.333803 unit_bearing:0.209731 0.466636 0.859223 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.203497, 1.548821, 1.175599 mu:0.333803 unit_bearing:0.212538 0.466579 0.858564 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.181985, 1.552500, 1.212927 mu:0.333803 unit_bearing:0.226555 0.466279 0.855135 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.177608, 1.553224, 1.220361 mu:0.333803 unit_bearing:0.229355 0.466217 0.854423 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.432540, -1.377663, -0.810371 mu:0.333803 unit_bearing:-0.555223 -0.422218 0.716561 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.392120, -1.480484, -0.754110 mu:0.333803 unit_bearing:-0.537592 -0.458572 0.707606 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.369052, -1.536842, -0.717583 mu:0.333803 unit_bearing:-0.526032 -0.478731 0.702928 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.508608, -1.122462, -0.946879 mu:0.333803 unit_bearing:-0.595743 -0.332113 0.731294 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.515927, -1.087427, -0.966780 mu:0.333803 unit_bearing:-0.601386 -0.319696 0.732209 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.701843, -0.953285, 0.545735 mu:0.333803 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.699323, -0.951325, 0.562739 mu:0.333803 unit_bearing:-0.126161 -0.336824 0.933077 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.701096, -0.936587, 0.579336 mu:0.333803 unit_bearing:-0.120466 -0.332617 0.935336 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.694301, -0.839857, 0.745396 mu:0.333803 unit_bearing:-0.063195 -0.307324 0.949504 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.698262, -0.827010, 0.744928 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.694519, -0.825006, 0.761663 mu:0.333803 unit_bearing:-0.057457 -0.303065 0.951236 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.557363, -0.862652, -1.071792 mu:0.333803 unit_bearing:-0.629864 -0.240952 0.738386 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.474223, -0.471917, 1.504235 mu:0.333803 unit_bearing:0.213111 -0.216290 0.952787 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] If point is visible? -2.829278, -0.377513, 0.581531 mu:0.333803 unit_bearing:-0.109780 -0.147477 0.982954 T_cur_ref: x=0.091163 y=0.000000 z=0.030869 +[21:41:03.203] init seeds +[21:41:03.203] DepthFilter: Initialized 2 new seeds +[21:41:03.205] DepthFilter: Initialized 2 new seeds +[21:41:03.735] add new frame +[21:41:03.736] update seed +[21:41:03.736] If point is visible? -1.968522, -0.408389, 0.482537 mu:0.454602 unit_bearing:-0.051901 -0.208355 0.976675 T_cur_ref: x=0.148794 y=0.000000 z=0.047805 +[21:41:03.736] If point is visible? -1.865817, 0.514689, 0.765605 mu:0.454602 unit_bearing:0.132905 0.192467 0.972262 T_cur_ref: x=0.148794 y=0.000000 z=0.047805 +[21:41:03.736] If point is visible? -1.869758, -0.777908, 0.446688 mu:0.454602 unit_bearing:-0.077271 -0.373101 0.924567 T_cur_ref: x=0.148794 y=0.000000 z=0.047805 +[21:41:03.736] If point is visible? -1.868804, -0.777177, 0.452891 mu:0.454602 unit_bearing:-0.074408 -0.373115 0.924796 T_cur_ref: x=0.148794 y=0.000000 z=0.047805 +[21:41:03.736] If point is visible? -1.712456, -0.445146, 1.132421 mu:0.454602 unit_bearing:0.258238 -0.260946 0.930172 T_cur_ref: x=0.148794 y=0.000000 z=0.047805 +[21:41:03.736] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.736] If point is visible? -1.732420, -0.455208, 1.093089 mu:0.454602 unit_bearing:0.238339 -0.263307 0.934807 T_cur_ref: x=0.148794 y=0.000000 z=0.047805 +[21:41:03.736] If point is visible? -1.729443, -0.454444, 1.098760 mu:0.454602 unit_bearing:0.241182 -0.263276 0.934086 T_cur_ref: x=0.148794 y=0.000000 z=0.047805 +[21:41:03.736] If point is visible? -1.758567, -0.401593, 1.067363 mu:0.454602 unit_bearing:0.227205 -0.237689 0.944395 T_cur_ref: x=0.148794 y=0.000000 z=0.047805 +[21:41:03.736] If point is visible? -1.603429, -0.361295, 1.327640 mu:0.454602 unit_bearing:0.359866 -0.233927 0.903203 T_cur_ref: x=0.148794 y=0.000000 z=0.047805 +[21:41:03.736] add key frame +[21:41:03.736] Z inverse min: 0.946448, Z inverse max: 0.000000 +[21:41:03.736] remove key frame +[21:41:03.736] init seeds +[21:41:03.736] update seed +[21:41:03.736] If point is visible? -2.265906, 0.715170, 0.489451 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.136469 y=0.000000 z=0.044638 +[21:41:03.736] If point is visible? -2.040854, -1.038245, -0.769022 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.136469 y=0.000000 z=0.044638 +[21:41:03.736] If point is visible? -2.265906, 0.715170, 0.489451 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.136469 y=0.000000 z=0.044638 +[21:41:03.736] If point is visible? -2.040854, -1.038245, -0.769022 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.136469 y=0.000000 z=0.044638 +[21:41:03.736] If point is visible? -2.091403, 1.345270, 0.859469 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.116822 y=0.000000 z=0.039309 +[21:41:03.736] If point is visible? -2.241065, -0.874851, -0.977389 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.116822 y=0.000000 z=0.039309 +[21:41:03.736] If point is visible? -2.091403, 1.345270, 0.859469 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.116822 y=0.000000 z=0.039309 +[21:41:03.736] If point is visible? -2.241065, -0.874851, -0.977389 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.116822 y=0.000000 z=0.039309 +[21:41:03.736] If point is visible? -2.147067, 0.942587, 1.773892 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.736] If point is visible? -1.484248, 0.873989, 2.420913 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.736] If point is visible? -2.285216, -1.353460, 1.234636 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.736] If point is visible? -2.688486, -0.928227, 0.600604 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.685525, -0.910497, 0.642509 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.685500, -0.941992, 0.592516 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.683384, -0.916895, 0.642709 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.784450, -0.781176, 0.196122 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.460774, -0.478379, 1.509076 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.453718, -0.469915, 1.523984 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.477378, -0.482389, 1.478470 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.448919, -0.428141, 1.544675 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.508110, -0.415222, 1.443655 mu:0.333803 unit_bearing:0.190357 -0.194859 0.962182 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.516958, -0.390311, 1.434315 mu:0.333803 unit_bearing:0.187539 -0.186225 0.964443 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.515765, -0.396789, 1.434727 mu:0.333803 unit_bearing:0.187527 -0.188388 0.964025 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.455661, -0.288297, 1.566297 mu:0.333803 unit_bearing:0.239213 -0.157795 0.958060 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.451233, -0.287316, 1.573856 mu:0.333803 unit_bearing:0.242067 -0.157778 0.957345 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.534146, -0.313508, 1.421276 mu:0.333803 unit_bearing:0.184799 -0.160249 0.969623 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.535157, -0.307021, 1.420804 mu:0.333803 unit_bearing:0.184809 -0.158080 0.969978 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.533121, -0.319994, 1.421743 mu:0.333803 unit_bearing:0.184789 -0.162417 0.969265 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.456660, -0.281820, 1.565833 mu:0.333803 unit_bearing:0.239225 -0.155631 0.958410 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.532188, -0.299544, 1.428072 mu:0.333803 unit_bearing:0.187689 -0.155899 0.969777 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.472707, -0.265324, 1.541665 mu:0.333803 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.468353, -0.264345, 1.549257 mu:0.333803 unit_bearing:0.233550 -0.149167 0.960835 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.530151, -0.285580, 1.434842 mu:0.333803 unit_bearing:0.190579 -0.151548 0.969904 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.526137, -0.284593, 1.442569 mu:0.333803 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.518993, -0.276133, 1.457507 mu:0.333803 unit_bearing:0.199196 -0.149340 0.968514 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.519934, -0.269647, 1.457015 mu:0.333803 unit_bearing:0.199206 -0.147171 0.968844 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.809060, -0.350849, 0.643852 mu:0.333803 unit_bearing:-0.089578 -0.140995 0.985949 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.516776, -0.262175, 1.464219 mu:0.333803 unit_bearing:0.202083 -0.144988 0.968577 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.816521, -0.334426, 0.616738 mu:0.333803 unit_bearing:-0.098257 -0.134450 0.986037 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.814936, -0.333400, 0.625227 mu:0.333803 unit_bearing:-0.095368 -0.134456 0.986320 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.813325, -0.332374, 0.633710 mu:0.333803 unit_bearing:-0.092479 -0.134461 0.986594 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.799554, -0.324179, 0.701349 mu:0.333803 unit_bearing:-0.069353 -0.134497 0.988484 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.858886, -0.411065, -0.142594 mu:0.333803 unit_bearing:-0.346887 -0.128952 0.929000 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.822075, -0.274887, 0.620012 mu:0.333803 unit_bearing:-0.095402 -0.114857 0.988790 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.833211, -0.303652, 0.545158 mu:0.333803 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.816910, -0.257767, 0.652716 mu:0.333803 unit_bearing:-0.083844 -0.110516 0.990331 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.860047, -0.344171, -0.239057 mu:0.333803 unit_bearing:-0.375086 -0.102865 0.921265 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.862130, -0.295861, -0.271029 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.867711, -0.236936, -0.268186 mu:0.333803 unit_bearing:-0.380876 -0.066151 0.922257 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.866097, -0.232624, -0.286745 mu:0.333803 unit_bearing:-0.386466 -0.063968 0.920083 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.704040, -0.014161, 1.081223 mu:0.333803 unit_bearing:0.072527 -0.047237 0.996247 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.701017, -0.013163, 1.089315 mu:0.333803 unit_bearing:0.075422 -0.047236 0.996032 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.854332, -0.119249, -0.426558 mu:0.333803 unit_bearing:-0.425452 -0.020717 0.904744 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.645605, 0.121641, 1.220227 mu:0.333803 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.849003, -0.065980, -0.469347 mu:0.333803 unit_bearing:-0.436497 -0.001328 0.899705 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.813760, -0.131488, -0.634445 mu:0.333803 unit_bearing:-0.488350 -0.016316 0.872495 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.652581, 0.139171, 1.201953 mu:0.333803 unit_bearing:0.121714 -0.001347 0.992564 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.706740, 0.070399, 1.071655 mu:0.333803 unit_bearing:0.072537 -0.018832 0.997188 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.803252, -0.079679, -0.686284 mu:0.333803 unit_bearing:-0.501854 0.002958 0.864947 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.853508, -0.043469, -0.444824 mu:0.333803 unit_bearing:-0.428228 0.005133 0.903656 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.833739, -0.050341, -0.553230 mu:0.333803 unit_bearing:-0.461175 0.007266 0.887280 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.707203, 0.109406, 1.067006 mu:0.333803 unit_bearing:0.072539 -0.005719 0.997349 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.831850, -0.045065, -0.562998 mu:0.333803 unit_bearing:-0.463903 0.009411 0.885836 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.736] If point is visible? -2.835485, -0.042848, -0.545053 mu:0.333803 unit_bearing:-0.458441 0.009416 0.888675 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.831779, -0.038683, -0.563797 mu:0.333803 unit_bearing:-0.463901 0.011558 0.885811 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.748779, -0.064956, -0.879286 mu:0.333803 unit_bearing:-0.557673 0.015688 0.829912 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.886932, 0.063141, 0.207762 mu:0.333803 unit_bearing:-0.219422 0.013907 0.975531 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.859068, -0.026238, -0.410587 mu:0.333803 unit_bearing:-0.417171 0.009449 0.908779 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.857539, -0.014531, -0.421149 mu:0.333803 unit_bearing:-0.419934 0.013757 0.907450 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.858911, -0.013423, -0.412194 mu:0.333803 unit_bearing:-0.417167 0.013760 0.908726 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.805106, -0.040411, -0.682069 mu:0.333803 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.704095, 0.155886, 1.069489 mu:0.333803 unit_bearing:0.075434 0.009579 0.997105 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.701048, 0.156878, 1.077576 mu:0.333803 unit_bearing:0.078328 0.009579 0.996882 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.857625, -0.020937, -0.420344 mu:0.333803 unit_bearing:-0.419936 0.011602 0.907480 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.808950, -0.012734, -0.667353 mu:0.333803 unit_bearing:-0.493738 0.024368 0.869269 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.839911, 0.005201, -0.523799 mu:0.333803 unit_bearing:-0.450207 0.024470 0.892589 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.851421, 0.000231, -0.459414 mu:0.333803 unit_bearing:-0.430971 0.020204 0.902140 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.811266, -0.017974, -0.657567 mu:0.333803 unit_bearing:-0.491042 0.022234 0.870852 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.849762, 0.005513, -0.469191 mu:0.333803 unit_bearing:-0.433723 0.022352 0.900769 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.808774, -0.006373, -0.668168 mu:0.333803 unit_bearing:-0.493733 0.026509 0.869209 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.830142, 0.070876, -0.568846 mu:0.333803 unit_bearing:-0.461075 0.048062 0.886059 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.838877, 0.076558, -0.524019 mu:0.333803 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.827074, 0.055857, -0.585089 mu:0.333803 unit_bearing:-0.466549 0.043747 0.883413 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.839198, 0.070176, -0.523169 mu:0.333803 unit_bearing:-0.447401 0.045972 0.893151 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.856576, 0.096550, -0.417401 mu:0.333803 unit_bearing:-0.414310 0.050407 0.908739 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.857893, 0.097681, -0.408454 mu:0.333803 unit_bearing:-0.411540 0.050418 0.909996 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.605025, 0.325831, 1.273904 mu:0.333803 unit_bearing:0.156315 0.057569 0.986028 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.865622, 0.118399, -0.347608 mu:0.333803 unit_bearing:-0.392077 0.054807 0.918299 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.865983, 0.111991, -0.346741 mu:0.333803 unit_bearing:-0.392085 0.052649 0.918421 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.865248, 0.124805, -0.348477 mu:0.333803 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.636679, 0.330144, 1.200993 mu:0.333803 unit_bearing:0.130345 0.061964 0.989531 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.862705, 0.325058, 0.304338 mu:0.333803 unit_bearing:-0.176200 0.096755 0.979588 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.854247, 0.357354, 0.352240 mu:0.333803 unit_bearing:-0.158907 0.105506 0.981640 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.682990, 0.510974, 1.010387 mu:0.333803 unit_bearing:0.072452 0.129629 0.988912 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.679967, 0.511955, 1.018472 mu:0.333803 unit_bearing:0.075344 0.129625 0.988696 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.676921, 0.512934, 1.026550 mu:0.333803 unit_bearing:0.078235 0.129621 0.988472 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.536069, 0.544445, 1.343979 mu:0.333803 unit_bearing:0.193549 0.127148 0.972817 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.574295, 0.541622, 1.265117 mu:0.333803 unit_bearing:0.164797 0.129421 0.977800 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.563502, 0.593968, 1.264401 mu:0.333803 unit_bearing:0.167614 0.146793 0.974863 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.559682, 0.594894, 1.272210 mu:0.333803 unit_bearing:0.170490 0.146782 0.974366 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.566360, 0.599460, 1.255497 mu:0.333803 unit_bearing:0.164730 0.148975 0.975023 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.562565, 0.600388, 1.263315 mu:0.333803 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.564444, 0.612297, 1.253312 mu:0.333803 unit_bearing:0.164713 0.153317 0.974353 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.565409, 0.605879, 1.254407 mu:0.333803 unit_bearing:0.164722 0.151146 0.974691 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.561613, 0.606806, 1.262224 mu:0.333803 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.577399, 0.664420, 1.196210 mu:0.333803 unit_bearing:0.147375 0.172909 0.973850 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.575176, 0.677228, 1.193938 mu:0.333803 unit_bearing:0.147358 0.177245 0.973072 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.576294, 0.670825, 1.195076 mu:0.333803 unit_bearing:0.147366 0.175077 0.973464 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.159855, 0.977239, 1.737786 mu:0.333803 unit_bearing:0.370645 0.254519 0.893221 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.737] If point is visible? -2.670009, 1.077755, 0.385169 mu:0.333803 unit_bearing:-0.103215 0.342846 0.933704 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.668510, 1.078842, 0.393600 mu:0.333803 unit_bearing:-0.100350 0.342863 0.934010 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.333599, 1.233657, 1.266111 mu:0.333803 unit_bearing:0.214440 0.358661 0.908503 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.320785, 1.236072, 1.288784 mu:0.333803 unit_bearing:0.222938 0.358539 0.906503 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.312119, 1.237667, 1.303849 mu:0.333803 unit_bearing:0.228598 0.358455 0.905126 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.737] If point is visible? -2.375268, 1.465397, 0.862671 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.489188, 1.473576, 0.322966 mu:0.333803 unit_bearing:-0.090808 0.476518 0.874463 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.195667, 1.548074, 1.172606 mu:0.333803 unit_bearing:0.209731 0.466636 0.859223 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.191439, 1.548821, 1.180102 mu:0.333803 unit_bearing:0.212538 0.466579 0.858564 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.169927, 1.552500, 1.217430 mu:0.333803 unit_bearing:0.226555 0.466279 0.855135 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.165550, 1.553224, 1.224864 mu:0.333803 unit_bearing:0.229355 0.466217 0.854423 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.420483, -1.377663, -0.805868 mu:0.333803 unit_bearing:-0.555223 -0.422218 0.716561 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.380063, -1.480484, -0.749607 mu:0.333803 unit_bearing:-0.537592 -0.458572 0.707606 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.356994, -1.536842, -0.713079 mu:0.333803 unit_bearing:-0.526032 -0.478731 0.702928 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.496550, -1.122462, -0.942376 mu:0.333803 unit_bearing:-0.595743 -0.332113 0.731294 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.503869, -1.087427, -0.962277 mu:0.333803 unit_bearing:-0.601386 -0.319696 0.732209 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.689785, -0.953285, 0.550238 mu:0.333803 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.687266, -0.951325, 0.567242 mu:0.333803 unit_bearing:-0.126161 -0.336824 0.933077 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.689038, -0.936587, 0.583839 mu:0.333803 unit_bearing:-0.120466 -0.332617 0.935336 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.682244, -0.839857, 0.749899 mu:0.333803 unit_bearing:-0.063195 -0.307324 0.949504 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.686205, -0.827010, 0.749431 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.682461, -0.825006, 0.766166 mu:0.333803 unit_bearing:-0.057457 -0.303065 0.951236 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.545305, -0.862652, -1.067289 mu:0.333803 unit_bearing:-0.629864 -0.240952 0.738386 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.462166, -0.471917, 1.508738 mu:0.333803 unit_bearing:0.213111 -0.216290 0.952787 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.817220, -0.377513, 0.586034 mu:0.333803 unit_bearing:-0.109780 -0.147477 0.982954 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.804645, -0.369322, 0.653952 mu:0.333803 unit_bearing:-0.086676 -0.147526 0.985253 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.469795, -0.284762, 1.543093 mu:0.333803 unit_bearing:0.230656 -0.155680 0.960501 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.520147, -0.296578, 1.451248 mu:0.333803 unit_bearing:0.196297 -0.155859 0.968078 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.511998, -0.294604, 1.466652 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.822925, -0.282417, 0.612116 mu:0.333803 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.809789, -0.358372, 0.635925 mu:0.333803 unit_bearing:-0.092463 -0.143165 0.985370 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.862130, -0.295861, -0.271029 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.814345, 0.059323, 0.712874 mu:0.333803 unit_bearing:-0.052064 -0.007906 0.998612 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.864808, 0.311066, 0.297597 mu:0.333803 unit_bearing:-0.179088 0.092393 0.979485 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.863003, 0.313231, 0.314882 mu:0.333803 unit_bearing:-0.173333 0.092407 0.980518 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.863595, 0.323974, 0.295693 mu:0.333803 unit_bearing:-0.179077 0.096747 0.979067 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.861790, 0.326141, 0.312978 mu:0.333803 unit_bearing:-0.173323 0.096762 0.980100 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.862325, 0.336878, 0.293776 mu:0.333803 unit_bearing:-0.179065 0.101101 0.978629 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.860521, 0.339046, 0.311059 mu:0.333803 unit_bearing:-0.173312 0.101116 0.979662 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.579921, 0.669892, 1.187203 mu:0.333803 unit_bearing:0.144488 0.175088 0.973893 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.630448, 0.740480, 1.011828 mu:0.333803 unit_bearing:0.086744 0.205609 0.974782 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.582116, 0.657079, 1.189466 mu:0.333803 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.706857, 0.883234, 0.581343 mu:0.333803 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.710314, 0.870567, 0.583874 mu:0.333803 unit_bearing:-0.051791 0.266118 0.962548 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.387747, 1.461764, 0.831012 mu:0.333803 unit_bearing:0.079842 0.451937 0.888470 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.381558, 1.463587, 0.846858 mu:0.333803 unit_bearing:0.085530 0.451896 0.887961 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.375268, 1.465397, 0.862671 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.478769, -0.475925, 1.478128 mu:0.333803 unit_bearing:0.201674 -0.216372 0.955254 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.835701, -0.551962, 0.216480 mu:0.333803 unit_bearing:-0.235946 -0.190240 0.952963 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.693393, -0.831012, 0.715882 mu:0.333803 unit_bearing:-0.074710 -0.303010 0.950055 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.686205, -0.827010, 0.749431 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.701146, -0.805304, 0.714882 mu:0.333803 unit_bearing:-0.074741 -0.294451 0.952739 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.693952, -0.801296, 0.748443 mu:0.333803 unit_bearing:-0.063235 -0.294489 0.953560 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.332685, -0.687395, 1.638049 mu:0.333803 unit_bearing:0.257837 -0.292941 0.920709 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.737] If point is visible? -2.813342, -0.403493, 0.588163 mu:0.333803 unit_bearing:-0.109759 -0.156171 0.981613 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.511998, -0.294604, 1.466652 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.694517, -0.957196, 0.516162 mu:0.333803 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.507924, -0.320538, 1.468515 mu:0.333803 unit_bearing:0.201989 -0.164500 0.965474 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.491333, -0.316586, 1.499198 mu:0.333803 unit_bearing:0.213446 -0.164438 0.963017 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.452679, -0.334602, 1.561850 mu:0.333803 unit_bearing:0.236263 -0.172956 0.956173 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.811130, -0.373416, 0.620041 mu:0.333803 unit_bearing:-0.098231 -0.147503 0.984172 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.838956, -0.251653, 0.540335 mu:0.333803 unit_bearing:-0.121420 -0.103918 0.987147 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.822126, 0.081193, 0.676053 mu:0.333803 unit_bearing:-0.063650 0.000837 0.997972 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.877224, 0.065162, 0.331050 mu:0.333803 unit_bearing:-0.179199 0.009561 0.983766 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.663369, 0.548065, 1.045482 mu:0.333803 unit_bearing:0.086889 0.140490 0.986262 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.650652, 0.551944, 1.077612 mu:0.333803 unit_bearing:0.098446 0.140469 0.985179 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.737] If point is visible? -2.147067, 0.942587, 1.773892 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.738] If point is visible? -2.713714, 0.857891, 0.586390 mu:0.333803 unit_bearing:-0.051800 0.261816 0.963727 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] If point is visible? -2.672038, 0.569904, 1.008958 mu:0.333803 unit_bearing:0.075314 0.149212 0.985933 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] If point is visible? -2.659706, 0.573803, 1.041207 mu:0.333803 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] If point is visible? -2.646989, 0.577676, 1.073331 mu:0.333803 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] If point is visible? -2.588365, 0.618603, 1.196154 mu:0.333803 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] If point is visible? -1.484248, 0.873989, 2.420913 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:03.738] If point is visible? -2.627804, 0.753253, 1.009454 mu:0.333803 unit_bearing:0.086732 0.209938 0.973860 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] If point is visible? -2.615087, 0.757088, 1.041522 mu:0.333803 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] If point is visible? -2.633035, 0.727700, 1.014186 mu:0.333803 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] If point is visible? -2.620318, 0.731542, 1.046264 mu:0.333803 unit_bearing:0.098294 0.201247 0.974596 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] If point is visible? -2.308139, 1.493123, 1.000074 mu:0.333803 unit_bearing:0.142252 0.455449 0.878824 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] If point is visible? -2.387539, 1.451526, 0.850177 mu:0.333803 unit_bearing:0.085562 0.447765 0.890048 T_cur_ref: x=0.103220 y=0.000000 z=0.035372 +[21:41:03.738] If point is visible? -2.580195, -0.917878, 0.469649 mu:0.349201 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.723407, 0.087482, 0.521071 mu:0.349201 unit_bearing:-0.098384 0.009576 0.995102 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.047783, 0.901386, 1.703201 mu:0.349201 unit_bearing:0.393036 0.241366 0.887280 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:03.738] If point is visible? -2.302555, 1.342115, 0.834192 mu:0.349201 unit_bearing:0.097076 0.431104 0.897065 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.191541, -1.274539, 1.190426 mu:0.349201 unit_bearing:0.119162 -0.490983 0.862981 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:03.738] If point is visible? -2.292972, -1.423660, -0.645584 mu:0.349201 unit_bearing:-0.509414 -0.464534 0.724365 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.570531, -0.894401, 0.566834 mu:0.349201 unit_bearing:-0.109007 -0.332690 0.936715 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.572710, -0.873229, 0.590495 mu:0.349201 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.570659, -0.879343, 0.590705 mu:0.349201 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.569045, -0.863316, 0.622588 mu:0.349201 unit_bearing:-0.088980 -0.324289 0.941764 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.350966, -0.449918, 1.449623 mu:0.349201 unit_bearing:0.224534 -0.216202 0.950179 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.342656, -0.428518, 1.470449 mu:0.349201 unit_bearing:0.233144 -0.209671 0.949569 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.386406, -0.419567, 1.396219 mu:0.349201 unit_bearing:0.204624 -0.203410 0.957473 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.368269, -0.447587, 1.420032 mu:0.349201 unit_bearing:0.213127 -0.214135 0.953270 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.345463, -0.435651, 1.463519 mu:0.349201 unit_bearing:0.230275 -0.211848 0.949786 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.342334, -0.409035, 1.476661 mu:0.349201 unit_bearing:0.236047 -0.203183 0.950262 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.340654, -0.395727, 1.483195 mu:0.349201 unit_bearing:0.238932 -0.198848 0.950458 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.403645, -0.371988, 1.378392 mu:0.349201 unit_bearing:0.199005 -0.186160 0.962155 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.404776, -0.365798, 1.377987 mu:0.349201 unit_bearing:0.199017 -0.183998 0.962568 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.332082, -0.297328, 1.520625 mu:0.349201 unit_bearing:0.256265 -0.166336 0.952187 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.422954, -0.305760, 1.358894 mu:0.349201 unit_bearing:0.193398 -0.162376 0.967590 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.331056, -0.303512, 1.521051 mu:0.349201 unit_bearing:0.256250 -0.168498 0.951811 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.681946, -0.332507, 0.639310 mu:0.349201 unit_bearing:-0.072235 -0.141023 0.987367 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.680291, -0.331528, 0.647385 mu:0.349201 unit_bearing:-0.069344 -0.141027 0.987574 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.669894, -0.352467, 0.681716 mu:0.349201 unit_bearing:-0.057765 -0.149746 0.987036 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.421112, -0.292414, 1.365392 mu:0.349201 unit_bearing:0.196287 -0.158027 0.967729 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.376090, -0.236771, 1.457623 mu:0.349201 unit_bearing:0.233585 -0.142666 0.961813 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.371970, -0.235833, 1.464909 mu:0.349201 unit_bearing:0.236442 -0.142651 0.961117 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.411240, -0.251438, 1.392119 mu:0.349201 unit_bearing:0.207816 -0.144962 0.967367 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.407331, -0.250494, 1.399487 mu:0.349201 unit_bearing:0.210682 -0.144949 0.966749 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.674176, -0.307988, 0.686069 mu:0.349201 unit_bearing:-0.054891 -0.134515 0.989390 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.690851, -0.317788, 0.605338 mu:0.349201 unit_bearing:-0.083809 -0.134476 0.987366 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.689289, -0.316807, 0.613438 mu:0.349201 unit_bearing:-0.080918 -0.134480 0.987607 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.691664, -0.311574, 0.604793 mu:0.349201 unit_bearing:-0.083812 -0.132299 0.987660 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.408207, -0.244296, 1.399003 mu:0.349201 unit_bearing:0.210692 -0.142780 0.967069 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.672549, -0.347232, 0.673149 mu:0.349201 unit_bearing:-0.060660 -0.147567 0.987190 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.677747, -0.336762, 0.655983 mu:0.349201 unit_bearing:-0.066449 -0.143208 0.987459 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.738015, -0.372619, -0.120708 mu:0.349201 unit_bearing:-0.332871 -0.122582 0.934971 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.674988, -0.301772, 0.685527 mu:0.349201 unit_bearing:-0.054893 -0.132337 0.989684 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.678344, -0.290318, 0.676385 mu:0.349201 unit_bearing:-0.057791 -0.127978 0.990092 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.698159, -0.242218, 0.606662 mu:0.349201 unit_bearing:-0.080955 -0.108340 0.990812 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.689989, -0.237302, 0.647087 mu:0.349201 unit_bearing:-0.066491 -0.108356 0.991886 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.692322, -0.232066, 0.638426 mu:0.349201 unit_bearing:-0.069387 -0.106173 0.991924 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.741922, -0.261418, -0.235000 mu:0.349201 unit_bearing:-0.366835 -0.079176 0.926911 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.733942, -0.280731, -0.293383 mu:0.349201 unit_bearing:-0.386369 -0.083385 0.918567 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.742420, -0.255265, -0.235647 mu:0.349201 unit_bearing:-0.366846 -0.077016 0.927088 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.745375, -0.200902, -0.250127 mu:0.349201 unit_bearing:-0.369729 -0.057557 0.927355 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.747527, -0.192715, -0.233770 mu:0.349201 unit_bearing:-0.364134 -0.055416 0.929696 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.741035, -0.176268, -0.304701 mu:0.349201 unit_bearing:-0.386531 -0.046697 0.921093 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.742075, -0.121996, -0.319571 mu:0.349201 unit_bearing:-0.389368 -0.027253 0.920679 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.583882, -0.006399, 1.040005 mu:0.349201 unit_bearing:0.084106 -0.045047 0.995438 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.580969, -0.005445, 1.047737 mu:0.349201 unit_bearing:0.087000 -0.045045 0.995189 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.740398, -0.099499, -0.339534 mu:0.349201 unit_bearing:-0.394953 -0.018606 0.918513 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.699578, -0.103122, -0.573430 mu:0.349201 unit_bearing:-0.469356 -0.009908 0.882954 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.740272, -0.105639, -0.338807 mu:0.349201 unit_bearing:-0.394950 -0.020765 0.918468 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.729382, -0.047569, -0.423855 mu:0.349201 unit_bearing:-0.419941 0.002981 0.907547 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.749317, -0.029722, -0.278738 mu:0.349201 unit_bearing:-0.372633 0.002991 0.927974 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.537260, 0.120578, 1.149918 mu:0.349201 unit_bearing:0.130380 -0.005715 0.991448 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.533978, 0.121513, 1.157531 mu:0.349201 unit_bearing:0.133268 -0.005714 0.991064 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.527345, 0.123382, 1.172732 mu:0.349201 unit_bearing:0.139043 -0.005714 0.990270 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.739650, -0.069846, -0.351752 mu:0.349201 unit_bearing:-0.397746 -0.007809 0.917462 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.740874, -0.031975, -0.347725 mu:0.349201 unit_bearing:-0.394964 0.005146 0.918682 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.749291, -0.023575, -0.279498 mu:0.349201 unit_bearing:-0.372633 0.005154 0.927965 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.513835, 0.151926, 1.200004 mu:0.349201 unit_bearing:0.150585 0.003019 0.988592 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.739662, -0.026891, -0.357024 mu:0.349201 unit_bearing:-0.397746 0.007304 0.917466 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.747528, 0.048732, 0.359570 mu:0.349201 unit_bearing:-0.156153 0.003019 0.987728 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.738164, -0.003412, -0.368637 mu:0.349201 unit_bearing:-0.400520 0.015936 0.916149 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.739363, -0.002354, -0.360099 mu:0.349201 unit_bearing:-0.397739 0.015939 0.917360 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.583576, 0.156116, 1.028667 mu:0.349201 unit_bearing:0.087011 0.011763 0.996138 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.580640, 0.157063, 1.036393 mu:0.349201 unit_bearing:0.089905 0.011762 0.995881 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.577681, 0.158010, 1.044112 mu:0.349201 unit_bearing:0.092799 0.011762 0.995615 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.676771, -0.041630, -0.676634 mu:0.349201 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.691293, -0.022003, -0.618249 mu:0.349201 unit_bearing:-0.480216 0.020115 0.876920 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.640052, -0.039438, -0.807215 mu:0.349201 unit_bearing:-0.539207 0.022113 0.841883 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.691153, -0.015914, -0.619023 mu:0.349201 unit_bearing:-0.480211 0.022258 0.876870 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.728492, 0.013666, -0.431556 mu:0.349201 unit_bearing:-0.419918 0.024532 0.907230 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.732576, 0.016859, -0.405919 mu:0.349201 unit_bearing:-0.411612 0.024548 0.911029 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.694207, 0.016678, -0.605814 mu:0.349201 unit_bearing:-0.474752 0.032992 0.879501 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.696358, 0.011663, -0.596466 mu:0.349201 unit_bearing:-0.472039 0.030856 0.881038 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.722320, 0.021634, -0.467327 mu:0.349201 unit_bearing:-0.430954 0.028816 0.901914 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.723416, 0.034933, -0.460359 mu:0.349201 unit_bearing:-0.428186 0.033130 0.903083 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.721250, 0.083832, -0.466803 mu:0.349201 unit_bearing:-0.428129 0.050352 0.902314 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.705024, 0.072989, -0.552319 mu:0.349201 unit_bearing:-0.455600 0.050233 0.888766 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.705653, 0.060797, -0.550698 mu:0.349201 unit_bearing:-0.455618 0.045938 0.888989 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.705345, 0.066894, -0.551507 mu:0.349201 unit_bearing:-0.455609 0.048086 0.888880 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.710502, 0.070146, -0.525844 mu:0.349201 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.723124, 0.104330, -0.452174 mu:0.349201 unit_bearing:-0.422581 0.056834 0.904541 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.729943, 0.109750, -0.409469 mu:0.349201 unit_bearing:-0.408742 0.056895 0.910875 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.731225, 0.110833, -0.400932 mu:0.349201 unit_bearing:-0.405968 0.056907 0.912114 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.737235, 0.116238, -0.358271 mu:0.349201 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.744525, 0.123782, -0.298620 mu:0.349201 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.743192, 0.128837, -0.307969 mu:0.349201 unit_bearing:-0.375318 0.059191 0.925004 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.744154, 0.129914, -0.299453 mu:0.349201 unit_bearing:-0.372521 0.059202 0.926134 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.518352, 0.322629, 1.154261 mu:0.349201 unit_bearing:0.141887 0.064131 0.987803 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.726172, 0.350884, 0.360029 mu:0.349201 unit_bearing:-0.141610 0.107724 0.984044 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.560518, 0.490248, 0.980849 mu:0.349201 unit_bearing:0.086908 0.129608 0.987749 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.557582, 0.491182, 0.988566 mu:0.349201 unit_bearing:0.089798 0.129603 0.987491 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.554623, 0.492114, 0.996277 mu:0.349201 unit_bearing:0.092688 0.129598 0.987225 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.455091, 0.519427, 1.224012 mu:0.349201 unit_bearing:0.179178 0.129373 0.975273 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.444703, 0.569446, 1.223361 mu:0.349201 unit_bearing:0.181986 0.146737 0.972291 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.553832, 0.498274, 0.995286 mu:0.349201 unit_bearing:0.092684 0.131775 0.986937 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.448359, 0.592215, 1.204275 mu:0.349201 unit_bearing:0.176204 0.155441 0.972003 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.463171, 0.647268, 1.141128 mu:0.349201 unit_bearing:0.155989 0.177209 0.971733 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.459678, 0.648156, 1.148651 mu:0.349201 unit_bearing:0.158865 0.177197 0.971269 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] If point is visible? -2.074513, 0.938446, 1.647292 mu:0.349201 unit_bearing:0.373381 0.256590 0.891486 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.738] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:03.739] If point is visible? -2.069202, 0.939123, 1.654023 mu:0.349201 unit_bearing:0.376154 0.256538 0.890335 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.739] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:03.739] If point is visible? -2.550723, 1.032542, 0.384937 mu:0.349201 unit_bearing:-0.088886 0.342926 0.935148 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.739] If point is visible? -2.549241, 1.033572, 0.392982 mu:0.349201 unit_bearing:-0.086019 0.342940 0.935410 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.739] If point is visible? -2.547735, 1.034599, 0.401021 mu:0.349201 unit_bearing:-0.083152 0.342954 0.935664 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.739] If point is visible? -2.233965, 1.173160, 1.212754 mu:0.349201 unit_bearing:0.222969 0.356434 0.907325 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.739] If point is visible? -2.229899, 1.173929, 1.219997 mu:0.349201 unit_bearing:0.225800 0.356393 0.906641 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.739] If point is visible? -2.217561, 1.176220, 1.241667 mu:0.349201 unit_bearing:0.234287 0.356264 0.904536 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.739] If point is visible? -2.085705, 1.424554, 1.219597 mu:0.349201 unit_bearing:0.249473 0.443276 0.860970 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.739] If point is visible? -2.082860, 1.430269, 1.217950 mu:0.349201 unit_bearing:0.249424 0.445327 0.859925 T_cur_ref: x=0.097122 y=0.000000 z=0.033608 +[21:41:03.739] init seeds +[21:41:03.739] DepthFilter: Initialized 3 new seeds +[21:41:03.741] DepthFilter: Initialized 2 new seeds +[21:41:04.274] add new frame +[21:41:04.274] update seed +[21:41:04.274] If point is visible? -2.258301, 0.715170, 0.492363 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.144074 y=0.000000 z=0.047550 +[21:41:04.274] If point is visible? -2.033250, -1.038245, -0.766110 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.144074 y=0.000000 z=0.047550 +[21:41:04.274] If point is visible? -2.258301, 0.715170, 0.492363 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.144074 y=0.000000 z=0.047550 +[21:41:04.274] If point is visible? -2.033250, -1.038245, -0.766110 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.144074 y=0.000000 z=0.047550 +[21:41:04.274] If point is visible? -2.083798, 1.345270, 0.862382 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.124426 y=0.000000 z=0.042221 +[21:41:04.274] If point is visible? -2.233460, -0.874851, -0.974477 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.124426 y=0.000000 z=0.042221 +[21:41:04.274] If point is visible? -2.083798, 1.345270, 0.862382 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.124426 y=0.000000 z=0.042221 +[21:41:04.274] If point is visible? -2.233460, -0.874851, -0.974477 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.124426 y=0.000000 z=0.042221 +[21:41:04.274] If point is visible? -2.139463, 0.942587, 1.776805 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.274] If point is visible? -1.476644, 0.873989, 2.423825 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.274] If point is visible? -2.277611, -1.353460, 1.237548 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.274] If point is visible? -2.680881, -0.928227, 0.603516 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] If point is visible? -2.677920, -0.910497, 0.645421 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] If point is visible? -2.677895, -0.941992, 0.595428 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] If point is visible? -2.675779, -0.916895, 0.645622 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] If point is visible? -2.776846, -0.781176, 0.199034 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] If point is visible? -2.453170, -0.478379, 1.511988 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] add key frame +[21:41:04.274] If point is visible? -2.446113, -0.469915, 1.526896 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] init seeds +[21:41:04.274] remove key frame +[21:41:04.274] update seed +[21:41:04.274] If point is visible? -2.258301, 0.715170, 0.492363 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.144074 y=0.000000 z=0.047550 +[21:41:04.274] If point is visible? -2.033250, -1.038245, -0.766110 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.144074 y=0.000000 z=0.047550 +[21:41:04.274] If point is visible? -2.258301, 0.715170, 0.492363 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.144074 y=0.000000 z=0.047550 +[21:41:04.274] If point is visible? -2.033250, -1.038245, -0.766110 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.144074 y=0.000000 z=0.047550 +[21:41:04.274] If point is visible? -2.083798, 1.345270, 0.862382 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.124426 y=0.000000 z=0.042221 +[21:41:04.274] If point is visible? -2.233460, -0.874851, -0.974477 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.124426 y=0.000000 z=0.042221 +[21:41:04.274] If point is visible? -2.083798, 1.345270, 0.862382 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.124426 y=0.000000 z=0.042221 +[21:41:04.274] If point is visible? -2.233460, -0.874851, -0.974477 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.124426 y=0.000000 z=0.042221 +[21:41:04.274] If point is visible? -2.139463, 0.942587, 1.776805 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.274] If point is visible? -1.476644, 0.873989, 2.423825 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.274] If point is visible? -2.277611, -1.353460, 1.237548 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.274] If point is visible? -2.680881, -0.928227, 0.603516 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] If point is visible? -2.677920, -0.910497, 0.645421 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] If point is visible? -2.677895, -0.941992, 0.595428 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] If point is visible? -2.675779, -0.916895, 0.645622 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] If point is visible? -2.776846, -0.781176, 0.199034 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.274] If point is visible? -2.453170, -0.478379, 1.511988 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.446113, -0.469915, 1.526896 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.469773, -0.482389, 1.481382 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.441315, -0.428141, 1.547587 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.500505, -0.415222, 1.446567 mu:0.333803 unit_bearing:0.190357 -0.194859 0.962182 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.509353, -0.390311, 1.437227 mu:0.333803 unit_bearing:0.187539 -0.186225 0.964443 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.508160, -0.396789, 1.437639 mu:0.333803 unit_bearing:0.187527 -0.188388 0.964025 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.448056, -0.288297, 1.569209 mu:0.333803 unit_bearing:0.239213 -0.157795 0.958060 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.443629, -0.287316, 1.576768 mu:0.333803 unit_bearing:0.242067 -0.157778 0.957345 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.526541, -0.313508, 1.424188 mu:0.333803 unit_bearing:0.184799 -0.160249 0.969623 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.527552, -0.307021, 1.423716 mu:0.333803 unit_bearing:0.184809 -0.158080 0.969978 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.525517, -0.319994, 1.424655 mu:0.333803 unit_bearing:0.184789 -0.162417 0.969265 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.449055, -0.281820, 1.568745 mu:0.333803 unit_bearing:0.239225 -0.155631 0.958410 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.524584, -0.299544, 1.430984 mu:0.333803 unit_bearing:0.187689 -0.155899 0.969777 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.465102, -0.265324, 1.544578 mu:0.333803 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.460748, -0.264345, 1.552170 mu:0.333803 unit_bearing:0.233550 -0.149167 0.960835 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.522546, -0.285580, 1.437754 mu:0.333803 unit_bearing:0.190579 -0.151548 0.969904 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.518533, -0.284593, 1.445481 mu:0.333803 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.511388, -0.276133, 1.460419 mu:0.333803 unit_bearing:0.199196 -0.149340 0.968514 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.512329, -0.269647, 1.459927 mu:0.333803 unit_bearing:0.199206 -0.147171 0.968844 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.801455, -0.350849, 0.646765 mu:0.333803 unit_bearing:-0.089578 -0.140995 0.985949 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.509171, -0.262175, 1.467131 mu:0.333803 unit_bearing:0.202083 -0.144988 0.968577 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.808916, -0.334426, 0.619651 mu:0.333803 unit_bearing:-0.098257 -0.134450 0.986037 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.807331, -0.333400, 0.628139 mu:0.333803 unit_bearing:-0.095368 -0.134456 0.986320 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.805720, -0.332374, 0.636622 mu:0.333803 unit_bearing:-0.092479 -0.134461 0.986594 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.791950, -0.324179, 0.704261 mu:0.333803 unit_bearing:-0.069353 -0.134497 0.988484 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.851281, -0.411065, -0.139682 mu:0.333803 unit_bearing:-0.346887 -0.128952 0.929000 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.814470, -0.274887, 0.622924 mu:0.333803 unit_bearing:-0.095402 -0.114857 0.988790 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.825607, -0.303652, 0.548070 mu:0.333803 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.809305, -0.257767, 0.655629 mu:0.333803 unit_bearing:-0.083844 -0.110516 0.990331 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.852442, -0.344171, -0.236145 mu:0.333803 unit_bearing:-0.375086 -0.102865 0.921265 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.854525, -0.295861, -0.268117 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.860106, -0.236936, -0.265274 mu:0.333803 unit_bearing:-0.380876 -0.066151 0.922257 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.858492, -0.232624, -0.283832 mu:0.333803 unit_bearing:-0.386466 -0.063968 0.920083 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.696436, -0.014161, 1.084135 mu:0.333803 unit_bearing:0.072527 -0.047237 0.996247 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.693412, -0.013163, 1.092227 mu:0.333803 unit_bearing:0.075422 -0.047236 0.996032 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.846728, -0.119249, -0.423646 mu:0.333803 unit_bearing:-0.425452 -0.020717 0.904744 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.638000, 0.121641, 1.223139 mu:0.333803 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.841398, -0.065980, -0.466435 mu:0.333803 unit_bearing:-0.436497 -0.001328 0.899705 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.806155, -0.131488, -0.631533 mu:0.333803 unit_bearing:-0.488350 -0.016316 0.872495 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.644976, 0.139171, 1.204865 mu:0.333803 unit_bearing:0.121714 -0.001347 0.992564 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.699136, 0.070399, 1.074568 mu:0.333803 unit_bearing:0.072537 -0.018832 0.997188 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.795647, -0.079679, -0.683372 mu:0.333803 unit_bearing:-0.501854 0.002958 0.864947 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.845903, -0.043469, -0.441912 mu:0.333803 unit_bearing:-0.428228 0.005133 0.903656 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.826135, -0.050341, -0.550318 mu:0.333803 unit_bearing:-0.461175 0.007266 0.887280 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.699598, 0.109406, 1.069918 mu:0.333803 unit_bearing:0.072539 -0.005719 0.997349 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.824246, -0.045065, -0.560086 mu:0.333803 unit_bearing:-0.463903 0.009411 0.885836 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.827880, -0.042848, -0.542141 mu:0.333803 unit_bearing:-0.458441 0.009416 0.888675 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.824174, -0.038683, -0.560885 mu:0.333803 unit_bearing:-0.463901 0.011558 0.885811 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.741174, -0.064956, -0.876374 mu:0.333803 unit_bearing:-0.557673 0.015688 0.829912 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.879328, 0.063141, 0.210674 mu:0.333803 unit_bearing:-0.219422 0.013907 0.975531 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.851463, -0.026238, -0.407675 mu:0.333803 unit_bearing:-0.417171 0.009449 0.908779 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.849934, -0.014531, -0.418237 mu:0.333803 unit_bearing:-0.419934 0.013757 0.907450 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.851306, -0.013423, -0.409282 mu:0.333803 unit_bearing:-0.417167 0.013760 0.908726 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.797501, -0.040411, -0.679157 mu:0.333803 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.696490, 0.155886, 1.072401 mu:0.333803 unit_bearing:0.075434 0.009579 0.997105 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.693443, 0.156878, 1.080488 mu:0.333803 unit_bearing:0.078328 0.009579 0.996882 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.850020, -0.020937, -0.417432 mu:0.333803 unit_bearing:-0.419936 0.011602 0.907480 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.801345, -0.012734, -0.664441 mu:0.333803 unit_bearing:-0.493738 0.024368 0.869269 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.832306, 0.005201, -0.520886 mu:0.333803 unit_bearing:-0.450207 0.024470 0.892589 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.843816, 0.000231, -0.456501 mu:0.333803 unit_bearing:-0.430971 0.020204 0.902140 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.803661, -0.017974, -0.654655 mu:0.333803 unit_bearing:-0.491042 0.022234 0.870852 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.842157, 0.005513, -0.466279 mu:0.333803 unit_bearing:-0.433723 0.022352 0.900769 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.801169, -0.006373, -0.665256 mu:0.333803 unit_bearing:-0.493733 0.026509 0.869209 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.822538, 0.070876, -0.565933 mu:0.333803 unit_bearing:-0.461075 0.048062 0.886059 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.831273, 0.076558, -0.521107 mu:0.333803 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.819470, 0.055857, -0.582177 mu:0.333803 unit_bearing:-0.466549 0.043747 0.883413 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.831593, 0.070176, -0.520257 mu:0.333803 unit_bearing:-0.447401 0.045972 0.893151 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.848971, 0.096550, -0.414489 mu:0.333803 unit_bearing:-0.414310 0.050407 0.908739 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.850289, 0.097681, -0.405542 mu:0.333803 unit_bearing:-0.411540 0.050418 0.909996 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.597420, 0.325831, 1.276816 mu:0.333803 unit_bearing:0.156315 0.057569 0.986028 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.858018, 0.118399, -0.344696 mu:0.333803 unit_bearing:-0.392077 0.054807 0.918299 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.858378, 0.111991, -0.343829 mu:0.333803 unit_bearing:-0.392085 0.052649 0.918421 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.857643, 0.124805, -0.345565 mu:0.333803 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.629075, 0.330144, 1.203905 mu:0.333803 unit_bearing:0.130345 0.061964 0.989531 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.855100, 0.325058, 0.307250 mu:0.333803 unit_bearing:-0.176200 0.096755 0.979588 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.846642, 0.357354, 0.355152 mu:0.333803 unit_bearing:-0.158907 0.105506 0.981640 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.675385, 0.510974, 1.013299 mu:0.333803 unit_bearing:0.072452 0.129629 0.988912 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.672363, 0.511955, 1.021384 mu:0.333803 unit_bearing:0.075344 0.129625 0.988696 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.669316, 0.512934, 1.029462 mu:0.333803 unit_bearing:0.078235 0.129621 0.988472 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.528464, 0.544445, 1.346891 mu:0.333803 unit_bearing:0.193549 0.127148 0.972817 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.566691, 0.541622, 1.268029 mu:0.333803 unit_bearing:0.164797 0.129421 0.977800 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.555897, 0.593968, 1.267313 mu:0.333803 unit_bearing:0.167614 0.146793 0.974863 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.552077, 0.594894, 1.275123 mu:0.333803 unit_bearing:0.170490 0.146782 0.974366 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.558756, 0.599460, 1.258409 mu:0.333803 unit_bearing:0.164730 0.148975 0.975023 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.554960, 0.600388, 1.266227 mu:0.333803 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.556839, 0.612297, 1.256224 mu:0.333803 unit_bearing:0.164713 0.153317 0.974353 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.557804, 0.605879, 1.257319 mu:0.333803 unit_bearing:0.164722 0.151146 0.974691 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.554009, 0.606806, 1.265136 mu:0.333803 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.569794, 0.664420, 1.199123 mu:0.333803 unit_bearing:0.147375 0.172909 0.973850 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.567571, 0.677228, 1.196850 mu:0.333803 unit_bearing:0.147358 0.177245 0.973072 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.568689, 0.670825, 1.197989 mu:0.333803 unit_bearing:0.147366 0.175077 0.973464 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.152250, 0.977239, 1.740698 mu:0.333803 unit_bearing:0.370645 0.254519 0.893221 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.275] If point is visible? -2.662405, 1.077755, 0.388081 mu:0.333803 unit_bearing:-0.103215 0.342846 0.933704 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.660906, 1.078842, 0.396512 mu:0.333803 unit_bearing:-0.100350 0.342863 0.934010 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.325995, 1.233657, 1.269023 mu:0.333803 unit_bearing:0.214440 0.358661 0.908503 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.313181, 1.236072, 1.291696 mu:0.333803 unit_bearing:0.222938 0.358539 0.906503 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] If point is visible? -2.304515, 1.237667, 1.306761 mu:0.333803 unit_bearing:0.228598 0.358455 0.905126 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.275] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.275] If point is visible? -2.367663, 1.465397, 0.865583 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.481583, 1.473576, 0.325878 mu:0.333803 unit_bearing:-0.090808 0.476518 0.874463 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.188062, 1.548074, 1.175518 mu:0.333803 unit_bearing:0.209731 0.466636 0.859223 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.183835, 1.548821, 1.183014 mu:0.333803 unit_bearing:0.212538 0.466579 0.858564 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.162323, 1.552500, 1.220342 mu:0.333803 unit_bearing:0.226555 0.466279 0.855135 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.157946, 1.553224, 1.227776 mu:0.333803 unit_bearing:0.229355 0.466217 0.854423 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.412878, -1.377663, -0.802956 mu:0.333803 unit_bearing:-0.555223 -0.422218 0.716561 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.372458, -1.480484, -0.746695 mu:0.333803 unit_bearing:-0.537592 -0.458572 0.707606 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.349390, -1.536842, -0.710167 mu:0.333803 unit_bearing:-0.526032 -0.478731 0.702928 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.488945, -1.122462, -0.939464 mu:0.333803 unit_bearing:-0.595743 -0.332113 0.731294 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.496265, -1.087427, -0.959365 mu:0.333803 unit_bearing:-0.601386 -0.319696 0.732209 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.682180, -0.953285, 0.553150 mu:0.333803 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.679661, -0.951325, 0.570154 mu:0.333803 unit_bearing:-0.126161 -0.336824 0.933077 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.681433, -0.936587, 0.586751 mu:0.333803 unit_bearing:-0.120466 -0.332617 0.935336 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.674639, -0.839857, 0.752811 mu:0.333803 unit_bearing:-0.063195 -0.307324 0.949504 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.678600, -0.827010, 0.752343 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.674857, -0.825006, 0.769079 mu:0.333803 unit_bearing:-0.057457 -0.303065 0.951236 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.537701, -0.862652, -1.064377 mu:0.333803 unit_bearing:-0.629864 -0.240952 0.738386 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.454561, -0.471917, 1.511650 mu:0.333803 unit_bearing:0.213111 -0.216290 0.952787 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.809615, -0.377513, 0.588946 mu:0.333803 unit_bearing:-0.109780 -0.147477 0.982954 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.797040, -0.369322, 0.656864 mu:0.333803 unit_bearing:-0.086676 -0.147526 0.985253 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.462190, -0.284762, 1.546005 mu:0.333803 unit_bearing:0.230656 -0.155680 0.960501 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.512542, -0.296578, 1.454160 mu:0.333803 unit_bearing:0.196297 -0.155859 0.968078 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.504393, -0.294604, 1.469564 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.815320, -0.282417, 0.615029 mu:0.333803 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.802184, -0.358372, 0.638837 mu:0.333803 unit_bearing:-0.092463 -0.143165 0.985370 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.854525, -0.295861, -0.268117 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.806741, 0.059323, 0.715786 mu:0.333803 unit_bearing:-0.052064 -0.007906 0.998612 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.857204, 0.311066, 0.300509 mu:0.333803 unit_bearing:-0.179088 0.092393 0.979485 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.855398, 0.313231, 0.317794 mu:0.333803 unit_bearing:-0.173333 0.092407 0.980518 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.855990, 0.323974, 0.298605 mu:0.333803 unit_bearing:-0.179077 0.096747 0.979067 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.854185, 0.326141, 0.315890 mu:0.333803 unit_bearing:-0.173323 0.096762 0.980100 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.854720, 0.336878, 0.296688 mu:0.333803 unit_bearing:-0.179065 0.101101 0.978629 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.852916, 0.339046, 0.313971 mu:0.333803 unit_bearing:-0.173312 0.101116 0.979662 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.572316, 0.669892, 1.190115 mu:0.333803 unit_bearing:0.144488 0.175088 0.973893 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.622843, 0.740480, 1.014740 mu:0.333803 unit_bearing:0.086744 0.205609 0.974782 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.574511, 0.657079, 1.192378 mu:0.333803 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.699252, 0.883234, 0.584255 mu:0.333803 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.702710, 0.870567, 0.586786 mu:0.333803 unit_bearing:-0.051791 0.266118 0.962548 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.380143, 1.461764, 0.833924 mu:0.333803 unit_bearing:0.079842 0.451937 0.888470 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.373953, 1.463587, 0.849770 mu:0.333803 unit_bearing:0.085530 0.451896 0.887961 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.367663, 1.465397, 0.865583 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.471164, -0.475925, 1.481040 mu:0.333803 unit_bearing:0.201674 -0.216372 0.955254 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.828096, -0.551962, 0.219392 mu:0.333803 unit_bearing:-0.235946 -0.190240 0.952963 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.685788, -0.831012, 0.718794 mu:0.333803 unit_bearing:-0.074710 -0.303010 0.950055 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.678600, -0.827010, 0.752343 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.693541, -0.805304, 0.717794 mu:0.333803 unit_bearing:-0.074741 -0.294451 0.952739 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.686347, -0.801296, 0.751356 mu:0.333803 unit_bearing:-0.063235 -0.294489 0.953560 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.325080, -0.687395, 1.640961 mu:0.333803 unit_bearing:0.257837 -0.292941 0.920709 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.276] If point is visible? -2.805737, -0.403493, 0.591075 mu:0.333803 unit_bearing:-0.109759 -0.156171 0.981613 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.504393, -0.294604, 1.469564 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.686913, -0.957196, 0.519074 mu:0.333803 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.500319, -0.320538, 1.471427 mu:0.333803 unit_bearing:0.201989 -0.164500 0.965474 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.483728, -0.316586, 1.502110 mu:0.333803 unit_bearing:0.213446 -0.164438 0.963017 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.445075, -0.334602, 1.564762 mu:0.333803 unit_bearing:0.236263 -0.172956 0.956173 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.803526, -0.373416, 0.622953 mu:0.333803 unit_bearing:-0.098231 -0.147503 0.984172 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.831351, -0.251653, 0.543247 mu:0.333803 unit_bearing:-0.121420 -0.103918 0.987147 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.814522, 0.081193, 0.678965 mu:0.333803 unit_bearing:-0.063650 0.000837 0.997972 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.869619, 0.065162, 0.333962 mu:0.333803 unit_bearing:-0.179199 0.009561 0.983766 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.655765, 0.548065, 1.048394 mu:0.333803 unit_bearing:0.086889 0.140490 0.986262 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.643047, 0.551944, 1.080525 mu:0.333803 unit_bearing:0.098446 0.140469 0.985179 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.139463, 0.942587, 1.776805 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.276] If point is visible? -2.706110, 0.857891, 0.589302 mu:0.333803 unit_bearing:-0.051800 0.261816 0.963727 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.664433, 0.569904, 1.011870 mu:0.333803 unit_bearing:0.075314 0.149212 0.985933 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.652102, 0.573803, 1.044119 mu:0.333803 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.639384, 0.577676, 1.076243 mu:0.333803 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.580761, 0.618603, 1.199066 mu:0.333803 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -1.476644, 0.873989, 2.423825 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.276] If point is visible? -2.620199, 0.753253, 1.012366 mu:0.333803 unit_bearing:0.086732 0.209938 0.973860 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.607483, 0.757088, 1.044435 mu:0.333803 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.625430, 0.727700, 1.017098 mu:0.333803 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.612714, 0.731542, 1.049176 mu:0.333803 unit_bearing:0.098294 0.201247 0.974596 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.300534, 1.493123, 1.002986 mu:0.333803 unit_bearing:0.142252 0.455449 0.878824 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.379934, 1.451526, 0.853089 mu:0.333803 unit_bearing:0.085562 0.447765 0.890048 T_cur_ref: x=0.110825 y=0.000000 z=0.038284 +[21:41:04.276] If point is visible? -2.572590, -0.917878, 0.472561 mu:0.349201 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.715802, 0.087482, 0.523983 mu:0.349201 unit_bearing:-0.098384 0.009576 0.995102 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.040179, 0.901386, 1.706113 mu:0.349201 unit_bearing:0.393036 0.241366 0.887280 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:04.276] If point is visible? -2.294950, 1.342115, 0.837104 mu:0.349201 unit_bearing:0.097076 0.431104 0.897065 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.183937, -1.274539, 1.193338 mu:0.349201 unit_bearing:0.119162 -0.490983 0.862981 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:04.276] If point is visible? -2.285367, -1.423660, -0.642672 mu:0.349201 unit_bearing:-0.509414 -0.464534 0.724365 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.562926, -0.894401, 0.569746 mu:0.349201 unit_bearing:-0.109007 -0.332690 0.936715 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.565105, -0.873229, 0.593408 mu:0.349201 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.563054, -0.879343, 0.593617 mu:0.349201 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.561440, -0.863316, 0.625500 mu:0.349201 unit_bearing:-0.088980 -0.324289 0.941764 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.343361, -0.449918, 1.452535 mu:0.349201 unit_bearing:0.224534 -0.216202 0.950179 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.335051, -0.428518, 1.473361 mu:0.349201 unit_bearing:0.233144 -0.209671 0.949569 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.378802, -0.419567, 1.399131 mu:0.349201 unit_bearing:0.204624 -0.203410 0.957473 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.360664, -0.447587, 1.422944 mu:0.349201 unit_bearing:0.213127 -0.214135 0.953270 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.337858, -0.435651, 1.466431 mu:0.349201 unit_bearing:0.230275 -0.211848 0.949786 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.334729, -0.409035, 1.479573 mu:0.349201 unit_bearing:0.236047 -0.203183 0.950262 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.333050, -0.395727, 1.486107 mu:0.349201 unit_bearing:0.238932 -0.198848 0.950458 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.396041, -0.371988, 1.381304 mu:0.349201 unit_bearing:0.199005 -0.186160 0.962155 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.397171, -0.365798, 1.380899 mu:0.349201 unit_bearing:0.199017 -0.183998 0.962568 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.324477, -0.297328, 1.523537 mu:0.349201 unit_bearing:0.256265 -0.166336 0.952187 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.415350, -0.305760, 1.361806 mu:0.349201 unit_bearing:0.193398 -0.162376 0.967590 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.323451, -0.303512, 1.523963 mu:0.349201 unit_bearing:0.256250 -0.168498 0.951811 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.674342, -0.332507, 0.642222 mu:0.349201 unit_bearing:-0.072235 -0.141023 0.987367 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.672686, -0.331528, 0.650298 mu:0.349201 unit_bearing:-0.069344 -0.141027 0.987574 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.662290, -0.352467, 0.684628 mu:0.349201 unit_bearing:-0.057765 -0.149746 0.987036 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.413507, -0.292414, 1.368304 mu:0.349201 unit_bearing:0.196287 -0.158027 0.967729 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.368485, -0.236771, 1.460536 mu:0.349201 unit_bearing:0.233585 -0.142666 0.961813 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.364365, -0.235833, 1.467822 mu:0.349201 unit_bearing:0.236442 -0.142651 0.961117 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.403636, -0.251438, 1.395032 mu:0.349201 unit_bearing:0.207816 -0.144962 0.967367 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.399726, -0.250494, 1.402399 mu:0.349201 unit_bearing:0.210682 -0.144949 0.966749 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.666572, -0.307988, 0.688982 mu:0.349201 unit_bearing:-0.054891 -0.134515 0.989390 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.683246, -0.317788, 0.608251 mu:0.349201 unit_bearing:-0.083809 -0.134476 0.987366 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.276] If point is visible? -2.681685, -0.316807, 0.616350 mu:0.349201 unit_bearing:-0.080918 -0.134480 0.987607 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.684059, -0.311574, 0.607706 mu:0.349201 unit_bearing:-0.083812 -0.132299 0.987660 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.400602, -0.244296, 1.401915 mu:0.349201 unit_bearing:0.210692 -0.142780 0.967069 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.664944, -0.347232, 0.676061 mu:0.349201 unit_bearing:-0.060660 -0.147567 0.987190 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.670142, -0.336762, 0.658895 mu:0.349201 unit_bearing:-0.066449 -0.143208 0.987459 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.730410, -0.372619, -0.117796 mu:0.349201 unit_bearing:-0.332871 -0.122582 0.934971 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.667383, -0.301772, 0.688440 mu:0.349201 unit_bearing:-0.054893 -0.132337 0.989684 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.670739, -0.290318, 0.679297 mu:0.349201 unit_bearing:-0.057791 -0.127978 0.990092 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.690554, -0.242218, 0.609574 mu:0.349201 unit_bearing:-0.080955 -0.108340 0.990812 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.682384, -0.237302, 0.649999 mu:0.349201 unit_bearing:-0.066491 -0.108356 0.991886 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.684717, -0.232066, 0.641338 mu:0.349201 unit_bearing:-0.069387 -0.106173 0.991924 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.734317, -0.261418, -0.232088 mu:0.349201 unit_bearing:-0.366835 -0.079176 0.926911 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.726338, -0.280731, -0.290471 mu:0.349201 unit_bearing:-0.386369 -0.083385 0.918567 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.734815, -0.255265, -0.232735 mu:0.349201 unit_bearing:-0.366846 -0.077016 0.927088 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.737771, -0.200902, -0.247215 mu:0.349201 unit_bearing:-0.369729 -0.057557 0.927355 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.739922, -0.192715, -0.230857 mu:0.349201 unit_bearing:-0.364134 -0.055416 0.929696 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.733430, -0.176268, -0.301789 mu:0.349201 unit_bearing:-0.386531 -0.046697 0.921093 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.734470, -0.121996, -0.316659 mu:0.349201 unit_bearing:-0.389368 -0.027253 0.920679 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.576277, -0.006399, 1.042917 mu:0.349201 unit_bearing:0.084106 -0.045047 0.995438 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.573364, -0.005445, 1.050649 mu:0.349201 unit_bearing:0.087000 -0.045045 0.995189 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.732794, -0.099499, -0.336622 mu:0.349201 unit_bearing:-0.394953 -0.018606 0.918513 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.691973, -0.103122, -0.570517 mu:0.349201 unit_bearing:-0.469356 -0.009908 0.882954 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.732667, -0.105639, -0.335895 mu:0.349201 unit_bearing:-0.394950 -0.020765 0.918468 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.721777, -0.047569, -0.420943 mu:0.349201 unit_bearing:-0.419941 0.002981 0.907547 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.741712, -0.029722, -0.275826 mu:0.349201 unit_bearing:-0.372633 0.002991 0.927974 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.529656, 0.120578, 1.152830 mu:0.349201 unit_bearing:0.130380 -0.005715 0.991448 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.526374, 0.121513, 1.160443 mu:0.349201 unit_bearing:0.133268 -0.005714 0.991064 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.519741, 0.123382, 1.175645 mu:0.349201 unit_bearing:0.139043 -0.005714 0.990270 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.732046, -0.069846, -0.348840 mu:0.349201 unit_bearing:-0.397746 -0.007809 0.917462 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.733269, -0.031975, -0.344813 mu:0.349201 unit_bearing:-0.394964 0.005146 0.918682 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.741686, -0.023575, -0.276586 mu:0.349201 unit_bearing:-0.372633 0.005154 0.927965 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.506230, 0.151926, 1.202916 mu:0.349201 unit_bearing:0.150585 0.003019 0.988592 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.732057, -0.026891, -0.354111 mu:0.349201 unit_bearing:-0.397746 0.007304 0.917466 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.739923, 0.048732, 0.362483 mu:0.349201 unit_bearing:-0.156153 0.003019 0.987728 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.730559, -0.003412, -0.365725 mu:0.349201 unit_bearing:-0.400520 0.015936 0.916149 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.731758, -0.002354, -0.357187 mu:0.349201 unit_bearing:-0.397739 0.015939 0.917360 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.575971, 0.156116, 1.031579 mu:0.349201 unit_bearing:0.087011 0.011763 0.996138 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.573035, 0.157063, 1.039306 mu:0.349201 unit_bearing:0.089905 0.011762 0.995881 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.570076, 0.158010, 1.047025 mu:0.349201 unit_bearing:0.092799 0.011762 0.995615 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.669166, -0.041630, -0.673722 mu:0.349201 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.683688, -0.022003, -0.615336 mu:0.349201 unit_bearing:-0.480216 0.020115 0.876920 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.632447, -0.039438, -0.804303 mu:0.349201 unit_bearing:-0.539207 0.022113 0.841883 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.683548, -0.015914, -0.616111 mu:0.349201 unit_bearing:-0.480211 0.022258 0.876870 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.720887, 0.013666, -0.428644 mu:0.349201 unit_bearing:-0.419918 0.024532 0.907230 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.724971, 0.016859, -0.403007 mu:0.349201 unit_bearing:-0.411612 0.024548 0.911029 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.686603, 0.016678, -0.602901 mu:0.349201 unit_bearing:-0.474752 0.032992 0.879501 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.688753, 0.011663, -0.593554 mu:0.349201 unit_bearing:-0.472039 0.030856 0.881038 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.714715, 0.021634, -0.464415 mu:0.349201 unit_bearing:-0.430954 0.028816 0.901914 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.715811, 0.034933, -0.457447 mu:0.349201 unit_bearing:-0.428186 0.033130 0.903083 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.713645, 0.083832, -0.463890 mu:0.349201 unit_bearing:-0.428129 0.050352 0.902314 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.697419, 0.072989, -0.549406 mu:0.349201 unit_bearing:-0.455600 0.050233 0.888766 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.698048, 0.060797, -0.547786 mu:0.349201 unit_bearing:-0.455618 0.045938 0.888989 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.697741, 0.066894, -0.548595 mu:0.349201 unit_bearing:-0.455609 0.048086 0.888880 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.702897, 0.070146, -0.522932 mu:0.349201 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.715520, 0.104330, -0.449262 mu:0.349201 unit_bearing:-0.422581 0.056834 0.904541 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.722338, 0.109750, -0.406557 mu:0.349201 unit_bearing:-0.408742 0.056895 0.910875 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.723621, 0.110833, -0.398020 mu:0.349201 unit_bearing:-0.405968 0.056907 0.912114 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.729630, 0.116238, -0.355359 mu:0.349201 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.736921, 0.123782, -0.295708 mu:0.349201 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.735587, 0.128837, -0.305057 mu:0.349201 unit_bearing:-0.375318 0.059191 0.925004 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.736549, 0.129914, -0.296541 mu:0.349201 unit_bearing:-0.372521 0.059202 0.926134 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.510747, 0.322629, 1.157173 mu:0.349201 unit_bearing:0.141887 0.064131 0.987803 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.718567, 0.350884, 0.362941 mu:0.349201 unit_bearing:-0.141610 0.107724 0.984044 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.552913, 0.490248, 0.983761 mu:0.349201 unit_bearing:0.086908 0.129608 0.987749 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.549977, 0.491182, 0.991478 mu:0.349201 unit_bearing:0.089798 0.129603 0.987491 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.547018, 0.492114, 0.999189 mu:0.349201 unit_bearing:0.092688 0.129598 0.987225 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.447486, 0.519427, 1.226924 mu:0.349201 unit_bearing:0.179178 0.129373 0.975273 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.437098, 0.569446, 1.226273 mu:0.349201 unit_bearing:0.181986 0.146737 0.972291 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.546227, 0.498274, 0.998199 mu:0.349201 unit_bearing:0.092684 0.131775 0.986937 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.440755, 0.592215, 1.207187 mu:0.349201 unit_bearing:0.176204 0.155441 0.972003 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.455566, 0.647268, 1.144040 mu:0.349201 unit_bearing:0.155989 0.177209 0.971733 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.452074, 0.648156, 1.151563 mu:0.349201 unit_bearing:0.158865 0.177197 0.971269 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] If point is visible? -2.066909, 0.938446, 1.650204 mu:0.349201 unit_bearing:0.373381 0.256590 0.891486 T_cur_ref: x=0.104727 y=0.000000 z=0.036520 +[21:41:04.277] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:04.277] init seeds +[21:41:04.277] DepthFilter: Initialized 2 new seeds +[21:41:04.279] DepthFilter: Initialized 2 new seeds +[21:41:04.825] add new frame +[21:41:04.825] update seed +[21:41:04.825] If point is visible? -2.250657, 0.715170, 0.495241 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.151717 y=0.000000 z=0.050428 +[21:41:04.825] If point is visible? -2.025606, -1.038245, -0.763231 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.151717 y=0.000000 z=0.050428 +[21:41:04.825] If point is visible? -2.250657, 0.715170, 0.495241 mu:0.392815 unit_bearing:-0.034510 0.257541 0.965651 T_cur_ref: x=0.151717 y=0.000000 z=0.050428 +[21:41:04.825] If point is visible? -2.025606, -1.038245, -0.763231 mu:0.392815 unit_bearing:-0.568846 -0.365847 0.736594 T_cur_ref: x=0.151717 y=0.000000 z=0.050428 +[21:41:04.825] If point is visible? -2.076154, 1.345270, 0.865260 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.132070 y=0.000000 z=0.045100 +[21:41:04.825] If point is visible? -2.225816, -0.874851, -0.971599 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.132070 y=0.000000 z=0.045100 +[21:41:04.825] If point is visible? -2.076154, 1.345270, 0.865260 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.132070 y=0.000000 z=0.045100 +[21:41:04.825] If point is visible? -2.225816, -0.874851, -0.971599 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.132070 y=0.000000 z=0.045100 +[21:41:04.825] If point is visible? -2.131819, 0.942587, 1.779683 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.825] If point is visible? -1.469000, 0.873989, 2.426703 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.825] If point is visible? -2.269967, -1.353460, 1.240427 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.825] add key frame +[21:41:04.825] If point is visible? -2.673238, -0.928227, 0.606394 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] init seeds +[21:41:04.825] remove key frame +[21:41:04.825] update seed +[21:41:04.825] If point is visible? -2.076154, 1.345270, 0.865260 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.132070 y=0.000000 z=0.045100 +[21:41:04.825] If point is visible? -2.225816, -0.874851, -0.971599 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.132070 y=0.000000 z=0.045100 +[21:41:04.825] If point is visible? -2.076154, 1.345270, 0.865260 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.132070 y=0.000000 z=0.045100 +[21:41:04.825] If point is visible? -2.225816, -0.874851, -0.971599 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.132070 y=0.000000 z=0.045100 +[21:41:04.825] If point is visible? -2.131819, 0.942587, 1.779683 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.825] If point is visible? -1.469000, 0.873989, 2.426703 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.825] If point is visible? -2.269967, -1.353460, 1.240427 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.825] If point is visible? -2.673238, -0.928227, 0.606394 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.670276, -0.910497, 0.648300 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.670251, -0.941992, 0.598306 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.668135, -0.916895, 0.648500 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.769202, -0.781176, 0.201912 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.445526, -0.478379, 1.514867 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.438469, -0.469915, 1.529774 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.462129, -0.482389, 1.484260 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.433671, -0.428141, 1.550466 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.492861, -0.415222, 1.449446 mu:0.333803 unit_bearing:0.190357 -0.194859 0.962182 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.501709, -0.390311, 1.440106 mu:0.333803 unit_bearing:0.187539 -0.186225 0.964443 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.500516, -0.396789, 1.440517 mu:0.333803 unit_bearing:0.187527 -0.188388 0.964025 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.440412, -0.288297, 1.572087 mu:0.333803 unit_bearing:0.239213 -0.157795 0.958060 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.435985, -0.287316, 1.579647 mu:0.333803 unit_bearing:0.242067 -0.157778 0.957345 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.518897, -0.313508, 1.427066 mu:0.333803 unit_bearing:0.184799 -0.160249 0.969623 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.519908, -0.307021, 1.426594 mu:0.333803 unit_bearing:0.184809 -0.158080 0.969978 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.517873, -0.319994, 1.427534 mu:0.333803 unit_bearing:0.184789 -0.162417 0.969265 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.441411, -0.281820, 1.571623 mu:0.333803 unit_bearing:0.239225 -0.155631 0.958410 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.516940, -0.299544, 1.433862 mu:0.333803 unit_bearing:0.187689 -0.155899 0.969777 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.457458, -0.265324, 1.547456 mu:0.333803 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.453105, -0.264345, 1.555048 mu:0.333803 unit_bearing:0.233550 -0.149167 0.960835 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.514902, -0.285580, 1.440633 mu:0.333803 unit_bearing:0.190579 -0.151548 0.969904 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.510889, -0.284593, 1.448359 mu:0.333803 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.503744, -0.276133, 1.463297 mu:0.333803 unit_bearing:0.199196 -0.149340 0.968514 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.504686, -0.269647, 1.462806 mu:0.333803 unit_bearing:0.199206 -0.147171 0.968844 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.793811, -0.350849, 0.649643 mu:0.333803 unit_bearing:-0.089578 -0.140995 0.985949 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.501527, -0.262175, 1.470009 mu:0.333803 unit_bearing:0.202083 -0.144988 0.968577 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.801273, -0.334426, 0.622529 mu:0.333803 unit_bearing:-0.098257 -0.134450 0.986037 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.799687, -0.333400, 0.631018 mu:0.333803 unit_bearing:-0.095368 -0.134456 0.986320 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.798076, -0.332374, 0.639500 mu:0.333803 unit_bearing:-0.092479 -0.134461 0.986594 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.784306, -0.324179, 0.707140 mu:0.333803 unit_bearing:-0.069353 -0.134497 0.988484 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.843637, -0.411065, -0.136804 mu:0.333803 unit_bearing:-0.346887 -0.128952 0.929000 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.806826, -0.274887, 0.625803 mu:0.333803 unit_bearing:-0.095402 -0.114857 0.988790 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.817963, -0.303652, 0.550949 mu:0.333803 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.801661, -0.257767, 0.658507 mu:0.333803 unit_bearing:-0.083844 -0.110516 0.990331 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.844798, -0.344171, -0.233266 mu:0.333803 unit_bearing:-0.375086 -0.102865 0.921265 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.846881, -0.295861, -0.265239 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.852462, -0.236936, -0.262395 mu:0.333803 unit_bearing:-0.380876 -0.066151 0.922257 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.850848, -0.232624, -0.280954 mu:0.333803 unit_bearing:-0.386466 -0.063968 0.920083 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.688792, -0.014161, 1.087014 mu:0.333803 unit_bearing:0.072527 -0.047237 0.996247 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.685769, -0.013163, 1.095106 mu:0.333803 unit_bearing:0.075422 -0.047236 0.996032 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.839084, -0.119249, -0.420768 mu:0.333803 unit_bearing:-0.425452 -0.020717 0.904744 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.630356, 0.121641, 1.226017 mu:0.333803 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.833755, -0.065980, -0.463556 mu:0.333803 unit_bearing:-0.436497 -0.001328 0.899705 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.798511, -0.131488, -0.628654 mu:0.333803 unit_bearing:-0.488350 -0.016316 0.872495 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.825] If point is visible? -2.637332, 0.139171, 1.207743 mu:0.333803 unit_bearing:0.121714 -0.001347 0.992564 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.691492, 0.070399, 1.077446 mu:0.333803 unit_bearing:0.072537 -0.018832 0.997188 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.788003, -0.079679, -0.680493 mu:0.333803 unit_bearing:-0.501854 0.002958 0.864947 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.838259, -0.043469, -0.439033 mu:0.333803 unit_bearing:-0.428228 0.005133 0.903656 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.818491, -0.050341, -0.547439 mu:0.333803 unit_bearing:-0.461175 0.007266 0.887280 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.691955, 0.109406, 1.072796 mu:0.333803 unit_bearing:0.072539 -0.005719 0.997349 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.816602, -0.045065, -0.557208 mu:0.333803 unit_bearing:-0.463903 0.009411 0.885836 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.820236, -0.042848, -0.539262 mu:0.333803 unit_bearing:-0.458441 0.009416 0.888675 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.816530, -0.038683, -0.558006 mu:0.333803 unit_bearing:-0.463901 0.011558 0.885811 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.733530, -0.064956, -0.873496 mu:0.333803 unit_bearing:-0.557673 0.015688 0.829912 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.871684, 0.063141, 0.213552 mu:0.333803 unit_bearing:-0.219422 0.013907 0.975531 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.843819, -0.026238, -0.404797 mu:0.333803 unit_bearing:-0.417171 0.009449 0.908779 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.842290, -0.014531, -0.415359 mu:0.333803 unit_bearing:-0.419934 0.013757 0.907450 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.843662, -0.013423, -0.406404 mu:0.333803 unit_bearing:-0.417167 0.013760 0.908726 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.789858, -0.040411, -0.676279 mu:0.333803 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.688846, 0.155886, 1.075280 mu:0.333803 unit_bearing:0.075434 0.009579 0.997105 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.685799, 0.156878, 1.083366 mu:0.333803 unit_bearing:0.078328 0.009579 0.996882 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.842376, -0.020937, -0.414554 mu:0.333803 unit_bearing:-0.419936 0.011602 0.907480 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.793701, -0.012734, -0.661562 mu:0.333803 unit_bearing:-0.493738 0.024368 0.869269 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.824662, 0.005201, -0.518008 mu:0.333803 unit_bearing:-0.450207 0.024470 0.892589 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.836172, 0.000231, -0.453623 mu:0.333803 unit_bearing:-0.430971 0.020204 0.902140 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.796017, -0.017974, -0.651776 mu:0.333803 unit_bearing:-0.491042 0.022234 0.870852 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.834513, 0.005513, -0.463400 mu:0.333803 unit_bearing:-0.433723 0.022352 0.900769 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.793525, -0.006373, -0.662378 mu:0.333803 unit_bearing:-0.493733 0.026509 0.869209 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.814894, 0.070876, -0.563055 mu:0.333803 unit_bearing:-0.461075 0.048062 0.886059 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.823629, 0.076558, -0.518228 mu:0.333803 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.811826, 0.055857, -0.579299 mu:0.333803 unit_bearing:-0.466549 0.043747 0.883413 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.823949, 0.070176, -0.517378 mu:0.333803 unit_bearing:-0.447401 0.045972 0.893151 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.841327, 0.096550, -0.411610 mu:0.333803 unit_bearing:-0.414310 0.050407 0.908739 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.842645, 0.097681, -0.402664 mu:0.333803 unit_bearing:-0.411540 0.050418 0.909996 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.589776, 0.325831, 1.279694 mu:0.333803 unit_bearing:0.156315 0.057569 0.986028 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.850374, 0.118399, -0.341817 mu:0.333803 unit_bearing:-0.392077 0.054807 0.918299 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.850734, 0.111991, -0.340951 mu:0.333803 unit_bearing:-0.392085 0.052649 0.918421 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.849999, 0.124805, -0.342686 mu:0.333803 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.621431, 0.330144, 1.206784 mu:0.333803 unit_bearing:0.130345 0.061964 0.989531 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.847456, 0.325058, 0.310129 mu:0.333803 unit_bearing:-0.176200 0.096755 0.979588 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.838998, 0.357354, 0.358031 mu:0.333803 unit_bearing:-0.158907 0.105506 0.981640 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.667741, 0.510974, 1.016178 mu:0.333803 unit_bearing:0.072452 0.129629 0.988912 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.664719, 0.511955, 1.024263 mu:0.333803 unit_bearing:0.075344 0.129625 0.988696 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.661672, 0.512934, 1.032340 mu:0.333803 unit_bearing:0.078235 0.129621 0.988472 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.520820, 0.544445, 1.349769 mu:0.333803 unit_bearing:0.193549 0.127148 0.972817 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.559047, 0.541622, 1.270908 mu:0.333803 unit_bearing:0.164797 0.129421 0.977800 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.548253, 0.593968, 1.270192 mu:0.333803 unit_bearing:0.167614 0.146793 0.974863 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.544434, 0.594894, 1.278001 mu:0.333803 unit_bearing:0.170490 0.146782 0.974366 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.551112, 0.599460, 1.261288 mu:0.333803 unit_bearing:0.164730 0.148975 0.975023 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.547316, 0.600388, 1.269105 mu:0.333803 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.549195, 0.612297, 1.259103 mu:0.333803 unit_bearing:0.164713 0.153317 0.974353 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.550160, 0.605879, 1.260197 mu:0.333803 unit_bearing:0.164722 0.151146 0.974691 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.546365, 0.606806, 1.268015 mu:0.333803 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.562150, 0.664420, 1.202001 mu:0.333803 unit_bearing:0.147375 0.172909 0.973850 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.559927, 0.677228, 1.199729 mu:0.333803 unit_bearing:0.147358 0.177245 0.973072 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.561045, 0.670825, 1.200867 mu:0.333803 unit_bearing:0.147366 0.175077 0.973464 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.144606, 0.977239, 1.743577 mu:0.333803 unit_bearing:0.370645 0.254519 0.893221 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.826] If point is visible? -2.654761, 1.077755, 0.390960 mu:0.333803 unit_bearing:-0.103215 0.342846 0.933704 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.653262, 1.078842, 0.399390 mu:0.333803 unit_bearing:-0.100350 0.342863 0.934010 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.318351, 1.233657, 1.271902 mu:0.333803 unit_bearing:0.214440 0.358661 0.908503 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.305537, 1.236072, 1.294574 mu:0.333803 unit_bearing:0.222938 0.358539 0.906503 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.826] If point is visible? -2.296871, 1.237667, 1.309639 mu:0.333803 unit_bearing:0.228598 0.358455 0.905126 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.826] If point is visible? -2.360019, 1.465397, 0.868462 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.473939, 1.473576, 0.328757 mu:0.333803 unit_bearing:-0.090808 0.476518 0.874463 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.180419, 1.548074, 1.178397 mu:0.333803 unit_bearing:0.209731 0.466636 0.859223 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.176191, 1.548821, 1.185893 mu:0.333803 unit_bearing:0.212538 0.466579 0.858564 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.154679, 1.552500, 1.223220 mu:0.333803 unit_bearing:0.226555 0.466279 0.855135 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.150302, 1.553224, 1.230655 mu:0.333803 unit_bearing:0.229355 0.466217 0.854423 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.405234, -1.377663, -0.800077 mu:0.333803 unit_bearing:-0.555223 -0.422218 0.716561 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.364814, -1.480484, -0.743816 mu:0.333803 unit_bearing:-0.537592 -0.458572 0.707606 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.341746, -1.536842, -0.707289 mu:0.333803 unit_bearing:-0.526032 -0.478731 0.702928 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.481301, -1.122462, -0.936585 mu:0.333803 unit_bearing:-0.595743 -0.332113 0.731294 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.488621, -1.087427, -0.956486 mu:0.333803 unit_bearing:-0.601386 -0.319696 0.732209 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.674536, -0.953285, 0.556029 mu:0.333803 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.672017, -0.951325, 0.573033 mu:0.333803 unit_bearing:-0.126161 -0.336824 0.933077 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.673789, -0.936587, 0.589630 mu:0.333803 unit_bearing:-0.120466 -0.332617 0.935336 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.666995, -0.839857, 0.755690 mu:0.333803 unit_bearing:-0.063195 -0.307324 0.949504 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.670956, -0.827010, 0.755221 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.667213, -0.825006, 0.771957 mu:0.333803 unit_bearing:-0.057457 -0.303065 0.951236 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.530057, -0.862652, -1.061499 mu:0.333803 unit_bearing:-0.629864 -0.240952 0.738386 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.446917, -0.471917, 1.514528 mu:0.333803 unit_bearing:0.213111 -0.216290 0.952787 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.801972, -0.377513, 0.591825 mu:0.333803 unit_bearing:-0.109780 -0.147477 0.982954 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.789396, -0.369322, 0.659743 mu:0.333803 unit_bearing:-0.086676 -0.147526 0.985253 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.454546, -0.284762, 1.548883 mu:0.333803 unit_bearing:0.230656 -0.155680 0.960501 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.504898, -0.296578, 1.457038 mu:0.333803 unit_bearing:0.196297 -0.155859 0.968078 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.496749, -0.294604, 1.472442 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.807676, -0.282417, 0.617907 mu:0.333803 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.794540, -0.358372, 0.641715 mu:0.333803 unit_bearing:-0.092463 -0.143165 0.985370 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.846881, -0.295861, -0.265239 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.799097, 0.059323, 0.718665 mu:0.333803 unit_bearing:-0.052064 -0.007906 0.998612 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.849560, 0.311066, 0.303387 mu:0.333803 unit_bearing:-0.179088 0.092393 0.979485 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.847754, 0.313231, 0.320673 mu:0.333803 unit_bearing:-0.173333 0.092407 0.980518 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.848346, 0.323974, 0.301484 mu:0.333803 unit_bearing:-0.179077 0.096747 0.979067 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.846541, 0.326141, 0.318768 mu:0.333803 unit_bearing:-0.173323 0.096762 0.980100 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.847076, 0.336878, 0.299566 mu:0.333803 unit_bearing:-0.179065 0.101101 0.978629 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.845272, 0.339046, 0.316850 mu:0.333803 unit_bearing:-0.173312 0.101116 0.979662 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.564672, 0.669892, 1.192994 mu:0.333803 unit_bearing:0.144488 0.175088 0.973893 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.615199, 0.740480, 1.017618 mu:0.333803 unit_bearing:0.086744 0.205609 0.974782 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.566867, 0.657079, 1.195257 mu:0.333803 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.691608, 0.883234, 0.587133 mu:0.333803 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.695066, 0.870567, 0.589664 mu:0.333803 unit_bearing:-0.051791 0.266118 0.962548 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.372499, 1.461764, 0.836803 mu:0.333803 unit_bearing:0.079842 0.451937 0.888470 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.366309, 1.463587, 0.852648 mu:0.333803 unit_bearing:0.085530 0.451896 0.887961 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.360019, 1.465397, 0.868462 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.463520, -0.475925, 1.483919 mu:0.333803 unit_bearing:0.201674 -0.216372 0.955254 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.820452, -0.551962, 0.222271 mu:0.333803 unit_bearing:-0.235946 -0.190240 0.952963 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.678144, -0.831012, 0.721672 mu:0.333803 unit_bearing:-0.074710 -0.303010 0.950055 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.670956, -0.827010, 0.755221 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.685897, -0.805304, 0.720672 mu:0.333803 unit_bearing:-0.074741 -0.294451 0.952739 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.678703, -0.801296, 0.754234 mu:0.333803 unit_bearing:-0.063235 -0.294489 0.953560 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.317436, -0.687395, 1.643839 mu:0.333803 unit_bearing:0.257837 -0.292941 0.920709 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.826] If point is visible? -2.798093, -0.403493, 0.593954 mu:0.333803 unit_bearing:-0.109759 -0.156171 0.981613 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.496749, -0.294604, 1.472442 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.826] If point is visible? -2.679269, -0.957196, 0.521952 mu:0.333803 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.492675, -0.320538, 1.474306 mu:0.333803 unit_bearing:0.201989 -0.164500 0.965474 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.476084, -0.316586, 1.504988 mu:0.333803 unit_bearing:0.213446 -0.164438 0.963017 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.437431, -0.334602, 1.567641 mu:0.333803 unit_bearing:0.236263 -0.172956 0.956173 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.795882, -0.373416, 0.625832 mu:0.333803 unit_bearing:-0.098231 -0.147503 0.984172 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.823707, -0.251653, 0.546125 mu:0.333803 unit_bearing:-0.121420 -0.103918 0.987147 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.806878, 0.081193, 0.681844 mu:0.333803 unit_bearing:-0.063650 0.000837 0.997972 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.861975, 0.065162, 0.336840 mu:0.333803 unit_bearing:-0.179199 0.009561 0.983766 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.648121, 0.548065, 1.051273 mu:0.333803 unit_bearing:0.086889 0.140490 0.986262 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.635403, 0.551944, 1.083403 mu:0.333803 unit_bearing:0.098446 0.140469 0.985179 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.131819, 0.942587, 1.779683 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.827] If point is visible? -2.698466, 0.857891, 0.592180 mu:0.333803 unit_bearing:-0.051800 0.261816 0.963727 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.656789, 0.569904, 1.014748 mu:0.333803 unit_bearing:0.075314 0.149212 0.985933 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.644458, 0.573803, 1.046998 mu:0.333803 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.631740, 0.577676, 1.079121 mu:0.333803 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.573117, 0.618603, 1.201944 mu:0.333803 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -1.469000, 0.873989, 2.426703 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:04.827] If point is visible? -2.612555, 0.753253, 1.015244 mu:0.333803 unit_bearing:0.086732 0.209938 0.973860 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.599839, 0.757088, 1.047313 mu:0.333803 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.617786, 0.727700, 1.019976 mu:0.333803 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.605070, 0.731542, 1.052054 mu:0.333803 unit_bearing:0.098294 0.201247 0.974596 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.292890, 1.493123, 1.005864 mu:0.333803 unit_bearing:0.142252 0.455449 0.878824 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.372290, 1.451526, 0.855967 mu:0.333803 unit_bearing:0.085562 0.447765 0.890048 T_cur_ref: x=0.118469 y=0.000000 z=0.041162 +[21:41:04.827] If point is visible? -2.564946, -0.917878, 0.475439 mu:0.349201 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.708158, 0.087482, 0.526862 mu:0.349201 unit_bearing:-0.098384 0.009576 0.995102 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.032535, 0.901386, 1.708991 mu:0.349201 unit_bearing:0.393036 0.241366 0.887280 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:04.827] If point is visible? -2.287306, 1.342115, 0.839982 mu:0.349201 unit_bearing:0.097076 0.431104 0.897065 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.176293, -1.274539, 1.196216 mu:0.349201 unit_bearing:0.119162 -0.490983 0.862981 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:04.827] If point is visible? -2.277723, -1.423660, -0.639794 mu:0.349201 unit_bearing:-0.509414 -0.464534 0.724365 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.555283, -0.894401, 0.572625 mu:0.349201 unit_bearing:-0.109007 -0.332690 0.936715 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.557462, -0.873229, 0.596286 mu:0.349201 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.555410, -0.879343, 0.596496 mu:0.349201 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.553796, -0.863316, 0.628379 mu:0.349201 unit_bearing:-0.088980 -0.324289 0.941764 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.335717, -0.449918, 1.455413 mu:0.349201 unit_bearing:0.224534 -0.216202 0.950179 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.327407, -0.428518, 1.476240 mu:0.349201 unit_bearing:0.233144 -0.209671 0.949569 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.371158, -0.419567, 1.402009 mu:0.349201 unit_bearing:0.204624 -0.203410 0.957473 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.353020, -0.447587, 1.425822 mu:0.349201 unit_bearing:0.213127 -0.214135 0.953270 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.330214, -0.435651, 1.469310 mu:0.349201 unit_bearing:0.230275 -0.211848 0.949786 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.327085, -0.409035, 1.482451 mu:0.349201 unit_bearing:0.236047 -0.203183 0.950262 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.325406, -0.395727, 1.488986 mu:0.349201 unit_bearing:0.238932 -0.198848 0.950458 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.388397, -0.371988, 1.384182 mu:0.349201 unit_bearing:0.199005 -0.186160 0.962155 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.389527, -0.365798, 1.383778 mu:0.349201 unit_bearing:0.199017 -0.183998 0.962568 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.316833, -0.297328, 1.526416 mu:0.349201 unit_bearing:0.256265 -0.166336 0.952187 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.407706, -0.305760, 1.364685 mu:0.349201 unit_bearing:0.193398 -0.162376 0.967590 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.315808, -0.303512, 1.526842 mu:0.349201 unit_bearing:0.256250 -0.168498 0.951811 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.666698, -0.332507, 0.645101 mu:0.349201 unit_bearing:-0.072235 -0.141023 0.987367 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.665042, -0.331528, 0.653176 mu:0.349201 unit_bearing:-0.069344 -0.141027 0.987574 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.654646, -0.352467, 0.687507 mu:0.349201 unit_bearing:-0.057765 -0.149746 0.987036 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.405863, -0.292414, 1.371182 mu:0.349201 unit_bearing:0.196287 -0.158027 0.967729 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.360841, -0.236771, 1.463414 mu:0.349201 unit_bearing:0.233585 -0.142666 0.961813 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.356721, -0.235833, 1.470700 mu:0.349201 unit_bearing:0.236442 -0.142651 0.961117 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.395992, -0.251438, 1.397910 mu:0.349201 unit_bearing:0.207816 -0.144962 0.967367 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.392082, -0.250494, 1.405278 mu:0.349201 unit_bearing:0.210682 -0.144949 0.966749 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.658928, -0.307988, 0.691860 mu:0.349201 unit_bearing:-0.054891 -0.134515 0.989390 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.675602, -0.317788, 0.611129 mu:0.349201 unit_bearing:-0.083809 -0.134476 0.987366 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.674041, -0.316807, 0.619228 mu:0.349201 unit_bearing:-0.080918 -0.134480 0.987607 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.676415, -0.311574, 0.610584 mu:0.349201 unit_bearing:-0.083812 -0.132299 0.987660 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.392958, -0.244296, 1.404794 mu:0.349201 unit_bearing:0.210692 -0.142780 0.967069 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.657300, -0.347232, 0.678939 mu:0.349201 unit_bearing:-0.060660 -0.147567 0.987190 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.662498, -0.336762, 0.661774 mu:0.349201 unit_bearing:-0.066449 -0.143208 0.987459 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.722766, -0.372619, -0.114918 mu:0.349201 unit_bearing:-0.332871 -0.122582 0.934971 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.659739, -0.301772, 0.691318 mu:0.349201 unit_bearing:-0.054893 -0.132337 0.989684 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.663095, -0.290318, 0.682175 mu:0.349201 unit_bearing:-0.057791 -0.127978 0.990092 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.682911, -0.242218, 0.612452 mu:0.349201 unit_bearing:-0.080955 -0.108340 0.990812 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.674740, -0.237302, 0.652878 mu:0.349201 unit_bearing:-0.066491 -0.108356 0.991886 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.677073, -0.232066, 0.644217 mu:0.349201 unit_bearing:-0.069387 -0.106173 0.991924 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.726673, -0.261418, -0.229210 mu:0.349201 unit_bearing:-0.366835 -0.079176 0.926911 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.718694, -0.280731, -0.287592 mu:0.349201 unit_bearing:-0.386369 -0.083385 0.918567 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.727171, -0.255265, -0.229857 mu:0.349201 unit_bearing:-0.366846 -0.077016 0.927088 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.730127, -0.200902, -0.244337 mu:0.349201 unit_bearing:-0.369729 -0.057557 0.927355 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.732278, -0.192715, -0.227979 mu:0.349201 unit_bearing:-0.364134 -0.055416 0.929696 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.725786, -0.176268, -0.298911 mu:0.349201 unit_bearing:-0.386531 -0.046697 0.921093 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.726826, -0.121996, -0.313781 mu:0.349201 unit_bearing:-0.389368 -0.027253 0.920679 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.568633, -0.006399, 1.045795 mu:0.349201 unit_bearing:0.084106 -0.045047 0.995438 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.565720, -0.005445, 1.053527 mu:0.349201 unit_bearing:0.087000 -0.045045 0.995189 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.725150, -0.099499, -0.333744 mu:0.349201 unit_bearing:-0.394953 -0.018606 0.918513 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.684329, -0.103122, -0.567639 mu:0.349201 unit_bearing:-0.469356 -0.009908 0.882954 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.725023, -0.105639, -0.333017 mu:0.349201 unit_bearing:-0.394950 -0.020765 0.918468 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.714133, -0.047569, -0.418064 mu:0.349201 unit_bearing:-0.419941 0.002981 0.907547 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.734068, -0.029722, -0.272947 mu:0.349201 unit_bearing:-0.372633 0.002991 0.927974 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.522012, 0.120578, 1.155708 mu:0.349201 unit_bearing:0.130380 -0.005715 0.991448 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.518730, 0.121513, 1.163321 mu:0.349201 unit_bearing:0.133268 -0.005714 0.991064 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.512097, 0.123382, 1.178523 mu:0.349201 unit_bearing:0.139043 -0.005714 0.990270 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.724402, -0.069846, -0.345961 mu:0.349201 unit_bearing:-0.397746 -0.007809 0.917462 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.725625, -0.031975, -0.341934 mu:0.349201 unit_bearing:-0.394964 0.005146 0.918682 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.734042, -0.023575, -0.273707 mu:0.349201 unit_bearing:-0.372633 0.005154 0.927965 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.498586, 0.151926, 1.205794 mu:0.349201 unit_bearing:0.150585 0.003019 0.988592 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.724413, -0.026891, -0.351233 mu:0.349201 unit_bearing:-0.397746 0.007304 0.917466 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.732279, 0.048732, 0.365361 mu:0.349201 unit_bearing:-0.156153 0.003019 0.987728 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.722915, -0.003412, -0.362846 mu:0.349201 unit_bearing:-0.400520 0.015936 0.916149 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.724114, -0.002354, -0.354309 mu:0.349201 unit_bearing:-0.397739 0.015939 0.917360 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.568327, 0.156116, 1.034458 mu:0.349201 unit_bearing:0.087011 0.011763 0.996138 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.565391, 0.157063, 1.042184 mu:0.349201 unit_bearing:0.089905 0.011762 0.995881 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.562432, 0.158010, 1.049903 mu:0.349201 unit_bearing:0.092799 0.011762 0.995615 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.661522, -0.041630, -0.670844 mu:0.349201 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.676044, -0.022003, -0.612458 mu:0.349201 unit_bearing:-0.480216 0.020115 0.876920 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.624803, -0.039438, -0.801425 mu:0.349201 unit_bearing:-0.539207 0.022113 0.841883 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.675904, -0.015914, -0.613232 mu:0.349201 unit_bearing:-0.480211 0.022258 0.876870 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.713243, 0.013666, -0.425765 mu:0.349201 unit_bearing:-0.419918 0.024532 0.907230 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.717327, 0.016859, -0.400129 mu:0.349201 unit_bearing:-0.411612 0.024548 0.911029 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.678959, 0.016678, -0.600023 mu:0.349201 unit_bearing:-0.474752 0.032992 0.879501 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.827] If point is visible? -2.681109, 0.011663, -0.590675 mu:0.349201 unit_bearing:-0.472039 0.030856 0.881038 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.707071, 0.021634, -0.461536 mu:0.349201 unit_bearing:-0.430954 0.028816 0.901914 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.708167, 0.034933, -0.454569 mu:0.349201 unit_bearing:-0.428186 0.033130 0.903083 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.706001, 0.083832, -0.461012 mu:0.349201 unit_bearing:-0.428129 0.050352 0.902314 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.689775, 0.072989, -0.546528 mu:0.349201 unit_bearing:-0.455600 0.050233 0.888766 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.690404, 0.060797, -0.544908 mu:0.349201 unit_bearing:-0.455618 0.045938 0.888989 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.690097, 0.066894, -0.545717 mu:0.349201 unit_bearing:-0.455609 0.048086 0.888880 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.695253, 0.070146, -0.520053 mu:0.349201 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.707876, 0.104330, -0.446383 mu:0.349201 unit_bearing:-0.422581 0.056834 0.904541 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.714694, 0.109750, -0.403678 mu:0.349201 unit_bearing:-0.408742 0.056895 0.910875 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.715977, 0.110833, -0.395142 mu:0.349201 unit_bearing:-0.405968 0.056907 0.912114 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.721986, 0.116238, -0.352481 mu:0.349201 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.729277, 0.123782, -0.292830 mu:0.349201 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.727943, 0.128837, -0.302178 mu:0.349201 unit_bearing:-0.375318 0.059191 0.925004 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.728906, 0.129914, -0.293663 mu:0.349201 unit_bearing:-0.372521 0.059202 0.926134 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.503103, 0.322629, 1.160051 mu:0.349201 unit_bearing:0.141887 0.064131 0.987803 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.710923, 0.350884, 0.365820 mu:0.349201 unit_bearing:-0.141610 0.107724 0.984044 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.545269, 0.490248, 0.986639 mu:0.349201 unit_bearing:0.086908 0.129608 0.987749 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.542333, 0.491182, 0.994357 mu:0.349201 unit_bearing:0.089798 0.129603 0.987491 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.539374, 0.492114, 1.002067 mu:0.349201 unit_bearing:0.092688 0.129598 0.987225 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.439842, 0.519427, 1.229803 mu:0.349201 unit_bearing:0.179178 0.129373 0.975273 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.429454, 0.569446, 1.229152 mu:0.349201 unit_bearing:0.181986 0.146737 0.972291 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.538583, 0.498274, 1.001077 mu:0.349201 unit_bearing:0.092684 0.131775 0.986937 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.433111, 0.592215, 1.210066 mu:0.349201 unit_bearing:0.176204 0.155441 0.972003 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.447922, 0.647268, 1.146918 mu:0.349201 unit_bearing:0.155989 0.177209 0.971733 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.444430, 0.648156, 1.154442 mu:0.349201 unit_bearing:0.158865 0.177197 0.971269 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] If point is visible? -2.059265, 0.938446, 1.653082 mu:0.349201 unit_bearing:0.373381 0.256590 0.891486 T_cur_ref: x=0.112371 y=0.000000 z=0.039398 +[21:41:04.828] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:04.828] init seeds +[21:41:04.828] DepthFilter: Initialized 2 new seeds +[21:41:04.830] DepthFilter: Initialized 2 new seeds +[21:41:05.394] add new frame +[21:41:05.394] update seed +[21:41:05.394] If point is visible? -2.067470, 1.345270, 0.868557 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.140755 y=0.000000 z=0.048396 +[21:41:05.394] If point is visible? -2.217132, -0.874851, -0.968302 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.140755 y=0.000000 z=0.048396 +[21:41:05.394] If point is visible? -2.067470, 1.345270, 0.868557 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.140755 y=0.000000 z=0.048396 +[21:41:05.394] If point is visible? -2.217132, -0.874851, -0.968302 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.140755 y=0.000000 z=0.048396 +[21:41:05.394] If point is visible? -2.123134, 0.942587, 1.782980 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.394] calculated Z= 1.006052 +[21:41:05.394] update seeds 305 +[21:41:05.394] If point is visible? -1.460315, 0.873989, 2.430000 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.394] If point is visible? -2.261283, -1.353460, 1.243723 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.394] If point is visible? -2.664553, -0.928227, 0.609691 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.661592, -0.910497, 0.651596 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.661567, -0.941992, 0.601603 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.659451, -0.916895, 0.651797 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.760517, -0.781176, 0.205209 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.436841, -0.478379, 1.518163 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.429785, -0.469915, 1.533071 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.453445, -0.482389, 1.487557 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.424986, -0.428141, 1.553762 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.484177, -0.415222, 1.452743 mu:0.333803 unit_bearing:0.190357 -0.194859 0.962182 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] add key frame +[21:41:05.394] If point is visible? -2.493025, -0.390311, 1.443402 mu:0.333803 unit_bearing:0.187539 -0.186225 0.964443 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] remove key frame +[21:41:05.394] init seeds +[21:41:05.394] update seed +[21:41:05.394] If point is visible? -2.067470, 1.345270, 0.868557 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.140755 y=0.000000 z=0.048396 +[21:41:05.394] If point is visible? -2.217132, -0.874851, -0.968302 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.140755 y=0.000000 z=0.048396 +[21:41:05.394] If point is visible? -2.067470, 1.345270, 0.868557 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.140755 y=0.000000 z=0.048396 +[21:41:05.394] If point is visible? -2.217132, -0.874851, -0.968302 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.140755 y=0.000000 z=0.048396 +[21:41:05.394] If point is visible? -1.255692, 0.579238, 1.112814 mu:0.543193 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] Z inverse min: 1.028803, Z inverse max: 0.057582 +[21:41:05.394] calculated Z= 1.006210 +[21:41:05.394] update seeds 305 +[21:41:05.394] If point is visible? -1.460315, 0.873989, 2.430000 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.394] If point is visible? -2.261283, -1.353460, 1.243723 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.394] If point is visible? -2.664553, -0.928227, 0.609691 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.661592, -0.910497, 0.651596 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.661567, -0.941992, 0.601603 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.659451, -0.916895, 0.651797 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.394] If point is visible? -2.760517, -0.781176, 0.205209 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.436841, -0.478379, 1.518163 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.429785, -0.469915, 1.533071 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.453445, -0.482389, 1.487557 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.424986, -0.428141, 1.553762 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.484177, -0.415222, 1.452743 mu:0.333803 unit_bearing:0.190357 -0.194859 0.962182 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.493025, -0.390311, 1.443402 mu:0.333803 unit_bearing:0.187539 -0.186225 0.964443 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.491832, -0.396789, 1.443814 mu:0.333803 unit_bearing:0.187527 -0.188388 0.964025 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.431728, -0.288297, 1.575384 mu:0.333803 unit_bearing:0.239213 -0.157795 0.958060 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.427300, -0.287316, 1.582943 mu:0.333803 unit_bearing:0.242067 -0.157778 0.957345 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.510213, -0.313508, 1.430363 mu:0.333803 unit_bearing:0.184799 -0.160249 0.969623 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.511224, -0.307021, 1.429891 mu:0.333803 unit_bearing:0.184809 -0.158080 0.969978 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.509188, -0.319994, 1.430830 mu:0.333803 unit_bearing:0.184789 -0.162417 0.969265 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.432727, -0.281820, 1.574920 mu:0.333803 unit_bearing:0.239225 -0.155631 0.958410 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.508255, -0.299544, 1.437159 mu:0.333803 unit_bearing:0.187689 -0.155899 0.969777 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.448774, -0.265324, 1.550753 mu:0.333803 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.444420, -0.264345, 1.558345 mu:0.333803 unit_bearing:0.233550 -0.149167 0.960835 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.506218, -0.285580, 1.443929 mu:0.333803 unit_bearing:0.190579 -0.151548 0.969904 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.502204, -0.284593, 1.451656 mu:0.333803 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.495060, -0.276133, 1.466594 mu:0.333803 unit_bearing:0.199196 -0.149340 0.968514 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.496001, -0.269647, 1.466102 mu:0.333803 unit_bearing:0.199206 -0.147171 0.968844 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.785127, -0.350849, 0.652940 mu:0.333803 unit_bearing:-0.089578 -0.140995 0.985949 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.492843, -0.262175, 1.473306 mu:0.333803 unit_bearing:0.202083 -0.144988 0.968577 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.792588, -0.334426, 0.625826 mu:0.333803 unit_bearing:-0.098257 -0.134450 0.986037 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.791003, -0.333400, 0.634314 mu:0.333803 unit_bearing:-0.095368 -0.134456 0.986320 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.789392, -0.332374, 0.642797 mu:0.333803 unit_bearing:-0.092479 -0.134461 0.986594 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.775621, -0.324179, 0.710436 mu:0.333803 unit_bearing:-0.069353 -0.134497 0.988484 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.834953, -0.411065, -0.133507 mu:0.333803 unit_bearing:-0.346887 -0.128952 0.929000 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.798142, -0.274887, 0.629100 mu:0.333803 unit_bearing:-0.095402 -0.114857 0.988790 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.809278, -0.303652, 0.554245 mu:0.333803 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.792977, -0.257767, 0.661804 mu:0.333803 unit_bearing:-0.083844 -0.110516 0.990331 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.836114, -0.344171, -0.229970 mu:0.333803 unit_bearing:-0.375086 -0.102865 0.921265 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.838197, -0.295861, -0.261942 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.843778, -0.236936, -0.259099 mu:0.333803 unit_bearing:-0.380876 -0.066151 0.922257 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.842164, -0.232624, -0.277657 mu:0.333803 unit_bearing:-0.386466 -0.063968 0.920083 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.680107, -0.014161, 1.090310 mu:0.333803 unit_bearing:0.072527 -0.047237 0.996247 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.677084, -0.013163, 1.098403 mu:0.333803 unit_bearing:0.075422 -0.047236 0.996032 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.830399, -0.119249, -0.417471 mu:0.333803 unit_bearing:-0.425452 -0.020717 0.904744 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.621672, 0.121641, 1.229314 mu:0.333803 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.825070, -0.065980, -0.460260 mu:0.333803 unit_bearing:-0.436497 -0.001328 0.899705 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.789827, -0.131488, -0.625358 mu:0.333803 unit_bearing:-0.488350 -0.016316 0.872495 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.628648, 0.139171, 1.211040 mu:0.333803 unit_bearing:0.121714 -0.001347 0.992564 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.682807, 0.070399, 1.080743 mu:0.333803 unit_bearing:0.072537 -0.018832 0.997188 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.779319, -0.079679, -0.677197 mu:0.333803 unit_bearing:-0.501854 0.002958 0.864947 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.829575, -0.043469, -0.435737 mu:0.333803 unit_bearing:-0.428228 0.005133 0.903656 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.809806, -0.050341, -0.544143 mu:0.333803 unit_bearing:-0.461175 0.007266 0.887280 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.683270, 0.109406, 1.076093 mu:0.333803 unit_bearing:0.072539 -0.005719 0.997349 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.807917, -0.045065, -0.553911 mu:0.333803 unit_bearing:-0.463903 0.009411 0.885836 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.811552, -0.042848, -0.535966 mu:0.333803 unit_bearing:-0.458441 0.009416 0.888675 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.807846, -0.038683, -0.554709 mu:0.333803 unit_bearing:-0.463901 0.011558 0.885811 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.724846, -0.064956, -0.870199 mu:0.333803 unit_bearing:-0.557673 0.015688 0.829912 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.862999, 0.063141, 0.216849 mu:0.333803 unit_bearing:-0.219422 0.013907 0.975531 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.835135, -0.026238, -0.401500 mu:0.333803 unit_bearing:-0.417171 0.009449 0.908779 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.833606, -0.014531, -0.412062 mu:0.333803 unit_bearing:-0.419934 0.013757 0.907450 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.834978, -0.013423, -0.403107 mu:0.333803 unit_bearing:-0.417167 0.013760 0.908726 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.781173, -0.040411, -0.672982 mu:0.333803 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.680162, 0.155886, 1.078577 mu:0.333803 unit_bearing:0.075434 0.009579 0.997105 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.677115, 0.156878, 1.086663 mu:0.333803 unit_bearing:0.078328 0.009579 0.996882 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.833692, -0.020937, -0.411257 mu:0.333803 unit_bearing:-0.419936 0.011602 0.907480 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.785017, -0.012734, -0.658266 mu:0.333803 unit_bearing:-0.493738 0.024368 0.869269 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.815978, 0.005201, -0.514711 mu:0.333803 unit_bearing:-0.450207 0.024470 0.892589 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.827488, 0.000231, -0.450326 mu:0.333803 unit_bearing:-0.430971 0.020204 0.902140 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.787333, -0.017974, -0.648479 mu:0.333803 unit_bearing:-0.491042 0.022234 0.870852 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.825829, 0.005513, -0.460103 mu:0.333803 unit_bearing:-0.433723 0.022352 0.900769 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.784841, -0.006373, -0.659081 mu:0.333803 unit_bearing:-0.493733 0.026509 0.869209 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.806209, 0.070876, -0.559758 mu:0.333803 unit_bearing:-0.461075 0.048062 0.886059 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.814944, 0.076558, -0.514932 mu:0.333803 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.803141, 0.055857, -0.576002 mu:0.333803 unit_bearing:-0.466549 0.043747 0.883413 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.815265, 0.070176, -0.514082 mu:0.333803 unit_bearing:-0.447401 0.045972 0.893151 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.832643, 0.096550, -0.408314 mu:0.333803 unit_bearing:-0.414310 0.050407 0.908739 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.833960, 0.097681, -0.399367 mu:0.333803 unit_bearing:-0.411540 0.050418 0.909996 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.581092, 0.325831, 1.282991 mu:0.333803 unit_bearing:0.156315 0.057569 0.986028 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.841689, 0.118399, -0.338520 mu:0.333803 unit_bearing:-0.392077 0.054807 0.918299 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.842049, 0.111991, -0.337654 mu:0.333803 unit_bearing:-0.392085 0.052649 0.918421 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.841315, 0.124805, -0.339390 mu:0.333803 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.612746, 0.330144, 1.210080 mu:0.333803 unit_bearing:0.130345 0.061964 0.989531 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.838772, 0.325058, 0.313425 mu:0.333803 unit_bearing:-0.176200 0.096755 0.979588 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.830314, 0.357354, 0.361327 mu:0.333803 unit_bearing:-0.158907 0.105506 0.981640 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.659057, 0.510974, 1.019475 mu:0.333803 unit_bearing:0.072452 0.129629 0.988912 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.656034, 0.511955, 1.027560 mu:0.333803 unit_bearing:0.075344 0.129625 0.988696 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.652988, 0.512934, 1.035637 mu:0.333803 unit_bearing:0.078235 0.129621 0.988472 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.512136, 0.544445, 1.353066 mu:0.333803 unit_bearing:0.193549 0.127148 0.972817 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.550362, 0.541622, 1.274205 mu:0.333803 unit_bearing:0.164797 0.129421 0.977800 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.539569, 0.593968, 1.273488 mu:0.333803 unit_bearing:0.167614 0.146793 0.974863 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.535749, 0.594894, 1.281298 mu:0.333803 unit_bearing:0.170490 0.146782 0.974366 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.542427, 0.599460, 1.264584 mu:0.333803 unit_bearing:0.164730 0.148975 0.975023 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.538632, 0.600388, 1.272402 mu:0.333803 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.540511, 0.612297, 1.262400 mu:0.333803 unit_bearing:0.164713 0.153317 0.974353 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.541476, 0.605879, 1.263494 mu:0.333803 unit_bearing:0.164722 0.151146 0.974691 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.537680, 0.606806, 1.271311 mu:0.333803 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.553466, 0.664420, 1.205298 mu:0.333803 unit_bearing:0.147375 0.172909 0.973850 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.551243, 0.677228, 1.203025 mu:0.333803 unit_bearing:0.147358 0.177245 0.973072 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.552361, 0.670825, 1.204164 mu:0.333803 unit_bearing:0.147366 0.175077 0.973464 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.135922, 0.977239, 1.746873 mu:0.333803 unit_bearing:0.370645 0.254519 0.893221 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.395] If point is visible? -2.646076, 1.077755, 0.394256 mu:0.333803 unit_bearing:-0.103215 0.342846 0.933704 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.644577, 1.078842, 0.402687 mu:0.333803 unit_bearing:-0.100350 0.342863 0.934010 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.309666, 1.233657, 1.275198 mu:0.333803 unit_bearing:0.214440 0.358661 0.908503 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.296852, 1.236072, 1.297871 mu:0.333803 unit_bearing:0.222938 0.358539 0.906503 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.395] If point is visible? -2.288186, 1.237667, 1.312936 mu:0.333803 unit_bearing:0.228598 0.358455 0.905126 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.395] If point is visible? -2.351335, 1.465397, 0.871758 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.465255, 1.473576, 0.332054 mu:0.333803 unit_bearing:-0.090808 0.476518 0.874463 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.171734, 1.548074, 1.181693 mu:0.333803 unit_bearing:0.209731 0.466636 0.859223 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.167506, 1.548821, 1.189190 mu:0.333803 unit_bearing:0.212538 0.466579 0.858564 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.145994, 1.552500, 1.226517 mu:0.333803 unit_bearing:0.226555 0.466279 0.855135 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.141617, 1.553224, 1.233951 mu:0.333803 unit_bearing:0.229355 0.466217 0.854423 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.396550, -1.377663, -0.796781 mu:0.333803 unit_bearing:-0.555223 -0.422218 0.716561 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.356130, -1.480484, -0.740520 mu:0.333803 unit_bearing:-0.537592 -0.458572 0.707606 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.333061, -1.536842, -0.703992 mu:0.333803 unit_bearing:-0.526032 -0.478731 0.702928 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.472617, -1.122462, -0.933289 mu:0.333803 unit_bearing:-0.595743 -0.332113 0.731294 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.479936, -1.087427, -0.953190 mu:0.333803 unit_bearing:-0.601386 -0.319696 0.732209 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.665852, -0.953285, 0.559325 mu:0.333803 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.663333, -0.951325, 0.576329 mu:0.333803 unit_bearing:-0.126161 -0.336824 0.933077 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.395] If point is visible? -2.665105, -0.936587, 0.592926 mu:0.333803 unit_bearing:-0.120466 -0.332617 0.935336 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.658311, -0.839857, 0.758986 mu:0.333803 unit_bearing:-0.063195 -0.307324 0.949504 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.662272, -0.827010, 0.758518 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.658528, -0.825006, 0.775254 mu:0.333803 unit_bearing:-0.057457 -0.303065 0.951236 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.521372, -0.862652, -1.058202 mu:0.333803 unit_bearing:-0.629864 -0.240952 0.738386 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.438233, -0.471917, 1.517825 mu:0.333803 unit_bearing:0.213111 -0.216290 0.952787 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.793287, -0.377513, 0.595121 mu:0.333803 unit_bearing:-0.109780 -0.147477 0.982954 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.780712, -0.369322, 0.663039 mu:0.333803 unit_bearing:-0.086676 -0.147526 0.985253 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.445862, -0.284762, 1.552180 mu:0.333803 unit_bearing:0.230656 -0.155680 0.960501 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.496214, -0.296578, 1.460335 mu:0.333803 unit_bearing:0.196297 -0.155859 0.968078 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.488065, -0.294604, 1.475739 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.798992, -0.282417, 0.621204 mu:0.333803 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.785856, -0.358372, 0.645012 mu:0.333803 unit_bearing:-0.092463 -0.143165 0.985370 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.838197, -0.295861, -0.261942 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.790412, 0.059323, 0.721962 mu:0.333803 unit_bearing:-0.052064 -0.007906 0.998612 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.840875, 0.311066, 0.306684 mu:0.333803 unit_bearing:-0.179088 0.092393 0.979485 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.839070, 0.313231, 0.323970 mu:0.333803 unit_bearing:-0.173333 0.092407 0.980518 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.839662, 0.323974, 0.304781 mu:0.333803 unit_bearing:-0.179077 0.096747 0.979067 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.837857, 0.326141, 0.322065 mu:0.333803 unit_bearing:-0.173323 0.096762 0.980100 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.838392, 0.336878, 0.302863 mu:0.333803 unit_bearing:-0.179065 0.101101 0.978629 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.836588, 0.339046, 0.320146 mu:0.333803 unit_bearing:-0.173312 0.101116 0.979662 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.555988, 0.669892, 1.196291 mu:0.333803 unit_bearing:0.144488 0.175088 0.973893 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.606515, 0.740480, 1.020915 mu:0.333803 unit_bearing:0.086744 0.205609 0.974782 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.558183, 0.657079, 1.198553 mu:0.333803 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.682923, 0.883234, 0.590430 mu:0.333803 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.686381, 0.870567, 0.592961 mu:0.333803 unit_bearing:-0.051791 0.266118 0.962548 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.363814, 1.461764, 0.840099 mu:0.333803 unit_bearing:0.079842 0.451937 0.888470 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.357625, 1.463587, 0.855945 mu:0.333803 unit_bearing:0.085530 0.451896 0.887961 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.351335, 1.465397, 0.871758 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.454836, -0.475925, 1.487215 mu:0.333803 unit_bearing:0.201674 -0.216372 0.955254 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.811768, -0.551962, 0.225568 mu:0.333803 unit_bearing:-0.235946 -0.190240 0.952963 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.669460, -0.831012, 0.724969 mu:0.333803 unit_bearing:-0.074710 -0.303010 0.950055 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.662272, -0.827010, 0.758518 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.677213, -0.805304, 0.723969 mu:0.333803 unit_bearing:-0.074741 -0.294451 0.952739 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.670019, -0.801296, 0.757531 mu:0.333803 unit_bearing:-0.063235 -0.294489 0.953560 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.308752, -0.687395, 1.647136 mu:0.333803 unit_bearing:0.257837 -0.292941 0.920709 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.396] If point is visible? -2.789409, -0.403493, 0.597251 mu:0.333803 unit_bearing:-0.109759 -0.156171 0.981613 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.488065, -0.294604, 1.475739 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.670584, -0.957196, 0.525249 mu:0.333803 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.483991, -0.320538, 1.477602 mu:0.333803 unit_bearing:0.201989 -0.164500 0.965474 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.467400, -0.316586, 1.508285 mu:0.333803 unit_bearing:0.213446 -0.164438 0.963017 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.428746, -0.334602, 1.570937 mu:0.333803 unit_bearing:0.236263 -0.172956 0.956173 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.787197, -0.373416, 0.629129 mu:0.333803 unit_bearing:-0.098231 -0.147503 0.984172 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.815023, -0.251653, 0.549422 mu:0.333803 unit_bearing:-0.121420 -0.103918 0.987147 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.798193, 0.081193, 0.685140 mu:0.333803 unit_bearing:-0.063650 0.000837 0.997972 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.853291, 0.065162, 0.340137 mu:0.333803 unit_bearing:-0.179199 0.009561 0.983766 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.639436, 0.548065, 1.054570 mu:0.333803 unit_bearing:0.086889 0.140490 0.986262 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.626718, 0.551944, 1.086700 mu:0.333803 unit_bearing:0.098446 0.140469 0.985179 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.123134, 0.942587, 1.782980 mu:0.333803 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.396] calculated Z= 1.006052 +[21:41:05.396] update seeds 305 +[21:41:05.396] If point is visible? -2.689781, 0.857891, 0.595477 mu:0.333803 unit_bearing:-0.051800 0.261816 0.963727 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.648105, 0.569904, 1.018045 mu:0.333803 unit_bearing:0.075314 0.149212 0.985933 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.635773, 0.573803, 1.050294 mu:0.333803 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.623056, 0.577676, 1.082418 mu:0.333803 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.564432, 0.618603, 1.205241 mu:0.333803 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -1.460315, 0.873989, 2.430000 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.396] If point is visible? -2.603871, 0.753253, 1.018541 mu:0.333803 unit_bearing:0.086732 0.209938 0.973860 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.591154, 0.757088, 1.050610 mu:0.333803 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.609102, 0.727700, 1.023273 mu:0.333803 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.596385, 0.731542, 1.055351 mu:0.333803 unit_bearing:0.098294 0.201247 0.974596 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.284206, 1.493123, 1.009161 mu:0.333803 unit_bearing:0.142252 0.455449 0.878824 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.363606, 1.451526, 0.859264 mu:0.333803 unit_bearing:0.085562 0.447765 0.890048 T_cur_ref: x=0.127153 y=0.000000 z=0.044459 +[21:41:05.396] If point is visible? -2.556262, -0.917878, 0.478736 mu:0.349201 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.699474, 0.087482, 0.530159 mu:0.349201 unit_bearing:-0.098384 0.009576 0.995102 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.023850, 0.901386, 1.712288 mu:0.349201 unit_bearing:0.393036 0.241366 0.887280 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:05.396] calculated Z= 1.004436 +[21:41:05.396] update seeds 305 +[21:41:05.396] If point is visible? -2.278622, 1.342115, 0.843279 mu:0.349201 unit_bearing:0.097076 0.431104 0.897065 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.167608, -1.274539, 1.199513 mu:0.349201 unit_bearing:0.119162 -0.490983 0.862981 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:05.396] If point is visible? -2.269038, -1.423660, -0.636497 mu:0.349201 unit_bearing:-0.509414 -0.464534 0.724365 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.546598, -0.894401, 0.575921 mu:0.349201 unit_bearing:-0.109007 -0.332690 0.936715 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.548777, -0.873229, 0.599583 mu:0.349201 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.546726, -0.879343, 0.599792 mu:0.349201 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.545112, -0.863316, 0.631675 mu:0.349201 unit_bearing:-0.088980 -0.324289 0.941764 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.327033, -0.449918, 1.458710 mu:0.349201 unit_bearing:0.224534 -0.216202 0.950179 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.318723, -0.428518, 1.479536 mu:0.349201 unit_bearing:0.233144 -0.209671 0.949569 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.362473, -0.419567, 1.405306 mu:0.349201 unit_bearing:0.204624 -0.203410 0.957473 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.344336, -0.447587, 1.429119 mu:0.349201 unit_bearing:0.213127 -0.214135 0.953270 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.321530, -0.435651, 1.472606 mu:0.349201 unit_bearing:0.230275 -0.211848 0.949786 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.318401, -0.409035, 1.485748 mu:0.349201 unit_bearing:0.236047 -0.203183 0.950262 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.316721, -0.395727, 1.492283 mu:0.349201 unit_bearing:0.238932 -0.198848 0.950458 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.379712, -0.371988, 1.387479 mu:0.349201 unit_bearing:0.199005 -0.186160 0.962155 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.380843, -0.365798, 1.387074 mu:0.349201 unit_bearing:0.199017 -0.183998 0.962568 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.308149, -0.297328, 1.529713 mu:0.349201 unit_bearing:0.256265 -0.166336 0.952187 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.399021, -0.305760, 1.367981 mu:0.349201 unit_bearing:0.193398 -0.162376 0.967590 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.307123, -0.303512, 1.530139 mu:0.349201 unit_bearing:0.256250 -0.168498 0.951811 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.658013, -0.332507, 0.648398 mu:0.349201 unit_bearing:-0.072235 -0.141023 0.987367 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.656358, -0.331528, 0.656473 mu:0.349201 unit_bearing:-0.069344 -0.141027 0.987574 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.645961, -0.352467, 0.690803 mu:0.349201 unit_bearing:-0.057765 -0.149746 0.987036 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.397179, -0.292414, 1.374479 mu:0.349201 unit_bearing:0.196287 -0.158027 0.967729 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.352157, -0.236771, 1.466711 mu:0.349201 unit_bearing:0.233585 -0.142666 0.961813 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.348037, -0.235833, 1.473997 mu:0.349201 unit_bearing:0.236442 -0.142651 0.961117 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.387307, -0.251438, 1.401207 mu:0.349201 unit_bearing:0.207816 -0.144962 0.967367 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.383398, -0.250494, 1.408575 mu:0.349201 unit_bearing:0.210682 -0.144949 0.966749 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.650243, -0.307988, 0.695157 mu:0.349201 unit_bearing:-0.054891 -0.134515 0.989390 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.666918, -0.317788, 0.614426 mu:0.349201 unit_bearing:-0.083809 -0.134476 0.987366 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.665356, -0.316807, 0.622525 mu:0.349201 unit_bearing:-0.080918 -0.134480 0.987607 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.667731, -0.311574, 0.613881 mu:0.349201 unit_bearing:-0.083812 -0.132299 0.987660 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.384274, -0.244296, 1.408090 mu:0.349201 unit_bearing:0.210692 -0.142780 0.967069 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.648616, -0.347232, 0.682236 mu:0.349201 unit_bearing:-0.060660 -0.147567 0.987190 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.653814, -0.336762, 0.665071 mu:0.349201 unit_bearing:-0.066449 -0.143208 0.987459 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.714082, -0.372619, -0.111621 mu:0.349201 unit_bearing:-0.332871 -0.122582 0.934971 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.651055, -0.301772, 0.694615 mu:0.349201 unit_bearing:-0.054893 -0.132337 0.989684 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.654411, -0.290318, 0.685472 mu:0.349201 unit_bearing:-0.057791 -0.127978 0.990092 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.674226, -0.242218, 0.615749 mu:0.349201 unit_bearing:-0.080955 -0.108340 0.990812 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.666056, -0.237302, 0.656174 mu:0.349201 unit_bearing:-0.066491 -0.108356 0.991886 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.668389, -0.232066, 0.647514 mu:0.349201 unit_bearing:-0.069387 -0.106173 0.991924 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.717989, -0.261418, -0.225913 mu:0.349201 unit_bearing:-0.366835 -0.079176 0.926911 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.710009, -0.280731, -0.284295 mu:0.349201 unit_bearing:-0.386369 -0.083385 0.918567 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.396] If point is visible? -2.718487, -0.255265, -0.226560 mu:0.349201 unit_bearing:-0.366846 -0.077016 0.927088 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.721442, -0.200902, -0.241040 mu:0.349201 unit_bearing:-0.369729 -0.057557 0.927355 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.723594, -0.192715, -0.224682 mu:0.349201 unit_bearing:-0.364134 -0.055416 0.929696 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.717102, -0.176268, -0.295614 mu:0.349201 unit_bearing:-0.386531 -0.046697 0.921093 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.718142, -0.121996, -0.310484 mu:0.349201 unit_bearing:-0.389368 -0.027253 0.920679 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.559949, -0.006399, 1.049092 mu:0.349201 unit_bearing:0.084106 -0.045047 0.995438 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.557036, -0.005445, 1.056824 mu:0.349201 unit_bearing:0.087000 -0.045045 0.995189 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.716465, -0.099499, -0.330447 mu:0.349201 unit_bearing:-0.394953 -0.018606 0.918513 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.675645, -0.103122, -0.564342 mu:0.349201 unit_bearing:-0.469356 -0.009908 0.882954 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.716339, -0.105639, -0.329720 mu:0.349201 unit_bearing:-0.394950 -0.020765 0.918468 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.705449, -0.047569, -0.414768 mu:0.349201 unit_bearing:-0.419941 0.002981 0.907547 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.725384, -0.029722, -0.269651 mu:0.349201 unit_bearing:-0.372633 0.002991 0.927974 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.513327, 0.120578, 1.159005 mu:0.349201 unit_bearing:0.130380 -0.005715 0.991448 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.510045, 0.121513, 1.166618 mu:0.349201 unit_bearing:0.133268 -0.005714 0.991064 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.503412, 0.123382, 1.181820 mu:0.349201 unit_bearing:0.139043 -0.005714 0.990270 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.715717, -0.069846, -0.342665 mu:0.349201 unit_bearing:-0.397746 -0.007809 0.917462 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.716941, -0.031975, -0.338638 mu:0.349201 unit_bearing:-0.394964 0.005146 0.918682 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.725358, -0.023575, -0.270411 mu:0.349201 unit_bearing:-0.372633 0.005154 0.927965 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.489902, 0.151926, 1.209091 mu:0.349201 unit_bearing:0.150585 0.003019 0.988592 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.715729, -0.026891, -0.347936 mu:0.349201 unit_bearing:-0.397746 0.007304 0.917466 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.723595, 0.048732, 0.368658 mu:0.349201 unit_bearing:-0.156153 0.003019 0.987728 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.714231, -0.003412, -0.359549 mu:0.349201 unit_bearing:-0.400520 0.015936 0.916149 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.715430, -0.002354, -0.351012 mu:0.349201 unit_bearing:-0.397739 0.015939 0.917360 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.559643, 0.156116, 1.037754 mu:0.349201 unit_bearing:0.087011 0.011763 0.996138 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.556707, 0.157063, 1.045481 mu:0.349201 unit_bearing:0.089905 0.011762 0.995881 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.553748, 0.158010, 1.053200 mu:0.349201 unit_bearing:0.092799 0.011762 0.995615 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.652838, -0.041630, -0.667547 mu:0.349201 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.667360, -0.022003, -0.609161 mu:0.349201 unit_bearing:-0.480216 0.020115 0.876920 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.616119, -0.039438, -0.798128 mu:0.349201 unit_bearing:-0.539207 0.022113 0.841883 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.667220, -0.015914, -0.609935 mu:0.349201 unit_bearing:-0.480211 0.022258 0.876870 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.704559, 0.013666, -0.422469 mu:0.349201 unit_bearing:-0.419918 0.024532 0.907230 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.708643, 0.016859, -0.396832 mu:0.349201 unit_bearing:-0.411612 0.024548 0.911029 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.670274, 0.016678, -0.596726 mu:0.349201 unit_bearing:-0.474752 0.032992 0.879501 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.672425, 0.011663, -0.587379 mu:0.349201 unit_bearing:-0.472039 0.030856 0.881038 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.698387, 0.021634, -0.458240 mu:0.349201 unit_bearing:-0.430954 0.028816 0.901914 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.699483, 0.034933, -0.451272 mu:0.349201 unit_bearing:-0.428186 0.033130 0.903083 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.697317, 0.083832, -0.457715 mu:0.349201 unit_bearing:-0.428129 0.050352 0.902314 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.681091, 0.072989, -0.543231 mu:0.349201 unit_bearing:-0.455600 0.050233 0.888766 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.681720, 0.060797, -0.541611 mu:0.349201 unit_bearing:-0.455618 0.045938 0.888989 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.681412, 0.066894, -0.542420 mu:0.349201 unit_bearing:-0.455609 0.048086 0.888880 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.686569, 0.070146, -0.516756 mu:0.349201 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.699191, 0.104330, -0.443086 mu:0.349201 unit_bearing:-0.422581 0.056834 0.904541 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.706010, 0.109750, -0.400382 mu:0.349201 unit_bearing:-0.408742 0.056895 0.910875 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.707292, 0.110833, -0.391845 mu:0.349201 unit_bearing:-0.405968 0.056907 0.912114 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.713302, 0.116238, -0.349184 mu:0.349201 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.720592, 0.123782, -0.289533 mu:0.349201 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.719259, 0.128837, -0.298881 mu:0.349201 unit_bearing:-0.375318 0.059191 0.925004 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.720221, 0.129914, -0.290366 mu:0.349201 unit_bearing:-0.372521 0.059202 0.926134 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.494419, 0.322629, 1.163348 mu:0.349201 unit_bearing:0.141887 0.064131 0.987803 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.702239, 0.350884, 0.369116 mu:0.349201 unit_bearing:-0.141610 0.107724 0.984044 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.536585, 0.490248, 0.989936 mu:0.349201 unit_bearing:0.086908 0.129608 0.987749 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.533649, 0.491182, 0.997654 mu:0.349201 unit_bearing:0.089798 0.129603 0.987491 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.530690, 0.492114, 1.005364 mu:0.349201 unit_bearing:0.092688 0.129598 0.987225 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.431158, 0.519427, 1.233099 mu:0.349201 unit_bearing:0.179178 0.129373 0.975273 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.420770, 0.569446, 1.232449 mu:0.349201 unit_bearing:0.181986 0.146737 0.972291 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.529899, 0.498274, 1.004374 mu:0.349201 unit_bearing:0.092684 0.131775 0.986937 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.424426, 0.592215, 1.213362 mu:0.349201 unit_bearing:0.176204 0.155441 0.972003 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.439238, 0.647268, 1.150215 mu:0.349201 unit_bearing:0.155989 0.177209 0.971733 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.435745, 0.648156, 1.157739 mu:0.349201 unit_bearing:0.158865 0.177197 0.971269 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] If point is visible? -2.050580, 0.938446, 1.656379 mu:0.349201 unit_bearing:0.373381 0.256590 0.891486 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:05.397] If point is visible? -2.045269, 0.939123, 1.663110 mu:0.349201 unit_bearing:0.376154 0.256538 0.890335 T_cur_ref: x=0.121055 y=0.000000 z=0.042695 +[21:41:05.397] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:05.397] init seeds +[21:41:05.397] DepthFilter: Initialized 2 new seeds +[21:41:05.399] DepthFilter: Initialized 2 new seeds +[21:41:05.948] add new frame +[21:41:05.948] update seed +[21:41:05.948] If point is visible? -2.066181, 1.345270, 0.869068 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.142044 y=0.000000 z=0.048908 +[21:41:05.948] If point is visible? -2.215843, -0.874851, -0.967791 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.142044 y=0.000000 z=0.048908 +[21:41:05.948] If point is visible? -2.066181, 1.345270, 0.869068 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.142044 y=0.000000 z=0.048908 +[21:41:05.948] If point is visible? -2.215843, -0.874851, -0.967791 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.142044 y=0.000000 z=0.048908 +[21:41:05.948] If point is visible? -0.881375, 0.422986, 0.825132 mu:0.743849 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] Z inverse min: 1.168979, Z inverse max: 0.318720 +[21:41:05.948] If point is visible? -1.459026, 0.873989, 2.430511 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.948] If point is visible? -2.259994, -1.353460, 1.244235 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:05.948] If point is visible? -2.663264, -0.928227, 0.610202 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] If point is visible? -2.660302, -0.910497, 0.652108 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] If point is visible? -2.660278, -0.941992, 0.602114 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] If point is visible? -2.658162, -0.916895, 0.652308 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] If point is visible? -2.759228, -0.781176, 0.205720 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] If point is visible? -2.435552, -0.478379, 1.518674 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] If point is visible? -2.428496, -0.469915, 1.533582 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] If point is visible? -2.452156, -0.482389, 1.488068 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] add key frame +[21:41:05.948] If point is visible? -2.423697, -0.428141, 1.554274 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.128442 y=0.000000 z=0.044970 +[21:41:05.948] init seeds +[21:41:05.948] remove key frame +[21:41:05.948] update seed +[21:41:05.948] init seeds +[21:41:05.951] DepthFilter: Initialized 2 new seeds +[21:41:05.953] DepthFilter: Initialized 158 new seeds +[21:41:06.513] add new frame +[21:41:06.513] update seed +[21:41:06.513] If point is visible? -2.056973, 1.345270, 0.872695 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.151252 y=0.000000 z=0.052535 +[21:41:06.513] If point is visible? -2.206635, -0.874851, -0.964163 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.151252 y=0.000000 z=0.052535 +[21:41:06.513] If point is visible? -2.056973, 1.345270, 0.872695 mu:0.368638 unit_bearing:0.147915 0.455375 0.877926 T_cur_ref: x=0.151252 y=0.000000 z=0.052535 +[21:41:06.513] If point is visible? -2.206635, -0.874851, -0.964163 mu:0.368638 unit_bearing:-0.613569 -0.274424 0.740422 T_cur_ref: x=0.151252 y=0.000000 z=0.052535 +[21:41:06.513] If point is visible? -0.872166, 0.422986, 0.828759 mu:0.743849 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] Z inverse min: 1.168979, Z inverse max: 0.318720 +[21:41:06.513] If point is visible? -1.449818, 0.873989, 2.434138 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:06.513] If point is visible? -2.250786, -1.353460, 1.247862 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:06.513] If point is visible? -2.654056, -0.928227, 0.613830 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.651094, -0.910497, 0.655735 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.651069, -0.941992, 0.605742 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.648953, -0.916895, 0.655935 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.750020, -0.781176, 0.209347 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.426344, -0.478379, 1.522302 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] add key frame +[21:41:06.513] If point is visible? -2.419287, -0.469915, 1.537210 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] remove key frame +[21:41:06.513] init seeds +[21:41:06.513] update seed +[21:41:06.513] If point is visible? -0.872166, 0.422986, 0.828759 mu:0.743849 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] Z inverse min: 1.168979, Z inverse max: 0.318720 +[21:41:06.513] If point is visible? -1.449818, 0.873989, 2.434138 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:06.513] If point is visible? -2.250786, -1.353460, 1.247862 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:06.513] If point is visible? -2.654056, -0.928227, 0.613830 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.651094, -0.910497, 0.655735 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.651069, -0.941992, 0.605742 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.648953, -0.916895, 0.655935 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.750020, -0.781176, 0.209347 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.426344, -0.478379, 1.522302 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.419287, -0.469915, 1.537210 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.442948, -0.482389, 1.491696 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.414489, -0.428141, 1.557901 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.473680, -0.415222, 1.456881 mu:0.333803 unit_bearing:0.190357 -0.194859 0.962182 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.482527, -0.390311, 1.447541 mu:0.333803 unit_bearing:0.187539 -0.186225 0.964443 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.481334, -0.396789, 1.447952 mu:0.333803 unit_bearing:0.187527 -0.188388 0.964025 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.421230, -0.288297, 1.579523 mu:0.333803 unit_bearing:0.239213 -0.157795 0.958060 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.416803, -0.287316, 1.587082 mu:0.333803 unit_bearing:0.242067 -0.157778 0.957345 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.499716, -0.313508, 1.434502 mu:0.333803 unit_bearing:0.184799 -0.160249 0.969623 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.500727, -0.307021, 1.434030 mu:0.333803 unit_bearing:0.184809 -0.158080 0.969978 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.498691, -0.319994, 1.434969 mu:0.333803 unit_bearing:0.184789 -0.162417 0.969265 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.422229, -0.281820, 1.579058 mu:0.333803 unit_bearing:0.239225 -0.155631 0.958410 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.497758, -0.299544, 1.441297 mu:0.333803 unit_bearing:0.187689 -0.155899 0.969777 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.438276, -0.265324, 1.554891 mu:0.333803 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.433923, -0.264345, 1.562483 mu:0.333803 unit_bearing:0.233550 -0.149167 0.960835 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.495721, -0.285580, 1.448068 mu:0.333803 unit_bearing:0.190579 -0.151548 0.969904 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.491707, -0.284593, 1.455795 mu:0.333803 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.484562, -0.276133, 1.470733 mu:0.333803 unit_bearing:0.199196 -0.149340 0.968514 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.513] If point is visible? -2.485504, -0.269647, 1.470241 mu:0.333803 unit_bearing:0.199206 -0.147171 0.968844 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.774629, -0.350849, 0.657078 mu:0.333803 unit_bearing:-0.089578 -0.140995 0.985949 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.482345, -0.262175, 1.477445 mu:0.333803 unit_bearing:0.202083 -0.144988 0.968577 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.782091, -0.334426, 0.629964 mu:0.333803 unit_bearing:-0.098257 -0.134450 0.986037 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.780505, -0.333400, 0.638453 mu:0.333803 unit_bearing:-0.095368 -0.134456 0.986320 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.778895, -0.332374, 0.646936 mu:0.333803 unit_bearing:-0.092479 -0.134461 0.986594 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.765124, -0.324179, 0.714575 mu:0.333803 unit_bearing:-0.069353 -0.134497 0.988484 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.824455, -0.411065, -0.129369 mu:0.333803 unit_bearing:-0.346887 -0.128952 0.929000 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.787644, -0.274887, 0.633238 mu:0.333803 unit_bearing:-0.095402 -0.114857 0.988790 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.798781, -0.303652, 0.558384 mu:0.333803 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.782479, -0.257767, 0.665942 mu:0.333803 unit_bearing:-0.083844 -0.110516 0.990331 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.825617, -0.344171, -0.225831 mu:0.333803 unit_bearing:-0.375086 -0.102865 0.921265 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.827700, -0.295861, -0.257804 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.833280, -0.236936, -0.254960 mu:0.333803 unit_bearing:-0.380876 -0.066151 0.922257 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.831667, -0.232624, -0.273519 mu:0.333803 unit_bearing:-0.386466 -0.063968 0.920083 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.669610, -0.014161, 1.094449 mu:0.333803 unit_bearing:0.072527 -0.047237 0.996247 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.666587, -0.013163, 1.102541 mu:0.333803 unit_bearing:0.075422 -0.047236 0.996032 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.819902, -0.119249, -0.413332 mu:0.333803 unit_bearing:-0.425452 -0.020717 0.904744 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.611175, 0.121641, 1.233452 mu:0.333803 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.814573, -0.065980, -0.456121 mu:0.333803 unit_bearing:-0.436497 -0.001328 0.899705 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.779330, -0.131488, -0.621219 mu:0.333803 unit_bearing:-0.488350 -0.016316 0.872495 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.618150, 0.139171, 1.215179 mu:0.333803 unit_bearing:0.121714 -0.001347 0.992564 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.672310, 0.070399, 1.084881 mu:0.333803 unit_bearing:0.072537 -0.018832 0.997188 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.768822, -0.079679, -0.673058 mu:0.333803 unit_bearing:-0.501854 0.002958 0.864947 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.819077, -0.043469, -0.431598 mu:0.333803 unit_bearing:-0.428228 0.005133 0.903656 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.799309, -0.050341, -0.540004 mu:0.333803 unit_bearing:-0.461175 0.007266 0.887280 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.672773, 0.109406, 1.080232 mu:0.333803 unit_bearing:0.072539 -0.005719 0.997349 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.797420, -0.045065, -0.549772 mu:0.333803 unit_bearing:-0.463903 0.009411 0.885836 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.801055, -0.042848, -0.531827 mu:0.333803 unit_bearing:-0.458441 0.009416 0.888675 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.797348, -0.038683, -0.550571 mu:0.333803 unit_bearing:-0.463901 0.011558 0.885811 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.714348, -0.064956, -0.866060 mu:0.333803 unit_bearing:-0.557673 0.015688 0.829912 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.852502, 0.063141, 0.220988 mu:0.333803 unit_bearing:-0.219422 0.013907 0.975531 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.824637, -0.026238, -0.397361 mu:0.333803 unit_bearing:-0.417171 0.009449 0.908779 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.823109, -0.014531, -0.407923 mu:0.333803 unit_bearing:-0.419934 0.013757 0.907450 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.824481, -0.013423, -0.398968 mu:0.333803 unit_bearing:-0.417167 0.013760 0.908726 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.770676, -0.040411, -0.668844 mu:0.333803 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.669665, 0.155886, 1.082715 mu:0.333803 unit_bearing:0.075434 0.009579 0.997105 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.666617, 0.156878, 1.090802 mu:0.333803 unit_bearing:0.078328 0.009579 0.996882 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.823194, -0.020937, -0.407118 mu:0.333803 unit_bearing:-0.419936 0.011602 0.907480 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.774519, -0.012734, -0.654127 mu:0.333803 unit_bearing:-0.493738 0.024368 0.869269 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.805480, 0.005201, -0.510573 mu:0.333803 unit_bearing:-0.450207 0.024470 0.892589 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.816991, 0.000231, -0.446188 mu:0.333803 unit_bearing:-0.430971 0.020204 0.902140 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.776836, -0.017974, -0.644341 mu:0.333803 unit_bearing:-0.491042 0.022234 0.870852 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.815332, 0.005513, -0.455965 mu:0.333803 unit_bearing:-0.433723 0.022352 0.900769 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.774343, -0.006373, -0.654942 mu:0.333803 unit_bearing:-0.493733 0.026509 0.869209 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.795712, 0.070876, -0.555620 mu:0.333803 unit_bearing:-0.461075 0.048062 0.886059 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.804447, 0.076558, -0.510793 mu:0.333803 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.792644, 0.055857, -0.571863 mu:0.333803 unit_bearing:-0.466549 0.043747 0.883413 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.804768, 0.070176, -0.509943 mu:0.333803 unit_bearing:-0.447401 0.045972 0.893151 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.822145, 0.096550, -0.404175 mu:0.333803 unit_bearing:-0.414310 0.050407 0.908739 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.823463, 0.097681, -0.395228 mu:0.333803 unit_bearing:-0.411540 0.050418 0.909996 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.570594, 0.325831, 1.287130 mu:0.333803 unit_bearing:0.156315 0.057569 0.986028 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.831192, 0.118399, -0.334382 mu:0.333803 unit_bearing:-0.392077 0.054807 0.918299 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.831552, 0.111991, -0.333515 mu:0.333803 unit_bearing:-0.392085 0.052649 0.918421 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.830817, 0.124805, -0.335251 mu:0.333803 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.602249, 0.330144, 1.214219 mu:0.333803 unit_bearing:0.130345 0.061964 0.989531 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.828275, 0.325058, 0.317564 mu:0.333803 unit_bearing:-0.176200 0.096755 0.979588 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.819816, 0.357354, 0.365466 mu:0.333803 unit_bearing:-0.158907 0.105506 0.981640 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.648560, 0.510974, 1.023613 mu:0.333803 unit_bearing:0.072452 0.129629 0.988912 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.645537, 0.511955, 1.031698 mu:0.333803 unit_bearing:0.075344 0.129625 0.988696 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.642490, 0.512934, 1.039776 mu:0.333803 unit_bearing:0.078235 0.129621 0.988472 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.501638, 0.544445, 1.357204 mu:0.333803 unit_bearing:0.193549 0.127148 0.972817 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.539865, 0.541622, 1.278343 mu:0.333803 unit_bearing:0.164797 0.129421 0.977800 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.529072, 0.593968, 1.277627 mu:0.333803 unit_bearing:0.167614 0.146793 0.974863 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.525252, 0.594894, 1.285436 mu:0.333803 unit_bearing:0.170490 0.146782 0.974366 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.531930, 0.599460, 1.268723 mu:0.333803 unit_bearing:0.164730 0.148975 0.975023 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.528134, 0.600388, 1.276541 mu:0.333803 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.514] If point is visible? -2.530013, 0.612297, 1.266538 mu:0.333803 unit_bearing:0.164713 0.153317 0.974353 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.530979, 0.605879, 1.267633 mu:0.333803 unit_bearing:0.164722 0.151146 0.974691 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.527183, 0.606806, 1.275450 mu:0.333803 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.542968, 0.664420, 1.209436 mu:0.333803 unit_bearing:0.147375 0.172909 0.973850 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.540745, 0.677228, 1.207164 mu:0.333803 unit_bearing:0.147358 0.177245 0.973072 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.541864, 0.670825, 1.208302 mu:0.333803 unit_bearing:0.147366 0.175077 0.973464 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.125424, 0.977239, 1.751012 mu:0.333803 unit_bearing:0.370645 0.254519 0.893221 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:06.515] If point is visible? -2.635579, 1.077755, 0.398395 mu:0.333803 unit_bearing:-0.103215 0.342846 0.933704 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.634080, 1.078842, 0.406826 mu:0.333803 unit_bearing:-0.100350 0.342863 0.934010 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.299169, 1.233657, 1.279337 mu:0.333803 unit_bearing:0.214440 0.358661 0.908503 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.286355, 1.236072, 1.302010 mu:0.333803 unit_bearing:0.222938 0.358539 0.906503 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:06.515] If point is visible? -2.277689, 1.237667, 1.317075 mu:0.333803 unit_bearing:0.228598 0.358455 0.905126 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:06.515] If point is visible? -2.340838, 1.465397, 0.875897 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.454757, 1.473576, 0.336192 mu:0.333803 unit_bearing:-0.090808 0.476518 0.874463 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.161237, 1.548074, 1.185832 mu:0.333803 unit_bearing:0.209731 0.466636 0.859223 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.157009, 1.548821, 1.193328 mu:0.333803 unit_bearing:0.212538 0.466579 0.858564 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.135497, 1.552500, 1.230656 mu:0.333803 unit_bearing:0.226555 0.466279 0.855135 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.131120, 1.553224, 1.238090 mu:0.333803 unit_bearing:0.229355 0.466217 0.854423 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.386052, -1.377663, -0.792642 mu:0.333803 unit_bearing:-0.555223 -0.422218 0.716561 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.345632, -1.480484, -0.736381 mu:0.333803 unit_bearing:-0.537592 -0.458572 0.707606 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.322564, -1.536842, -0.699853 mu:0.333803 unit_bearing:-0.526032 -0.478731 0.702928 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.462120, -1.122462, -0.929150 mu:0.333803 unit_bearing:-0.595743 -0.332113 0.731294 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.469439, -1.087427, -0.949051 mu:0.333803 unit_bearing:-0.601386 -0.319696 0.732209 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.655355, -0.953285, 0.563464 mu:0.333803 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.652835, -0.951325, 0.580468 mu:0.333803 unit_bearing:-0.126161 -0.336824 0.933077 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.654608, -0.936587, 0.597065 mu:0.333803 unit_bearing:-0.120466 -0.332617 0.935336 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.647813, -0.839857, 0.763125 mu:0.333803 unit_bearing:-0.063195 -0.307324 0.949504 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.651774, -0.827010, 0.762657 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.648031, -0.825006, 0.779392 mu:0.333803 unit_bearing:-0.057457 -0.303065 0.951236 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.510875, -0.862652, -1.054063 mu:0.333803 unit_bearing:-0.629864 -0.240952 0.738386 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.427735, -0.471917, 1.521964 mu:0.333803 unit_bearing:0.213111 -0.216290 0.952787 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.782790, -0.377513, 0.599260 mu:0.333803 unit_bearing:-0.109780 -0.147477 0.982954 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.770214, -0.369322, 0.667178 mu:0.333803 unit_bearing:-0.086676 -0.147526 0.985253 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.435364, -0.284762, 1.556319 mu:0.333803 unit_bearing:0.230656 -0.155680 0.960501 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.485716, -0.296578, 1.464474 mu:0.333803 unit_bearing:0.196297 -0.155859 0.968078 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.477567, -0.294604, 1.479878 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.788494, -0.282417, 0.625342 mu:0.333803 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.775359, -0.358372, 0.649151 mu:0.333803 unit_bearing:-0.092463 -0.143165 0.985370 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.827700, -0.295861, -0.257804 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.779915, 0.059323, 0.726100 mu:0.333803 unit_bearing:-0.052064 -0.007906 0.998612 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.830378, 0.311066, 0.310823 mu:0.333803 unit_bearing:-0.179088 0.092393 0.979485 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.828572, 0.313231, 0.328108 mu:0.333803 unit_bearing:-0.173333 0.092407 0.980518 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.829164, 0.323974, 0.308919 mu:0.333803 unit_bearing:-0.179077 0.096747 0.979067 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.827359, 0.326141, 0.326204 mu:0.333803 unit_bearing:-0.173323 0.096762 0.980100 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.827895, 0.336878, 0.307002 mu:0.333803 unit_bearing:-0.179065 0.101101 0.978629 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.826091, 0.339046, 0.324285 mu:0.333803 unit_bearing:-0.173312 0.101116 0.979662 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.545491, 0.669892, 1.200429 mu:0.333803 unit_bearing:0.144488 0.175088 0.973893 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.596017, 0.740480, 1.025054 mu:0.333803 unit_bearing:0.086744 0.205609 0.974782 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.547686, 0.657079, 1.202692 mu:0.333803 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.672426, 0.883234, 0.594569 mu:0.333803 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.675884, 0.870567, 0.597100 mu:0.333803 unit_bearing:-0.051791 0.266118 0.962548 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.353317, 1.461764, 0.844238 mu:0.333803 unit_bearing:0.079842 0.451937 0.888470 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.347127, 1.463587, 0.860084 mu:0.333803 unit_bearing:0.085530 0.451896 0.887961 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.340838, 1.465397, 0.875897 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.444338, -0.475925, 1.491354 mu:0.333803 unit_bearing:0.201674 -0.216372 0.955254 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.801270, -0.551962, 0.229706 mu:0.333803 unit_bearing:-0.235946 -0.190240 0.952963 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.658962, -0.831012, 0.729108 mu:0.333803 unit_bearing:-0.074710 -0.303010 0.950055 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.651774, -0.827010, 0.762657 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.666716, -0.805304, 0.728108 mu:0.333803 unit_bearing:-0.074741 -0.294451 0.952739 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.659521, -0.801296, 0.761669 mu:0.333803 unit_bearing:-0.063235 -0.294489 0.953560 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] If point is visible? -2.298254, -0.687395, 1.651275 mu:0.333803 unit_bearing:0.257837 -0.292941 0.920709 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.515] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:06.516] If point is visible? -2.778911, -0.403493, 0.601389 mu:0.333803 unit_bearing:-0.109759 -0.156171 0.981613 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.477567, -0.294604, 1.479878 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.660087, -0.957196, 0.529388 mu:0.333803 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.473493, -0.320538, 1.481741 mu:0.333803 unit_bearing:0.201989 -0.164500 0.965474 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.456902, -0.316586, 1.512424 mu:0.333803 unit_bearing:0.213446 -0.164438 0.963017 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.418249, -0.334602, 1.575076 mu:0.333803 unit_bearing:0.236263 -0.172956 0.956173 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.776700, -0.373416, 0.633267 mu:0.333803 unit_bearing:-0.098231 -0.147503 0.984172 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.804526, -0.251653, 0.553561 mu:0.333803 unit_bearing:-0.121420 -0.103918 0.987147 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.787696, 0.081193, 0.689279 mu:0.333803 unit_bearing:-0.063650 0.000837 0.997972 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.842793, 0.065162, 0.344276 mu:0.333803 unit_bearing:-0.179199 0.009561 0.983766 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.628939, 0.548065, 1.058708 mu:0.333803 unit_bearing:0.086889 0.140490 0.986262 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.616221, 0.551944, 1.090838 mu:0.333803 unit_bearing:0.098446 0.140469 0.985179 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -1.130928, 0.531374, 1.028672 mu:0.592121 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] Z inverse min: 1.071436, Z inverse max: 0.112806 +[21:41:06.516] If point is visible? -2.679284, 0.857891, 0.599616 mu:0.333803 unit_bearing:-0.051800 0.261816 0.963727 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.637608, 0.569904, 1.022183 mu:0.333803 unit_bearing:0.075314 0.149212 0.985933 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.625276, 0.573803, 1.054433 mu:0.333803 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.612558, 0.577676, 1.086557 mu:0.333803 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.553935, 0.618603, 1.209380 mu:0.333803 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -1.449818, 0.873989, 2.434138 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:06.516] If point is visible? -2.593373, 0.753253, 1.022680 mu:0.333803 unit_bearing:0.086732 0.209938 0.973860 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.580657, 0.757088, 1.054748 mu:0.333803 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.598605, 0.727700, 1.027412 mu:0.333803 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.585888, 0.731542, 1.059490 mu:0.333803 unit_bearing:0.098294 0.201247 0.974596 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.273709, 1.493123, 1.013300 mu:0.333803 unit_bearing:0.142252 0.455449 0.878824 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.353109, 1.451526, 0.863403 mu:0.333803 unit_bearing:0.085562 0.447765 0.890048 T_cur_ref: x=0.137651 y=0.000000 z=0.048598 +[21:41:06.516] If point is visible? -2.545765, -0.917878, 0.482875 mu:0.349201 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.688977, 0.087482, 0.534297 mu:0.349201 unit_bearing:-0.098384 0.009576 0.995102 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -1.128474, 0.529520, 1.027637 mu:0.594435 unit_bearing:0.393036 0.241366 0.887280 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] Z inverse min: 1.058957, Z inverse max: 0.129913 +[21:41:06.516] calculated Z= 1.026881 +[21:41:06.516] update seeds 305 +[21:41:06.516] If point is visible? -2.268125, 1.342115, 0.847418 mu:0.349201 unit_bearing:0.097076 0.431104 0.897065 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.157111, -1.274539, 1.203652 mu:0.349201 unit_bearing:0.119162 -0.490983 0.862981 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:06.516] If point is visible? -2.258541, -1.423660, -0.632358 mu:0.349201 unit_bearing:-0.509414 -0.464534 0.724365 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.536101, -0.894401, 0.580060 mu:0.349201 unit_bearing:-0.109007 -0.332690 0.936715 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.538280, -0.873229, 0.603721 mu:0.349201 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.536229, -0.879343, 0.603931 mu:0.349201 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.534614, -0.863316, 0.635814 mu:0.349201 unit_bearing:-0.088980 -0.324289 0.941764 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.316535, -0.449918, 1.462848 mu:0.349201 unit_bearing:0.224534 -0.216202 0.950179 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.308226, -0.428518, 1.483675 mu:0.349201 unit_bearing:0.233144 -0.209671 0.949569 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.351976, -0.419567, 1.409444 mu:0.349201 unit_bearing:0.204624 -0.203410 0.957473 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.333838, -0.447587, 1.433258 mu:0.349201 unit_bearing:0.213127 -0.214135 0.953270 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.311032, -0.435651, 1.476745 mu:0.349201 unit_bearing:0.230275 -0.211848 0.949786 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.307904, -0.409035, 1.489887 mu:0.349201 unit_bearing:0.236047 -0.203183 0.950262 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.306224, -0.395727, 1.496421 mu:0.349201 unit_bearing:0.238932 -0.198848 0.950458 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.369215, -0.371988, 1.391618 mu:0.349201 unit_bearing:0.199005 -0.186160 0.962155 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.370346, -0.365798, 1.391213 mu:0.349201 unit_bearing:0.199017 -0.183998 0.962568 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.297651, -0.297328, 1.533851 mu:0.349201 unit_bearing:0.256265 -0.166336 0.952187 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] If point is visible? -2.388524, -0.305760, 1.372120 mu:0.349201 unit_bearing:0.193398 -0.162376 0.967590 T_cur_ref: x=0.131552 y=0.000000 z=0.046834 +[21:41:06.516] init seeds +[21:41:06.516] DepthFilter: Initialized 6 new seeds +[21:41:06.519] DepthFilter: Initialized 6 new seeds +[21:41:07.093] add new frame +[21:41:07.094] add key frame +[21:41:07.094] remove key frame +[21:41:07.097] update seed +[21:41:07.097] If point is visible? -0.863475, 0.422986, 0.832073 mu:0.743849 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.097] Z inverse min: 1.168979, Z inverse max: 0.318720 +[21:41:07.097] If point is visible? -1.441127, 0.873989, 2.437452 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.097] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:07.097] If point is visible? -2.242095, -1.353460, 1.251176 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.097] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:07.097] If point is visible? -2.645365, -0.928227, 0.617143 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.097] If point is visible? -2.642403, -0.910497, 0.659049 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.097] If point is visible? -2.642378, -0.941992, 0.609055 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.097] If point is visible? -2.640262, -0.916895, 0.659249 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.097] If point is visible? -2.741329, -0.781176, 0.212661 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.097] If point is visible? -2.417653, -0.478379, 1.525615 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.410596, -0.469915, 1.540523 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.434256, -0.482389, 1.495009 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.405798, -0.428141, 1.561215 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.464988, -0.415222, 1.460195 mu:0.333803 unit_bearing:0.190357 -0.194859 0.962182 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.473836, -0.390311, 1.450855 mu:0.333803 unit_bearing:0.187539 -0.186225 0.964443 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.472643, -0.396789, 1.451266 mu:0.333803 unit_bearing:0.187527 -0.188388 0.964025 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.412539, -0.288297, 1.582836 mu:0.333803 unit_bearing:0.239213 -0.157795 0.958060 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.408112, -0.287316, 1.590395 mu:0.333803 unit_bearing:0.242067 -0.157778 0.957345 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.491024, -0.313508, 1.437815 mu:0.333803 unit_bearing:0.184799 -0.160249 0.969623 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.492035, -0.307021, 1.437343 mu:0.333803 unit_bearing:0.184809 -0.158080 0.969978 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.490000, -0.319994, 1.438283 mu:0.333803 unit_bearing:0.184789 -0.162417 0.969265 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.413538, -0.281820, 1.582372 mu:0.333803 unit_bearing:0.239225 -0.155631 0.958410 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.489067, -0.299544, 1.444611 mu:0.333803 unit_bearing:0.187689 -0.155899 0.969777 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.429585, -0.265324, 1.558205 mu:0.333803 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.425232, -0.264345, 1.565797 mu:0.333803 unit_bearing:0.233550 -0.149167 0.960835 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.487029, -0.285580, 1.451382 mu:0.333803 unit_bearing:0.190579 -0.151548 0.969904 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.483016, -0.284593, 1.459108 mu:0.333803 unit_bearing:0.193449 -0.151535 0.969337 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.475871, -0.276133, 1.474046 mu:0.333803 unit_bearing:0.199196 -0.149340 0.968514 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.476813, -0.269647, 1.473555 mu:0.333803 unit_bearing:0.199206 -0.147171 0.968844 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.765938, -0.350849, 0.660392 mu:0.333803 unit_bearing:-0.089578 -0.140995 0.985949 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.473654, -0.262175, 1.480758 mu:0.333803 unit_bearing:0.202083 -0.144988 0.968577 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.773400, -0.334426, 0.633278 mu:0.333803 unit_bearing:-0.098257 -0.134450 0.986037 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.771814, -0.333400, 0.641767 mu:0.333803 unit_bearing:-0.095368 -0.134456 0.986320 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.770203, -0.332374, 0.650249 mu:0.333803 unit_bearing:-0.092479 -0.134461 0.986594 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.756433, -0.324179, 0.717889 mu:0.333803 unit_bearing:-0.069353 -0.134497 0.988484 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.815764, -0.411065, -0.126055 mu:0.333803 unit_bearing:-0.346887 -0.128952 0.929000 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.778953, -0.274887, 0.636552 mu:0.333803 unit_bearing:-0.095402 -0.114857 0.988790 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.790090, -0.303652, 0.561698 mu:0.333803 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.773788, -0.257767, 0.669256 mu:0.333803 unit_bearing:-0.083844 -0.110516 0.990331 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.816925, -0.344171, -0.222517 mu:0.333803 unit_bearing:-0.375086 -0.102865 0.921265 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.819008, -0.295861, -0.254490 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.824589, -0.236936, -0.251647 mu:0.333803 unit_bearing:-0.380876 -0.066151 0.922257 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.822975, -0.232624, -0.270205 mu:0.333803 unit_bearing:-0.386466 -0.063968 0.920083 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.660919, -0.014161, 1.097763 mu:0.333803 unit_bearing:0.072527 -0.047237 0.996247 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.657896, -0.013163, 1.105855 mu:0.333803 unit_bearing:0.075422 -0.047236 0.996032 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.811211, -0.119249, -0.410019 mu:0.333803 unit_bearing:-0.425452 -0.020717 0.904744 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.602483, 0.121641, 1.236766 mu:0.333803 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.805882, -0.065980, -0.452807 mu:0.333803 unit_bearing:-0.436497 -0.001328 0.899705 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.770638, -0.131488, -0.617905 mu:0.333803 unit_bearing:-0.488350 -0.016316 0.872495 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.609459, 0.139171, 1.218492 mu:0.333803 unit_bearing:0.121714 -0.001347 0.992564 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.663619, 0.070399, 1.088195 mu:0.333803 unit_bearing:0.072537 -0.018832 0.997188 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.760130, -0.079679, -0.669745 mu:0.333803 unit_bearing:-0.501854 0.002958 0.864947 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.810386, -0.043469, -0.428284 mu:0.333803 unit_bearing:-0.428228 0.005133 0.903656 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.790618, -0.050341, -0.536690 mu:0.333803 unit_bearing:-0.461175 0.007266 0.887280 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.664082, 0.109406, 1.083545 mu:0.333803 unit_bearing:0.072539 -0.005719 0.997349 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.788729, -0.045065, -0.546459 mu:0.333803 unit_bearing:-0.463903 0.009411 0.885836 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.792363, -0.042848, -0.528513 mu:0.333803 unit_bearing:-0.458441 0.009416 0.888675 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.788657, -0.038683, -0.547257 mu:0.333803 unit_bearing:-0.463901 0.011558 0.885811 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.705657, -0.064956, -0.862747 mu:0.333803 unit_bearing:-0.557673 0.015688 0.829912 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.843811, 0.063141, 0.224301 mu:0.333803 unit_bearing:-0.219422 0.013907 0.975531 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.815946, -0.026238, -0.394048 mu:0.333803 unit_bearing:-0.417171 0.009449 0.908779 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.814417, -0.014531, -0.404610 mu:0.333803 unit_bearing:-0.419934 0.013757 0.907450 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.815789, -0.013423, -0.395655 mu:0.333803 unit_bearing:-0.417167 0.013760 0.908726 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.761985, -0.040411, -0.665530 mu:0.333803 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.660973, 0.155886, 1.086029 mu:0.333803 unit_bearing:0.075434 0.009579 0.997105 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.657926, 0.156878, 1.094115 mu:0.333803 unit_bearing:0.078328 0.009579 0.996882 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.814503, -0.020937, -0.403805 mu:0.333803 unit_bearing:-0.419936 0.011602 0.907480 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.765828, -0.012734, -0.650813 mu:0.333803 unit_bearing:-0.493738 0.024368 0.869269 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.796789, 0.005201, -0.507259 mu:0.333803 unit_bearing:-0.450207 0.024470 0.892589 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.808299, 0.000231, -0.442874 mu:0.333803 unit_bearing:-0.430971 0.020204 0.902140 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.768144, -0.017974, -0.641027 mu:0.333803 unit_bearing:-0.491042 0.022234 0.870852 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.806640, 0.005513, -0.452651 mu:0.333803 unit_bearing:-0.433723 0.022352 0.900769 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.765652, -0.006373, -0.651629 mu:0.333803 unit_bearing:-0.493733 0.026509 0.869209 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.787021, 0.070876, -0.552306 mu:0.333803 unit_bearing:-0.461075 0.048062 0.886059 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.795756, 0.076558, -0.507479 mu:0.333803 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.783953, 0.055857, -0.568550 mu:0.333803 unit_bearing:-0.466549 0.043747 0.883413 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.796076, 0.070176, -0.506629 mu:0.333803 unit_bearing:-0.447401 0.045972 0.893151 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.813454, 0.096550, -0.400861 mu:0.333803 unit_bearing:-0.414310 0.050407 0.908739 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.814772, 0.097681, -0.391915 mu:0.333803 unit_bearing:-0.411540 0.050418 0.909996 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.561903, 0.325831, 1.290443 mu:0.333803 unit_bearing:0.156315 0.057569 0.986028 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.822501, 0.118399, -0.331068 mu:0.333803 unit_bearing:-0.392077 0.054807 0.918299 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.822861, 0.111991, -0.330202 mu:0.333803 unit_bearing:-0.392085 0.052649 0.918421 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.822126, 0.124805, -0.331938 mu:0.333803 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.593558, 0.330144, 1.217532 mu:0.333803 unit_bearing:0.130345 0.061964 0.989531 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.819583, 0.325058, 0.320878 mu:0.333803 unit_bearing:-0.176200 0.096755 0.979588 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.811125, 0.357354, 0.368780 mu:0.333803 unit_bearing:-0.158907 0.105506 0.981640 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.639869, 0.510974, 1.026927 mu:0.333803 unit_bearing:0.072452 0.129629 0.988912 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.636846, 0.511955, 1.035012 mu:0.333803 unit_bearing:0.075344 0.129625 0.988696 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.633799, 0.512934, 1.043089 mu:0.333803 unit_bearing:0.078235 0.129621 0.988472 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.492947, 0.544445, 1.360518 mu:0.333803 unit_bearing:0.193549 0.127148 0.972817 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.531174, 0.541622, 1.281657 mu:0.333803 unit_bearing:0.164797 0.129421 0.977800 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.520380, 0.593968, 1.280941 mu:0.333803 unit_bearing:0.167614 0.146793 0.974863 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.516561, 0.594894, 1.288750 mu:0.333803 unit_bearing:0.170490 0.146782 0.974366 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.523239, 0.599460, 1.272036 mu:0.333803 unit_bearing:0.164730 0.148975 0.975023 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.519443, 0.600388, 1.279854 mu:0.333803 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.521322, 0.612297, 1.269852 mu:0.333803 unit_bearing:0.164713 0.153317 0.974353 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.522287, 0.605879, 1.270946 mu:0.333803 unit_bearing:0.164722 0.151146 0.974691 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.518492, 0.606806, 1.278764 mu:0.333803 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.534277, 0.664420, 1.212750 mu:0.333803 unit_bearing:0.147375 0.172909 0.973850 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.532054, 0.677228, 1.210478 mu:0.333803 unit_bearing:0.147358 0.177245 0.973072 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.533172, 0.670825, 1.211616 mu:0.333803 unit_bearing:0.147366 0.175077 0.973464 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.116733, 0.977239, 1.754326 mu:0.333803 unit_bearing:0.370645 0.254519 0.893221 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:07.098] If point is visible? -2.626888, 1.077755, 0.401708 mu:0.333803 unit_bearing:-0.103215 0.342846 0.933704 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.625389, 1.078842, 0.410139 mu:0.333803 unit_bearing:-0.100350 0.342863 0.934010 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] If point is visible? -2.290478, 1.233657, 1.282651 mu:0.333803 unit_bearing:0.214440 0.358661 0.908503 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:07.098] If point is visible? -2.277664, 1.236072, 1.305323 mu:0.333803 unit_bearing:0.222938 0.358539 0.906503 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.098] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:07.099] If point is visible? -2.268998, 1.237667, 1.320388 mu:0.333803 unit_bearing:0.228598 0.358455 0.905126 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:07.099] If point is visible? -2.332146, 1.465397, 0.879211 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.446066, 1.473576, 0.339506 mu:0.333803 unit_bearing:-0.090808 0.476518 0.874463 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.152546, 1.548074, 1.189146 mu:0.333803 unit_bearing:0.209731 0.466636 0.859223 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.148318, 1.548821, 1.196642 mu:0.333803 unit_bearing:0.212538 0.466579 0.858564 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.126806, 1.552500, 1.233969 mu:0.333803 unit_bearing:0.226555 0.466279 0.855135 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.122429, 1.553224, 1.241404 mu:0.333803 unit_bearing:0.229355 0.466217 0.854423 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.377361, -1.377663, -0.789328 mu:0.333803 unit_bearing:-0.555223 -0.422218 0.716561 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.336941, -1.480484, -0.733067 mu:0.333803 unit_bearing:-0.537592 -0.458572 0.707606 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.313873, -1.536842, -0.696540 mu:0.333803 unit_bearing:-0.526032 -0.478731 0.702928 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.453428, -1.122462, -0.925836 mu:0.333803 unit_bearing:-0.595743 -0.332113 0.731294 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.460748, -1.087427, -0.945737 mu:0.333803 unit_bearing:-0.601386 -0.319696 0.732209 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.646663, -0.953285, 0.566778 mu:0.333803 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.644144, -0.951325, 0.583782 mu:0.333803 unit_bearing:-0.126161 -0.336824 0.933077 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.645916, -0.936587, 0.600379 mu:0.333803 unit_bearing:-0.120466 -0.332617 0.935336 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.639122, -0.839857, 0.766438 mu:0.333803 unit_bearing:-0.063195 -0.307324 0.949504 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.643083, -0.827010, 0.765970 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.639340, -0.825006, 0.782706 mu:0.333803 unit_bearing:-0.057457 -0.303065 0.951236 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.502184, -0.862652, -1.050750 mu:0.333803 unit_bearing:-0.629864 -0.240952 0.738386 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.419044, -0.471917, 1.525277 mu:0.333803 unit_bearing:0.213111 -0.216290 0.952787 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.774099, -0.377513, 0.602574 mu:0.333803 unit_bearing:-0.109780 -0.147477 0.982954 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.761523, -0.369322, 0.670491 mu:0.333803 unit_bearing:-0.086676 -0.147526 0.985253 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.426673, -0.284762, 1.559632 mu:0.333803 unit_bearing:0.230656 -0.155680 0.960501 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.477025, -0.296578, 1.467787 mu:0.333803 unit_bearing:0.196297 -0.155859 0.968078 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.468876, -0.294604, 1.483191 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.779803, -0.282417, 0.628656 mu:0.333803 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.766667, -0.358372, 0.652464 mu:0.333803 unit_bearing:-0.092463 -0.143165 0.985370 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.819008, -0.295861, -0.254490 mu:0.333803 unit_bearing:-0.383568 -0.085558 0.919541 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.771224, 0.059323, 0.729414 mu:0.333803 unit_bearing:-0.052064 -0.007906 0.998612 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.821687, 0.311066, 0.314136 mu:0.333803 unit_bearing:-0.179088 0.092393 0.979485 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.819881, 0.313231, 0.331422 mu:0.333803 unit_bearing:-0.173333 0.092407 0.980518 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.820473, 0.323974, 0.312233 mu:0.333803 unit_bearing:-0.179077 0.096747 0.979067 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.818668, 0.326141, 0.329517 mu:0.333803 unit_bearing:-0.173323 0.096762 0.980100 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.819203, 0.336878, 0.310315 mu:0.333803 unit_bearing:-0.179065 0.101101 0.978629 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.817399, 0.339046, 0.327598 mu:0.333803 unit_bearing:-0.173312 0.101116 0.979662 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.536799, 0.669892, 1.203743 mu:0.333803 unit_bearing:0.144488 0.175088 0.973893 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.587326, 0.740480, 1.028367 mu:0.333803 unit_bearing:0.086744 0.205609 0.974782 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.538994, 0.657079, 1.206006 mu:0.333803 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.663735, 0.883234, 0.597882 mu:0.333803 unit_bearing:-0.051782 0.270418 0.961349 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.667193, 0.870567, 0.600413 mu:0.333803 unit_bearing:-0.051791 0.266118 0.962548 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.344626, 1.461764, 0.847551 mu:0.333803 unit_bearing:0.079842 0.451937 0.888470 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.338436, 1.463587, 0.863397 mu:0.333803 unit_bearing:0.085530 0.451896 0.887961 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.332146, 1.465397, 0.879211 mu:0.333803 unit_bearing:0.091217 0.451853 0.887417 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.435647, -0.475925, 1.494668 mu:0.333803 unit_bearing:0.201674 -0.216372 0.955254 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.792579, -0.551962, 0.233020 mu:0.333803 unit_bearing:-0.235946 -0.190240 0.952963 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.650271, -0.831012, 0.732421 mu:0.333803 unit_bearing:-0.074710 -0.303010 0.950055 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.643083, -0.827010, 0.765970 mu:0.333803 unit_bearing:-0.063209 -0.303048 0.950877 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.658024, -0.805304, 0.731421 mu:0.333803 unit_bearing:-0.074741 -0.294451 0.952739 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.650830, -0.801296, 0.764983 mu:0.333803 unit_bearing:-0.063235 -0.294489 0.953560 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.289563, -0.687395, 1.654588 mu:0.333803 unit_bearing:0.257837 -0.292941 0.920709 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:07.099] If point is visible? -2.770220, -0.403493, 0.604703 mu:0.333803 unit_bearing:-0.109759 -0.156171 0.981613 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.468876, -0.294604, 1.483191 mu:0.333803 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.651396, -0.957196, 0.532701 mu:0.333803 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.464802, -0.320538, 1.485055 mu:0.333803 unit_bearing:0.201989 -0.164500 0.965474 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.448211, -0.316586, 1.515737 mu:0.333803 unit_bearing:0.213446 -0.164438 0.963017 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.409558, -0.334602, 1.578390 mu:0.333803 unit_bearing:0.236263 -0.172956 0.956173 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.768009, -0.373416, 0.636581 mu:0.333803 unit_bearing:-0.098231 -0.147503 0.984172 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.795834, -0.251653, 0.556874 mu:0.333803 unit_bearing:-0.121420 -0.103918 0.987147 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.779005, 0.081193, 0.692593 mu:0.333803 unit_bearing:-0.063650 0.000837 0.997972 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.834102, 0.065162, 0.347589 mu:0.333803 unit_bearing:-0.179199 0.009561 0.983766 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.620248, 0.548065, 1.062022 mu:0.333803 unit_bearing:0.086889 0.140490 0.986262 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.607530, 0.551944, 1.094152 mu:0.333803 unit_bearing:0.098446 0.140469 0.985179 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -1.122236, 0.531374, 1.031986 mu:0.592121 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] Z inverse min: 1.071436, Z inverse max: 0.112806 +[21:41:07.099] If point is visible? -2.670593, 0.857891, 0.602929 mu:0.333803 unit_bearing:-0.051800 0.261816 0.963727 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.628916, 0.569904, 1.025497 mu:0.333803 unit_bearing:0.075314 0.149212 0.985933 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.616585, 0.573803, 1.057746 mu:0.333803 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.603867, 0.577676, 1.089870 mu:0.333803 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.545244, 0.618603, 1.212693 mu:0.333803 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -1.441127, 0.873989, 2.437452 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:07.099] If point is visible? -2.584682, 0.753253, 1.025993 mu:0.333803 unit_bearing:0.086732 0.209938 0.973860 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.571966, 0.757088, 1.058062 mu:0.333803 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.589913, 0.727700, 1.030725 mu:0.333803 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.577197, 0.731542, 1.062803 mu:0.333803 unit_bearing:0.098294 0.201247 0.974596 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.265017, 1.493123, 1.016613 mu:0.333803 unit_bearing:0.142252 0.455449 0.878824 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.344417, 1.451526, 0.866716 mu:0.333803 unit_bearing:0.085562 0.447765 0.890048 T_cur_ref: x=0.146342 y=0.000000 z=0.051911 +[21:41:07.099] If point is visible? -2.537073, -0.917878, 0.486188 mu:0.349201 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.099] If point is visible? -2.680285, 0.087482, 0.537611 mu:0.349201 unit_bearing:-0.098384 0.009576 0.995102 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.099] If point is visible? -0.792681, 0.392057, 0.776335 mu:0.802855 unit_bearing:0.393036 0.241366 0.887280 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.099] Z inverse min: 1.167084, Z inverse max: 0.438626 +[21:41:07.099] calculated Z= 1.045234 +[21:41:07.099] update seeds 305 +[21:41:07.099] If point is visible? -2.259433, 1.342115, 0.850731 mu:0.349201 unit_bearing:0.097076 0.431104 0.897065 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.099] If point is visible? -2.148420, -1.274539, 1.206965 mu:0.349201 unit_bearing:0.119162 -0.490983 0.862981 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.099] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:07.099] If point is visible? -2.249850, -1.423660, -0.629045 mu:0.349201 unit_bearing:-0.509414 -0.464534 0.724365 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.099] If point is visible? -2.527410, -0.894401, 0.583374 mu:0.349201 unit_bearing:-0.109007 -0.332690 0.936715 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.529589, -0.873229, 0.607035 mu:0.349201 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.527537, -0.879343, 0.607245 mu:0.349201 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.525923, -0.863316, 0.639127 mu:0.349201 unit_bearing:-0.088980 -0.324289 0.941764 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.307844, -0.449918, 1.466162 mu:0.349201 unit_bearing:0.224534 -0.216202 0.950179 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.299534, -0.428518, 1.486988 mu:0.349201 unit_bearing:0.233144 -0.209671 0.949569 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.343285, -0.419567, 1.412758 mu:0.349201 unit_bearing:0.204624 -0.203410 0.957473 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.325147, -0.447587, 1.436571 mu:0.349201 unit_bearing:0.213127 -0.214135 0.953270 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.302341, -0.435651, 1.480059 mu:0.349201 unit_bearing:0.230275 -0.211848 0.949786 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.299212, -0.409035, 1.493200 mu:0.349201 unit_bearing:0.236047 -0.203183 0.950262 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.297533, -0.395727, 1.499735 mu:0.349201 unit_bearing:0.238932 -0.198848 0.950458 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.360524, -0.371988, 1.394931 mu:0.349201 unit_bearing:0.199005 -0.186160 0.962155 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.361654, -0.365798, 1.394527 mu:0.349201 unit_bearing:0.199017 -0.183998 0.962568 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.288960, -0.297328, 1.537165 mu:0.349201 unit_bearing:0.256265 -0.166336 0.952187 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.379833, -0.305760, 1.375434 mu:0.349201 unit_bearing:0.193398 -0.162376 0.967590 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.287935, -0.303512, 1.537591 mu:0.349201 unit_bearing:0.256250 -0.168498 0.951811 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.638825, -0.332507, 0.655850 mu:0.349201 unit_bearing:-0.072235 -0.141023 0.987367 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.637170, -0.331528, 0.663925 mu:0.349201 unit_bearing:-0.069344 -0.141027 0.987574 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.626773, -0.352467, 0.698255 mu:0.349201 unit_bearing:-0.057765 -0.149746 0.987036 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.377990, -0.292414, 1.381931 mu:0.349201 unit_bearing:0.196287 -0.158027 0.967729 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.332968, -0.236771, 1.474163 mu:0.349201 unit_bearing:0.233585 -0.142666 0.961813 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.328848, -0.235833, 1.481449 mu:0.349201 unit_bearing:0.236442 -0.142651 0.961117 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.368119, -0.251438, 1.408659 mu:0.349201 unit_bearing:0.207816 -0.144962 0.967367 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.364209, -0.250494, 1.416027 mu:0.349201 unit_bearing:0.210682 -0.144949 0.966749 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.631055, -0.307988, 0.702609 mu:0.349201 unit_bearing:-0.054891 -0.134515 0.989390 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.647729, -0.317788, 0.621878 mu:0.349201 unit_bearing:-0.083809 -0.134476 0.987366 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.646168, -0.316807, 0.629977 mu:0.349201 unit_bearing:-0.080918 -0.134480 0.987607 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.648542, -0.311574, 0.621333 mu:0.349201 unit_bearing:-0.083812 -0.132299 0.987660 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.365085, -0.244296, 1.415543 mu:0.349201 unit_bearing:0.210692 -0.142780 0.967069 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.629427, -0.347232, 0.689688 mu:0.349201 unit_bearing:-0.060660 -0.147567 0.987190 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.634625, -0.336762, 0.672523 mu:0.349201 unit_bearing:-0.066449 -0.143208 0.987459 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.694893, -0.372619, -0.104169 mu:0.349201 unit_bearing:-0.332871 -0.122582 0.934971 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.631866, -0.301772, 0.702067 mu:0.349201 unit_bearing:-0.054893 -0.132337 0.989684 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.635222, -0.290318, 0.692924 mu:0.349201 unit_bearing:-0.057791 -0.127978 0.990092 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.655038, -0.242218, 0.623201 mu:0.349201 unit_bearing:-0.080955 -0.108340 0.990812 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.646867, -0.237302, 0.663627 mu:0.349201 unit_bearing:-0.066491 -0.108356 0.991886 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.649200, -0.232066, 0.654966 mu:0.349201 unit_bearing:-0.069387 -0.106173 0.991924 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.698800, -0.261418, -0.218461 mu:0.349201 unit_bearing:-0.366835 -0.079176 0.926911 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.690821, -0.280731, -0.276843 mu:0.349201 unit_bearing:-0.386369 -0.083385 0.918567 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.699298, -0.255265, -0.219108 mu:0.349201 unit_bearing:-0.366846 -0.077016 0.927088 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.702254, -0.200902, -0.233588 mu:0.349201 unit_bearing:-0.369729 -0.057557 0.927355 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.704405, -0.192715, -0.217230 mu:0.349201 unit_bearing:-0.364134 -0.055416 0.929696 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.697913, -0.176268, -0.288162 mu:0.349201 unit_bearing:-0.386531 -0.046697 0.921093 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.698953, -0.121996, -0.303032 mu:0.349201 unit_bearing:-0.389368 -0.027253 0.920679 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.540760, -0.006399, 1.056544 mu:0.349201 unit_bearing:0.084106 -0.045047 0.995438 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.537847, -0.005445, 1.064276 mu:0.349201 unit_bearing:0.087000 -0.045045 0.995189 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.697277, -0.099499, -0.322995 mu:0.349201 unit_bearing:-0.394953 -0.018606 0.918513 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.656456, -0.103122, -0.556890 mu:0.349201 unit_bearing:-0.469356 -0.009908 0.882954 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.697150, -0.105639, -0.322268 mu:0.349201 unit_bearing:-0.394950 -0.020765 0.918468 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.686260, -0.047569, -0.407315 mu:0.349201 unit_bearing:-0.419941 0.002981 0.907547 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.706195, -0.029722, -0.262198 mu:0.349201 unit_bearing:-0.372633 0.002991 0.927974 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.494139, 0.120578, 1.166457 mu:0.349201 unit_bearing:0.130380 -0.005715 0.991448 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.490857, 0.121513, 1.174070 mu:0.349201 unit_bearing:0.133268 -0.005714 0.991064 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.484224, 0.123382, 1.189272 mu:0.349201 unit_bearing:0.139043 -0.005714 0.990270 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.696529, -0.069846, -0.335212 mu:0.349201 unit_bearing:-0.397746 -0.007809 0.917462 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.697752, -0.031975, -0.331186 mu:0.349201 unit_bearing:-0.394964 0.005146 0.918682 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.706169, -0.023575, -0.262959 mu:0.349201 unit_bearing:-0.372633 0.005154 0.927965 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.470713, 0.151926, 1.216543 mu:0.349201 unit_bearing:0.150585 0.003019 0.988592 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.696540, -0.026891, -0.340484 mu:0.349201 unit_bearing:-0.397746 0.007304 0.917466 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.704406, 0.048732, 0.376110 mu:0.349201 unit_bearing:-0.156153 0.003019 0.987728 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.695042, -0.003412, -0.352097 mu:0.349201 unit_bearing:-0.400520 0.015936 0.916149 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.696241, -0.002354, -0.343560 mu:0.349201 unit_bearing:-0.397739 0.015939 0.917360 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.540454, 0.156116, 1.045207 mu:0.349201 unit_bearing:0.087011 0.011763 0.996138 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.537518, 0.157063, 1.052933 mu:0.349201 unit_bearing:0.089905 0.011762 0.995881 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.534559, 0.158010, 1.060652 mu:0.349201 unit_bearing:0.092799 0.011762 0.995615 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.633649, -0.041630, -0.660095 mu:0.349201 unit_bearing:-0.499149 0.015797 0.866372 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.648171, -0.022003, -0.601709 mu:0.349201 unit_bearing:-0.480216 0.020115 0.876920 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.596930, -0.039438, -0.790676 mu:0.349201 unit_bearing:-0.539207 0.022113 0.841883 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.648031, -0.015914, -0.602483 mu:0.349201 unit_bearing:-0.480211 0.022258 0.876870 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.685370, 0.013666, -0.415016 mu:0.349201 unit_bearing:-0.419918 0.024532 0.907230 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.689454, 0.016859, -0.389380 mu:0.349201 unit_bearing:-0.411612 0.024548 0.911029 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.651086, 0.016678, -0.589274 mu:0.349201 unit_bearing:-0.474752 0.032992 0.879501 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.653236, 0.011663, -0.579927 mu:0.349201 unit_bearing:-0.472039 0.030856 0.881038 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.679199, 0.021634, -0.450788 mu:0.349201 unit_bearing:-0.430954 0.028816 0.901914 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.680294, 0.034933, -0.443820 mu:0.349201 unit_bearing:-0.428186 0.033130 0.903083 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.678128, 0.083832, -0.450263 mu:0.349201 unit_bearing:-0.428129 0.050352 0.902314 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.661902, 0.072989, -0.535779 mu:0.349201 unit_bearing:-0.455600 0.050233 0.888766 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.662531, 0.060797, -0.534159 mu:0.349201 unit_bearing:-0.455618 0.045938 0.888989 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.662224, 0.066894, -0.534968 mu:0.349201 unit_bearing:-0.455609 0.048086 0.888880 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.667380, 0.070146, -0.509304 mu:0.349201 unit_bearing:-0.447392 0.048121 0.893042 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.680003, 0.104330, -0.435634 mu:0.349201 unit_bearing:-0.422581 0.056834 0.904541 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.686821, 0.109750, -0.392930 mu:0.349201 unit_bearing:-0.408742 0.056895 0.910875 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.688104, 0.110833, -0.384393 mu:0.349201 unit_bearing:-0.405968 0.056907 0.912114 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.694113, 0.116238, -0.341732 mu:0.349201 unit_bearing:-0.392068 0.056965 0.918171 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.701404, 0.123782, -0.282081 mu:0.349201 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.700070, 0.128837, -0.291429 mu:0.349201 unit_bearing:-0.375318 0.059191 0.925004 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.701033, 0.129914, -0.282914 mu:0.349201 unit_bearing:-0.372521 0.059202 0.926134 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.475231, 0.322629, 1.170800 mu:0.349201 unit_bearing:0.141887 0.064131 0.987803 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.683050, 0.350884, 0.376569 mu:0.349201 unit_bearing:-0.141610 0.107724 0.984044 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.517396, 0.490248, 0.997388 mu:0.349201 unit_bearing:0.086908 0.129608 0.987749 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.514460, 0.491182, 1.005106 mu:0.349201 unit_bearing:0.089798 0.129603 0.987491 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.511501, 0.492114, 1.012816 mu:0.349201 unit_bearing:0.092688 0.129598 0.987225 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.411969, 0.519427, 1.240551 mu:0.349201 unit_bearing:0.179178 0.129373 0.975273 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.401581, 0.569446, 1.239901 mu:0.349201 unit_bearing:0.181986 0.146737 0.972291 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.510710, 0.498274, 1.011826 mu:0.349201 unit_bearing:0.092684 0.131775 0.986937 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.405238, 0.592215, 1.220815 mu:0.349201 unit_bearing:0.176204 0.155441 0.972003 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.420049, 0.647268, 1.157667 mu:0.349201 unit_bearing:0.155989 0.177209 0.971733 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.416557, 0.648156, 1.165191 mu:0.349201 unit_bearing:0.158865 0.177197 0.971269 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.031392, 0.938446, 1.663831 mu:0.349201 unit_bearing:0.373381 0.256590 0.891486 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:07.100] If point is visible? -2.026081, 0.939123, 1.670562 mu:0.349201 unit_bearing:0.376154 0.256538 0.890335 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:07.100] If point is visible? -2.507601, 1.032542, 0.401477 mu:0.349201 unit_bearing:-0.088886 0.342926 0.935148 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.506119, 1.033572, 0.409521 mu:0.349201 unit_bearing:-0.086019 0.342940 0.935410 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.504613, 1.034599, 0.417560 mu:0.349201 unit_bearing:-0.083152 0.342954 0.935664 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] If point is visible? -2.190843, 1.173160, 1.229294 mu:0.349201 unit_bearing:0.222969 0.356434 0.907325 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.100] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:07.101] If point is visible? -2.186778, 1.173929, 1.236536 mu:0.349201 unit_bearing:0.225800 0.356393 0.906641 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:07.101] If point is visible? -2.174439, 1.176220, 1.258207 mu:0.349201 unit_bearing:0.234287 0.356264 0.904536 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:07.101] If point is visible? -2.042583, 1.424554, 1.236136 mu:0.349201 unit_bearing:0.249473 0.443276 0.860970 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.039738, 1.430269, 1.234490 mu:0.349201 unit_bearing:0.249424 0.445327 0.859925 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.090745, 1.426806, 1.139906 mu:0.349201 unit_bearing:0.212919 0.448152 0.868231 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.086744, 1.427532, 1.147113 mu:0.349201 unit_bearing:0.215730 0.448097 0.867565 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.082720, 1.428256, 1.154310 mu:0.349201 unit_bearing:0.218540 0.448041 0.866891 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.078672, 1.428976, 1.161498 mu:0.349201 unit_bearing:0.221349 0.447985 0.866207 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.361480, 1.359459, 0.356592 mu:0.349201 unit_bearing:-0.076757 0.458145 0.885557 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.359932, 1.360490, 0.364548 mu:0.349201 unit_bearing:-0.073913 0.458164 0.885789 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.247165, -1.424161, -0.637387 mu:0.349201 unit_bearing:-0.511968 -0.464352 0.722679 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.075704, -1.065154, 1.518371 mu:0.349201 unit_bearing:0.238531 -0.431663 0.869925 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:07.101] If point is visible? -2.375579, -1.348633, 0.279233 mu:0.349201 unit_bearing:-0.214914 -0.477183 0.852120 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.281363, -1.337015, -0.690710 mu:0.349201 unit_bearing:-0.529407 -0.431878 0.730212 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.240542, -1.435370, -0.637044 mu:0.349201 unit_bearing:-0.511691 -0.468252 0.720356 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.341943, -1.159639, -0.783304 mu:0.349201 unit_bearing:-0.558734 -0.366460 0.743992 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.332309, -1.193006, -0.764639 mu:0.349201 unit_bearing:-0.552966 -0.378819 0.742108 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.336743, -1.171163, -0.782664 mu:0.349201 unit_bearing:-0.558504 -0.370481 0.742170 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.359316, -1.092705, -0.820975 mu:0.349201 unit_bearing:-0.570197 -0.341657 0.747092 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.527995, -0.777300, 0.740774 mu:0.349201 unit_bearing:-0.051715 -0.298802 0.952913 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.524367, -0.775377, 0.756757 mu:0.349201 unit_bearing:-0.045960 -0.298815 0.953204 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.588113, -0.846255, 0.251588 mu:0.349201 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.334304, -0.443330, 1.421543 mu:0.349201 unit_bearing:0.207425 -0.212020 0.954999 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.304916, -0.423301, 1.479367 mu:0.349201 unit_bearing:0.230309 -0.207539 0.950729 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.326454, -0.441409, 1.436227 mu:0.349201 unit_bearing:0.213143 -0.211979 0.953748 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.318510, -0.439489, 1.450875 mu:0.349201 unit_bearing:0.218857 -0.211937 0.952462 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.310472, -0.437569, 1.465486 mu:0.349201 unit_bearing:0.224568 -0.211893 0.951142 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.315882, -0.451840, 1.451555 mu:0.349201 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.325259, -0.260603, 1.483339 mu:0.349201 unit_bearing:0.236395 -0.151317 0.959802 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.316949, -0.258723, 1.497878 mu:0.349201 unit_bearing:0.242105 -0.151284 0.958383 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.359386, -0.255749, 1.423865 mu:0.349201 unit_bearing:0.213536 -0.147103 0.965797 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.365410, -0.270032, 1.410088 mu:0.349201 unit_bearing:0.207785 -0.151468 0.966376 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.642783, -0.341659, 0.632119 mu:0.349201 unit_bearing:-0.080904 -0.143185 0.986384 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.639590, -0.339700, 0.648298 mu:0.349201 unit_bearing:-0.075123 -0.143195 0.986839 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.642898, 0.047172, 0.722871 mu:0.349201 unit_bearing:-0.034679 -0.012279 0.999323 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.698100, 0.107217, -0.314501 mu:0.349201 unit_bearing:-0.383721 0.052680 0.921945 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.700155, 0.109368, -0.297458 mu:0.349201 unit_bearing:-0.378136 0.052700 0.924249 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.702105, 0.111516, -0.280424 mu:0.349201 unit_bearing:-0.372544 0.052719 0.926516 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.698747, 0.094958, -0.312857 mu:0.349201 unit_bearing:-0.383736 0.048361 0.922176 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.699454, 0.121629, -0.299114 mu:0.349201 unit_bearing:-0.378121 0.057020 0.923999 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.691921, 0.325170, 0.321750 mu:0.349201 unit_bearing:-0.161797 0.101145 0.981627 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.690054, 0.327233, 0.338228 mu:0.349201 unit_bearing:-0.156036 0.101158 0.982558 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.421122, 0.641148, 1.158747 mu:0.349201 unit_bearing:0.155998 0.175042 0.972124 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.490252, 0.598492, 1.010854 mu:0.349201 unit_bearing:0.098388 0.166552 0.981112 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.467339, 0.720891, 0.989023 mu:0.349201 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.543435, 0.835242, 0.598690 mu:0.349201 unit_bearing:-0.034498 0.266149 0.963314 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.184918, 1.168799, 1.245216 mu:0.349201 unit_bearing:0.228662 0.354245 0.906766 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:07.101] If point is visible? -2.176669, 1.170326, 1.259656 mu:0.349201 unit_bearing:0.234319 0.354160 0.905354 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:07.101] If point is visible? -2.669923, -0.530658, 0.198544 mu:0.349201 unit_bearing:-0.235946 -0.190240 0.952963 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.275606, -1.338062, -0.707428 mu:0.349201 unit_bearing:-0.534491 -0.431530 0.726706 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.538870, -0.740407, 0.739207 mu:0.349201 unit_bearing:-0.051746 -0.285948 0.956847 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.343831, -1.262828, -0.609624 mu:0.349201 unit_bearing:-0.505158 -0.409616 0.759625 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.323827, -0.453763, 1.436911 mu:0.349201 unit_bearing:0.213111 -0.216290 0.952787 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.463078, -0.831860, -0.805063 mu:0.349201 unit_bearing:-0.563930 -0.251926 0.786458 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.537073, -0.917878, 0.486188 mu:0.349201 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.541211, -0.889723, 0.517964 mu:0.349201 unit_bearing:-0.131948 -0.328285 0.935317 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.588113, -0.846255, 0.251588 mu:0.349201 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.445210, -0.923505, -0.764239 mu:0.349201 unit_bearing:-0.552381 -0.285427 0.783203 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.355693, -0.280534, 1.425740 mu:0.349201 unit_bearing:0.213492 -0.155774 0.964446 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.339725, -0.276756, 1.455073 mu:0.349201 unit_bearing:0.224938 -0.155712 0.961851 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.323384, -0.272985, 1.484258 mu:0.349201 unit_bearing:0.236370 -0.155647 0.959116 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.335817, -0.301524, 1.456869 mu:0.349201 unit_bearing:0.224889 -0.164374 0.960420 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.319473, -0.297744, 1.486043 mu:0.349201 unit_bearing:0.236318 -0.164305 0.957684 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.671694, -0.498207, 0.263350 mu:0.349201 unit_bearing:-0.213147 -0.181751 0.959966 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.650017, -0.359962, 0.584500 mu:0.349201 unit_bearing:-0.098231 -0.147503 0.984172 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.721382, 0.063460, 0.138075 mu:0.349201 unit_bearing:-0.236609 0.018253 0.971433 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.680285, 0.087482, 0.537611 mu:0.349201 unit_bearing:-0.098384 0.009576 0.995102 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.442954, 0.588539, 1.137056 mu:0.349201 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.509797, 0.545641, 0.988347 mu:0.349201 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.497914, 0.549357, 1.019160 mu:0.349201 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -2.004662, 0.901386, 1.719740 mu:0.349201 unit_bearing:0.393036 0.241366 0.887280 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:07.101] If point is visible? -2.259433, 1.342115, 0.850731 mu:0.349201 unit_bearing:0.097076 0.431104 0.897065 T_cur_ref: x=0.140244 y=0.000000 z=0.050147 +[21:41:07.101] If point is visible? -1.649780, 0.749240, 1.517608 mu:0.411758 unit_bearing:0.415239 0.232453 0.879513 T_cur_ref: x=0.132521 y=0.000000 z=0.047852 +[21:41:07.101] Z inverse min: 0.982556, Z inverse max: 0.000000 +[21:41:07.101] calculated Z= 1.023275 +[21:41:07.101] update seeds 305 +[21:41:07.101] If point is visible? -1.630380, 0.751421, 1.539725 mu:0.411758 unit_bearing:0.426211 0.232234 0.874306 T_cur_ref: x=0.132521 y=0.000000 z=0.047852 +[21:41:07.101] Z inverse min: 0.982556, Z inverse max: 0.000000 +[21:41:07.101] If point is visible? -1.625324, 0.771621, 1.535374 mu:0.411758 unit_bearing:0.426040 0.240708 0.872095 T_cur_ref: x=0.132521 y=0.000000 z=0.047852 +[21:41:07.101] Z inverse min: 0.982556, Z inverse max: 0.000000 +[21:41:07.101] calculated Z= 1.022205 +[21:41:07.101] update seeds 305 +[21:41:07.101] If point is visible? -1.625324, 0.771621, 1.535374 mu:0.411758 unit_bearing:0.426040 0.240708 0.872095 T_cur_ref: x=0.132521 y=0.000000 z=0.047852 +[21:41:07.101] Z inverse min: 0.982556, Z inverse max: 0.000000 +[21:41:07.101] calculated Z= 1.022205 +[21:41:07.101] update seeds 305 +[21:41:07.101] If point is visible? -2.306660, -0.334075, 0.526473 mu:0.400066 unit_bearing:-0.121299 -0.156140 0.980259 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.205486, -0.773655, 0.520741 mu:0.400066 unit_bearing:-0.131932 -0.330411 0.934571 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.204845, -0.779805, 0.513792 mu:0.400066 unit_bearing:-0.134777 -0.332514 0.933418 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.204169, -0.785951, 0.506836 mu:0.400066 unit_bearing:-0.137621 -0.334615 0.932252 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.206933, -0.716518, 0.597000 mu:0.400066 unit_bearing:-0.100525 -0.311440 0.944934 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.205511, -0.715692, 0.604023 mu:0.400066 unit_bearing:-0.097655 -0.311455 0.945230 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.204069, -0.714866, 0.611041 mu:0.400066 unit_bearing:-0.094784 -0.311469 0.945517 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.205960, -0.735046, 0.576365 mu:0.400066 unit_bearing:-0.109097 -0.317792 0.941863 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.204603, -0.734223, 0.583403 mu:0.400066 unit_bearing:-0.106229 -0.317808 0.942186 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.198376, -0.692992, 0.659530 mu:0.400066 unit_bearing:-0.074702 -0.305147 0.949371 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.196766, -0.692162, 0.666504 mu:0.400066 unit_bearing:-0.071828 -0.305158 0.949589 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.198398, -0.680603, 0.673138 mu:0.400066 unit_bearing:-0.068967 -0.300891 0.951161 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.030696, -0.385984, 1.252944 mu:0.400066 unit_bearing:0.184521 -0.212172 0.959654 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.101] If point is visible? -2.045298, -0.366855, 1.232613 mu:0.400066 unit_bearing:0.175969 -0.203585 0.963114 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.070689, -0.305245, 1.203047 mu:0.400066 unit_bearing:0.164612 -0.177679 0.970223 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.075224, -0.278171, 1.201266 mu:0.400066 unit_bearing:0.164659 -0.166841 0.972137 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -1.994253, -0.259367, 1.347485 mu:0.400066 unit_bearing:0.230593 -0.166504 0.958699 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.079376, -0.273578, 1.194442 mu:0.400066 unit_bearing:0.161793 -0.164684 0.972986 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.080236, -0.268161, 1.194069 mu:0.400066 unit_bearing:0.161801 -0.162515 0.973349 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -1.995127, -0.253961, 1.347129 mu:0.400066 unit_bearing:0.230606 -0.164340 0.959069 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.079469, -0.251087, 1.199384 mu:0.400066 unit_bearing:0.164703 -0.155995 0.973929 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.299717, -0.288461, 0.587113 mu:0.400066 unit_bearing:-0.095356 -0.140984 0.985409 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.073468, -0.221539, 1.216736 mu:0.400066 unit_bearing:0.173371 -0.145108 0.974108 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.306240, -0.274745, 0.564585 mu:0.400066 unit_bearing:-0.104034 -0.134439 0.985446 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.306945, -0.269320, 0.564128 mu:0.400066 unit_bearing:-0.104039 -0.132263 0.985740 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.076039, -0.227775, 1.210703 mu:0.400066 unit_bearing:0.170488 -0.147290 0.974289 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.072699, -0.226957, 1.217139 mu:0.400066 unit_bearing:0.173363 -0.147279 0.973784 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.314461, -0.268167, 0.528257 mu:0.400066 unit_bearing:-0.118479 -0.130055 0.984402 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.297479, -0.293034, 0.594603 mu:0.400066 unit_bearing:-0.092463 -0.143165 0.985370 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.316434, -0.240190, 0.532991 mu:0.400066 unit_bearing:-0.115616 -0.119177 0.986119 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.316447, -0.263598, 0.520693 mu:0.400066 unit_bearing:-0.121371 -0.127873 0.984336 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.315144, -0.262743, 0.527792 mu:0.400066 unit_bearing:-0.118484 -0.127879 0.984687 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.314348, -0.233053, 0.546681 mu:0.400066 unit_bearing:-0.109845 -0.117011 0.987037 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.163135, 0.032570, 1.054485 mu:0.400066 unit_bearing:0.113034 -0.036294 0.992928 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.353194, -0.081798, -0.284744 mu:0.400066 unit_bearing:-0.422695 -0.016413 0.906123 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.354210, -0.080886, -0.277247 mu:0.400066 unit_bearing:-0.419931 -0.016416 0.907408 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.155710, 0.100085, 1.066762 mu:0.400066 unit_bearing:0.121714 -0.010084 0.992514 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.354296, -0.075537, -0.277884 mu:0.400066 unit_bearing:-0.419933 -0.014261 0.907443 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.355288, -0.074624, -0.270389 mu:0.400066 unit_bearing:-0.417166 -0.014264 0.908718 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.167296, 0.080573, 1.042292 mu:0.400066 unit_bearing:0.110151 -0.016639 0.993776 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.164693, 0.113914, 1.045013 mu:0.400066 unit_bearing:0.113044 -0.003532 0.993584 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.350343, -0.036442, -0.313070 mu:0.400066 unit_bearing:-0.430987 0.002978 0.902353 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.214164, 0.120857, 0.922282 mu:0.400066 unit_bearing:0.060955 0.005209 0.998127 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.340550, -0.017176, -0.376456 mu:0.400066 unit_bearing:-0.452964 0.013719 0.891423 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.360091, -0.016520, -0.239471 mu:0.400066 unit_bearing:-0.403307 0.007301 0.915036 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.326931, 0.016966, -0.449550 mu:0.400066 unit_bearing:-0.477475 0.030840 0.878104 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.366825, 0.057947, -0.165526 mu:0.400066 unit_bearing:-0.372598 0.033265 0.927396 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.363119, 0.109619, -0.187615 mu:0.400066 unit_bearing:-0.378129 0.054860 0.924126 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.364385, 0.111501, -0.172703 mu:0.400066 unit_bearing:-0.372537 0.054880 0.926393 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.352317, 0.102666, -0.285486 mu:0.400066 unit_bearing:-0.414284 0.056871 0.908369 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.353265, 0.103616, -0.278001 mu:0.400066 unit_bearing:-0.411514 0.056883 0.909627 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.362809, 0.114968, -0.188348 mu:0.400066 unit_bearing:-0.378121 0.057020 0.923999 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.364075, 0.116853, -0.173437 mu:0.400066 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.127900, 0.263445, 1.098842 mu:0.400066 unit_bearing:0.144786 0.053220 0.988031 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.349022, 0.259356, 0.306875 mu:0.400066 unit_bearing:-0.181969 0.090209 0.979158 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.099749, 0.444339, 1.097852 mu:0.400066 unit_bearing:0.156174 0.125098 0.979776 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.199260, 0.406456, 0.874754 mu:0.400066 unit_bearing:0.057999 0.120933 0.990965 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.196701, 0.407274, 0.881482 mu:0.400066 unit_bearing:0.060892 0.120930 0.990792 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.198621, 0.411837, 0.873887 mu:0.400066 unit_bearing:0.057997 0.123112 0.990697 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.196062, 0.412655, 0.880616 mu:0.400066 unit_bearing:0.060890 0.123109 0.990523 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.195412, 0.418035, 0.879745 mu:0.400066 unit_bearing:0.060887 0.125287 0.990250 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.096599, 0.491842, 1.083280 mu:0.400066 unit_bearing:0.153234 0.144671 0.977543 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.093380, 0.492614, 1.089769 mu:0.400066 unit_bearing:0.156112 0.144662 0.977088 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.090141, 0.493385, 1.096251 mu:0.400066 unit_bearing:0.158991 0.144652 0.976626 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.094134, 0.487255, 1.090682 mu:0.400066 unit_bearing:0.156120 0.142489 0.977407 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.190281, 0.875511, 0.404140 mu:0.400066 unit_bearing:-0.097556 0.330133 0.938880 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -1.914309, 0.985893, 1.105196 mu:0.400066 unit_bearing:0.206183 0.339783 0.917625 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:07.102] If point is visible? -1.910700, 0.986573, 1.111473 mu:0.400066 unit_bearing:0.209024 0.339747 0.916996 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:07.102] If point is visible? -1.907070, 0.987252, 1.117741 mu:0.400066 unit_bearing:0.211863 0.339711 0.916357 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:07.102] If point is visible? -1.903421, 0.987928, 1.124001 mu:0.400066 unit_bearing:0.214701 0.339674 0.915710 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:07.102] If point is visible? -1.846521, 1.140905, 1.077468 mu:0.400066 unit_bearing:0.210932 0.402688 0.890702 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.209450, -0.743680, 0.548312 mu:0.400066 unit_bearing:-0.120551 -0.319852 0.939767 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.207280, -0.768319, 0.520605 mu:0.400066 unit_bearing:-0.131948 -0.328285 0.935317 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.203201, -0.664499, 0.672608 mu:0.400066 unit_bearing:-0.068989 -0.294471 0.953167 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.014145, -0.359420, 1.289967 mu:0.400066 unit_bearing:0.201762 -0.203428 0.958076 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.039741, -0.376836, 1.239598 mu:0.400066 unit_bearing:0.178813 -0.207888 0.961670 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.032919, -0.375180, 1.252383 mu:0.400066 unit_bearing:0.184547 -0.207854 0.960593 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.019032, -0.371873, 1.277852 mu:0.400066 unit_bearing:0.196008 -0.207783 0.958336 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.023793, -0.384328, 1.265692 mu:0.400066 unit_bearing:0.190252 -0.212135 0.958542 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.077787, -0.239431, 1.205055 mu:0.400066 unit_bearing:0.167596 -0.151643 0.974123 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.071128, -0.237793, 1.217933 mu:0.400066 unit_bearing:0.173346 -0.151620 0.973120 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.064390, -0.236157, 1.230778 mu:0.400066 unit_bearing:0.179093 -0.151597 0.972082 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.306240, -0.274745, 0.564585 mu:0.400066 unit_bearing:-0.104034 -0.134439 0.985446 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.303303, -0.296440, 0.566378 mu:0.400066 unit_bearing:-0.104016 -0.143141 0.984221 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.300432, -0.294736, 0.580501 mu:0.400066 unit_bearing:-0.098240 -0.143153 0.984813 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.318272, -0.223915, 0.531534 mu:0.400066 unit_bearing:-0.115629 -0.112644 0.986885 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.315561, -0.222201, 0.545707 mu:0.400066 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.317058, -0.234765, 0.532509 mu:0.400066 unit_bearing:-0.115620 -0.117000 0.986379 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.358498, -0.228264, -0.147262 mu:0.400066 unit_bearing:-0.378010 -0.081275 0.922227 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.208439, -0.019405, 0.945318 mu:0.400066 unit_bearing:0.063840 -0.051610 0.996625 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.161589, 0.093043, 1.054224 mu:0.400066 unit_bearing:0.115933 -0.012269 0.993181 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.299220, 0.012414, -0.571266 mu:0.400066 unit_bearing:-0.520554 0.034967 0.853112 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.362374, 0.087599, 0.293955 mu:0.400066 unit_bearing:-0.196450 0.022637 0.980252 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.299601, 0.001836, -0.569887 mu:0.400066 unit_bearing:-0.520569 0.030699 0.853267 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.299933, -0.008745, -0.568519 mu:0.400066 unit_bearing:-0.520583 0.026431 0.853402 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.362622, 0.091686, -0.200355 mu:0.400066 unit_bearing:-0.383736 0.048361 0.922176 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.349383, 0.263838, 0.298870 mu:0.400066 unit_bearing:-0.184839 0.092379 0.978417 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.347667, 0.265643, 0.313278 mu:0.400066 unit_bearing:-0.179088 0.092393 0.979485 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.152292, 0.609574, 0.880507 mu:0.400066 unit_bearing:0.075212 0.201307 0.976636 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.039741, -0.376836, 1.239598 mu:0.400066 unit_bearing:0.178813 -0.207888 0.961670 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.026016, -0.373526, 1.265134 mu:0.400066 unit_bearing:0.190279 -0.207819 0.959482 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.206446, -0.666163, 0.658658 mu:0.400066 unit_bearing:-0.074741 -0.294451 0.952739 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.328103, -0.457862, 0.215978 mu:0.400066 unit_bearing:-0.247350 -0.190155 0.950084 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.326520, -0.454496, 0.245141 mu:0.400066 unit_bearing:-0.235946 -0.190240 0.952963 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.212684, -0.644675, 0.657893 mu:0.400066 unit_bearing:-0.074771 -0.285882 0.955343 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.306660, -0.334075, 0.526473 mu:0.400066 unit_bearing:-0.121299 -0.156140 0.980259 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.076170, -0.250266, 1.205834 mu:0.400066 unit_bearing:0.167579 -0.155983 0.973441 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.062772, -0.246989, 1.231554 mu:0.400066 unit_bearing:0.179075 -0.155936 0.971399 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.049053, -0.243720, 1.257145 mu:0.400066 unit_bearing:0.190559 -0.155886 0.969220 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.216011, -0.774832, 0.463805 mu:0.400066 unit_bearing:-0.154826 -0.328102 0.931868 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.323192, -0.203929, 0.515349 mu:0.400066 unit_bearing:-0.121420 -0.103918 0.987147 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.368010, -0.184110, 0.133113 mu:0.400066 unit_bearing:-0.270763 -0.077412 0.959528 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.304553, -0.308988, 0.553109 mu:0.400066 unit_bearing:-0.109780 -0.147477 0.982954 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.210227, 0.024029, 0.940563 mu:0.400066 unit_bearing:0.063846 -0.034132 0.997376 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.306085, 0.095435, 0.625580 mu:0.400066 unit_bearing:-0.063650 0.009580 0.997926 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.187961, 0.456476, 0.880273 mu:0.400066 unit_bearing:0.063762 0.140526 0.988022 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.177445, 0.459727, 0.907083 mu:0.400066 unit_bearing:0.075328 0.140510 0.987210 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.166610, 0.462957, 0.933784 mu:0.400066 unit_bearing:0.086889 0.140490 0.986262 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.107632, 0.478793, 1.065585 mu:0.400066 unit_bearing:0.144607 0.140353 0.979485 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.357668, 0.052090, -0.255863 mu:0.400066 unit_bearing:-0.406040 0.035344 0.913171 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -2.152292, 0.609574, 0.880507 mu:0.400066 unit_bearing:0.075212 0.201307 0.976636 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] If point is visible? -1.803084, 0.760554, 1.444395 mu:0.400066 unit_bearing:0.337519 0.233766 0.911830 T_cur_ref: x=0.123221 y=0.000000 z=0.044812 +[21:41:07.102] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:07.103] If point is visible? -2.476639, 0.086803, 0.731383 mu:0.372472 unit_bearing:-0.034680 0.000837 0.999398 T_cur_ref: x=0.116891 y=0.000000 z=0.042875 +[21:41:07.103] If point is visible? -2.476639, 0.086803, 0.731383 mu:0.372472 unit_bearing:-0.034680 0.000837 0.999398 T_cur_ref: x=0.116891 y=0.000000 z=0.042875 +[21:41:07.103] If point is visible? 53695170606.829346, 27923663445.492687, -28283020598.056591 mu:-0.000000 unit_bearing:0.119456 -0.466471 0.876433 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 62303623150.278915, 19338390539.592255, -14391552194.012836 mu:-0.000000 unit_bearing:-0.100514 -0.313574 0.944229 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 62258037872.724327, 19481406898.945213, -14395939925.649189 mu:-0.000000 unit_bearing:-0.100503 -0.315707 0.943519 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 62312022048.502449, 19173238083.194057, -14574993327.574711 mu:-0.000000 unit_bearing:-0.097655 -0.311455 0.945230 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 62203873870.591698, 18941596853.403038, -15320756019.248302 mu:-0.000000 unit_bearing:-0.086179 -0.309374 0.947028 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64361062905.355530, 16638021356.813194, -6607677950.001453 mu:-0.000000 unit_bearing:-0.215407 -0.259253 0.941481 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 57124781486.813469, 9603511981.535904, -33277071364.054943 mu:-0.000000 unit_bearing:0.207485 -0.203390 0.956861 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 56808394503.471382, 9681498862.942129, -33792106690.302677 mu:-0.000000 unit_bearing:0.216048 -0.205489 0.954514 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 56488021642.983040, 8705768108.409233, -34585323380.999847 mu:-0.000000 unit_bearing:0.230421 -0.192439 0.953873 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 56442439327.855713, 8395244961.147175, -34736184097.098038 mu:-0.000000 unit_bearing:0.233306 -0.188100 0.954037 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 56468960478.855484, 8250939632.955095, -34727655816.000900 mu:-0.000000 unit_bearing:0.233321 -0.185941 0.954456 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 56420981018.155365, 7940406594.116549, -34877706704.037689 mu:-0.000000 unit_bearing:0.236205 -0.181601 0.954583 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 56266396580.509346, 7008892218.730413, -35324207373.624229 mu:-0.000000 unit_bearing:0.244851 -0.168575 0.954793 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 56234434057.583290, 6554049911.705452, -35462154994.330414 mu:-0.000000 unit_bearing:0.247745 -0.162069 0.955173 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 58308191522.134033, 6122078865.119421, -32023530921.056339 mu:-0.000000 unit_bearing:0.190588 -0.149378 0.970238 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 56753435340.823051, 5174338197.712898, -34858361724.191689 mu:-0.000000 unit_bearing:0.239310 -0.140469 0.960728 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 56652323123.019836, 5152770995.094951, -35025630853.717819 mu:-0.000000 unit_bearing:0.242166 -0.140453 0.960015 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 58076908975.944862, 5021854500.269911, -32629514278.369068 mu:-0.000000 unit_bearing:0.202130 -0.134137 0.970129 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 57982805674.650131, 5000141417.982951, -32799762388.777348 mu:-0.000000 unit_bearing:0.204998 -0.134125 0.969529 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 57888164641.955681, 4978442618.018072, -32969790480.820766 mu:-0.000000 unit_bearing:0.207865 -0.134113 0.968920 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64310538099.348671, 7316067670.283746, -16536669074.607327 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64375140839.954002, 7193741549.886690, -16337775405.990116 mu:-0.000000 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64329964941.573532, 7171025025.930511, -16524635897.968433 mu:-0.000000 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 56873697733.353775, 5051372387.305362, -34679932583.611046 mu:-0.000000 unit_bearing:0.236465 -0.138316 0.961745 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 56773127616.693375, 5029805549.746494, -34847447791.972923 mu:-0.000000 unit_bearing:0.239322 -0.138301 0.961040 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64685440431.020920, 6582259595.570254, -15339466605.086735 mu:-0.000000 unit_bearing:-0.075148 -0.125779 0.989208 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64744955994.622650, 6459997859.734486, -15139044942.592510 mu:-0.000000 unit_bearing:-0.078043 -0.123597 0.989259 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64762238785.432877, 6314942724.054673, -15126318347.757992 mu:-0.000000 unit_bearing:-0.078046 -0.121419 0.989528 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64915954643.001099, 5322260116.713677, -14846681814.639843 mu:-0.000000 unit_bearing:-0.080958 -0.106160 0.991048 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64702758616.880524, 4749960225.017216, -15931807370.590687 mu:-0.000000 unit_bearing:-0.063606 -0.099636 0.992989 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66471384167.296127, 6325809216.667744, 2090647150.301281 mu:-0.000000 unit_bearing:-0.330244 -0.090172 0.939579 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64716622388.095032, 4604834234.638408, -15918098793.994907 mu:-0.000000 unit_bearing:-0.063608 -0.097455 0.993205 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66449220640.994911, 6493022669.130413, 2274491963.395221 mu:-0.000000 unit_bearing:-0.333053 -0.092321 0.938378 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 60640551494.395668, -1289750532.866823, -27998064913.200840 mu:-0.000000 unit_bearing:0.136146 -0.031914 0.990175 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 60171424838.624321, -2867650993.331765, -28879193055.474133 mu:-0.000000 unit_bearing:0.153468 -0.010077 0.988102 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66498709276.584549, 866337851.055431, 6324769098.194164 mu:-0.000000 unit_bearing:-0.381022 -0.001334 0.924565 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66570555567.611374, 911959963.149266, 5510085418.074947 mu:-0.000000 unit_bearing:-0.369834 -0.003498 0.929091 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 60749529997.497101, -2572112528.151503, -27671473092.176853 mu:-0.000000 unit_bearing:0.133267 -0.012265 0.991004 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66517723001.531975, 698527993.793531, 6142976982.106968 mu:-0.000000 unit_bearing:-0.378227 0.000828 0.925712 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 60672089082.059380, -3028197019.812096, -27794949363.025799 mu:-0.000000 unit_bearing:0.136156 -0.005714 0.990671 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66539748460.695351, -640553706.388445, 5906195611.893772 mu:-0.000000 unit_bearing:-0.372620 0.020292 0.927762 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 61903992399.450905, -3839085682.701479, -24819120189.793751 mu:-0.000000 unit_bearing:0.089905 0.011762 0.995881 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66454561680.819519, -971145076.736691, 6758675160.078640 mu:-0.000000 unit_bearing:-0.383790 0.026758 0.923033 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66474170822.509041, -995970405.292567, 6559286339.308361 mu:-0.000000 unit_bearing:-0.380998 0.026764 0.924188 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 65782188535.081841, -799580200.843260, 11614470453.145657 mu:-0.000000 unit_bearing:-0.450186 0.033068 0.892323 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64847198031.414772, -385934901.345672, 16047540079.282578 mu:-0.000000 unit_bearing:-0.509851 0.035009 0.859550 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 64896387238.088074, -411277235.910636, 15846808995.792038 mu:-0.000000 unit_bearing:-0.507167 0.035019 0.861136 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 65741598309.342697, -916749960.172226, 11833570978.922157 mu:-0.000000 unit_bearing:-0.452919 0.035208 0.890856 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66106919352.418106, -1646527516.514995, 9486608547.830700 mu:-0.000000 unit_bearing:-0.419874 0.041769 0.906621 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 65600629323.554604, -1552004442.322130, 12529177763.694717 mu:-0.000000 unit_bearing:-0.461084 0.045915 0.886168 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 65638002573.637085, -1577399826.464234, 12328666140.355068 mu:-0.000000 unit_bearing:-0.458352 0.045927 0.887583 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66649167345.702866, -2826617333.823313, 3567955638.988620 mu:-0.000000 unit_bearing:-0.336044 0.048505 0.940597 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 65801083330.917091, -2583510318.847857, 11241640795.707340 mu:-0.000000 unit_bearing:-0.441855 0.058892 0.895152 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 65263501216.212479, -1632149245.664080, 14171911611.036457 mu:-0.000000 unit_bearing:-0.482827 0.050103 0.874281 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66591524558.561844, -3830118479.665746, 3705486508.859638 mu:-0.000000 unit_bearing:-0.335996 0.063666 0.939709 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66609586888.120583, -3543496164.763224, 3665808286.501979 mu:-0.000000 unit_bearing:-0.336011 0.059335 0.939987 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66213262350.411850, -3561182807.315357, 8121172747.691860 mu:-0.000000 unit_bearing:-0.397586 0.067725 0.915062 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 65561603083.657745, -2262470543.080801, 12624936000.323830 mu:-0.000000 unit_bearing:-0.461035 0.056646 0.885572 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 65742130490.173470, -2390215704.926906, 11622853710.106888 mu:-0.000000 unit_bearing:-0.447354 0.056716 0.892557 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66485148531.898094, -4420438165.524366, 4797533948.337749 mu:-0.000000 unit_bearing:-0.350026 0.074429 0.933778 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66497490006.520340, -4445651835.699695, 4599085067.454525 mu:-0.000000 unit_bearing:-0.347215 0.074441 0.934826 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66509223929.715302, -4470847653.675205, 4400708396.816830 mu:-0.000000 unit_bearing:-0.344402 0.074454 0.935865 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66520351229.396667, -4496025542.532504, 4202404967.133335 mu:-0.000000 unit_bearing:-0.341588 0.074466 0.936895 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66530509400.261337, -4184564506.150128, 4360311881.598522 mu:-0.000000 unit_bearing:-0.344420 0.070127 0.936193 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 66541625032.250259, -4209695508.841136, 4161992630.872905 mu:-0.000000 unit_bearing:-0.341606 0.070138 0.937223 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 65833559659.166229, -7555451347.013845, -8466945046.114223 mu:-0.000000 unit_bearing:-0.153165 0.096809 0.983447 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 61532667862.205872, -11445073242.526062, -23357496978.454998 mu:-0.000000 unit_bearing:0.084021 0.127435 0.988282 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 61460542413.841278, -11466697262.449017, -23536103351.098621 mu:-0.000000 unit_bearing:0.086912 0.127430 0.988032 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 61387881555.621346, -11488288318.993900, -23714527414.192249 mu:-0.000000 unit_bearing:0.089802 0.127425 0.987774 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 61369865135.723427, -11631960249.220451, -23691110882.554127 mu:-0.000000 unit_bearing:0.089798 0.129603 0.987491 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.103] If point is visible? 58851792857.383377, -12283964185.169250, -29127345952.453823 mu:-0.000000 unit_bearing:0.179178 0.129373 0.975273 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 58675594714.254196, -13572852945.041744, -28909926127.986660 mu:-0.000000 unit_bearing:0.179104 0.148919 0.972494 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 58585778511.077782, -13593190772.617855, -29082009932.858944 mu:-0.000000 unit_bearing:0.181977 0.148907 0.971963 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 59064207770.169388, -14859121347.874771, -27449179479.838497 mu:-0.000000 unit_bearing:0.158892 0.170695 0.972428 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 59039995394.660034, -15001893371.767927, -27423597866.173855 mu:-0.000000 unit_bearing:0.158883 0.172862 0.972047 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 58953922990.519798, -15022368991.184269, -27597010250.850063 mu:-0.000000 unit_bearing:0.161759 0.172850 0.971574 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 58929398641.568954, -15165090604.241596, -27571318132.674511 mu:-0.000000 unit_bearing:0.161750 0.175018 0.971188 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 54159697132.102066, -26399978923.238663, -28854807229.911198 mu:-0.000000 unit_bearing:0.220375 0.339598 0.914389 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 52802179168.504776, -29452864167.953857, -28412853574.125973 mu:-0.000000 unit_bearing:0.225333 0.385763 0.894657 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 52702846740.927040, -29470097928.599472, -28578923253.765537 mu:-0.000000 unit_bearing:0.228157 0.385716 0.893962 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 52602966457.719170, -29487258488.819511, -28744757565.947323 mu:-0.000000 unit_bearing:0.230979 0.385668 0.893257 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:07.104] If point is visible? 52502538278.701996, -29504345540.404305, -28910355400.605045 mu:-0.000000 unit_bearing:0.233800 0.385620 0.892544 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:07.104] If point is visible? 59632500653.734863, -28109911673.525269, -10799505190.303150 mu:-0.000000 unit_bearing:-0.057127 0.397942 0.915630 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 59403012154.184166, -28226455124.109722, -11720962375.283451 mu:-0.000000 unit_bearing:-0.042826 0.397992 0.916389 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 59355436362.339363, -28249591130.735092, -11904803906.360302 mu:-0.000000 unit_bearing:-0.039965 0.398000 0.916514 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 54727612953.236336, 29538056241.173046, -24397196453.657223 mu:-0.000000 unit_bearing:0.056906 -0.483368 0.873565 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 62162259102.413658, 17096849360.832476, -17503795762.173054 mu:-0.000000 unit_bearing:-0.051746 -0.285948 0.956847 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 62068886311.328339, 17052152442.450939, -17874815524.005741 mu:-0.000000 unit_bearing:-0.045987 -0.285961 0.957137 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 62150292641.186852, 16764728877.577114, -17863834166.903034 mu:-0.000000 unit_bearing:-0.045996 -0.281670 0.958408 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 56990794767.927368, 9270735078.077652, -33599618505.217030 mu:-0.000000 unit_bearing:0.213234 -0.199035 0.956513 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 56797597142.789398, 9226634424.728035, -33937203138.470257 mu:-0.000000 unit_bearing:0.218951 -0.198995 0.955228 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 56933732370.041985, 9559325931.767546, -33615487308.838726 mu:-0.000000 unit_bearing:0.213204 -0.203351 0.955611 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 56740523339.107231, 9515170453.818769, -33952998738.004848 mu:-0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 56301904653.288666, 6120844178.345776, -35432504566.007507 mu:-0.000000 unit_bearing:0.247786 -0.155579 0.956241 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 57033540883.877441, 5383694693.513638, -34366009756.125343 mu:-0.000000 unit_bearing:0.230726 -0.142681 0.962501 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 57998873995.844315, 5600703335.962562, -32674061856.785549 mu:-0.000000 unit_bearing:0.202093 -0.142819 0.968897 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 57810113980.158173, 5557192407.557338, -33014238064.973927 mu:-0.000000 unit_bearing:0.207826 -0.142793 0.967687 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 57270585889.768425, 5137785022.003554, -34007568830.694164 mu:-0.000000 unit_bearing:0.225028 -0.138374 0.964477 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 57073219969.839211, 5094549780.392528, -34344209201.457043 mu:-0.000000 unit_bearing:0.230748 -0.138345 0.963128 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 57697268863.943253, 4935088132.605585, -33309182692.306904 mu:-0.000000 unit_bearing:0.213596 -0.134088 0.967676 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 58038509447.286087, 5311293931.771530, -32652000838.722828 mu:-0.000000 unit_bearing:0.202112 -0.138479 0.969523 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 57849757374.534592, 5267832562.440940, -32992227761.487171 mu:-0.000000 unit_bearing:0.207846 -0.138453 0.968313 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 65266013284.149025, 3237588931.490921, -13881538415.154835 mu:-0.000000 unit_bearing:-0.092563 -0.073426 0.992996 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 65186930928.939285, 3191650457.101807, -14258645948.784206 mu:-0.000000 unit_bearing:-0.086778 -0.073432 0.993518 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 66576083801.304512, 4429851768.048106, 3291361399.774387 mu:-0.000000 unit_bearing:-0.344459 -0.059812 0.936894 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 60421496395.149918, -2658396743.805514, -28372650228.496845 mu:-0.000000 unit_bearing:0.144813 -0.012262 0.989383 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 65297800135.519104, -922901206.910079, 14077539973.085007 mu:-0.000000 unit_bearing:-0.482873 0.039393 0.874804 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 65834594070.826889, -1277118380.777149, 11269728170.658726 mu:-0.000000 unit_bearing:-0.444680 0.039534 0.894817 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 65285066734.492462, -1206649819.828302, 14115085495.840763 mu:-0.000000 unit_bearing:-0.482856 0.043678 0.874610 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 65888334747.975784, -1612462076.033809, 10906827726.778957 mu:-0.000000 unit_bearing:-0.439170 0.043854 0.897333 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 65271018491.539230, -1490333088.888296, 14152901936.741810 mu:-0.000000 unit_bearing:-0.482837 0.047961 0.874396 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 65860644861.034012, -7531513904.425962, -8275466008.885883 mu:-0.000000 unit_bearing:-0.156046 0.096803 0.982995 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 65805916991.671715, -7579364665.320328, -8658296658.309605 mu:-0.000000 unit_bearing:-0.150282 0.096815 0.983891 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 58978136682.974426, -14879609412.292824, -27622603027.357006 mu:-0.000000 unit_bearing:0.161768 0.170683 0.971956 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 59243482533.144165, -14267084559.541986, -27376845259.835140 mu:-0.000000 unit_bearing:0.156050 0.162030 0.974369 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 60323111964.456215, -16702887373.733482, -23344534631.678867 mu:-0.000000 unit_bearing:0.098281 0.205576 0.973694 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 62215692317.444122, -19423723441.046814, -14654629917.318607 mu:-0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 54110531426.373123, -26279840687.642532, -29056013887.857914 mu:-0.000000 unit_bearing:0.223240 0.337446 0.914491 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 55062712217.524338, -32275435477.747768, -19728800491.580257 mu:-0.000000 unit_bearing:0.096973 0.443541 0.890992 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 62504104684.763931, 16611339696.331474, -16737140493.996128 mu:-0.000000 unit_bearing:-0.063285 -0.277336 0.958686 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 62323847055.149300, 16521917855.449013, -17481301424.398159 mu:-0.000000 unit_bearing:-0.051766 -0.277365 0.959369 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 56077546081.576508, 13303194423.775293, -33781140070.396114 mu:-0.000000 unit_bearing:0.212753 -0.259278 0.942078 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 62946639529.820633, 20357475964.504791, -9280373113.444622 mu:-0.000000 unit_bearing:-0.177747 -0.319391 0.930804 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 56067643935.529297, 28377025102.839489, -22671465120.195614 mu:-0.000000 unit_bearing:0.028566 -0.462970 0.885913 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 64233669460.369102, 8521440482.293285, -16255840200.672771 mu:-0.000000 unit_bearing:-0.063539 -0.156262 0.985670 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 58243656672.426155, 6556189786.346472, -32055021662.360386 mu:-0.000000 unit_bearing:0.190559 -0.155886 0.969220 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 57872543230.668434, 6468724195.055368, -32737683610.283451 mu:-0.000000 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 65535364142.119576, 10769882258.624874, -7208138716.977787 mu:-0.000000 unit_bearing:-0.201744 -0.173163 0.964009 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 64656709237.875839, 8123355769.866032, -14708930023.363834 mu:-0.000000 unit_bearing:-0.086676 -0.147526 0.985253 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 65498569936.390091, 11437723893.549257, -6476680422.164616 mu:-0.000000 unit_bearing:-0.213147 -0.181751 0.959966 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 57492819676.331772, 6381453063.884466, -33416826948.745510 mu:-0.000000 unit_bearing:0.213492 -0.155774 0.964446 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 57104477977.763428, 6294380166.756258, -34092388506.344074 mu:-0.000000 unit_bearing:0.224938 -0.155712 0.961851 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 56707509416.226776, 6207509277.578251, -34764303318.795509 mu:-0.000000 unit_bearing:0.236370 -0.155647 0.959116 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 66559941193.659492, 4957750952.322159, 2833110421.502407 mu:-0.000000 unit_bearing:-0.338796 -0.068491 0.938364 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 64638174908.569649, -3266137348.605702, -16555067869.878826 mu:-0.000000 unit_bearing:-0.040474 0.018326 0.999013 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 66487303991.903702, -2215961896.936408, 6112241947.832767 mu:-0.000000 unit_bearing:-0.372571 0.044074 0.926956 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 66141837487.781227, -2914406552.872620, -8921611348.436626 mu:-0.000000 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 66638623446.084579, -1764414176.594057, -4360308325.439945 mu:-0.000000 unit_bearing:-0.225153 0.018260 0.974152 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 59288492561.286011, -13981112638.366634, -27426897747.807384 mu:-0.000000 unit_bearing:0.156066 0.157690 0.975078 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 60972649026.543213, -12987978543.016392, -24009999269.425495 mu:-0.000000 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 60670229342.121811, -13073297169.917337, -24719299212.294353 mu:-0.000000 unit_bearing:0.109976 0.149142 0.982681 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 59711521317.967575, -13325775996.344994, -26828892948.728313 mu:-0.000000 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 60264420100.094330, -16987540795.718304, -23290657109.208935 mu:-0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 59962015563.936356, -17071907639.462095, -23998713297.287373 mu:-0.000000 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.104] If point is visible? 60380552118.612465, -16418063549.435053, -23398027609.263233 mu:-0.000000 unit_bearing:0.098294 0.201247 0.974596 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.105] If point is visible? 60078143787.329208, -16502574067.573479, -24106291068.489407 mu:-0.000000 unit_bearing:0.109826 0.201210 0.973372 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.105] If point is visible? 51234796961.201759, -20355307844.871754, -37729147932.962646 mu:-0.000000 unit_bearing:0.348710 0.233601 0.907652 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.105] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:07.105] If point is visible? 50741491425.496414, -20420571743.088173, -38355350063.113106 mu:-0.000000 unit_bearing:0.359874 0.233428 0.903328 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.105] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:07.105] If point is visible? 50604068074.540985, -20979495696.218853, -38235070753.194939 mu:-0.000000 unit_bearing:0.359738 0.241952 0.901137 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.105] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:07.105] If point is visible? 60432077597.628693, -9720581853.574419, 26763891094.753567 mu:-0.000000 unit_bearing:-0.626661 0.193248 0.754951 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.105] If point is visible? 62702794318.545776, -18199592843.711544, -14140932990.299229 mu:-0.000000 unit_bearing:-0.040298 0.244603 0.968785 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.105] If point is visible? 62504537969.768005, -18291438215.616753, -14880779618.584064 mu:-0.000000 unit_bearing:-0.028757 0.244618 0.969193 T_cur_ref: x=0.109406 y=0.000000 z=0.040516 +[21:41:07.105] If point is visible? -2.669071, 0.150199, 0.827530 mu:0.346609 unit_bearing:-0.017290 0.018327 0.999683 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.579575, 0.819592, 0.717794 mu:0.346609 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.070841, 0.931141, 1.692249 mu:0.346609 unit_bearing:0.359597 0.250465 0.898865 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.105] If point is visible? -2.049049, 0.933857, 1.718984 mu:0.346609 unit_bearing:0.370720 0.250270 0.894389 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.105] If point is visible? -2.580959, -0.801558, 0.733658 mu:0.346609 unit_bearing:-0.077576 -0.305136 0.949144 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.579142, -0.800599, 0.741719 mu:0.346609 unit_bearing:-0.074702 -0.305147 0.949371 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.575216, -0.770065, 0.789151 mu:0.346609 unit_bearing:-0.057475 -0.296646 0.953256 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.575330, -0.777223, 0.781332 mu:0.346609 unit_bearing:-0.060346 -0.298779 0.952413 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.560067, -0.714096, 0.891348 mu:0.346609 unit_bearing:-0.020070 -0.281708 0.959290 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.559503, -0.706917, 0.899051 mu:0.346609 unit_bearing:-0.017190 -0.279564 0.959973 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.561221, -0.700704, 0.898816 mu:0.346609 unit_bearing:-0.017192 -0.277417 0.960596 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.325564, -0.386373, 1.548791 mu:0.346609 unit_bearing:0.233244 -0.196734 0.952309 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.335393, -0.382038, 1.533995 mu:0.346609 unit_bearing:0.227551 -0.194618 0.954120 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.366713, -0.304735, 1.499995 mu:0.346609 unit_bearing:0.216296 -0.166588 0.962011 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.371908, -0.299435, 1.492289 mu:0.346609 unit_bearing:0.213446 -0.164438 0.963017 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.382757, -0.256660, 1.481934 mu:0.346609 unit_bearing:0.210661 -0.149286 0.966093 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.385422, -0.237918, 1.480555 mu:0.346609 unit_bearing:0.210692 -0.142780 0.967069 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.283024, -0.254858, 1.641608 mu:0.346609 unit_bearing:0.273410 -0.155410 0.949260 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.105] If point is visible? -2.382971, -0.224487, 1.486919 mu:0.346609 unit_bearing:0.213577 -0.138428 0.967069 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.304086, -0.207764, 1.616745 mu:0.346609 unit_bearing:0.264987 -0.138159 0.954303 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.105] If point is visible? -2.299482, -0.206841, 1.623859 mu:0.346609 unit_bearing:0.267833 -0.138142 0.953510 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.105] If point is visible? -2.380443, -0.211057, 1.493257 mu:0.346609 unit_bearing:0.216460 -0.134075 0.967041 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.677434, -0.243799, 0.772879 mu:0.346609 unit_bearing:-0.052016 -0.114910 0.992013 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.675381, -0.242818, 0.780925 mu:0.346609 unit_bearing:-0.049121 -0.114912 0.992160 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.374390, -0.190451, 1.506354 mu:0.346609 unit_bearing:0.222216 -0.127539 0.966620 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.370136, -0.189521, 1.513625 mu:0.346609 unit_bearing:0.225078 -0.127527 0.965959 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.365859, -0.188592, 1.520885 mu:0.346609 unit_bearing:0.227940 -0.127514 0.965289 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.335267, -0.182108, 1.571432 mu:0.346609 unit_bearing:0.247942 -0.127418 0.960359 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.330804, -0.181185, 1.578612 mu:0.346609 unit_bearing:0.250796 -0.127404 0.959620 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.326317, -0.180262, 1.585782 mu:0.346609 unit_bearing:0.253648 -0.127389 0.958871 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.366628, -0.182345, 1.520387 mu:0.346609 unit_bearing:0.227949 -0.125344 0.965571 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.362327, -0.181418, 1.527638 mu:0.346609 unit_bearing:0.230810 -0.125331 0.964893 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.686783, -0.235193, 0.739504 mu:0.346609 unit_bearing:-0.063595 -0.110539 0.991835 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.657213, -0.221472, 0.851910 mu:0.346609 unit_bearing:-0.023067 -0.110567 0.993601 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.686626, -0.195620, 0.752166 mu:0.346609 unit_bearing:-0.057819 -0.097460 0.993559 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.684619, -0.194637, 0.760227 mu:0.346609 unit_bearing:-0.054924 -0.097462 0.993723 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.686029, -0.201888, 0.752756 mu:0.346609 unit_bearing:-0.057817 -0.099641 0.993342 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.773912, -0.231678, 0.032312 mu:0.346609 unit_bearing:-0.304848 -0.079457 0.949081 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.674337, -0.163670, 0.806059 mu:0.346609 unit_bearing:-0.037557 -0.088745 0.995346 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.673793, -0.169940, 0.806663 mu:0.346609 unit_bearing:-0.037556 -0.090927 0.995149 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.773606, -0.211772, -0.064915 mu:0.346609 unit_bearing:-0.335978 -0.068502 0.939375 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.779471, -0.141411, -0.003202 mu:0.346609 unit_bearing:-0.313448 -0.046903 0.948446 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.777077, -0.188114, 0.027782 mu:0.346609 unit_bearing:-0.304902 -0.064279 0.950212 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.777162, -0.187094, 0.036305 mu:0.346609 unit_bearing:-0.302067 -0.064288 0.951116 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.488396, 0.132213, 1.301800 mu:0.346609 unit_bearing:0.156352 -0.007894 0.987670 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.484676, 0.133135, 1.309301 mu:0.346609 unit_bearing:0.159235 -0.007894 0.987209 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.480933, 0.134057, 1.316793 mu:0.346609 unit_bearing:0.162118 -0.007893 0.986740 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.771760, -0.010280, -0.218731 mu:0.346609 unit_bearing:-0.378226 0.007314 0.925685 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.772520, -0.009218, -0.210121 mu:0.346609 unit_bearing:-0.375430 0.007315 0.926822 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.777527, 0.011654, -0.142895 mu:0.346609 unit_bearing:-0.352997 0.011656 0.935552 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.778049, 0.012714, -0.134312 mu:0.346609 unit_bearing:-0.350185 0.011658 0.936608 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.778545, 0.013773, -0.125732 mu:0.346609 unit_bearing:-0.347373 0.011660 0.937655 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.544513, 0.186111, 1.172079 mu:0.346609 unit_bearing:0.110151 0.016128 0.993784 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.541162, 0.187047, 1.179716 mu:0.346609 unit_bearing:0.113042 0.016127 0.993459 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.777968, 0.018913, -0.135093 mu:0.346609 unit_bearing:-0.350184 0.013824 0.936579 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.773947, 0.063134, -0.184403 mu:0.346609 unit_bearing:-0.364200 0.031120 0.930801 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.772405, 0.067177, -0.202409 mu:0.346609 unit_bearing:-0.369799 0.033271 0.928516 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.767056, 0.079259, -0.256510 mu:0.346609 unit_bearing:-0.386551 0.039713 0.921412 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.767898, 0.080339, -0.247895 mu:0.346609 unit_bearing:-0.383761 0.039721 0.922578 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.776170, 0.087065, -0.143910 mu:0.346609 unit_bearing:-0.350148 0.037642 0.935938 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.755021, 0.111564, -0.348595 mu:0.346609 unit_bearing:-0.414293 0.054717 0.908497 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.765360, 0.096703, -0.267602 mu:0.346609 unit_bearing:-0.389321 0.046183 0.919944 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.752201, 0.095965, -0.372847 mu:0.346609 unit_bearing:-0.422608 0.050374 0.904912 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.736911, 0.090043, -0.468866 mu:0.346609 unit_bearing:-0.452854 0.052393 0.890044 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.738409, 0.091144, -0.460206 mu:0.346609 unit_bearing:-0.450115 0.052406 0.891431 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.721053, 0.066759, -0.553885 mu:0.346609 unit_bearing:-0.480126 0.047974 0.875887 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.722831, 0.067862, -0.545213 mu:0.346609 unit_bearing:-0.477412 0.047987 0.877368 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.778897, 0.146503, -0.021458 mu:0.346609 unit_bearing:-0.307769 0.052918 0.949988 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.747408, 0.111137, -0.401295 mu:0.346609 unit_bearing:-0.430859 0.056796 0.900630 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.720728, 0.072886, -0.554707 mu:0.346609 unit_bearing:-0.480116 0.050117 0.875772 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.722507, 0.073989, -0.546036 mu:0.346609 unit_bearing:-0.477402 0.050130 0.877254 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.776231, 0.189894, -0.027475 mu:0.346609 unit_bearing:-0.307723 0.068100 0.949036 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.753145, 0.122784, -0.358918 mu:0.346609 unit_bearing:-0.417042 0.059012 0.906969 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.751741, 0.160813, -0.355411 mu:0.346609 unit_bearing:-0.414211 0.071947 0.907333 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.772923, 0.223808, -0.058343 mu:0.346609 unit_bearing:-0.316165 0.081071 0.945234 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.773112, 0.224890, -0.049813 mu:0.346609 unit_bearing:-0.313336 0.081083 0.946174 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.752200, 0.154660, -0.354547 mu:0.346609 unit_bearing:-0.414222 0.069794 0.907496 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.727462, 0.354485, 0.477507 mu:0.346609 unit_bearing:-0.130080 0.103392 0.986098 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.526683, 0.520600, 1.107479 mu:0.346609 unit_bearing:0.104236 0.133929 0.985494 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.523377, 0.521521, 1.115123 mu:0.346609 unit_bearing:0.107124 0.133923 0.985185 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.520048, 0.522441, 1.122760 mu:0.346609 unit_bearing:0.110011 0.133917 0.984867 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.367940, 0.557940, 1.421083 mu:0.346609 unit_bearing:0.225051 0.133528 0.965154 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.406199, 0.543997, 1.356264 mu:0.346609 unit_bearing:0.199272 0.131470 0.971085 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.393480, 0.606641, 1.353057 mu:0.346609 unit_bearing:0.202045 0.153156 0.967327 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.394405, 0.600470, 1.354134 mu:0.346609 unit_bearing:0.202055 0.150988 0.967665 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.390312, 0.601332, 1.361476 mu:0.346609 unit_bearing:0.204922 0.150974 0.967064 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.414335, 0.667516, 1.281896 mu:0.346609 unit_bearing:0.178978 0.177105 0.967781 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.410427, 0.668385, 1.289307 mu:0.346609 unit_bearing:0.181849 0.177091 0.967249 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.337185, 0.677556, 1.422233 mu:0.346609 unit_bearing:0.233397 0.174631 0.956572 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] If point is visible? -2.197155, 1.147313, 1.350369 mu:0.346609 unit_bearing:0.243029 0.339275 0.908751 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.105] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.105] If point is visible? -2.156347, 1.264950, 1.312559 mu:0.346609 unit_bearing:0.239514 0.381342 0.892867 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.151912, 1.265679, 1.319666 mu:0.346609 unit_bearing:0.242332 0.381293 0.892127 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.451019, 1.215293, 0.612272 mu:0.346609 unit_bearing:-0.022804 0.393840 0.918896 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.483300, -1.222523, 0.420432 mu:0.346609 unit_bearing:-0.187578 -0.436728 0.879820 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.252698, -1.230811, 1.162820 mu:0.346609 unit_bearing:0.079701 -0.470939 0.878558 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.080786, -1.263876, 1.439001 mu:0.346609 unit_bearing:0.186715 -0.493980 0.849188 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.095076, -1.254084, 1.425398 mu:0.346609 unit_bearing:0.181179 -0.490037 0.852665 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.087126, -1.252011, 1.439763 mu:0.346609 unit_bearing:0.186798 -0.489931 0.851513 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.562339, -0.715062, 0.883409 mu:0.346609 unit_bearing:-0.022951 -0.281706 0.959226 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.565791, -0.702639, 0.882942 mu:0.346609 unit_bearing:-0.022955 -0.277412 0.960477 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.561221, -0.700704, 0.898816 mu:0.346609 unit_bearing:-0.017192 -0.277417 0.960596 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.569187, -0.690210, 0.882457 mu:0.346609 unit_bearing:-0.022960 -0.273115 0.961707 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.564616, -0.688275, 0.898335 mu:0.346609 unit_bearing:-0.017195 -0.273120 0.961826 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.331089, -0.381090, 1.541226 mu:0.346609 unit_bearing:0.230406 -0.194597 0.953439 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.322411, -0.379197, 1.555657 mu:0.346609 unit_bearing:0.236113 -0.194555 0.952050 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.313640, -0.377304, 1.570047 mu:0.346609 unit_bearing:0.241815 -0.194512 0.950626 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.342028, -0.370520, 1.526046 mu:0.346609 unit_bearing:0.224725 -0.190320 0.955655 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.376235, -0.210124, 1.500546 mu:0.346609 unit_bearing:0.219324 -0.134062 0.966398 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.367750, -0.208261, 1.515094 mu:0.346609 unit_bearing:0.225049 -0.134036 0.965084 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.359171, -0.206400, 1.529603 mu:0.346609 unit_bearing:0.230769 -0.134008 0.963736 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.655144, -0.240278, 0.853584 mu:0.346609 unit_bearing:-0.023065 -0.117108 0.992851 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.656537, -0.227741, 0.852472 mu:0.346609 unit_bearing:-0.023067 -0.112747 0.993356 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.701801, -0.105542, 0.710526 mu:0.346609 unit_bearing:-0.069422 -0.064712 0.995486 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.697947, -0.103567, 0.726698 mu:0.346609 unit_bearing:-0.063632 -0.064716 0.995873 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.765333, -0.099517, 0.343209 mu:0.346609 unit_bearing:-0.196426 -0.047123 0.979386 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.765886, -0.087017, 0.341828 mu:0.346609 unit_bearing:-0.196431 -0.042765 0.979585 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.542831, 0.029670, 1.190736 mu:0.346609 unit_bearing:0.110142 -0.038480 0.993171 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.735385, 0.088942, -0.477528 mu:0.346609 unit_bearing:-0.455590 0.052380 0.888647 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.734670, 0.101219, -0.479196 mu:0.346609 unit_bearing:-0.455570 0.056674 0.888394 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.772972, 0.215455, -0.074525 mu:0.346609 unit_bearing:-0.321827 0.078881 0.943507 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.737169, 0.363849, 0.400484 mu:0.346609 unit_bearing:-0.156015 0.109867 0.981625 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.724090, 0.374155, 0.482862 mu:0.346609 unit_bearing:-0.127181 0.109933 0.985769 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.773942, 0.203079, -0.072759 mu:0.346609 unit_bearing:-0.321845 0.074549 0.943853 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.728215, 0.359675, 0.468340 mu:0.346609 unit_bearing:-0.132961 0.105565 0.985483 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.725407, 0.361726, 0.484771 mu:0.346609 unit_bearing:-0.127190 0.105576 0.986244 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.414967, 0.566116, 1.329975 mu:0.346609 unit_bearing:0.190627 0.140190 0.971601 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.344305, 0.544506, 1.467660 mu:0.346609 unit_bearing:0.242235 0.126939 0.961878 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.415407, 0.661358, 1.283017 mu:0.346609 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.427305, 0.634960, 1.272602 mu:0.346609 unit_bearing:0.173284 0.166297 0.970731 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.203701, 1.140605, 1.344720 mu:0.346609 unit_bearing:0.240233 0.337206 0.910264 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.578932, -0.708438, 0.835149 mu:0.346609 unit_bearing:-0.040244 -0.277388 0.959915 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.570266, -0.704573, 0.867039 mu:0.346609 unit_bearing:-0.028719 -0.277405 0.960324 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.463117, -1.273937, 0.387055 mu:0.346609 unit_bearing:-0.198566 -0.453006 0.869113 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.342028, -0.370520, 1.526046 mu:0.346609 unit_bearing:0.224725 -0.190320 0.955655 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.324766, -0.366736, 1.554955 mu:0.346609 unit_bearing:0.236144 -0.190239 0.952914 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.585676, -0.683579, 0.834146 mu:0.346609 unit_bearing:-0.040259 -0.268794 0.962356 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.577005, -0.679711, 0.866047 mu:0.346609 unit_bearing:-0.028729 -0.268810 0.962765 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.340055, -1.148184, 1.059156 mu:0.346609 unit_bearing:0.040037 -0.438134 0.898017 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.282765, -1.212717, 1.118244 mu:0.346609 unit_bearing:0.062707 -0.462831 0.884226 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.724104, -0.459902, 0.393359 mu:0.346609 unit_bearing:-0.190277 -0.173224 0.966327 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.720359, -0.455982, 0.426632 mu:0.346609 unit_bearing:-0.178797 -0.173280 0.968507 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.644710, -0.355019, 0.846887 mu:0.346609 unit_bearing:-0.028833 -0.156299 0.987289 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.720397, -0.427086, 0.457933 mu:0.346609 unit_bearing:-0.167344 -0.164662 0.972051 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.302139, -0.284437, 1.607732 mu:0.346609 unit_bearing:0.259128 -0.164155 0.951791 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.379497, -0.249476, 1.488784 mu:0.346609 unit_bearing:0.213536 -0.147103 0.965797 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.362617, -0.245732, 1.517906 mu:0.346609 unit_bearing:0.224985 -0.147046 0.963203 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.345364, -0.241998, 1.546870 mu:0.346609 unit_bearing:0.236419 -0.146985 0.960470 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.327740, -0.238274, 1.575672 mu:0.346609 unit_bearing:0.247838 -0.146920 0.957597 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.657124, -0.333871, 0.812925 mu:0.346609 unit_bearing:-0.040412 -0.147589 0.988223 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.648404, -0.329965, 0.844941 mu:0.346609 unit_bearing:-0.028839 -0.147597 0.988627 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.366092, -0.220753, 1.516050 mu:0.346609 unit_bearing:0.225028 -0.138374 0.964477 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.331219, -0.213315, 1.573836 mu:0.346609 unit_bearing:0.247886 -0.138256 0.958873 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.669071, 0.150199, 0.827530 mu:0.346609 unit_bearing:-0.017290 0.018327 0.999683 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.769098, 0.110739, 0.301017 mu:0.346609 unit_bearing:-0.202194 0.026993 0.978974 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.772875, 0.184208, -0.122313 mu:0.346609 unit_bearing:-0.338790 0.070150 0.938243 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.514050, 0.565799, 1.115467 mu:0.346609 unit_bearing:0.109976 0.149142 0.982681 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.500503, 0.569453, 1.145919 mu:0.346609 unit_bearing:0.121518 0.149112 0.981325 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.486587, 0.573081, 1.176237 mu:0.346609 unit_bearing:0.133053 0.149080 0.979833 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.442618, 0.583811, 1.266366 mu:0.346609 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.775994, 0.134704, -0.115449 mu:0.346609 unit_bearing:-0.338850 0.052829 0.939356 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.453922, 0.604978, 1.232177 mu:0.346609 unit_bearing:0.156066 0.157690 0.975078 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.450810, 0.770202, 1.140142 mu:0.346609 unit_bearing:0.132796 0.218419 0.966777 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.774544, 0.159463, -0.118854 mu:0.346609 unit_bearing:-0.338822 0.061490 0.938839 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.469954, 0.742082, 1.114631 mu:0.346609 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.456036, 0.745662, 1.144894 mu:0.346609 unit_bearing:0.132834 0.209776 0.968684 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.579575, 0.819592, 0.717794 mu:0.346609 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.055198, 0.909785, 1.724296 mu:0.346609 unit_bearing:0.370867 0.241764 0.896665 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.070841, 0.931141, 1.692249 mu:0.346609 unit_bearing:0.359597 0.250465 0.898865 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.049049, 0.933857, 1.718984 mu:0.346609 unit_bearing:0.370720 0.250270 0.894389 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.477187, 1.193497, 0.535977 mu:0.346609 unit_bearing:-0.051438 0.389564 0.919562 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.468985, 1.197504, 0.567763 mu:0.346609 unit_bearing:-0.039989 0.389600 0.920116 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.460398, 1.201472, 0.599442 mu:0.346609 unit_bearing:-0.028537 0.389627 0.920531 T_cur_ref: x=0.101856 y=0.000000 z=0.038129 +[21:41:07.106] If point is visible? -2.534293, -1.308984, 1.298092 mu:0.312845 unit_bearing:0.062754 -0.454589 0.888488 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.106] If point is visible? -2.963020, 0.199029, 0.946570 mu:0.312845 unit_bearing:-0.028882 0.027071 0.999216 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.106] If point is visible? -2.295131, 1.009130, 1.903542 mu:0.312845 unit_bearing:0.348580 0.242131 0.905464 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.106] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.270675, 1.012144, 1.932808 mu:0.312845 unit_bearing:0.359738 0.241952 0.901137 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.106] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.288392, 1.035831, 1.897525 mu:0.312845 unit_bearing:0.348444 0.250652 0.903194 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.106] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:07.106] If point is visible? -2.858211, 0.939688, 0.820692 mu:0.312845 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] If point is visible? -2.738168, 0.826762, 1.264567 mu:0.312845 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] If point is visible? -2.722324, 0.830714, 1.297867 mu:0.312845 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] If point is visible? -2.402279, 1.587753, 1.245143 mu:0.312845 unit_bearing:0.165009 0.446904 0.879232 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] If point is visible? -2.534293, -1.308984, 1.298092 mu:0.312845 unit_bearing:0.062754 -0.454589 0.888488 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] If point is visible? -2.963020, 0.199029, 0.946570 mu:0.312845 unit_bearing:-0.028882 0.027071 0.999216 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] If point is visible? -2.295131, 1.009130, 1.903542 mu:0.312845 unit_bearing:0.348580 0.242131 0.905464 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:07.107] If point is visible? -2.270675, 1.012144, 1.932808 mu:0.312845 unit_bearing:0.359738 0.241952 0.901137 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:07.107] If point is visible? -2.738168, 0.826762, 1.264567 mu:0.312845 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] If point is visible? -2.722324, 0.830714, 1.297867 mu:0.312845 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] If point is visible? -2.288392, 1.035831, 1.897525 mu:0.312845 unit_bearing:0.348444 0.250652 0.903194 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:07.107] If point is visible? -2.858211, 0.939688, 0.820692 mu:0.312845 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] If point is visible? -2.402279, 1.587753, 1.245143 mu:0.312845 unit_bearing:0.165009 0.446904 0.879232 T_cur_ref: x=0.094435 y=0.000000 z=0.035633 +[21:41:07.107] If point is visible? -2.620802, 1.340498, 3.242819 mu:0.226850 unit_bearing:0.523549 0.213086 0.824919 T_cur_ref: x=0.087012 y=0.000000 z=0.032986 +[21:41:07.107] Z inverse min: 0.639161, Z inverse max: 0.000000 +[21:41:07.107] If point is visible? -2.620802, 1.340498, 3.242819 mu:0.226850 unit_bearing:0.523549 0.213086 0.824919 T_cur_ref: x=0.087012 y=0.000000 z=0.032986 +[21:41:07.107] Z inverse min: 0.639161, Z inverse max: 0.000000 +[21:41:07.107] If point is visible? -2.249837, 0.988844, 1.764974 mu:0.325942 unit_bearing:0.326059 0.251004 0.911418 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:07.107] If point is visible? -2.301496, -1.361319, 1.405174 mu:0.325942 unit_bearing:0.121936 -0.495012 0.860287 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:07.107] If point is visible? -2.294240, -1.366584, 1.412479 mu:0.325942 unit_bearing:0.124734 -0.497006 0.858736 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:07.107] If point is visible? -2.789435, -0.814759, 0.749817 mu:0.325942 unit_bearing:-0.109239 -0.292161 0.950110 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.787550, -0.813748, 0.758422 mu:0.325942 unit_bearing:-0.106367 -0.292175 0.950431 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.787553, -0.806142, 0.766825 mu:0.325942 unit_bearing:-0.103505 -0.290049 0.951398 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.789396, -0.791935, 0.775015 mu:0.325942 unit_bearing:-0.100652 -0.285778 0.952995 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.787434, -0.790922, 0.783600 mu:0.325942 unit_bearing:-0.097778 -0.285791 0.953291 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.789301, -0.784322, 0.783393 mu:0.325942 unit_bearing:-0.097787 -0.283648 0.953930 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.787313, -0.783308, 0.791972 mu:0.325942 unit_bearing:-0.094913 -0.283660 0.954216 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.782498, -0.758416, 0.834114 mu:0.325942 unit_bearing:-0.080556 -0.277281 0.957406 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.767443, -0.699885, 0.934431 mu:0.325942 unit_bearing:-0.046035 -0.262331 0.963879 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.764998, -0.698864, 0.942878 mu:0.325942 unit_bearing:-0.043152 -0.262336 0.964011 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.765082, -0.676952, 0.958994 mu:0.325942 unit_bearing:-0.037396 -0.255887 0.965983 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.765909, -0.684598, 0.950818 mu:0.325942 unit_bearing:-0.040277 -0.258036 0.965295 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.887706, -0.649107, 0.462237 mu:0.325942 unit_bearing:-0.201398 -0.227147 0.952808 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.508372, -0.350802, 1.640418 mu:0.325942 unit_bearing:0.210510 -0.177441 0.961353 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.527796, -0.348127, 1.609359 mu:0.325942 unit_bearing:0.199066 -0.175342 0.964172 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.523260, -0.347135, 1.617043 mu:0.325942 unit_bearing:0.201931 -0.175327 0.963579 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.489061, -0.257578, 1.688247 mu:0.325942 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.486145, -0.243318, 1.694904 mu:0.325942 unit_bearing:0.233573 -0.144833 0.961492 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.483148, -0.229060, 1.701531 mu:0.325942 unit_bearing:0.236454 -0.140484 0.961433 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.479191, -0.221445, 1.708606 mu:0.325942 unit_bearing:0.239322 -0.138301 0.961040 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:07.107] If point is visible? -2.574186, -0.221085, 1.553999 mu:0.325942 unit_bearing:0.182042 -0.132044 0.974385 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.575845, -0.207777, 1.552980 mu:0.325942 unit_bearing:0.182057 -0.127698 0.974961 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.857481, -0.250756, 0.880951 mu:0.325942 unit_bearing:-0.054910 -0.114907 0.991857 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.480071, -0.214804, 1.708127 mu:0.325942 unit_bearing:0.239333 -0.136134 0.961347 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:07.107] If point is visible? -2.573061, -0.193485, 1.559702 mu:0.325942 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.490692, -0.169275, 1.697063 mu:0.325942 unit_bearing:0.236548 -0.120965 0.964060 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.496287, -0.163599, 1.688973 mu:0.325942 unit_bearing:0.233698 -0.118807 0.965023 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.491461, -0.162631, 1.696540 mu:0.325942 unit_bearing:0.236557 -0.118795 0.964328 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.564227, -0.150621, 1.579692 mu:0.325942 unit_bearing:0.193607 -0.110268 0.974863 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.559742, -0.149644, 1.587415 mu:0.325942 unit_bearing:0.196479 -0.110259 0.974289 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.555233, -0.148668, 1.595127 mu:0.325942 unit_bearing:0.199350 -0.110249 0.973707 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.555930, -0.142015, 1.594570 mu:0.325942 unit_bearing:0.199357 -0.108075 0.973949 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.864325, -0.232829, 0.862176 mu:0.325942 unit_bearing:-0.060704 -0.108362 0.992256 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.890262, -0.203246, 0.772938 mu:0.325942 unit_bearing:-0.089647 -0.095247 0.991409 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.881132, -0.205737, 0.807891 mu:0.325942 unit_bearing:-0.078076 -0.097441 0.992174 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.878942, -0.204695, 0.816457 mu:0.325942 unit_bearing:-0.075182 -0.097444 0.992397 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.858731, -0.188672, 0.892591 mu:0.325942 unit_bearing:-0.049136 -0.095285 0.994237 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.875945, -0.127191, 0.843622 mu:0.325942 unit_bearing:-0.063626 -0.073450 0.995267 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.887325, -0.160117, 0.794907 mu:0.325942 unit_bearing:-0.080984 -0.082167 0.993323 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.873153, -0.132816, 0.852813 mu:0.325942 unit_bearing:-0.060730 -0.075635 0.995285 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.980514, -0.192413, 0.137090 mu:0.325942 unit_bearing:-0.293549 -0.066485 0.953629 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.983610, -0.166918, 0.070167 mu:0.325942 unit_bearing:-0.313425 -0.055578 0.947985 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.985324, -0.134933, 0.057499 mu:0.325942 unit_bearing:-0.316283 -0.044728 0.947610 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.733326, 0.064955, 1.253516 mu:0.325942 unit_bearing:0.084114 -0.027570 0.996075 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.740841, 0.082937, 1.234984 mu:0.325942 unit_bearing:0.078327 -0.021016 0.996706 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.737327, 0.083937, 1.243110 mu:0.325942 unit_bearing:0.081221 -0.021016 0.996475 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.741391, 0.122888, 1.230273 mu:0.325942 unit_bearing:0.078329 -0.007904 0.996896 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.737877, 0.123887, 1.238399 mu:0.325942 unit_bearing:0.081223 -0.007904 0.996665 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.987783, -0.005038, -0.031492 mu:0.325942 unit_bearing:-0.338928 0.000830 0.940812 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.638063, 0.189337, 1.441520 mu:0.325942 unit_bearing:0.156353 0.005201 0.987688 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.980453, 0.042751, -0.186233 mu:0.325942 unit_bearing:-0.383797 0.022437 0.923145 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.980294, 0.049326, -0.187084 mu:0.325942 unit_bearing:-0.383794 0.024598 0.923091 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.980914, 0.050467, -0.177904 mu:0.325942 unit_bearing:-0.381002 0.024602 0.924247 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.968302, 0.097823, 0.367218 mu:0.325942 unit_bearing:-0.210813 0.018269 0.977356 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.980120, 0.055899, -0.187938 mu:0.325942 unit_bearing:-0.383790 0.026758 0.923033 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.982431, 0.060468, -0.151240 mu:0.325942 unit_bearing:-0.372611 0.026779 0.927601 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.979728, 0.069045, -0.189658 mu:0.325942 unit_bearing:-0.383782 0.031080 0.922901 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.972498, 0.092659, -0.267574 mu:0.325942 unit_bearing:-0.406022 0.041814 0.912906 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.977844, 0.100744, -0.203207 mu:0.325942 unit_bearing:-0.386545 0.041873 0.921319 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.733367, 0.231310, 1.233105 mu:0.325942 unit_bearing:0.084114 0.027059 0.996089 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.964813, 0.124986, -0.328209 mu:0.325942 unit_bearing:-0.422590 0.054681 0.904670 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.969262, 0.137377, -0.283038 mu:0.325942 unit_bearing:-0.408742 0.056895 0.910875 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.947492, 0.225840, 0.475863 mu:0.325942 unit_bearing:-0.170524 0.055369 0.983797 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.962981, 0.136901, -0.339242 mu:0.325942 unit_bearing:-0.425333 0.058974 0.903114 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.617795, 0.397792, 1.437036 mu:0.325942 unit_bearing:0.164937 0.072817 0.983613 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.933211, 0.125124, -0.535264 mu:0.325942 unit_bearing:-0.482757 0.062950 0.873489 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.934886, 0.126315, -0.525998 mu:0.325942 unit_bearing:-0.480047 0.062967 0.874980 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.936532, 0.127505, -0.516733 mu:0.325942 unit_bearing:-0.477334 0.062984 0.876462 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.956446, 0.123315, -0.393731 mu:0.325942 unit_bearing:-0.441865 0.056743 0.895285 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.944316, 0.174923, -0.457456 mu:0.325942 unit_bearing:-0.458191 0.075970 0.885601 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.618251, 0.391175, 1.438016 mu:0.325942 unit_bearing:0.164940 0.070638 0.983771 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.975432, 0.279621, -0.005443 mu:0.325942 unit_bearing:-0.318943 0.091886 0.943309 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.974755, 0.283873, -0.024591 mu:0.325942 unit_bearing:-0.324581 0.094022 0.941173 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.925434, 0.397774, 0.503983 mu:0.325942 unit_bearing:-0.153134 0.109875 0.982078 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.912885, 0.430735, 0.552164 mu:0.325942 unit_bearing:-0.135817 0.118624 0.983607 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.710941, 0.561397, 1.175169 mu:0.325942 unit_bearing:0.081116 0.136148 0.987362 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.710066, 0.567988, 1.174051 mu:0.325942 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.706529, 0.568968, 1.182157 mu:0.325942 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.588219, 0.604171, 1.419833 mu:0.325942 unit_bearing:0.170514 0.140267 0.975321 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.107] If point is visible? -2.523172, 0.636659, 1.524741 mu:0.325942 unit_bearing:0.210674 0.146610 0.966500 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.582819, 0.668915, 1.400393 mu:0.325942 unit_bearing:0.167554 0.161985 0.972464 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.578552, 0.669837, 1.408206 mu:0.325942 unit_bearing:0.170429 0.161973 0.971966 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.574260, 0.670758, 1.416009 mu:0.325942 unit_bearing:0.173303 0.161960 0.971460 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.705640, 0.575557, 1.181034 mu:0.325942 unit_bearing:0.084000 0.140495 0.986512 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.575290, 0.664199, 1.417195 mu:0.325942 unit_bearing:0.173312 0.159792 0.971818 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.596838, 0.728875, 1.341208 mu:0.325942 unit_bearing:0.150209 0.183734 0.971432 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.591531, 0.736347, 1.347840 mu:0.325942 unit_bearing:0.153076 0.185887 0.970574 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.345970, 1.301164, 1.385534 mu:0.325942 unit_bearing:0.211485 0.367116 0.905815 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:07.108] If point is visible? -2.341303, 1.301966, 1.393090 mu:0.325942 unit_bearing:0.214318 0.367075 0.905165 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:07.108] If point is visible? -2.283652, -1.241439, 1.542580 mu:0.325942 unit_bearing:0.170426 -0.461688 0.870517 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:07.108] If point is visible? -2.368201, -1.307285, 1.338865 mu:0.325942 unit_bearing:0.096691 -0.474898 0.874713 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:07.108] If point is visible? -2.706526, -1.205024, 0.475546 mu:0.325942 unit_bearing:-0.199354 -0.407522 0.891170 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.724903, -1.183238, -0.353513 mu:0.325942 unit_bearing:-0.454574 -0.367541 0.811342 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.706349, -1.232166, -0.334207 mu:0.325942 unit_bearing:-0.448563 -0.384137 0.806988 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.794786, -0.825390, 0.715519 mu:0.325942 unit_bearing:-0.120710 -0.294237 0.948079 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.769141, -0.693264, 0.934182 mu:0.325942 unit_bearing:-0.046039 -0.260179 0.964462 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.772495, -0.680017, 0.933670 mu:0.325942 unit_bearing:-0.046047 -0.255873 0.965613 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.767578, -0.677974, 0.950561 mu:0.325942 unit_bearing:-0.040280 -0.255883 0.965868 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.857796, -0.673440, -0.544794 mu:0.325942 unit_bearing:-0.507872 -0.195017 0.839068 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.512982, -0.351793, 1.632767 mu:0.325942 unit_bearing:0.207647 -0.177458 0.961973 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.491871, -0.237652, 1.686867 mu:0.325942 unit_bearing:0.230726 -0.142681 0.962501 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.498744, -0.184502, 1.682951 mu:0.325942 unit_bearing:0.230810 -0.125331 0.964893 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.522273, -0.148506, 1.649357 mu:0.325942 unit_bearing:0.219414 -0.112351 0.969141 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.566513, -0.171561, 1.573600 mu:0.325942 unit_bearing:0.190714 -0.116800 0.974672 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.557567, -0.169602, 1.589054 mu:0.325942 unit_bearing:0.196457 -0.116781 0.973533 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.548523, -0.167647, 1.604464 mu:0.325942 unit_bearing:0.202197 -0.116760 0.972360 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.509853, -0.173153, 1.666729 mu:0.325942 unit_bearing:0.225106 -0.121015 0.966790 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.500322, -0.171213, 1.681919 mu:0.325942 unit_bearing:0.230829 -0.120990 0.965443 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.891583, -0.162208, 0.777736 mu:0.325942 unit_bearing:-0.086770 -0.082161 0.992835 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.887325, -0.160117, 0.794907 mu:0.325942 unit_bearing:-0.080984 -0.082167 0.993323 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.968847, -0.036002, 0.374489 mu:0.325942 unit_bearing:-0.213678 -0.025314 0.976576 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.967006, 0.112181, 0.374388 mu:0.325942 unit_bearing:-0.207940 0.022629 0.977880 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.902138, 0.235032, 0.713586 mu:0.325942 unit_bearing:-0.092583 0.048899 0.994504 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.964547, 0.127634, 0.390402 mu:0.325942 unit_bearing:-0.202194 0.026993 0.978974 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.926944, 0.396677, 0.495232 mu:0.325942 unit_bearing:-0.156015 0.109867 0.981625 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.923897, 0.398870, 0.512727 mu:0.325942 unit_bearing:-0.150253 0.109882 0.982522 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.611820, 0.687707, 1.332749 mu:0.325942 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.774125, 0.588044, -0.930379 mu:0.325942 unit_bearing:-0.569862 0.228406 0.789359 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.659214, 1.240173, 0.641641 mu:0.325942 unit_bearing:-0.051483 0.376933 0.924808 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.708018, -1.225365, 0.405095 mu:0.325942 unit_bearing:-0.221870 -0.411304 0.884083 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.656929, -1.343507, -0.314681 mu:0.325942 unit_bearing:-0.441617 -0.420933 0.792332 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.801655, -0.829423, 0.680916 mu:0.325942 unit_bearing:-0.132184 -0.294168 0.946569 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.733948, -1.148449, -0.391131 mu:0.325942 unit_bearing:-0.465738 -0.354792 0.810685 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.503150, -1.186826, 1.185231 mu:0.325942 unit_bearing:0.040065 -0.429825 0.902023 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.787027, -0.642296, 0.915085 mu:0.325942 unit_bearing:-0.051839 -0.242931 0.968657 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.503206, -0.226318, 1.670740 mu:0.325942 unit_bearing:0.225028 -0.138374 0.964477 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.561785, -0.211479, 1.576743 mu:0.325942 unit_bearing:0.190668 -0.129839 0.973030 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.543794, -0.207553, 1.607595 mu:0.325942 unit_bearing:0.202148 -0.129795 0.970716 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.525413, -0.203639, 1.638274 mu:0.325942 unit_bearing:0.213615 -0.129747 0.968264 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.929223, -0.430407, 0.448083 mu:0.325942 unit_bearing:-0.201833 -0.155832 0.966943 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.924696, -0.426231, 0.483460 mu:0.325942 unit_bearing:-0.190360 -0.155886 0.969259 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.923706, -0.395475, 0.516699 mu:0.325942 unit_bearing:-0.178911 -0.147257 0.972783 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.861711, 0.240699, 0.869158 mu:0.325942 unit_bearing:-0.040469 0.044553 0.998187 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.698381, 0.602873, 1.184588 mu:0.325942 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.683893, 0.606765, 1.216878 mu:0.325942 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.613978, 0.674590, 1.335145 mu:0.325942 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.694459, 0.629185, 1.179968 mu:0.325942 unit_bearing:0.086856 0.157887 0.983630 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.679971, 0.633072, 1.212251 mu:0.325942 unit_bearing:0.098409 0.157863 0.982545 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.979198, 0.201169, -0.095996 mu:0.325942 unit_bearing:-0.350044 0.070103 0.934106 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.660674, 0.812582, 1.145475 mu:0.325942 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.646191, 0.816429, 1.177698 mu:0.325942 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.775044, 0.560067, -0.944266 mu:0.325942 unit_bearing:-0.575268 0.219906 0.787850 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.651698, 0.790328, 1.182867 mu:0.325942 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.249837, 0.988844, 1.764974 mu:0.325942 unit_bearing:0.326059 0.251004 0.911418 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:07.108] If point is visible? -2.769617, 0.872423, 0.760876 mu:0.325942 unit_bearing:-0.040284 0.253225 0.966568 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -2.664192, 1.227526, 0.644839 mu:0.325942 unit_bearing:-0.051497 0.372715 0.926516 T_cur_ref: x=0.079614 y=0.000000 z=0.030434 +[21:41:07.108] If point is visible? -4.055204, 1.199922, 2.200092 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.072290 y=0.000000 z=0.027619 +[21:41:07.108] If point is visible? -4.055204, 1.199922, 2.200092 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.072290 y=0.000000 z=0.027619 +[21:41:07.108] If point is visible? -160357.398391, -44111.576304, -20025.135056 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.064738 y=0.000000 z=0.024897 +[21:41:07.108] If point is visible? -161279.398973, -39968.561920, -21279.139081 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.064738 y=0.000000 z=0.024897 +[21:41:07.108] If point is visible? -147248.872277, 44982.644583, 65997.497657 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.064738 y=0.000000 z=0.024897 +[21:41:07.108] If point is visible? -149334.042270, 66070.447074, 37354.739245 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.064738 y=0.000000 z=0.024897 +[21:41:07.108] If point is visible? -160357.398391, -44111.576304, -20025.135056 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.064738 y=0.000000 z=0.024897 +[21:41:07.108] If point is visible? -161279.398973, -39968.561920, -21279.139081 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.064738 y=0.000000 z=0.024897 +[21:41:07.108] If point is visible? -147248.872277, 44982.644583, 65997.497657 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.064738 y=0.000000 z=0.024897 +[21:41:07.108] If point is visible? -149334.042270, 66070.447074, 37354.739245 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.064738 y=0.000000 z=0.024897 +[21:41:07.108] If point is visible? -2.480151, 1.627007, 1.377850 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.055179 y=0.000000 z=0.021043 +[21:41:07.108] If point is visible? -3.030315, 0.956093, 0.715006 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.055179 y=0.000000 z=0.021043 +[21:41:07.108] If point is visible? -2.480151, 1.627007, 1.377850 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.055179 y=0.000000 z=0.021043 +[21:41:07.108] If point is visible? -3.030315, 0.956093, 0.715006 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.055179 y=0.000000 z=0.021043 +[21:41:07.108] If point is visible? -2.844563, 0.840383, 0.683076 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.043122 y=0.000000 z=0.016540 +[21:41:07.108] If point is visible? -2.742511, 1.291714, -0.230367 mu:0.324627 unit_bearing:-0.355005 0.425968 0.832180 T_cur_ref: x=0.043122 y=0.000000 z=0.016540 +[21:41:07.108] If point is visible? -2.754350, 1.267166, -0.223629 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.043122 y=0.000000 z=0.016540 +[21:41:07.108] If point is visible? -2.844563, 0.840383, 0.683076 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.043122 y=0.000000 z=0.016540 +[21:41:07.108] If point is visible? -2.754350, 1.267166, -0.223629 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.043122 y=0.000000 z=0.016540 +[21:41:07.108] If point is visible? -157001954095.571686, 1091437484.317157, 30705986818.871872 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.035517 y=0.000000 z=0.013627 +[21:41:07.108] If point is visible? -124198397207.204849, 49953641192.578041, 87595972024.399200 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.035517 y=0.000000 z=0.013627 +[21:41:07.108] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:07.108] If point is visible? -157001954095.571686, 1091437484.317157, 30705986818.871872 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.035517 y=0.000000 z=0.013627 +[21:41:07.109] If point is visible? -124198397207.204849, 49953641192.578041, 87595972024.399200 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.035517 y=0.000000 z=0.013627 +[21:41:07.109] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:07.109] If point is visible? -2.082115, 0.915194, 1.647080 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.027873 y=0.000000 z=0.010749 +[21:41:07.109] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:07.109] If point is visible? -2.470646, 1.100063, 0.728017 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.027873 y=0.000000 z=0.010749 +[21:41:07.109] If point is visible? -2.082115, 0.915194, 1.647080 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.027873 y=0.000000 z=0.010749 +[21:41:07.109] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:07.109] If point is visible? -2.470646, 1.100063, 0.728017 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.027873 y=0.000000 z=0.010749 +[21:41:07.109] If point is visible? -0.415811, 0.135071, 0.212049 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.019189 y=0.000000 z=0.007452 +[21:41:07.109] If point is visible? -0.411362, 0.132040, 0.223137 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.019189 y=0.000000 z=0.007452 +[21:41:07.109] If point is visible? -0.415811, 0.135071, 0.212049 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.019189 y=0.000000 z=0.007452 +[21:41:07.109] If point is visible? -0.411362, 0.132040, 0.223137 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.019189 y=0.000000 z=0.007452 +[21:41:07.109] If point is visible? -3.577700, 1.093495, 1.594283 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.637840, 1.543688, 0.953683 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.269227, -1.498388, 1.902555 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.207167, -1.378939, 2.090495 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.109] If point is visible? -3.197770, -1.386216, 2.100168 mu:0.245118 unit_bearing:0.154294 -0.399783 0.903530 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.109] If point is visible? -3.468627, -1.130826, 1.798335 mu:0.245118 unit_bearing:0.069067 -0.328632 0.941929 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.801258, -0.925085, 1.103289 mu:0.245118 unit_bearing:-0.112281 -0.257815 0.959648 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.798304, -0.923744, 1.114645 mu:0.245118 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.805453, -0.946715, 1.069687 mu:0.245118 unit_bearing:-0.120885 -0.262074 0.957447 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.802601, -0.945376, 1.081073 mu:0.245118 unit_bearing:-0.118011 -0.262088 0.957801 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.794835, -0.883125, 1.158837 mu:0.245118 unit_bearing:-0.097930 -0.249266 0.963471 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.787254, -0.841120, 1.214023 mu:0.245118 unit_bearing:-0.083559 -0.240695 0.966997 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.783964, -0.839774, 1.225273 mu:0.245118 unit_bearing:-0.080677 -0.240704 0.967240 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.788449, -0.851289, 1.203078 mu:0.245118 unit_bearing:-0.086433 -0.242842 0.966208 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.785192, -0.849944, 1.214339 mu:0.245118 unit_bearing:-0.083552 -0.242851 0.966459 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.781903, -0.848599, 1.225588 mu:0.245118 unit_bearing:-0.080670 -0.242860 0.966701 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.761194, -0.773329, 1.335150 mu:0.245118 unit_bearing:-0.051867 -0.227820 0.972321 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.757540, -0.771983, 1.346278 mu:0.245118 unit_bearing:-0.048981 -0.227825 0.972469 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.761367, -0.754306, 1.345555 mu:0.245118 unit_bearing:-0.048988 -0.223503 0.973471 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.757679, -0.752960, 1.356673 mu:0.245118 unit_bearing:-0.046102 -0.223508 0.973611 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.384251, -0.477498, 2.207189 mu:0.245118 unit_bearing:0.187562 -0.181897 0.965264 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.417639, -0.347382, 2.179525 mu:0.245118 unit_bearing:0.181975 -0.149415 0.971885 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.411382, -0.346096, 2.189592 mu:0.245118 unit_bearing:0.184847 -0.149403 0.971345 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.448374, -0.308263, 2.136176 mu:0.245118 unit_bearing:0.170520 -0.138603 0.975557 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.392064, -0.296724, 2.226812 mu:0.245118 unit_bearing:0.196374 -0.138503 0.970698 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.391217, -0.251202, 2.233720 mu:0.245118 unit_bearing:0.199287 -0.127634 0.971594 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.477246, -0.223549, 2.099238 mu:0.245118 unit_bearing:0.161956 -0.116889 0.979851 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.487898, -0.180537, 2.085525 mu:0.245118 unit_bearing:0.159105 -0.106015 0.981553 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.485287, -0.143819, 2.092780 mu:0.245118 unit_bearing:0.162006 -0.097299 0.981981 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.864536, -0.213062, 1.241860 mu:0.245118 unit_bearing:-0.066509 -0.088726 0.993833 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.475540, -0.114690, 2.110855 mu:0.245118 unit_bearing:0.167780 -0.090752 0.981638 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.469442, -0.113416, 2.121014 mu:0.245118 unit_bearing:0.170659 -0.090745 0.981143 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.400280, -0.099488, 2.231772 mu:0.245118 unit_bearing:0.202280 -0.090665 0.975122 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.868749, -0.205562, 1.229818 mu:0.245118 unit_bearing:-0.069406 -0.086541 0.993828 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.413888, -0.093157, 2.211000 mu:0.245118 unit_bearing:0.196543 -0.088505 0.976493 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.906387, -0.157247, 1.111010 mu:0.245118 unit_bearing:-0.098349 -0.071238 0.992599 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.903234, -0.155866, 1.122353 mu:0.245118 unit_bearing:-0.095458 -0.071241 0.992881 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.877705, -0.181698, 1.204844 mu:0.245118 unit_bearing:-0.075199 -0.079990 0.993955 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.889684, -0.159219, 1.168474 mu:0.245118 unit_bearing:-0.083885 -0.073434 0.993766 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.889059, -0.168085, 1.169330 mu:0.245118 unit_bearing:-0.083883 -0.075617 0.993602 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.414618, -0.084306, 2.210220 mu:0.245118 unit_bearing:0.196548 -0.086328 0.976686 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.874091, -0.071177, 1.228032 mu:0.245118 unit_bearing:-0.066533 -0.053794 0.996333 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.878014, -0.063685, 1.215877 mu:0.245118 unit_bearing:-0.069429 -0.051608 0.996251 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.045556, -0.143112, 0.340969 mu:0.245118 unit_bearing:-0.285080 -0.044796 0.957456 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.049061, -0.101969, 0.312158 mu:0.245118 unit_bearing:-0.290785 -0.033926 0.956187 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.048179, -0.100515, 0.324151 mu:0.245118 unit_bearing:-0.287943 -0.033930 0.957046 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.051336, -0.050599, 0.294149 mu:0.245118 unit_bearing:-0.293642 -0.020890 0.955687 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.050489, -0.049137, 0.306150 mu:0.245118 unit_bearing:-0.290801 -0.020893 0.956555 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.049606, -0.047676, 0.318143 mu:0.245118 unit_bearing:-0.287959 -0.020895 0.957415 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.694051, 0.138704, 1.693923 mu:0.245118 unit_bearing:0.060954 -0.016649 0.998002 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.052085, 0.002205, 0.287917 mu:0.245118 unit_bearing:-0.293651 -0.007857 0.955880 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.051237, 0.003674, 0.299917 mu:0.245118 unit_bearing:-0.290810 -0.007858 0.956749 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.050354, 0.005142, 0.311909 mu:0.245118 unit_bearing:-0.287967 -0.007859 0.957608 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.544690, 0.227961, 1.981710 mu:0.245118 unit_bearing:0.141929 -0.003530 0.989871 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.538878, 0.229227, 1.992013 mu:0.245118 unit_bearing:0.144815 -0.003530 0.989452 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.699366, 0.234769, 1.671435 mu:0.245118 unit_bearing:0.058059 0.007395 0.998286 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.694474, 0.236082, 1.682134 mu:0.245118 unit_bearing:0.060955 0.007395 0.998113 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.054656, 0.168676, -0.165007 mu:0.245118 unit_bearing:-0.392107 0.046174 0.918760 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.982461, 0.326267, 0.737960 mu:0.245118 unit_bearing:-0.176279 0.057541 0.982657 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.044289, 0.276038, 0.264141 mu:0.245118 unit_bearing:-0.290729 0.059474 0.954955 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.044525, 0.233086, -0.286484 mu:0.245118 unit_bearing:-0.417012 0.065473 0.906540 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.565461, 0.495275, 1.893195 mu:0.245118 unit_bearing:0.127455 0.064149 0.989768 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.559807, 0.496534, 1.903567 mu:0.245118 unit_bearing:0.130342 0.064146 0.989392 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.054618, 0.223106, -0.085509 mu:0.245118 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.050312, 0.226610, -0.198056 mu:0.245118 unit_bearing:-0.397616 0.061256 0.915505 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.054166, 0.197936, -0.144152 mu:0.245118 unit_bearing:-0.386511 0.052669 0.920780 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.053356, 0.227201, -0.123380 mu:0.245118 unit_bearing:-0.380906 0.059169 0.922719 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.049755, 0.235322, -0.199299 mu:0.245118 unit_bearing:-0.397606 0.063413 0.915362 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.028850, 0.345105, -0.378347 mu:0.245118 unit_bearing:-0.433375 0.095470 0.896142 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.027975, 0.353768, -0.379675 mu:0.245118 unit_bearing:-0.433359 0.097618 0.895919 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.025826, 0.507635, 0.192176 mu:0.245118 unit_bearing:-0.298994 0.117969 0.946935 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.027848, 0.490187, 0.194993 mu:0.245118 unit_bearing:-0.299019 0.113640 0.947456 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -4.026847, 0.498912, 0.193588 mu:0.245118 unit_bearing:-0.299006 0.115805 0.947198 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.658021, 0.764617, 1.602776 mu:0.245118 unit_bearing:0.060872 0.138353 0.988511 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.653100, 0.765913, 1.613447 mu:0.245118 unit_bearing:0.063765 0.138349 0.988329 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.488317, 0.821161, 1.924195 mu:0.245118 unit_bearing:0.150361 0.142508 0.978306 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.651935, 0.774670, 1.611909 mu:0.245118 unit_bearing:0.063762 0.140526 0.988022 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.650752, 0.783426, 1.610364 mu:0.245118 unit_bearing:0.063759 0.142702 0.987710 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.475483, 0.908445, 1.908184 mu:0.245118 unit_bearing:0.150286 0.164222 0.974908 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.478197, 0.891007, 1.911445 mu:0.245118 unit_bearing:0.150302 0.159882 0.975627 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.472290, 0.892221, 1.921684 mu:0.245118 unit_bearing:0.153180 0.159871 0.975180 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.466351, 0.893432, 1.931909 mu:0.245118 unit_bearing:0.156058 0.159860 0.974726 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.470942, 0.900940, 1.920057 mu:0.245118 unit_bearing:0.153172 0.162041 0.974824 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.465003, 0.902151, 1.930281 mu:0.245118 unit_bearing:0.156050 0.162030 0.974369 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.454810, 0.495831, -2.075885 mu:0.245118 unit_bearing:-0.764307 0.182850 0.618385 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.109] If point is visible? -3.461606, 0.497811, -2.064036 mu:0.245118 unit_bearing:-0.762158 0.182978 0.620995 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.109] If point is visible? -3.468356, 0.499790, -2.052174 mu:0.245118 unit_bearing:-0.760001 0.183105 0.623595 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.109] If point is visible? -3.682988, 1.263245, 1.169423 mu:0.245118 unit_bearing:-0.025843 0.272610 0.961778 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.680655, 1.271838, 1.167477 mu:0.245118 unit_bearing:-0.025840 0.274758 0.961166 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.109] If point is visible? -3.253062, 1.566253, 1.875465 mu:0.245118 unit_bearing:0.180738 0.325238 0.928199 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.246802, 1.567360, 1.885459 mu:0.245118 unit_bearing:0.183589 0.325208 0.927650 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.211283, 1.637038, 1.887422 mu:0.245118 unit_bearing:0.189098 0.342102 0.920439 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.110] If point is visible? -3.631712, 1.819419, -0.110436 mu:0.245118 unit_bearing:-0.296522 0.446154 0.844406 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -2.982824, 2.142204, 1.753464 mu:0.245118 unit_bearing:0.192830 0.469006 0.861888 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.553003, 1.972222, -0.045237 mu:0.245118 unit_bearing:-0.270538 0.481382 0.833715 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.562711, 1.949965, -0.136534 mu:0.245118 unit_bearing:-0.292748 0.478694 0.827738 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -2.974503, 2.158296, 1.747920 mu:0.245118 unit_bearing:0.192750 0.473086 0.859673 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -2.978673, 2.150254, 1.750696 mu:0.245118 unit_bearing:0.192790 0.471047 0.860783 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -2.972256, 2.151236, 1.760473 mu:0.245118 unit_bearing:0.195602 0.470994 0.860177 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.385315, -1.394958, 1.772145 mu:0.245118 unit_bearing:0.063071 -0.392111 0.917753 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.368588, -1.409598, 1.792566 mu:0.245118 unit_bearing:0.068770 -0.396283 0.915549 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.230693, -1.545911, 1.930618 mu:0.245118 unit_bearing:0.108438 -0.433570 0.894571 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.110] If point is visible? -3.789311, -1.169764, 0.890414 mu:0.245118 unit_bearing:-0.166406 -0.310984 0.935734 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.766908, -0.746813, 1.334053 mu:0.245118 unit_bearing:-0.051879 -0.221337 0.973817 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.807695, -0.937913, 1.069425 mu:0.245118 unit_bearing:-0.120896 -0.259924 0.958031 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.439890, -0.324684, 2.147501 mu:0.245118 unit_bearing:0.173379 -0.142936 0.974427 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.427535, -0.322112, 2.167716 mu:0.245118 unit_bearing:0.179128 -0.142914 0.973390 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.425106, -0.339817, 2.168875 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.452437, -0.091891, 2.149845 mu:0.245118 unit_bearing:0.179302 -0.086370 0.979995 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.897314, -0.089675, 1.150088 mu:0.245118 unit_bearing:-0.086792 -0.055966 0.994653 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.450961, -0.109601, 2.151404 mu:0.245118 unit_bearing:0.179291 -0.090725 0.979604 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.898169, -0.181083, 1.136252 mu:0.245118 unit_bearing:-0.092559 -0.077791 0.992664 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.885098, -0.175577, 1.181464 mu:0.245118 unit_bearing:-0.080988 -0.077802 0.993674 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.436931, -0.124772, 2.173113 mu:0.245118 unit_bearing:0.185032 -0.095064 0.978124 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.902810, -0.110164, 1.129269 mu:0.245118 unit_bearing:-0.092575 -0.060328 0.993876 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -4.003417, 0.139858, 0.680122 mu:0.245118 unit_bearing:-0.196455 0.013917 0.980414 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.945025, 0.582454, 0.781342 mu:0.245118 unit_bearing:-0.155992 0.118572 0.980616 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.940019, 0.585351, 0.804417 mu:0.245118 unit_bearing:-0.150231 0.118588 0.981513 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.498836, 0.827454, 1.902097 mu:0.245118 unit_bearing:0.144593 0.144699 0.978854 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.487116, 0.829899, 1.922627 mu:0.245118 unit_bearing:0.150354 0.144681 0.977988 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.947002, 0.564918, 0.784208 mu:0.245118 unit_bearing:-0.156004 0.114220 0.981130 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.941995, 0.567812, 0.807285 mu:0.245118 unit_bearing:-0.150242 0.114235 0.982027 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.496379, 0.844927, 1.898941 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.484660, 0.847370, 1.919469 mu:0.245118 unit_bearing:0.150340 0.149026 0.977338 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.482130, 0.864831, 1.916281 mu:0.245118 unit_bearing:0.150325 0.153369 0.976668 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.157466, 1.355230, 2.180446 mu:0.245118 unit_bearing:0.252521 0.264787 0.930656 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.110] If point is visible? -3.784921, -0.734522, 1.288643 mu:0.245118 unit_bearing:-0.063432 -0.216990 0.974111 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.839304, -0.953983, 0.931938 mu:0.245118 unit_bearing:-0.155348 -0.259727 0.953105 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.829306, -0.948629, 0.977936 mu:0.245118 unit_bearing:-0.143873 -0.259798 0.954885 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.153684, -1.660218, 1.963585 mu:0.245118 unit_bearing:0.119503 -0.462365 0.878600 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.110] If point is visible? -3.131214, -1.654710, 2.004125 mu:0.245118 unit_bearing:0.130838 -0.462236 0.877051 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.110] If point is visible? -3.750095, -1.399293, 0.705454 mu:0.245118 unit_bearing:-0.211372 -0.361301 0.908176 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.478533, -1.133505, 1.777209 mu:0.245118 unit_bearing:0.063324 -0.328653 0.942325 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.458590, -1.128146, 1.819405 mu:0.245118 unit_bearing:0.074809 -0.328610 0.941498 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.372545, -1.181990, 1.943823 mu:0.245118 unit_bearing:0.109125 -0.345426 0.932080 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.500437, -1.063378, 1.777324 mu:0.245118 unit_bearing:0.063381 -0.311595 0.948099 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.509068, -1.103813, 1.734893 mu:0.245118 unit_bearing:0.051858 -0.320165 0.945941 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.792132, -0.699147, 1.287011 mu:0.245118 unit_bearing:-0.063450 -0.208335 0.975997 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.425106, -0.339817, 2.168875 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.962100, -0.476154, 0.766286 mu:0.245118 unit_bearing:-0.190435 -0.138527 0.971877 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.953583, -0.470614, 0.812899 mu:0.245118 unit_bearing:-0.178945 -0.138572 0.974052 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.944526, -0.465081, 0.859352 mu:0.245118 unit_bearing:-0.167444 -0.138613 0.976089 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.958166, -0.435228, 0.810187 mu:0.245118 unit_bearing:-0.178976 -0.129882 0.975243 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.949101, -0.429684, 0.856647 mu:0.245118 unit_bearing:-0.167473 -0.129921 0.977279 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.852154, 0.439871, 1.220581 mu:0.245118 unit_bearing:-0.052046 0.070762 0.996134 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.837262, 0.445366, 1.265153 mu:0.245118 unit_bearing:-0.040461 0.070768 0.996672 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.496379, 0.844927, 1.898941 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.849638, 0.475119, 1.215301 mu:0.245118 unit_bearing:-0.052041 0.079496 0.995476 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -4.043538, 0.291550, -0.244953 mu:0.245118 unit_bearing:-0.405861 0.078456 0.910561 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.641953, 0.844654, 1.599349 mu:0.245118 unit_bearing:0.063738 0.157927 0.985392 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.621952, 0.849800, 1.641885 mu:0.245118 unit_bearing:0.075299 0.157909 0.984578 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.601441, 0.854908, 1.684208 mu:0.245118 unit_bearing:0.086856 0.157887 0.983630 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.491246, 0.879847, 1.892541 mu:0.245118 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.577700, 1.093495, 1.594283 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.175963, 1.336037, 2.165174 mu:0.245118 unit_bearing:0.246892 0.260574 0.933352 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.110] If point is visible? -3.147785, 1.340244, 2.203736 mu:0.245118 unit_bearing:0.258244 0.260445 0.930311 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:07.110] If point is visible? -3.737140, 1.173368, 1.087037 mu:0.245118 unit_bearing:-0.051818 0.253204 0.966024 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.637840, 1.543688, 0.953683 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.622267, 1.827484, -0.223743 mu:0.245118 unit_bearing:-0.321203 0.451501 0.832452 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -3.621310, 1.834734, -0.176427 mu:0.245118 unit_bearing:-0.310170 0.451851 0.836436 T_cur_ref: x=0.017900 y=0.000000 z=0.006941 +[21:41:07.110] If point is visible? -282306403632.078674, 86747929517.596451, 128684093110.204483 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] If point is visible? -280647222850.569458, 87143929261.529510, 132002941353.547653 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] If point is visible? -281216601216.032837, 84406097252.916595, 132568995522.700516 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] If point is visible? -294138483453.256653, 93526154565.838562, 92288220216.929337 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] If point is visible? -279774908921.760010, 118835767106.996033, -106704102174.072617 mu:0.000000 unit_bearing:-0.576196 0.406498 0.709054 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] If point is visible? -280678536792.784790, 122728936066.962402, -99693890798.760086 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] If point is visible? -282306403632.078674, 86747929517.596451, 128684093110.204483 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] If point is visible? -280647222850.569458, 87143929261.529510, 132002941353.547653 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] If point is visible? -281216601216.032837, 84406097252.916595, 132568995522.700516 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] If point is visible? -293446671424.367126, 96248237526.227692, 91689870923.225357 mu:0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] If point is visible? -294138483453.256653, 93526154565.838562, 92288220216.929337 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] If point is visible? -280678536792.784790, 122728936066.962402, -99693890798.760086 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.008691 y=0.000000 z=0.003314 +[21:41:07.110] init seeds +[21:41:07.113] DepthFilter: Initialized 4 new seeds +[21:41:07.675] add new frame +[21:41:07.675] update seed +[21:41:07.675] If point is visible? -0.855975, 0.422986, 0.835180 mu:0.743849 unit_bearing:0.381967 0.241569 0.892046 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] Z inverse min: 1.168979, Z inverse max: 0.318720 +[21:41:07.675] If point is visible? -1.433627, 0.873989, 2.440559 mu:0.333803 unit_bearing:0.646597 0.192521 0.738138 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:07.675] If point is visible? -2.234595, -1.353460, 1.254283 mu:0.333803 unit_bearing:0.107782 -0.497207 0.860911 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] Z inverse min: 0.789570, Z inverse max: 0.000000 +[21:41:07.675] If point is visible? -2.637865, -0.928227, 0.620250 mu:0.333803 unit_bearing:-0.114751 -0.330529 0.936794 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] If point is visible? -2.634903, -0.910497, 0.662156 mu:0.333803 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] If point is visible? -2.634878, -0.941992, 0.612162 mu:0.333803 unit_bearing:-0.117587 -0.334760 0.934938 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] If point is visible? -2.632762, -0.916895, 0.662356 mu:0.333803 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] If point is visible? -2.733829, -0.781176, 0.215768 mu:0.333803 unit_bearing:-0.246642 -0.265354 0.932070 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] If point is visible? -2.410153, -0.478379, 1.528722 mu:0.333803 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] If point is visible? -2.403096, -0.469915, 1.543630 mu:0.333803 unit_bearing:0.218825 -0.216247 0.951500 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] If point is visible? -2.426756, -0.482389, 1.498116 mu:0.333803 unit_bearing:0.201659 -0.218528 0.954767 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] If point is visible? -2.398298, -0.428141, 1.564322 mu:0.333803 unit_bearing:0.227488 -0.203248 0.952334 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] add key frame +[21:41:07.675] If point is visible? -2.457488, -0.415222, 1.463302 mu:0.333803 unit_bearing:0.190357 -0.194859 0.962182 T_cur_ref: x=0.153842 y=0.000000 z=0.055018 +[21:41:07.675] init seeds +[21:41:07.675] remove key frame +[21:41:07.675] update seed +[21:41:07.675] init seeds +[21:41:07.678] DepthFilter: Initialized 2 new seeds +[21:41:07.680] DepthFilter: Initialized 177 new seeds +[21:41:08.252] add new frame +[21:41:08.252] update seed +[21:41:08.252] If point is visible? -2.520719, -0.917878, 0.492923 mu:0.349201 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.252] If point is visible? -2.663931, 0.087482, 0.544345 mu:0.349201 unit_bearing:-0.098384 0.009576 0.995102 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.252] If point is visible? -0.670447, 0.347562, 0.700653 mu:0.905638 unit_bearing:0.393036 0.241366 0.887280 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.252] Z inverse min: 1.127532, Z inverse max: 0.683744 +[21:41:08.252] If point is visible? -2.243079, 1.342115, 0.857466 mu:0.349201 unit_bearing:0.097076 0.431104 0.897065 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.252] If point is visible? -2.132065, -1.274539, 1.213700 mu:0.349201 unit_bearing:0.119162 -0.490983 0.862981 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.252] Z inverse min: 0.785215, Z inverse max: 0.000000 +[21:41:08.252] If point is visible? -2.233495, -1.423660, -0.622310 mu:0.349201 unit_bearing:-0.509414 -0.464534 0.724365 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.252] If point is visible? -2.511055, -0.894401, 0.590108 mu:0.349201 unit_bearing:-0.109007 -0.332690 0.936715 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.252] If point is visible? -2.513234, -0.873229, 0.613769 mu:0.349201 unit_bearing:-0.100445 -0.326359 0.939894 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.252] If point is visible? -2.511183, -0.879343, 0.613979 mu:0.349201 unit_bearing:-0.100433 -0.328487 0.939154 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.252] If point is visible? -2.509568, -0.863316, 0.645862 mu:0.349201 unit_bearing:-0.088980 -0.324289 0.941764 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.252] If point is visible? -2.291489, -0.449918, 1.472896 mu:0.349201 unit_bearing:0.224534 -0.216202 0.950179 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.253] If point is visible? -2.283180, -0.428518, 1.493723 mu:0.349201 unit_bearing:0.233144 -0.209671 0.949569 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.253] If point is visible? -2.326930, -0.419567, 1.419492 mu:0.349201 unit_bearing:0.204624 -0.203410 0.957473 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.253] If point is visible? -2.308792, -0.447587, 1.443306 mu:0.349201 unit_bearing:0.213127 -0.214135 0.953270 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.253] If point is visible? -2.285986, -0.435651, 1.486793 mu:0.349201 unit_bearing:0.230275 -0.211848 0.949786 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.253] If point is visible? -2.282858, -0.409035, 1.499934 mu:0.349201 unit_bearing:0.236047 -0.203183 0.950262 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.253] If point is visible? -2.281178, -0.395727, 1.506469 mu:0.349201 unit_bearing:0.238932 -0.198848 0.950458 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.253] If point is visible? -2.344169, -0.371988, 1.401666 mu:0.349201 unit_bearing:0.199005 -0.186160 0.962155 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.253] If point is visible? -2.345300, -0.365798, 1.401261 mu:0.349201 unit_bearing:0.199017 -0.183998 0.962568 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.253] If point is visible? -2.272605, -0.297328, 1.543899 mu:0.349201 unit_bearing:0.256265 -0.166336 0.952187 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.253] add key frame +[21:41:08.253] If point is visible? -2.363478, -0.305760, 1.382168 mu:0.349201 unit_bearing:0.193398 -0.162376 0.967590 T_cur_ref: x=0.156598 y=0.000000 z=0.056881 +[21:41:08.253] remove key frame +[21:41:08.253] init seeds +[21:41:08.253] update seed +[21:41:08.253] If point is visible? -0.833160, 0.412826, 0.864412 mu:0.747302 unit_bearing:0.415239 0.232453 0.879513 T_cur_ref: x=0.148876 y=0.000000 z=0.054587 +[21:41:08.253] Z inverse min: 1.204822, Z inverse max: 0.289782 +[21:41:08.253] If point is visible? -1.614026, 0.751421, 1.546459 mu:0.411758 unit_bearing:0.426211 0.232234 0.874306 T_cur_ref: x=0.148876 y=0.000000 z=0.054587 +[21:41:08.253] Z inverse min: 0.982556, Z inverse max: 0.000000 +[21:41:08.253] If point is visible? -0.819206, 0.424948, 0.873795 mu:0.747672 unit_bearing:0.426040 0.240708 0.872095 T_cur_ref: x=0.148876 y=0.000000 z=0.054587 +[21:41:08.253] Z inverse min: 1.205675, Z inverse max: 0.289668 +[21:41:08.253] If point is visible? -0.819206, 0.424948, 0.873795 mu:0.747672 unit_bearing:0.426040 0.240708 0.872095 T_cur_ref: x=0.148876 y=0.000000 z=0.054587 +[21:41:08.253] Z inverse min: 1.205675, Z inverse max: 0.289668 +[21:41:08.253] If point is visible? -2.290305, -0.334075, 0.533207 mu:0.400066 unit_bearing:-0.121299 -0.156140 0.980259 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.189131, -0.773655, 0.527475 mu:0.400066 unit_bearing:-0.131932 -0.330411 0.934571 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.188490, -0.779805, 0.520526 mu:0.400066 unit_bearing:-0.134777 -0.332514 0.933418 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.187814, -0.785951, 0.513570 mu:0.400066 unit_bearing:-0.137621 -0.334615 0.932252 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.190578, -0.716518, 0.603734 mu:0.400066 unit_bearing:-0.100525 -0.311440 0.944934 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.189157, -0.715692, 0.610757 mu:0.400066 unit_bearing:-0.097655 -0.311455 0.945230 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.187714, -0.714866, 0.617775 mu:0.400066 unit_bearing:-0.094784 -0.311469 0.945517 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.189605, -0.735046, 0.583099 mu:0.400066 unit_bearing:-0.109097 -0.317792 0.941863 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.188248, -0.734223, 0.590137 mu:0.400066 unit_bearing:-0.106229 -0.317808 0.942186 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.182021, -0.692992, 0.666264 mu:0.400066 unit_bearing:-0.074702 -0.305147 0.949371 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.180411, -0.692162, 0.673238 mu:0.400066 unit_bearing:-0.071828 -0.305158 0.949589 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.182043, -0.680603, 0.679873 mu:0.400066 unit_bearing:-0.068967 -0.300891 0.951161 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.014342, -0.385984, 1.259678 mu:0.400066 unit_bearing:0.184521 -0.212172 0.959654 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.028943, -0.366855, 1.239347 mu:0.400066 unit_bearing:0.175969 -0.203585 0.963114 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.054335, -0.305245, 1.209781 mu:0.400066 unit_bearing:0.164612 -0.177679 0.970223 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.058869, -0.278171, 1.208000 mu:0.400066 unit_bearing:0.164659 -0.166841 0.972137 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -1.977899, -0.259367, 1.354219 mu:0.400066 unit_bearing:0.230593 -0.166504 0.958699 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:08.253] If point is visible? -2.063021, -0.273578, 1.201176 mu:0.400066 unit_bearing:0.161793 -0.164684 0.972986 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.063882, -0.268161, 1.200803 mu:0.400066 unit_bearing:0.161801 -0.162515 0.973349 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -1.978772, -0.253961, 1.353864 mu:0.400066 unit_bearing:0.230606 -0.164340 0.959069 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:08.253] If point is visible? -2.063114, -0.251087, 1.206119 mu:0.400066 unit_bearing:0.164703 -0.155995 0.973929 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.283362, -0.288461, 0.593847 mu:0.400066 unit_bearing:-0.095356 -0.140984 0.985409 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.057113, -0.221539, 1.223470 mu:0.400066 unit_bearing:0.173371 -0.145108 0.974108 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.289885, -0.274745, 0.571319 mu:0.400066 unit_bearing:-0.104034 -0.134439 0.985446 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.290590, -0.269320, 0.570862 mu:0.400066 unit_bearing:-0.104039 -0.132263 0.985740 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.059684, -0.227775, 1.217437 mu:0.400066 unit_bearing:0.170488 -0.147290 0.974289 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.056345, -0.226957, 1.223873 mu:0.400066 unit_bearing:0.173363 -0.147279 0.973784 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.298106, -0.268167, 0.534991 mu:0.400066 unit_bearing:-0.118479 -0.130055 0.984402 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.281124, -0.293034, 0.601337 mu:0.400066 unit_bearing:-0.092463 -0.143165 0.985370 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.300079, -0.240190, 0.539725 mu:0.400066 unit_bearing:-0.115616 -0.119177 0.986119 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.300092, -0.263598, 0.527428 mu:0.400066 unit_bearing:-0.121371 -0.127873 0.984336 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.298789, -0.262743, 0.534526 mu:0.400066 unit_bearing:-0.118484 -0.127879 0.984687 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.297993, -0.233053, 0.553415 mu:0.400066 unit_bearing:-0.109845 -0.117011 0.987037 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.146781, 0.032570, 1.061220 mu:0.400066 unit_bearing:0.113034 -0.036294 0.992928 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.336839, -0.081798, -0.278010 mu:0.400066 unit_bearing:-0.422695 -0.016413 0.906123 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.337855, -0.080886, -0.270513 mu:0.400066 unit_bearing:-0.419931 -0.016416 0.907408 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.139356, 0.100085, 1.073496 mu:0.400066 unit_bearing:0.121714 -0.010084 0.992514 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.337941, -0.075537, -0.271150 mu:0.400066 unit_bearing:-0.419933 -0.014261 0.907443 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.338933, -0.074624, -0.263655 mu:0.400066 unit_bearing:-0.417166 -0.014264 0.908718 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.150941, 0.080573, 1.049026 mu:0.400066 unit_bearing:0.110151 -0.016639 0.993776 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.148338, 0.113914, 1.051747 mu:0.400066 unit_bearing:0.113044 -0.003532 0.993584 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.333988, -0.036442, -0.306336 mu:0.400066 unit_bearing:-0.430987 0.002978 0.902353 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.197809, 0.120857, 0.929016 mu:0.400066 unit_bearing:0.060955 0.005209 0.998127 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.324195, -0.017176, -0.369722 mu:0.400066 unit_bearing:-0.452964 0.013719 0.891423 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.343736, -0.016520, -0.232737 mu:0.400066 unit_bearing:-0.403307 0.007301 0.915036 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.310576, 0.016966, -0.442816 mu:0.400066 unit_bearing:-0.477475 0.030840 0.878104 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.350470, 0.057947, -0.158792 mu:0.400066 unit_bearing:-0.372598 0.033265 0.927396 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.346765, 0.109619, -0.180880 mu:0.400066 unit_bearing:-0.378129 0.054860 0.924126 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.348030, 0.111501, -0.165969 mu:0.400066 unit_bearing:-0.372537 0.054880 0.926393 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.253] If point is visible? -2.335963, 0.102666, -0.278752 mu:0.400066 unit_bearing:-0.414284 0.056871 0.908369 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.336910, 0.103616, -0.271267 mu:0.400066 unit_bearing:-0.411514 0.056883 0.909627 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.346454, 0.114968, -0.181613 mu:0.400066 unit_bearing:-0.378121 0.057020 0.923999 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.347720, 0.116853, -0.166703 mu:0.400066 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.111545, 0.263445, 1.105576 mu:0.400066 unit_bearing:0.144786 0.053220 0.988031 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.332667, 0.259356, 0.313610 mu:0.400066 unit_bearing:-0.181969 0.090209 0.979158 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.083394, 0.444339, 1.104586 mu:0.400066 unit_bearing:0.156174 0.125098 0.979776 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.182905, 0.406456, 0.881488 mu:0.400066 unit_bearing:0.057999 0.120933 0.990965 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.180346, 0.407274, 0.888216 mu:0.400066 unit_bearing:0.060892 0.120930 0.990792 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.182266, 0.411837, 0.880621 mu:0.400066 unit_bearing:0.057997 0.123112 0.990697 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.179707, 0.412655, 0.887350 mu:0.400066 unit_bearing:0.060890 0.123109 0.990523 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.179057, 0.418035, 0.886480 mu:0.400066 unit_bearing:0.060887 0.125287 0.990250 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.080245, 0.491842, 1.090014 mu:0.400066 unit_bearing:0.153234 0.144671 0.977543 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.077026, 0.492614, 1.096503 mu:0.400066 unit_bearing:0.156112 0.144662 0.977088 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.073787, 0.493385, 1.102985 mu:0.400066 unit_bearing:0.158991 0.144652 0.976626 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.077779, 0.487255, 1.097417 mu:0.400066 unit_bearing:0.156120 0.142489 0.977407 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.173926, 0.875511, 0.410874 mu:0.400066 unit_bearing:-0.097556 0.330133 0.938880 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -1.897954, 0.985893, 1.111930 mu:0.400066 unit_bearing:0.206183 0.339783 0.917625 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:08.254] If point is visible? -1.894345, 0.986573, 1.118207 mu:0.400066 unit_bearing:0.209024 0.339747 0.916996 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:08.254] If point is visible? -1.890716, 0.987252, 1.124475 mu:0.400066 unit_bearing:0.211863 0.339711 0.916357 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:08.254] If point is visible? -1.887066, 0.987928, 1.130735 mu:0.400066 unit_bearing:0.214701 0.339674 0.915710 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:08.254] If point is visible? -1.830166, 1.140905, 1.084202 mu:0.400066 unit_bearing:0.210932 0.402688 0.890702 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.193095, -0.743680, 0.555046 mu:0.400066 unit_bearing:-0.120551 -0.319852 0.939767 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.190925, -0.768319, 0.527339 mu:0.400066 unit_bearing:-0.131948 -0.328285 0.935317 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.186846, -0.664499, 0.679342 mu:0.400066 unit_bearing:-0.068989 -0.294471 0.953167 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -1.997790, -0.359420, 1.296701 mu:0.400066 unit_bearing:0.201762 -0.203428 0.958076 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.023387, -0.376836, 1.246333 mu:0.400066 unit_bearing:0.178813 -0.207888 0.961670 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.016564, -0.375180, 1.259117 mu:0.400066 unit_bearing:0.184547 -0.207854 0.960593 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.002678, -0.371873, 1.284586 mu:0.400066 unit_bearing:0.196008 -0.207783 0.958336 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.007438, -0.384328, 1.272426 mu:0.400066 unit_bearing:0.190252 -0.212135 0.958542 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.061432, -0.239431, 1.211789 mu:0.400066 unit_bearing:0.167596 -0.151643 0.974123 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.054774, -0.237793, 1.224667 mu:0.400066 unit_bearing:0.173346 -0.151620 0.973120 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.048035, -0.236157, 1.237513 mu:0.400066 unit_bearing:0.179093 -0.151597 0.972082 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.289885, -0.274745, 0.571319 mu:0.400066 unit_bearing:-0.104034 -0.134439 0.985446 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.286948, -0.296440, 0.573112 mu:0.400066 unit_bearing:-0.104016 -0.143141 0.984221 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.284077, -0.294736, 0.587236 mu:0.400066 unit_bearing:-0.098240 -0.143153 0.984813 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.301918, -0.223915, 0.538268 mu:0.400066 unit_bearing:-0.115629 -0.112644 0.986885 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.299206, -0.222201, 0.552441 mu:0.400066 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.300704, -0.234765, 0.539243 mu:0.400066 unit_bearing:-0.115620 -0.117000 0.986379 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.342143, -0.228264, -0.140527 mu:0.400066 unit_bearing:-0.378010 -0.081275 0.922227 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.192084, -0.019405, 0.952052 mu:0.400066 unit_bearing:0.063840 -0.051610 0.996625 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.145234, 0.093043, 1.060958 mu:0.400066 unit_bearing:0.115933 -0.012269 0.993181 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.282865, 0.012414, -0.564531 mu:0.400066 unit_bearing:-0.520554 0.034967 0.853112 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.346019, 0.087599, 0.300689 mu:0.400066 unit_bearing:-0.196450 0.022637 0.980252 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.283247, 0.001836, -0.563153 mu:0.400066 unit_bearing:-0.520569 0.030699 0.853267 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.283578, -0.008745, -0.561785 mu:0.400066 unit_bearing:-0.520583 0.026431 0.853402 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.346267, 0.091686, -0.193621 mu:0.400066 unit_bearing:-0.383736 0.048361 0.922176 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.333028, 0.263838, 0.305604 mu:0.400066 unit_bearing:-0.184839 0.092379 0.978417 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.331312, 0.265643, 0.320012 mu:0.400066 unit_bearing:-0.179088 0.092393 0.979485 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.135937, 0.609574, 0.887241 mu:0.400066 unit_bearing:0.075212 0.201307 0.976636 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.023387, -0.376836, 1.246333 mu:0.400066 unit_bearing:0.178813 -0.207888 0.961670 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.009661, -0.373526, 1.271868 mu:0.400066 unit_bearing:0.190279 -0.207819 0.959482 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.190091, -0.666163, 0.665392 mu:0.400066 unit_bearing:-0.074741 -0.294451 0.952739 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.311749, -0.457862, 0.222712 mu:0.400066 unit_bearing:-0.247350 -0.190155 0.950084 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.310165, -0.454496, 0.251875 mu:0.400066 unit_bearing:-0.235946 -0.190240 0.952963 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.196329, -0.644675, 0.664627 mu:0.400066 unit_bearing:-0.074771 -0.285882 0.955343 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.290305, -0.334075, 0.533207 mu:0.400066 unit_bearing:-0.121299 -0.156140 0.980259 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.059815, -0.250266, 1.212568 mu:0.400066 unit_bearing:0.167579 -0.155983 0.973441 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.046417, -0.246989, 1.238288 mu:0.400066 unit_bearing:0.179075 -0.155936 0.971399 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.032698, -0.243720, 1.263879 mu:0.400066 unit_bearing:0.190559 -0.155886 0.969220 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.199656, -0.774832, 0.470540 mu:0.400066 unit_bearing:-0.154826 -0.328102 0.931868 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.306837, -0.203929, 0.522083 mu:0.400066 unit_bearing:-0.121420 -0.103918 0.987147 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.351656, -0.184110, 0.139847 mu:0.400066 unit_bearing:-0.270763 -0.077412 0.959528 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.288198, -0.308988, 0.559843 mu:0.400066 unit_bearing:-0.109780 -0.147477 0.982954 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.193872, 0.024029, 0.947297 mu:0.400066 unit_bearing:0.063846 -0.034132 0.997376 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.289730, 0.095435, 0.632314 mu:0.400066 unit_bearing:-0.063650 0.009580 0.997926 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.171606, 0.456476, 0.887007 mu:0.400066 unit_bearing:0.063762 0.140526 0.988022 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.161091, 0.459727, 0.913817 mu:0.400066 unit_bearing:0.075328 0.140510 0.987210 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.150255, 0.462957, 0.940518 mu:0.400066 unit_bearing:0.086889 0.140490 0.986262 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.091277, 0.478793, 1.072320 mu:0.400066 unit_bearing:0.144607 0.140353 0.979485 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.341313, 0.052090, -0.249128 mu:0.400066 unit_bearing:-0.406040 0.035344 0.913171 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -2.135937, 0.609574, 0.887241 mu:0.400066 unit_bearing:0.075212 0.201307 0.976636 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] If point is visible? -1.786729, 0.760554, 1.451130 mu:0.400066 unit_bearing:0.337519 0.233766 0.911830 T_cur_ref: x=0.139576 y=0.000000 z=0.051546 +[21:41:08.254] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:08.254] If point is visible? -2.460285, 0.086803, 0.738117 mu:0.372472 unit_bearing:-0.034680 0.000837 0.999398 T_cur_ref: x=0.133246 y=0.000000 z=0.049609 +[21:41:08.254] If point is visible? -2.460285, 0.086803, 0.738117 mu:0.372472 unit_bearing:-0.034680 0.000837 0.999398 T_cur_ref: x=0.133246 y=0.000000 z=0.049609 +[21:41:08.254] If point is visible? 53695170606.845703, 27923663445.492687, -28283020598.049858 mu:-0.000000 unit_bearing:0.119456 -0.466471 0.876433 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 62303623150.295273, 19338390539.592255, -14391552194.006102 mu:-0.000000 unit_bearing:-0.100514 -0.313574 0.944229 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 62258037872.740685, 19481406898.945213, -14395939925.642454 mu:-0.000000 unit_bearing:-0.100503 -0.315707 0.943519 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 62312022048.518806, 19173238083.194057, -14574993327.567976 mu:-0.000000 unit_bearing:-0.097655 -0.311455 0.945230 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 62203873870.608055, 18941596853.403038, -15320756019.241568 mu:-0.000000 unit_bearing:-0.086179 -0.309374 0.947028 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 64361062905.371887, 16638021356.813194, -6607677949.994720 mu:-0.000000 unit_bearing:-0.215407 -0.259253 0.941481 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 57124781486.829826, 9603511981.535904, -33277071364.048210 mu:-0.000000 unit_bearing:0.207485 -0.203390 0.956861 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 56808394503.487740, 9681498862.942129, -33792106690.295944 mu:-0.000000 unit_bearing:0.216048 -0.205489 0.954514 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 56488021642.999397, 8705768108.409233, -34585323380.993111 mu:-0.000000 unit_bearing:0.230421 -0.192439 0.953873 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 56442439327.872070, 8395244961.147175, -34736184097.091301 mu:-0.000000 unit_bearing:0.233306 -0.188100 0.954037 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 56468960478.871841, 8250939632.955095, -34727655815.994164 mu:-0.000000 unit_bearing:0.233321 -0.185941 0.954456 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 56420981018.171722, 7940406594.116549, -34877706704.030952 mu:-0.000000 unit_bearing:0.236205 -0.181601 0.954583 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 56266396580.525703, 7008892218.730413, -35324207373.617493 mu:-0.000000 unit_bearing:0.244851 -0.168575 0.954793 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 56234434057.599648, 6554049911.705452, -35462154994.323677 mu:-0.000000 unit_bearing:0.247745 -0.162069 0.955173 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 58308191522.150391, 6122078865.119421, -32023530921.049606 mu:-0.000000 unit_bearing:0.190588 -0.149378 0.970238 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 56753435340.839409, 5174338197.712898, -34858361724.184952 mu:-0.000000 unit_bearing:0.239310 -0.140469 0.960728 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 56652323123.036194, 5152770995.094951, -35025630853.711082 mu:-0.000000 unit_bearing:0.242166 -0.140453 0.960015 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.254] If point is visible? 58076908975.961220, 5021854500.269911, -32629514278.362335 mu:-0.000000 unit_bearing:0.202130 -0.134137 0.970129 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 57982805674.666489, 5000141417.982951, -32799762388.770615 mu:-0.000000 unit_bearing:0.204998 -0.134125 0.969529 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 57888164641.972038, 4978442618.018072, -32969790480.814034 mu:-0.000000 unit_bearing:0.207865 -0.134113 0.968920 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 64310538099.365028, 7316067670.283746, -16536669074.600592 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 64375140839.970360, 7193741549.886690, -16337775405.983381 mu:-0.000000 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 64329964941.589890, 7171025025.930511, -16524635897.961699 mu:-0.000000 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 56873697733.370132, 5051372387.305362, -34679932583.604309 mu:-0.000000 unit_bearing:0.236465 -0.138316 0.961745 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 56773127616.709732, 5029805549.746494, -34847447791.966187 mu:-0.000000 unit_bearing:0.239322 -0.138301 0.961040 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 64685440431.037277, 6582259595.570254, -15339466605.080000 mu:-0.000000 unit_bearing:-0.075148 -0.125779 0.989208 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 64744955994.639008, 6459997859.734486, -15139044942.585775 mu:-0.000000 unit_bearing:-0.078043 -0.123597 0.989259 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 64762238785.449234, 6314942724.054673, -15126318347.751257 mu:-0.000000 unit_bearing:-0.078046 -0.121419 0.989528 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 64915954643.017456, 5322260116.713677, -14846681814.633108 mu:-0.000000 unit_bearing:-0.080958 -0.106160 0.991048 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 64702758616.896881, 4749960225.017216, -15931807370.583952 mu:-0.000000 unit_bearing:-0.063606 -0.099636 0.992989 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66471384167.312485, 6325809216.667744, 2090647150.308015 mu:-0.000000 unit_bearing:-0.330244 -0.090172 0.939579 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 64716622388.111389, 4604834234.638408, -15918098793.988173 mu:-0.000000 unit_bearing:-0.063608 -0.097455 0.993205 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66449220641.011269, 6493022669.130413, 2274491963.401956 mu:-0.000000 unit_bearing:-0.333053 -0.092321 0.938378 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 60640551494.412025, -1289750532.866823, -27998064913.194107 mu:-0.000000 unit_bearing:0.136146 -0.031914 0.990175 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 60171424838.640678, -2867650993.331765, -28879193055.467400 mu:-0.000000 unit_bearing:0.153468 -0.010077 0.988102 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66498709276.600906, 866337851.055431, 6324769098.200898 mu:-0.000000 unit_bearing:-0.381022 -0.001334 0.924565 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66570555567.627731, 911959963.149266, 5510085418.081681 mu:-0.000000 unit_bearing:-0.369834 -0.003498 0.929091 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 60749529997.513458, -2572112528.151503, -27671473092.170120 mu:-0.000000 unit_bearing:0.133267 -0.012265 0.991004 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66517723001.548332, 698527993.793531, 6142976982.113702 mu:-0.000000 unit_bearing:-0.378227 0.000828 0.925712 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 60672089082.075737, -3028197019.812096, -27794949363.019066 mu:-0.000000 unit_bearing:0.136156 -0.005714 0.990671 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66539748460.711708, -640553706.388445, 5906195611.900506 mu:-0.000000 unit_bearing:-0.372620 0.020292 0.927762 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 61903992399.467262, -3839085682.701479, -24819120189.787018 mu:-0.000000 unit_bearing:0.089905 0.011762 0.995881 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66454561680.835876, -971145076.736691, 6758675160.085374 mu:-0.000000 unit_bearing:-0.383790 0.026758 0.923033 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66474170822.525398, -995970405.292567, 6559286339.315095 mu:-0.000000 unit_bearing:-0.380998 0.026764 0.924188 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 65782188535.098198, -799580200.843260, 11614470453.152391 mu:-0.000000 unit_bearing:-0.450186 0.033068 0.892323 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 64847198031.431129, -385934901.345672, 16047540079.289312 mu:-0.000000 unit_bearing:-0.509851 0.035009 0.859550 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 64896387238.104431, -411277235.910636, 15846808995.798773 mu:-0.000000 unit_bearing:-0.507167 0.035019 0.861136 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 65741598309.359055, -916749960.172226, 11833570978.928892 mu:-0.000000 unit_bearing:-0.452919 0.035208 0.890856 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66106919352.434464, -1646527516.514995, 9486608547.837435 mu:-0.000000 unit_bearing:-0.419874 0.041769 0.906621 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 65600629323.570961, -1552004442.322130, 12529177763.701452 mu:-0.000000 unit_bearing:-0.461084 0.045915 0.886168 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 65638002573.653442, -1577399826.464234, 12328666140.361803 mu:-0.000000 unit_bearing:-0.458352 0.045927 0.887583 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66649167345.719223, -2826617333.823313, 3567955638.995355 mu:-0.000000 unit_bearing:-0.336044 0.048505 0.940597 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 65801083330.933449, -2583510318.847857, 11241640795.714075 mu:-0.000000 unit_bearing:-0.441855 0.058892 0.895152 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 65263501216.228836, -1632149245.664080, 14171911611.043192 mu:-0.000000 unit_bearing:-0.482827 0.050103 0.874281 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66591524558.578201, -3830118479.665746, 3705486508.866372 mu:-0.000000 unit_bearing:-0.335996 0.063666 0.939709 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66609586888.136940, -3543496164.763224, 3665808286.508714 mu:-0.000000 unit_bearing:-0.336011 0.059335 0.939987 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66213262350.428207, -3561182807.315357, 8121172747.698594 mu:-0.000000 unit_bearing:-0.397586 0.067725 0.915062 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 65561603083.674103, -2262470543.080801, 12624936000.330564 mu:-0.000000 unit_bearing:-0.461035 0.056646 0.885572 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 65742130490.189827, -2390215704.926906, 11622853710.113623 mu:-0.000000 unit_bearing:-0.447354 0.056716 0.892557 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66485148531.914452, -4420438165.524366, 4797533948.344483 mu:-0.000000 unit_bearing:-0.350026 0.074429 0.933778 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66497490006.536697, -4445651835.699695, 4599085067.461259 mu:-0.000000 unit_bearing:-0.347215 0.074441 0.934826 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66509223929.731659, -4470847653.675205, 4400708396.823564 mu:-0.000000 unit_bearing:-0.344402 0.074454 0.935865 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66520351229.413025, -4496025542.532504, 4202404967.140069 mu:-0.000000 unit_bearing:-0.341588 0.074466 0.936895 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66530509400.277695, -4184564506.150128, 4360311881.605256 mu:-0.000000 unit_bearing:-0.344420 0.070127 0.936193 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 66541625032.266617, -4209695508.841136, 4161992630.879640 mu:-0.000000 unit_bearing:-0.341606 0.070138 0.937223 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 65833559659.182587, -7555451347.013845, -8466945046.107490 mu:-0.000000 unit_bearing:-0.153165 0.096809 0.983447 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 61532667862.222229, -11445073242.526062, -23357496978.448265 mu:-0.000000 unit_bearing:0.084021 0.127435 0.988282 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 61460542413.857635, -11466697262.449017, -23536103351.091888 mu:-0.000000 unit_bearing:0.086912 0.127430 0.988032 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 61387881555.637703, -11488288318.993900, -23714527414.185516 mu:-0.000000 unit_bearing:0.089802 0.127425 0.987774 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 61369865135.739784, -11631960249.220451, -23691110882.547394 mu:-0.000000 unit_bearing:0.089798 0.129603 0.987491 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 58851792857.399734, -12283964185.169250, -29127345952.447090 mu:-0.000000 unit_bearing:0.179178 0.129373 0.975273 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 58675594714.270554, -13572852945.041744, -28909926127.979927 mu:-0.000000 unit_bearing:0.179104 0.148919 0.972494 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 58585778511.094139, -13593190772.617855, -29082009932.852211 mu:-0.000000 unit_bearing:0.181977 0.148907 0.971963 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 59064207770.185745, -14859121347.874771, -27449179479.831764 mu:-0.000000 unit_bearing:0.158892 0.170695 0.972428 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 59039995394.676392, -15001893371.767927, -27423597866.167122 mu:-0.000000 unit_bearing:0.158883 0.172862 0.972047 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 58953922990.536156, -15022368991.184269, -27597010250.843330 mu:-0.000000 unit_bearing:0.161759 0.172850 0.971574 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 58929398641.585312, -15165090604.241596, -27571318132.667778 mu:-0.000000 unit_bearing:0.161750 0.175018 0.971188 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 54159697132.118423, -26399978923.238663, -28854807229.904465 mu:-0.000000 unit_bearing:0.220375 0.339598 0.914389 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 52802179168.521133, -29452864167.953857, -28412853574.119240 mu:-0.000000 unit_bearing:0.225333 0.385763 0.894657 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 52702846740.943398, -29470097928.599472, -28578923253.758804 mu:-0.000000 unit_bearing:0.228157 0.385716 0.893962 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 52602966457.735527, -29487258488.819511, -28744757565.940590 mu:-0.000000 unit_bearing:0.230979 0.385668 0.893257 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:08.255] If point is visible? 52502538278.718353, -29504345540.404305, -28910355400.598312 mu:-0.000000 unit_bearing:0.233800 0.385620 0.892544 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:08.255] If point is visible? 59632500653.751221, -28109911673.525269, -10799505190.296415 mu:-0.000000 unit_bearing:-0.057127 0.397942 0.915630 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 59403012154.200523, -28226455124.109722, -11720962375.276716 mu:-0.000000 unit_bearing:-0.042826 0.397992 0.916389 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 59355436362.355721, -28249591130.735092, -11904803906.353567 mu:-0.000000 unit_bearing:-0.039965 0.398000 0.916514 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 54727612953.252693, 29538056241.173046, -24397196453.650490 mu:-0.000000 unit_bearing:0.056906 -0.483368 0.873565 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 62162259102.430016, 17096849360.832476, -17503795762.166321 mu:-0.000000 unit_bearing:-0.051746 -0.285948 0.956847 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 62068886311.344696, 17052152442.450939, -17874815523.999008 mu:-0.000000 unit_bearing:-0.045987 -0.285961 0.957137 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 62150292641.203209, 16764728877.577114, -17863834166.896301 mu:-0.000000 unit_bearing:-0.045996 -0.281670 0.958408 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 56990794767.943726, 9270735078.077652, -33599618505.210297 mu:-0.000000 unit_bearing:0.213234 -0.199035 0.956513 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 56797597142.805756, 9226634424.728035, -33937203138.463524 mu:-0.000000 unit_bearing:0.218951 -0.198995 0.955228 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 56933732370.058342, 9559325931.767546, -33615487308.831993 mu:-0.000000 unit_bearing:0.213204 -0.203351 0.955611 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 56740523339.123589, 9515170453.818769, -33952998737.998116 mu:-0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.255] If point is visible? 56301904653.305023, 6120844178.345776, -35432504566.000771 mu:-0.000000 unit_bearing:0.247786 -0.155579 0.956241 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 57033540883.893799, 5383694693.513638, -34366009756.118607 mu:-0.000000 unit_bearing:0.230726 -0.142681 0.962501 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 57998873995.860672, 5600703335.962562, -32674061856.778816 mu:-0.000000 unit_bearing:0.202093 -0.142819 0.968897 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 57810113980.174530, 5557192407.557338, -33014238064.967194 mu:-0.000000 unit_bearing:0.207826 -0.142793 0.967687 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 57270585889.784782, 5137785022.003554, -34007568830.687431 mu:-0.000000 unit_bearing:0.225028 -0.138374 0.964477 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 57073219969.855568, 5094549780.392528, -34344209201.450310 mu:-0.000000 unit_bearing:0.230748 -0.138345 0.963128 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 57697268863.959610, 4935088132.605585, -33309182692.300171 mu:-0.000000 unit_bearing:0.213596 -0.134088 0.967676 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 58038509447.302444, 5311293931.771530, -32652000838.716095 mu:-0.000000 unit_bearing:0.202112 -0.138479 0.969523 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 57849757374.550949, 5267832562.440940, -32992227761.480438 mu:-0.000000 unit_bearing:0.207846 -0.138453 0.968313 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 65266013284.165382, 3237588931.490921, -13881538415.148100 mu:-0.000000 unit_bearing:-0.092563 -0.073426 0.992996 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 65186930928.955643, 3191650457.101807, -14258645948.777472 mu:-0.000000 unit_bearing:-0.086778 -0.073432 0.993518 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 66576083801.320869, 4429851768.048106, 3291361399.781121 mu:-0.000000 unit_bearing:-0.344459 -0.059812 0.936894 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 60421496395.166275, -2658396743.805514, -28372650228.490112 mu:-0.000000 unit_bearing:0.144813 -0.012262 0.989383 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 65297800135.535461, -922901206.910079, 14077539973.091742 mu:-0.000000 unit_bearing:-0.482873 0.039393 0.874804 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 65834594070.843246, -1277118380.777149, 11269728170.665461 mu:-0.000000 unit_bearing:-0.444680 0.039534 0.894817 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 65285066734.508820, -1206649819.828302, 14115085495.847498 mu:-0.000000 unit_bearing:-0.482856 0.043678 0.874610 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 65888334747.992142, -1612462076.033809, 10906827726.785692 mu:-0.000000 unit_bearing:-0.439170 0.043854 0.897333 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 65271018491.555588, -1490333088.888296, 14152901936.748545 mu:-0.000000 unit_bearing:-0.482837 0.047961 0.874396 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] If point is visible? 65860644861.050369, -7531513904.425962, -8275466008.879149 mu:-0.000000 unit_bearing:-0.156046 0.096803 0.982995 T_cur_ref: x=0.125761 y=0.000000 z=0.047250 +[21:41:08.256] init seeds +[21:41:08.256] DepthFilter: Initialized 1 new seeds +[21:41:08.258] DepthFilter: Initialized 1 new seeds +[21:41:08.830] add new frame +[21:41:08.830] update seed +[21:41:08.830] If point is visible? -0.824244, 0.412826, 0.868046 mu:0.747302 unit_bearing:0.415239 0.232453 0.879513 T_cur_ref: x=0.157792 y=0.000000 z=0.058221 +[21:41:08.830] Z inverse min: 1.204822, Z inverse max: 0.289782 +[21:41:08.830] If point is visible? -1.605110, 0.751421, 1.550094 mu:0.411758 unit_bearing:0.426211 0.232234 0.874306 T_cur_ref: x=0.157792 y=0.000000 z=0.058221 +[21:41:08.830] Z inverse min: 0.982556, Z inverse max: 0.000000 +[21:41:08.830] If point is visible? -0.810290, 0.424948, 0.877430 mu:0.747672 unit_bearing:0.426040 0.240708 0.872095 T_cur_ref: x=0.157792 y=0.000000 z=0.058221 +[21:41:08.830] Z inverse min: 1.205675, Z inverse max: 0.289668 +[21:41:08.830] If point is visible? -0.810290, 0.424948, 0.877430 mu:0.747672 unit_bearing:0.426040 0.240708 0.872095 T_cur_ref: x=0.157792 y=0.000000 z=0.058221 +[21:41:08.830] Z inverse min: 1.205675, Z inverse max: 0.289668 +[21:41:08.830] If point is visible? -2.281390, -0.334075, 0.536842 mu:0.400066 unit_bearing:-0.121299 -0.156140 0.980259 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.180215, -0.773655, 0.531109 mu:0.400066 unit_bearing:-0.131932 -0.330411 0.934571 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.179574, -0.779805, 0.524160 mu:0.400066 unit_bearing:-0.134777 -0.332514 0.933418 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.178898, -0.785951, 0.517204 mu:0.400066 unit_bearing:-0.137621 -0.334615 0.932252 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.181662, -0.716518, 0.607368 mu:0.400066 unit_bearing:-0.100525 -0.311440 0.944934 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.180241, -0.715692, 0.614391 mu:0.400066 unit_bearing:-0.097655 -0.311455 0.945230 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.178798, -0.714866, 0.621409 mu:0.400066 unit_bearing:-0.094784 -0.311469 0.945517 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.180690, -0.735046, 0.586734 mu:0.400066 unit_bearing:-0.109097 -0.317792 0.941863 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.179332, -0.734223, 0.593771 mu:0.400066 unit_bearing:-0.106229 -0.317808 0.942186 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.173105, -0.692992, 0.669898 mu:0.400066 unit_bearing:-0.074702 -0.305147 0.949371 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.171495, -0.692162, 0.676873 mu:0.400066 unit_bearing:-0.071828 -0.305158 0.949589 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.173127, -0.680603, 0.683507 mu:0.400066 unit_bearing:-0.068967 -0.300891 0.951161 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.005426, -0.385984, 1.263312 mu:0.400066 unit_bearing:0.184521 -0.212172 0.959654 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.020027, -0.366855, 1.242981 mu:0.400066 unit_bearing:0.175969 -0.203585 0.963114 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.045419, -0.305245, 1.213416 mu:0.400066 unit_bearing:0.164612 -0.177679 0.970223 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -2.049954, -0.278171, 1.211634 mu:0.400066 unit_bearing:0.164659 -0.166841 0.972137 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] If point is visible? -1.968983, -0.259367, 1.357854 mu:0.400066 unit_bearing:0.230593 -0.166504 0.958699 T_cur_ref: x=0.148492 y=0.000000 z=0.055180 +[21:41:08.830] add key frame +[21:41:08.830] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:08.830] remove key frame +[21:41:08.830] init seeds +[21:41:08.830] update seed +[21:41:08.830] init seeds +[21:41:08.833] DepthFilter: Initialized 5 new seeds +[21:41:08.835] DepthFilter: Initialized 179 new seeds +[21:41:09.416] add new frame +[21:41:09.416] update seed +[21:41:09.416] If point is visible? -2.272767, -0.334075, 0.540656 mu:0.400066 unit_bearing:-0.121299 -0.156140 0.980259 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.171593, -0.773655, 0.534924 mu:0.400066 unit_bearing:-0.131932 -0.330411 0.934571 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.170951, -0.779805, 0.527975 mu:0.400066 unit_bearing:-0.134777 -0.332514 0.933418 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.170275, -0.785951, 0.521019 mu:0.400066 unit_bearing:-0.137621 -0.334615 0.932252 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.173040, -0.716518, 0.611183 mu:0.400066 unit_bearing:-0.100525 -0.311440 0.944934 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.171618, -0.715692, 0.618206 mu:0.400066 unit_bearing:-0.097655 -0.311455 0.945230 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.170176, -0.714866, 0.625224 mu:0.400066 unit_bearing:-0.094784 -0.311469 0.945517 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.172067, -0.735046, 0.590548 mu:0.400066 unit_bearing:-0.109097 -0.317792 0.941863 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.170710, -0.734223, 0.597586 mu:0.400066 unit_bearing:-0.106229 -0.317808 0.942186 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.164483, -0.692992, 0.673713 mu:0.400066 unit_bearing:-0.074702 -0.305147 0.949371 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.162872, -0.692162, 0.680687 mu:0.400066 unit_bearing:-0.071828 -0.305158 0.949589 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.164505, -0.680603, 0.687322 mu:0.400066 unit_bearing:-0.068967 -0.300891 0.951161 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -1.996803, -0.385984, 1.267127 mu:0.400066 unit_bearing:0.184521 -0.212172 0.959654 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.011405, -0.366855, 1.246796 mu:0.400066 unit_bearing:0.175969 -0.203585 0.963114 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.036796, -0.305245, 1.217230 mu:0.400066 unit_bearing:0.164612 -0.177679 0.970223 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -2.041331, -0.278171, 1.215449 mu:0.400066 unit_bearing:0.164659 -0.166841 0.972137 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] If point is visible? -1.960360, -0.259367, 1.361668 mu:0.400066 unit_bearing:0.230593 -0.166504 0.958699 T_cur_ref: x=0.157114 y=0.000000 z=0.058995 +[21:41:09.416] Z inverse min: 0.825503, Z inverse max: 0.000000 +[21:41:09.416] add key frame +[21:41:09.416] remove key frame +[21:41:09.416] init seeds +[21:41:09.416] update seed +[21:41:09.416] If point is visible? -2.442746, 0.086803, 0.745566 mu:0.372472 unit_bearing:-0.034680 0.000837 0.999398 T_cur_ref: x=0.150784 y=0.000000 z=0.057058 +[21:41:09.416] If point is visible? -2.442746, 0.086803, 0.745566 mu:0.372472 unit_bearing:-0.034680 0.000837 0.999398 T_cur_ref: x=0.150784 y=0.000000 z=0.057058 +[21:41:09.416] If point is visible? 53695170606.863243, 27923663445.492687, -28283020598.042408 mu:-0.000000 unit_bearing:0.119456 -0.466471 0.876433 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.416] If point is visible? 62303623150.312813, 19338390539.592255, -14391552193.998653 mu:-0.000000 unit_bearing:-0.100514 -0.313574 0.944229 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.416] If point is visible? 62258037872.758224, 19481406898.945213, -14395939925.635006 mu:-0.000000 unit_bearing:-0.100503 -0.315707 0.943519 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.416] If point is visible? 62312022048.536346, 19173238083.194057, -14574993327.560528 mu:-0.000000 unit_bearing:-0.097655 -0.311455 0.945230 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.416] If point is visible? 62203873870.625595, 18941596853.403038, -15320756019.234119 mu:-0.000000 unit_bearing:-0.086179 -0.309374 0.947028 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.416] If point is visible? 64361062905.389427, 16638021356.813194, -6607677949.987270 mu:-0.000000 unit_bearing:-0.215407 -0.259253 0.941481 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.416] If point is visible? 57124781486.847366, 9603511981.535904, -33277071364.040760 mu:-0.000000 unit_bearing:0.207485 -0.203390 0.956861 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 56808394503.505280, 9681498862.942129, -33792106690.288494 mu:-0.000000 unit_bearing:0.216048 -0.205489 0.954514 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 56488021643.016937, 8705768108.409233, -34585323380.985664 mu:-0.000000 unit_bearing:0.230421 -0.192439 0.953873 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 56442439327.889610, 8395244961.147175, -34736184097.083855 mu:-0.000000 unit_bearing:0.233306 -0.188100 0.954037 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 56468960478.889381, 8250939632.955095, -34727655815.986717 mu:-0.000000 unit_bearing:0.233321 -0.185941 0.954456 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 56420981018.189262, 7940406594.116549, -34877706704.023506 mu:-0.000000 unit_bearing:0.236205 -0.181601 0.954583 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 56266396580.543243, 7008892218.730413, -35324207373.610046 mu:-0.000000 unit_bearing:0.244851 -0.168575 0.954793 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 56234434057.617188, 6554049911.705452, -35462154994.316231 mu:-0.000000 unit_bearing:0.247745 -0.162069 0.955173 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 58308191522.167931, 6122078865.119421, -32023530921.042156 mu:-0.000000 unit_bearing:0.190588 -0.149378 0.970238 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 56753435340.856949, 5174338197.712898, -34858361724.177505 mu:-0.000000 unit_bearing:0.239310 -0.140469 0.960728 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 56652323123.053734, 5152770995.094951, -35025630853.703636 mu:-0.000000 unit_bearing:0.242166 -0.140453 0.960015 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 58076908975.978760, 5021854500.269911, -32629514278.354885 mu:-0.000000 unit_bearing:0.202130 -0.134137 0.970129 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 57982805674.684029, 5000141417.982951, -32799762388.763165 mu:-0.000000 unit_bearing:0.204998 -0.134125 0.969529 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 57888164641.989578, 4978442618.018072, -32969790480.806583 mu:-0.000000 unit_bearing:0.207865 -0.134113 0.968920 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 64310538099.382568, 7316067670.283746, -16536669074.593143 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 64375140839.987900, 7193741549.886690, -16337775405.975933 mu:-0.000000 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 64329964941.607430, 7171025025.930511, -16524635897.954250 mu:-0.000000 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 56873697733.387672, 5051372387.305362, -34679932583.596863 mu:-0.000000 unit_bearing:0.236465 -0.138316 0.961745 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 56773127616.727272, 5029805549.746494, -34847447791.958740 mu:-0.000000 unit_bearing:0.239322 -0.138301 0.961040 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 64685440431.054817, 6582259595.570254, -15339466605.072552 mu:-0.000000 unit_bearing:-0.075148 -0.125779 0.989208 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 64744955994.656548, 6459997859.734486, -15139044942.578327 mu:-0.000000 unit_bearing:-0.078043 -0.123597 0.989259 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 64762238785.466774, 6314942724.054673, -15126318347.743809 mu:-0.000000 unit_bearing:-0.078046 -0.121419 0.989528 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 64915954643.034996, 5322260116.713677, -14846681814.625660 mu:-0.000000 unit_bearing:-0.080958 -0.106160 0.991048 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 64702758616.914421, 4749960225.017216, -15931807370.576504 mu:-0.000000 unit_bearing:-0.063606 -0.099636 0.992989 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66471384167.330025, 6325809216.667744, 2090647150.315464 mu:-0.000000 unit_bearing:-0.330244 -0.090172 0.939579 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 64716622388.128929, 4604834234.638408, -15918098793.980724 mu:-0.000000 unit_bearing:-0.063608 -0.097455 0.993205 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66449220641.028809, 6493022669.130413, 2274491963.409405 mu:-0.000000 unit_bearing:-0.333053 -0.092321 0.938378 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 60640551494.429565, -1289750532.866823, -27998064913.186657 mu:-0.000000 unit_bearing:0.136146 -0.031914 0.990175 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 60171424838.658218, -2867650993.331765, -28879193055.459949 mu:-0.000000 unit_bearing:0.153468 -0.010077 0.988102 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66498709276.618446, 866337851.055431, 6324769098.208347 mu:-0.000000 unit_bearing:-0.381022 -0.001334 0.924565 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66570555567.645271, 911959963.149266, 5510085418.089130 mu:-0.000000 unit_bearing:-0.369834 -0.003498 0.929091 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 60749529997.530998, -2572112528.151503, -27671473092.162670 mu:-0.000000 unit_bearing:0.133267 -0.012265 0.991004 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66517723001.565872, 698527993.793531, 6142976982.121151 mu:-0.000000 unit_bearing:-0.378227 0.000828 0.925712 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 60672089082.093277, -3028197019.812096, -27794949363.011616 mu:-0.000000 unit_bearing:0.136156 -0.005714 0.990671 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66539748460.729248, -640553706.388445, 5906195611.907955 mu:-0.000000 unit_bearing:-0.372620 0.020292 0.927762 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 61903992399.484802, -3839085682.701479, -24819120189.779568 mu:-0.000000 unit_bearing:0.089905 0.011762 0.995881 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66454561680.853416, -971145076.736691, 6758675160.092823 mu:-0.000000 unit_bearing:-0.383790 0.026758 0.923033 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66474170822.542938, -995970405.292567, 6559286339.322544 mu:-0.000000 unit_bearing:-0.380998 0.026764 0.924188 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 65782188535.115738, -799580200.843260, 11614470453.159840 mu:-0.000000 unit_bearing:-0.450186 0.033068 0.892323 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 64847198031.448669, -385934901.345672, 16047540079.296761 mu:-0.000000 unit_bearing:-0.509851 0.035009 0.859550 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 64896387238.121971, -411277235.910636, 15846808995.806221 mu:-0.000000 unit_bearing:-0.507167 0.035019 0.861136 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 65741598309.376595, -916749960.172226, 11833570978.936340 mu:-0.000000 unit_bearing:-0.452919 0.035208 0.890856 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66106919352.452003, -1646527516.514995, 9486608547.844883 mu:-0.000000 unit_bearing:-0.419874 0.041769 0.906621 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 65600629323.588501, -1552004442.322130, 12529177763.708900 mu:-0.000000 unit_bearing:-0.461084 0.045915 0.886168 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 65638002573.670982, -1577399826.464234, 12328666140.369251 mu:-0.000000 unit_bearing:-0.458352 0.045927 0.887583 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66649167345.736763, -2826617333.823313, 3567955639.002804 mu:-0.000000 unit_bearing:-0.336044 0.048505 0.940597 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 65801083330.950989, -2583510318.847857, 11241640795.721523 mu:-0.000000 unit_bearing:-0.441855 0.058892 0.895152 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 65263501216.246376, -1632149245.664080, 14171911611.050640 mu:-0.000000 unit_bearing:-0.482827 0.050103 0.874281 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66591524558.595741, -3830118479.665746, 3705486508.873821 mu:-0.000000 unit_bearing:-0.335996 0.063666 0.939709 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66609586888.154480, -3543496164.763224, 3665808286.516163 mu:-0.000000 unit_bearing:-0.336011 0.059335 0.939987 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66213262350.445747, -3561182807.315357, 8121172747.706043 mu:-0.000000 unit_bearing:-0.397586 0.067725 0.915062 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 65561603083.691643, -2262470543.080801, 12624936000.338013 mu:-0.000000 unit_bearing:-0.461035 0.056646 0.885572 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 65742130490.207367, -2390215704.926906, 11622853710.121071 mu:-0.000000 unit_bearing:-0.447354 0.056716 0.892557 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66485148531.931992, -4420438165.524366, 4797533948.351933 mu:-0.000000 unit_bearing:-0.350026 0.074429 0.933778 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66497490006.554237, -4445651835.699695, 4599085067.468708 mu:-0.000000 unit_bearing:-0.347215 0.074441 0.934826 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66509223929.749199, -4470847653.675205, 4400708396.831013 mu:-0.000000 unit_bearing:-0.344402 0.074454 0.935865 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66520351229.430565, -4496025542.532504, 4202404967.147518 mu:-0.000000 unit_bearing:-0.341588 0.074466 0.936895 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66530509400.295235, -4184564506.150128, 4360311881.612705 mu:-0.000000 unit_bearing:-0.344420 0.070127 0.936193 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 66541625032.284157, -4209695508.841136, 4161992630.887089 mu:-0.000000 unit_bearing:-0.341606 0.070138 0.937223 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 65833559659.200127, -7555451347.013845, -8466945046.100040 mu:-0.000000 unit_bearing:-0.153165 0.096809 0.983447 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 61532667862.239769, -11445073242.526062, -23357496978.440815 mu:-0.000000 unit_bearing:0.084021 0.127435 0.988282 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 61460542413.875175, -11466697262.449017, -23536103351.084438 mu:-0.000000 unit_bearing:0.086912 0.127430 0.988032 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 61387881555.655243, -11488288318.993900, -23714527414.178066 mu:-0.000000 unit_bearing:0.089802 0.127425 0.987774 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 61369865135.757324, -11631960249.220451, -23691110882.539944 mu:-0.000000 unit_bearing:0.089798 0.129603 0.987491 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 58851792857.417274, -12283964185.169250, -29127345952.439640 mu:-0.000000 unit_bearing:0.179178 0.129373 0.975273 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 58675594714.288094, -13572852945.041744, -28909926127.972477 mu:-0.000000 unit_bearing:0.179104 0.148919 0.972494 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 58585778511.111679, -13593190772.617855, -29082009932.844761 mu:-0.000000 unit_bearing:0.181977 0.148907 0.971963 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 59064207770.203285, -14859121347.874771, -27449179479.824314 mu:-0.000000 unit_bearing:0.158892 0.170695 0.972428 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 59039995394.693932, -15001893371.767927, -27423597866.159672 mu:-0.000000 unit_bearing:0.158883 0.172862 0.972047 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 58953922990.553696, -15022368991.184269, -27597010250.835880 mu:-0.000000 unit_bearing:0.161759 0.172850 0.971574 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 58929398641.602852, -15165090604.241596, -27571318132.660328 mu:-0.000000 unit_bearing:0.161750 0.175018 0.971188 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 54159697132.135963, -26399978923.238663, -28854807229.897015 mu:-0.000000 unit_bearing:0.220375 0.339598 0.914389 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.417] If point is visible? 52802179168.538673, -29452864167.953857, -28412853574.111790 mu:-0.000000 unit_bearing:0.225333 0.385763 0.894657 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 52702846740.960938, -29470097928.599472, -28578923253.751354 mu:-0.000000 unit_bearing:0.228157 0.385716 0.893962 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 52602966457.753067, -29487258488.819511, -28744757565.933140 mu:-0.000000 unit_bearing:0.230979 0.385668 0.893257 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:09.418] If point is visible? 52502538278.735893, -29504345540.404305, -28910355400.590862 mu:-0.000000 unit_bearing:0.233800 0.385620 0.892544 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:09.418] If point is visible? 59632500653.768761, -28109911673.525269, -10799505190.288967 mu:-0.000000 unit_bearing:-0.057127 0.397942 0.915630 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 59403012154.218063, -28226455124.109722, -11720962375.269268 mu:-0.000000 unit_bearing:-0.042826 0.397992 0.916389 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 59355436362.373260, -28249591130.735092, -11904803906.346119 mu:-0.000000 unit_bearing:-0.039965 0.398000 0.916514 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 54727612953.270233, 29538056241.173046, -24397196453.643040 mu:-0.000000 unit_bearing:0.056906 -0.483368 0.873565 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 62162259102.447556, 17096849360.832476, -17503795762.158871 mu:-0.000000 unit_bearing:-0.051746 -0.285948 0.956847 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 62068886311.362236, 17052152442.450939, -17874815523.991558 mu:-0.000000 unit_bearing:-0.045987 -0.285961 0.957137 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 62150292641.220749, 16764728877.577114, -17863834166.888851 mu:-0.000000 unit_bearing:-0.045996 -0.281670 0.958408 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 56990794767.961266, 9270735078.077652, -33599618505.202847 mu:-0.000000 unit_bearing:0.213234 -0.199035 0.956513 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 56797597142.823296, 9226634424.728035, -33937203138.456074 mu:-0.000000 unit_bearing:0.218951 -0.198995 0.955228 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 56933732370.075882, 9559325931.767546, -33615487308.824543 mu:-0.000000 unit_bearing:0.213204 -0.203351 0.955611 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 56740523339.141129, 9515170453.818769, -33952998737.990665 mu:-0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 56301904653.322563, 6120844178.345776, -35432504565.993324 mu:-0.000000 unit_bearing:0.247786 -0.155579 0.956241 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 57033540883.911339, 5383694693.513638, -34366009756.111160 mu:-0.000000 unit_bearing:0.230726 -0.142681 0.962501 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 57998873995.878212, 5600703335.962562, -32674061856.771366 mu:-0.000000 unit_bearing:0.202093 -0.142819 0.968897 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 57810113980.192070, 5557192407.557338, -33014238064.959743 mu:-0.000000 unit_bearing:0.207826 -0.142793 0.967687 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 57270585889.802322, 5137785022.003554, -34007568830.679981 mu:-0.000000 unit_bearing:0.225028 -0.138374 0.964477 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 57073219969.873108, 5094549780.392528, -34344209201.442860 mu:-0.000000 unit_bearing:0.230748 -0.138345 0.963128 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 57697268863.977150, 4935088132.605585, -33309182692.292721 mu:-0.000000 unit_bearing:0.213596 -0.134088 0.967676 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 58038509447.319984, 5311293931.771530, -32652000838.708645 mu:-0.000000 unit_bearing:0.202112 -0.138479 0.969523 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 57849757374.568489, 5267832562.440940, -32992227761.472988 mu:-0.000000 unit_bearing:0.207846 -0.138453 0.968313 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 65266013284.182922, 3237588931.490921, -13881538415.140652 mu:-0.000000 unit_bearing:-0.092563 -0.073426 0.992996 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 65186930928.973183, 3191650457.101807, -14258645948.770023 mu:-0.000000 unit_bearing:-0.086778 -0.073432 0.993518 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 66576083801.338409, 4429851768.048106, 3291361399.788570 mu:-0.000000 unit_bearing:-0.344459 -0.059812 0.936894 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 60421496395.183815, -2658396743.805514, -28372650228.482662 mu:-0.000000 unit_bearing:0.144813 -0.012262 0.989383 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 65297800135.553001, -922901206.910079, 14077539973.099190 mu:-0.000000 unit_bearing:-0.482873 0.039393 0.874804 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 65834594070.860786, -1277118380.777149, 11269728170.672909 mu:-0.000000 unit_bearing:-0.444680 0.039534 0.894817 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 65285066734.526360, -1206649819.828302, 14115085495.854946 mu:-0.000000 unit_bearing:-0.482856 0.043678 0.874610 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 65888334748.009682, -1612462076.033809, 10906827726.793140 mu:-0.000000 unit_bearing:-0.439170 0.043854 0.897333 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 65271018491.573128, -1490333088.888296, 14152901936.755993 mu:-0.000000 unit_bearing:-0.482837 0.047961 0.874396 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 65860644861.067909, -7531513904.425962, -8275466008.871700 mu:-0.000000 unit_bearing:-0.156046 0.096803 0.982995 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 65805916991.705612, -7579364665.320328, -8658296658.295422 mu:-0.000000 unit_bearing:-0.150282 0.096815 0.983891 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 58978136683.008324, -14879609412.292824, -27622603027.342823 mu:-0.000000 unit_bearing:0.161768 0.170683 0.971956 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 59243482533.178062, -14267084559.541986, -27376845259.820957 mu:-0.000000 unit_bearing:0.156050 0.162030 0.974369 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 60323111964.490112, -16702887373.733482, -23344534631.664684 mu:-0.000000 unit_bearing:0.098281 0.205576 0.973694 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 62215692317.478020, -19423723441.046814, -14654629917.304424 mu:-0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 54110531426.407021, -26279840687.642532, -29056013887.843731 mu:-0.000000 unit_bearing:0.223240 0.337446 0.914491 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 55062712217.558235, -32275435477.747768, -19728800491.566074 mu:-0.000000 unit_bearing:0.096973 0.443541 0.890992 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 62504104684.797829, 16611339696.331474, -16737140493.981945 mu:-0.000000 unit_bearing:-0.063285 -0.277336 0.958686 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 62323847055.183197, 16521917855.449013, -17481301424.383976 mu:-0.000000 unit_bearing:-0.051766 -0.277365 0.959369 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 56077546081.610405, 13303194423.775293, -33781140070.381931 mu:-0.000000 unit_bearing:0.212753 -0.259278 0.942078 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 62946639529.854530, 20357475964.504791, -9280373113.430439 mu:-0.000000 unit_bearing:-0.177747 -0.319391 0.930804 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 56067643935.563194, 28377025102.839489, -22671465120.181431 mu:-0.000000 unit_bearing:0.028566 -0.462970 0.885913 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 64233669460.403000, 8521440482.293285, -16255840200.658588 mu:-0.000000 unit_bearing:-0.063539 -0.156262 0.985670 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 58243656672.460052, 6556189786.346472, -32055021662.346203 mu:-0.000000 unit_bearing:0.190559 -0.155886 0.969220 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 57872543230.702332, 6468724195.055368, -32737683610.269268 mu:-0.000000 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 65535364142.153473, 10769882258.624874, -7208138716.963604 mu:-0.000000 unit_bearing:-0.201744 -0.173163 0.964009 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 64656709237.909737, 8123355769.866032, -14708930023.349651 mu:-0.000000 unit_bearing:-0.086676 -0.147526 0.985253 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 65498569936.423988, 11437723893.549257, -6476680422.150433 mu:-0.000000 unit_bearing:-0.213147 -0.181751 0.959966 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 57492819676.365669, 6381453063.884466, -33416826948.731327 mu:-0.000000 unit_bearing:0.213492 -0.155774 0.964446 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 57104477977.797325, 6294380166.756258, -34092388506.329891 mu:-0.000000 unit_bearing:0.224938 -0.155712 0.961851 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 56707509416.260674, 6207509277.578251, -34764303318.781326 mu:-0.000000 unit_bearing:0.236370 -0.155647 0.959116 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 66559941193.693390, 4957750952.322159, 2833110421.516590 mu:-0.000000 unit_bearing:-0.338796 -0.068491 0.938364 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 64638174908.603546, -3266137348.605702, -16555067869.864643 mu:-0.000000 unit_bearing:-0.040474 0.018326 0.999013 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 66487303991.937599, -2215961896.936408, 6112241947.846951 mu:-0.000000 unit_bearing:-0.372571 0.044074 0.926956 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 66141837487.815125, -2914406552.872620, -8921611348.422443 mu:-0.000000 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 66638623446.118477, -1764414176.594057, -4360308325.425762 mu:-0.000000 unit_bearing:-0.225153 0.018260 0.974152 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 59288492561.319908, -13981112638.366634, -27426897747.793201 mu:-0.000000 unit_bearing:0.156066 0.157690 0.975078 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 60972649026.577110, -12987978543.016392, -24009999269.411312 mu:-0.000000 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 60670229342.155708, -13073297169.917337, -24719299212.280170 mu:-0.000000 unit_bearing:0.109976 0.149142 0.982681 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 59711521318.001472, -13325775996.344994, -26828892948.714130 mu:-0.000000 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 60264420100.128227, -16987540795.718304, -23290657109.194752 mu:-0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 59962015563.970253, -17071907639.462095, -23998713297.273190 mu:-0.000000 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 60380552118.646362, -16418063549.435053, -23398027609.249050 mu:-0.000000 unit_bearing:0.098294 0.201247 0.974596 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 60078143787.363106, -16502574067.573479, -24106291068.475224 mu:-0.000000 unit_bearing:0.109826 0.201210 0.973372 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] If point is visible? 51234796961.235657, -20355307844.871754, -37729147932.948463 mu:-0.000000 unit_bearing:0.348710 0.233601 0.907652 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:09.418] If point is visible? 50741491425.530312, -20420571743.088173, -38355350063.098923 mu:-0.000000 unit_bearing:0.359874 0.233428 0.903328 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:09.418] If point is visible? 50604068074.574883, -20979495696.218853, -38235070753.180756 mu:-0.000000 unit_bearing:0.359738 0.241952 0.901137 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.418] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:09.418] If point is visible? 60432077597.662590, -9720581853.574419, 26763891094.767750 mu:-0.000000 unit_bearing:-0.626661 0.193248 0.754951 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.419] If point is visible? 62702794318.579674, -18199592843.711544, -14140932990.285046 mu:-0.000000 unit_bearing:-0.040298 0.244603 0.968785 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.419] If point is visible? 62504537969.801903, -18291438215.616753, -14880779618.569881 mu:-0.000000 unit_bearing:-0.028757 0.244618 0.969193 T_cur_ref: x=0.143299 y=0.000000 z=0.054699 +[21:41:09.419] If point is visible? -2.635178, 0.150199, 0.841713 mu:0.346609 unit_bearing:-0.017290 0.018327 0.999683 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.545682, 0.819592, 0.731978 mu:0.346609 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.036948, 0.931141, 1.706432 mu:0.346609 unit_bearing:0.359597 0.250465 0.898865 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:09.419] If point is visible? -2.015155, 0.933857, 1.733167 mu:0.346609 unit_bearing:0.370720 0.250270 0.894389 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:09.419] If point is visible? -2.547066, -0.801558, 0.747841 mu:0.346609 unit_bearing:-0.077576 -0.305136 0.949144 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.545249, -0.800599, 0.755902 mu:0.346609 unit_bearing:-0.074702 -0.305147 0.949371 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.541323, -0.770065, 0.803334 mu:0.346609 unit_bearing:-0.057475 -0.296646 0.953256 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.541437, -0.777223, 0.795516 mu:0.346609 unit_bearing:-0.060346 -0.298779 0.952413 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.526174, -0.714096, 0.905532 mu:0.346609 unit_bearing:-0.020070 -0.281708 0.959290 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.525610, -0.706917, 0.913234 mu:0.346609 unit_bearing:-0.017190 -0.279564 0.959973 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.527328, -0.700704, 0.913000 mu:0.346609 unit_bearing:-0.017192 -0.277417 0.960596 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.291671, -0.386373, 1.562974 mu:0.346609 unit_bearing:0.233244 -0.196734 0.952309 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:09.419] If point is visible? -2.301500, -0.382038, 1.548178 mu:0.346609 unit_bearing:0.227551 -0.194618 0.954120 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.332820, -0.304735, 1.514178 mu:0.346609 unit_bearing:0.216296 -0.166588 0.962011 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.338015, -0.299435, 1.506472 mu:0.346609 unit_bearing:0.213446 -0.164438 0.963017 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.348864, -0.256660, 1.496117 mu:0.346609 unit_bearing:0.210661 -0.149286 0.966093 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.351529, -0.237918, 1.494738 mu:0.346609 unit_bearing:0.210692 -0.142780 0.967069 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.249131, -0.254858, 1.655791 mu:0.346609 unit_bearing:0.273410 -0.155410 0.949260 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:09.419] If point is visible? -2.349078, -0.224487, 1.501102 mu:0.346609 unit_bearing:0.213577 -0.138428 0.967069 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.270193, -0.207764, 1.630928 mu:0.346609 unit_bearing:0.264987 -0.138159 0.954303 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:09.419] If point is visible? -2.265589, -0.206841, 1.638043 mu:0.346609 unit_bearing:0.267833 -0.138142 0.953510 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:09.419] If point is visible? -2.346550, -0.211057, 1.507440 mu:0.346609 unit_bearing:0.216460 -0.134075 0.967041 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.643541, -0.243799, 0.787063 mu:0.346609 unit_bearing:-0.052016 -0.114910 0.992013 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.641488, -0.242818, 0.795108 mu:0.346609 unit_bearing:-0.049121 -0.114912 0.992160 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.340497, -0.190451, 1.520537 mu:0.346609 unit_bearing:0.222216 -0.127539 0.966620 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.336243, -0.189521, 1.527808 mu:0.346609 unit_bearing:0.225078 -0.127527 0.965959 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.331966, -0.188592, 1.535069 mu:0.346609 unit_bearing:0.227940 -0.127514 0.965289 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.301374, -0.182108, 1.585615 mu:0.346609 unit_bearing:0.247942 -0.127418 0.960359 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:09.419] If point is visible? -2.296911, -0.181185, 1.592796 mu:0.346609 unit_bearing:0.250796 -0.127404 0.959620 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:09.419] If point is visible? -2.292424, -0.180262, 1.599966 mu:0.346609 unit_bearing:0.253648 -0.127389 0.958871 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:09.419] If point is visible? -2.332735, -0.182345, 1.534570 mu:0.346609 unit_bearing:0.227949 -0.125344 0.965571 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.328434, -0.181418, 1.541822 mu:0.346609 unit_bearing:0.230810 -0.125331 0.964893 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.652890, -0.235193, 0.753687 mu:0.346609 unit_bearing:-0.063595 -0.110539 0.991835 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.623320, -0.221472, 0.866093 mu:0.346609 unit_bearing:-0.023067 -0.110567 0.993601 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.652733, -0.195620, 0.766349 mu:0.346609 unit_bearing:-0.057819 -0.097460 0.993559 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.650726, -0.194637, 0.774410 mu:0.346609 unit_bearing:-0.054924 -0.097462 0.993723 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.652135, -0.201888, 0.766939 mu:0.346609 unit_bearing:-0.057817 -0.099641 0.993342 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.740019, -0.231678, 0.046495 mu:0.346609 unit_bearing:-0.304848 -0.079457 0.949081 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.640444, -0.163670, 0.820242 mu:0.346609 unit_bearing:-0.037557 -0.088745 0.995346 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.639900, -0.169940, 0.820846 mu:0.346609 unit_bearing:-0.037556 -0.090927 0.995149 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.739713, -0.211772, -0.050731 mu:0.346609 unit_bearing:-0.335978 -0.068502 0.939375 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.745578, -0.141411, 0.010981 mu:0.346609 unit_bearing:-0.313448 -0.046903 0.948446 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.743184, -0.188114, 0.041965 mu:0.346609 unit_bearing:-0.304902 -0.064279 0.950212 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.743269, -0.187094, 0.050488 mu:0.346609 unit_bearing:-0.302067 -0.064288 0.951116 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.454503, 0.132213, 1.315983 mu:0.346609 unit_bearing:0.156352 -0.007894 0.987670 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.450783, 0.133135, 1.323484 mu:0.346609 unit_bearing:0.159235 -0.007894 0.987209 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.447040, 0.134057, 1.330976 mu:0.346609 unit_bearing:0.162118 -0.007893 0.986740 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.737867, -0.010280, -0.204548 mu:0.346609 unit_bearing:-0.378226 0.007314 0.925685 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.738627, -0.009218, -0.195938 mu:0.346609 unit_bearing:-0.375430 0.007315 0.926822 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.743634, 0.011654, -0.128712 mu:0.346609 unit_bearing:-0.352997 0.011656 0.935552 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.744156, 0.012714, -0.120129 mu:0.346609 unit_bearing:-0.350185 0.011658 0.936608 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.744652, 0.013773, -0.111549 mu:0.346609 unit_bearing:-0.347373 0.011660 0.937655 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.510620, 0.186111, 1.186262 mu:0.346609 unit_bearing:0.110151 0.016128 0.993784 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.507269, 0.187047, 1.193899 mu:0.346609 unit_bearing:0.113042 0.016127 0.993459 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] If point is visible? -2.744075, 0.018913, -0.120910 mu:0.346609 unit_bearing:-0.350184 0.013824 0.936579 T_cur_ref: x=0.135749 y=0.000000 z=0.052312 +[21:41:09.419] init seeds +[21:41:09.419] DepthFilter: Initialized 3 new seeds +[21:41:09.421] DepthFilter: Initialized 3 new seeds +[21:41:10.005] add new frame +[21:41:10.005] update seed +[21:41:10.005] If point is visible? -2.433900, 0.086803, 0.749387 mu:0.372472 unit_bearing:-0.034680 0.000837 0.999398 T_cur_ref: x=0.159630 y=0.000000 z=0.060880 +[21:41:10.005] If point is visible? -2.433900, 0.086803, 0.749387 mu:0.372472 unit_bearing:-0.034680 0.000837 0.999398 T_cur_ref: x=0.159630 y=0.000000 z=0.060880 +[21:41:10.005] If point is visible? 53695170606.872086, 27923663445.492687, -28283020598.038586 mu:-0.000000 unit_bearing:0.119456 -0.466471 0.876433 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 62303623150.321655, 19338390539.592255, -14391552193.994833 mu:-0.000000 unit_bearing:-0.100514 -0.313574 0.944229 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 62258037872.767067, 19481406898.945213, -14395939925.631186 mu:-0.000000 unit_bearing:-0.100503 -0.315707 0.943519 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 62312022048.545189, 19173238083.194057, -14574993327.556707 mu:-0.000000 unit_bearing:-0.097655 -0.311455 0.945230 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 62203873870.634438, 18941596853.403038, -15320756019.230299 mu:-0.000000 unit_bearing:-0.086179 -0.309374 0.947028 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 64361062905.398270, 16638021356.813194, -6607677949.983449 mu:-0.000000 unit_bearing:-0.215407 -0.259253 0.941481 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 57124781486.856209, 9603511981.535904, -33277071364.036938 mu:-0.000000 unit_bearing:0.207485 -0.203390 0.956861 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 56808394503.514122, 9681498862.942129, -33792106690.284672 mu:-0.000000 unit_bearing:0.216048 -0.205489 0.954514 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 56488021643.025780, 8705768108.409233, -34585323380.981842 mu:-0.000000 unit_bearing:0.230421 -0.192439 0.953873 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 56442439327.898453, 8395244961.147175, -34736184097.080032 mu:-0.000000 unit_bearing:0.233306 -0.188100 0.954037 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 56468960478.898224, 8250939632.955095, -34727655815.982895 mu:-0.000000 unit_bearing:0.233321 -0.185941 0.954456 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 56420981018.198105, 7940406594.116549, -34877706704.019684 mu:-0.000000 unit_bearing:0.236205 -0.181601 0.954583 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 56266396580.552086, 7008892218.730413, -35324207373.606224 mu:-0.000000 unit_bearing:0.244851 -0.168575 0.954793 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 56234434057.626030, 6554049911.705452, -35462154994.312408 mu:-0.000000 unit_bearing:0.247745 -0.162069 0.955173 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 58308191522.176773, 6122078865.119421, -32023530921.038334 mu:-0.000000 unit_bearing:0.190588 -0.149378 0.970238 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 56753435340.865791, 5174338197.712898, -34858361724.173683 mu:-0.000000 unit_bearing:0.239310 -0.140469 0.960728 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 56652323123.062576, 5152770995.094951, -35025630853.699814 mu:-0.000000 unit_bearing:0.242166 -0.140453 0.960015 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 58076908975.987602, 5021854500.269911, -32629514278.351063 mu:-0.000000 unit_bearing:0.202130 -0.134137 0.970129 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] If point is visible? 57982805674.692871, 5000141417.982951, -32799762388.759342 mu:-0.000000 unit_bearing:0.204998 -0.134125 0.969529 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] add key frame +[21:41:10.005] If point is visible? 57888164641.998421, 4978442618.018072, -32969790480.802761 mu:-0.000000 unit_bearing:0.207865 -0.134113 0.968920 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.005] remove key frame +[21:41:10.005] init seeds +[21:41:10.005] update seed +[21:41:10.006] If point is visible? 53695170606.872086, 27923663445.492687, -28283020598.038586 mu:-0.000000 unit_bearing:0.119456 -0.466471 0.876433 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 62303623150.321655, 19338390539.592255, -14391552193.994833 mu:-0.000000 unit_bearing:-0.100514 -0.313574 0.944229 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 62258037872.767067, 19481406898.945213, -14395939925.631186 mu:-0.000000 unit_bearing:-0.100503 -0.315707 0.943519 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 62312022048.545189, 19173238083.194057, -14574993327.556707 mu:-0.000000 unit_bearing:-0.097655 -0.311455 0.945230 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 62203873870.634438, 18941596853.403038, -15320756019.230299 mu:-0.000000 unit_bearing:-0.086179 -0.309374 0.947028 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64361062905.398270, 16638021356.813194, -6607677949.983449 mu:-0.000000 unit_bearing:-0.215407 -0.259253 0.941481 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 57124781486.856209, 9603511981.535904, -33277071364.036938 mu:-0.000000 unit_bearing:0.207485 -0.203390 0.956861 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 56808394503.514122, 9681498862.942129, -33792106690.284672 mu:-0.000000 unit_bearing:0.216048 -0.205489 0.954514 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 56488021643.025780, 8705768108.409233, -34585323380.981842 mu:-0.000000 unit_bearing:0.230421 -0.192439 0.953873 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 56442439327.898453, 8395244961.147175, -34736184097.080032 mu:-0.000000 unit_bearing:0.233306 -0.188100 0.954037 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 56468960478.898224, 8250939632.955095, -34727655815.982895 mu:-0.000000 unit_bearing:0.233321 -0.185941 0.954456 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 56420981018.198105, 7940406594.116549, -34877706704.019684 mu:-0.000000 unit_bearing:0.236205 -0.181601 0.954583 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 56266396580.552086, 7008892218.730413, -35324207373.606224 mu:-0.000000 unit_bearing:0.244851 -0.168575 0.954793 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 56234434057.626030, 6554049911.705452, -35462154994.312408 mu:-0.000000 unit_bearing:0.247745 -0.162069 0.955173 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 58308191522.176773, 6122078865.119421, -32023530921.038334 mu:-0.000000 unit_bearing:0.190588 -0.149378 0.970238 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 56753435340.865791, 5174338197.712898, -34858361724.173683 mu:-0.000000 unit_bearing:0.239310 -0.140469 0.960728 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 56652323123.062576, 5152770995.094951, -35025630853.699814 mu:-0.000000 unit_bearing:0.242166 -0.140453 0.960015 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 58076908975.987602, 5021854500.269911, -32629514278.351063 mu:-0.000000 unit_bearing:0.202130 -0.134137 0.970129 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 57982805674.692871, 5000141417.982951, -32799762388.759342 mu:-0.000000 unit_bearing:0.204998 -0.134125 0.969529 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 57888164641.998421, 4978442618.018072, -32969790480.802761 mu:-0.000000 unit_bearing:0.207865 -0.134113 0.968920 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64310538099.391411, 7316067670.283746, -16536669074.589323 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64375140839.996742, 7193741549.886690, -16337775405.972113 mu:-0.000000 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64329964941.616272, 7171025025.930511, -16524635897.950430 mu:-0.000000 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 56873697733.396515, 5051372387.305362, -34679932583.593040 mu:-0.000000 unit_bearing:0.236465 -0.138316 0.961745 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 56773127616.736115, 5029805549.746494, -34847447791.954918 mu:-0.000000 unit_bearing:0.239322 -0.138301 0.961040 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64685440431.063660, 6582259595.570254, -15339466605.068731 mu:-0.000000 unit_bearing:-0.075148 -0.125779 0.989208 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64744955994.665390, 6459997859.734486, -15139044942.574507 mu:-0.000000 unit_bearing:-0.078043 -0.123597 0.989259 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64762238785.475616, 6314942724.054673, -15126318347.739988 mu:-0.000000 unit_bearing:-0.078046 -0.121419 0.989528 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64915954643.043839, 5322260116.713677, -14846681814.621840 mu:-0.000000 unit_bearing:-0.080958 -0.106160 0.991048 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64702758616.923264, 4749960225.017216, -15931807370.572683 mu:-0.000000 unit_bearing:-0.063606 -0.099636 0.992989 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66471384167.338867, 6325809216.667744, 2090647150.319285 mu:-0.000000 unit_bearing:-0.330244 -0.090172 0.939579 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64716622388.137772, 4604834234.638408, -15918098793.976904 mu:-0.000000 unit_bearing:-0.063608 -0.097455 0.993205 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66449220641.037651, 6493022669.130413, 2274491963.413226 mu:-0.000000 unit_bearing:-0.333053 -0.092321 0.938378 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 60640551494.438408, -1289750532.866823, -27998064913.182835 mu:-0.000000 unit_bearing:0.136146 -0.031914 0.990175 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 60171424838.667061, -2867650993.331765, -28879193055.456127 mu:-0.000000 unit_bearing:0.153468 -0.010077 0.988102 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66498709276.627289, 866337851.055431, 6324769098.212169 mu:-0.000000 unit_bearing:-0.381022 -0.001334 0.924565 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66570555567.654114, 911959963.149266, 5510085418.092952 mu:-0.000000 unit_bearing:-0.369834 -0.003498 0.929091 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 60749529997.539841, -2572112528.151503, -27671473092.158848 mu:-0.000000 unit_bearing:0.133267 -0.012265 0.991004 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66517723001.574715, 698527993.793531, 6142976982.124972 mu:-0.000000 unit_bearing:-0.378227 0.000828 0.925712 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 60672089082.102119, -3028197019.812096, -27794949363.007793 mu:-0.000000 unit_bearing:0.136156 -0.005714 0.990671 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66539748460.738091, -640553706.388445, 5906195611.911777 mu:-0.000000 unit_bearing:-0.372620 0.020292 0.927762 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 61903992399.493645, -3839085682.701479, -24819120189.775745 mu:-0.000000 unit_bearing:0.089905 0.011762 0.995881 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66454561680.862259, -971145076.736691, 6758675160.096644 mu:-0.000000 unit_bearing:-0.383790 0.026758 0.923033 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66474170822.551781, -995970405.292567, 6559286339.326365 mu:-0.000000 unit_bearing:-0.380998 0.026764 0.924188 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 65782188535.124580, -799580200.843260, 11614470453.163660 mu:-0.000000 unit_bearing:-0.450186 0.033068 0.892323 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64847198031.457512, -385934901.345672, 16047540079.300581 mu:-0.000000 unit_bearing:-0.509851 0.035009 0.859550 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 64896387238.130814, -411277235.910636, 15846808995.810041 mu:-0.000000 unit_bearing:-0.507167 0.035019 0.861136 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 65741598309.385437, -916749960.172226, 11833570978.940161 mu:-0.000000 unit_bearing:-0.452919 0.035208 0.890856 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66106919352.460846, -1646527516.514995, 9486608547.848703 mu:-0.000000 unit_bearing:-0.419874 0.041769 0.906621 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 65600629323.597343, -1552004442.322130, 12529177763.712721 mu:-0.000000 unit_bearing:-0.461084 0.045915 0.886168 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 65638002573.679825, -1577399826.464234, 12328666140.373072 mu:-0.000000 unit_bearing:-0.458352 0.045927 0.887583 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66649167345.745605, -2826617333.823313, 3567955639.006625 mu:-0.000000 unit_bearing:-0.336044 0.048505 0.940597 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 65801083330.959831, -2583510318.847857, 11241640795.725344 mu:-0.000000 unit_bearing:-0.441855 0.058892 0.895152 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 65263501216.255219, -1632149245.664080, 14171911611.054461 mu:-0.000000 unit_bearing:-0.482827 0.050103 0.874281 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66591524558.604584, -3830118479.665746, 3705486508.877643 mu:-0.000000 unit_bearing:-0.335996 0.063666 0.939709 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66609586888.163322, -3543496164.763224, 3665808286.519984 mu:-0.000000 unit_bearing:-0.336011 0.059335 0.939987 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66213262350.454590, -3561182807.315357, 8121172747.709865 mu:-0.000000 unit_bearing:-0.397586 0.067725 0.915062 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 65561603083.700485, -2262470543.080801, 12624936000.341833 mu:-0.000000 unit_bearing:-0.461035 0.056646 0.885572 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 65742130490.216209, -2390215704.926906, 11622853710.124891 mu:-0.000000 unit_bearing:-0.447354 0.056716 0.892557 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66485148531.940834, -4420438165.524366, 4797533948.355754 mu:-0.000000 unit_bearing:-0.350026 0.074429 0.933778 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66497490006.563080, -4445651835.699695, 4599085067.472529 mu:-0.000000 unit_bearing:-0.347215 0.074441 0.934826 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66509223929.758041, -4470847653.675205, 4400708396.834834 mu:-0.000000 unit_bearing:-0.344402 0.074454 0.935865 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66520351229.439407, -4496025542.532504, 4202404967.151340 mu:-0.000000 unit_bearing:-0.341588 0.074466 0.936895 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66530509400.304077, -4184564506.150128, 4360311881.616527 mu:-0.000000 unit_bearing:-0.344420 0.070127 0.936193 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 66541625032.292999, -4209695508.841136, 4161992630.890910 mu:-0.000000 unit_bearing:-0.341606 0.070138 0.937223 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 65833559659.208969, -7555451347.013845, -8466945046.096219 mu:-0.000000 unit_bearing:-0.153165 0.096809 0.983447 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 61532667862.248611, -11445073242.526062, -23357496978.436993 mu:-0.000000 unit_bearing:0.084021 0.127435 0.988282 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.006] If point is visible? 61460542413.884018, -11466697262.449017, -23536103351.080616 mu:-0.000000 unit_bearing:0.086912 0.127430 0.988032 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 61387881555.664085, -11488288318.993900, -23714527414.174244 mu:-0.000000 unit_bearing:0.089802 0.127425 0.987774 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 61369865135.766167, -11631960249.220451, -23691110882.536121 mu:-0.000000 unit_bearing:0.089798 0.129603 0.987491 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 58851792857.426117, -12283964185.169250, -29127345952.435818 mu:-0.000000 unit_bearing:0.179178 0.129373 0.975273 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 58675594714.296936, -13572852945.041744, -28909926127.968655 mu:-0.000000 unit_bearing:0.179104 0.148919 0.972494 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 58585778511.120522, -13593190772.617855, -29082009932.840939 mu:-0.000000 unit_bearing:0.181977 0.148907 0.971963 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 59064207770.212128, -14859121347.874771, -27449179479.820492 mu:-0.000000 unit_bearing:0.158892 0.170695 0.972428 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 59039995394.702774, -15001893371.767927, -27423597866.155849 mu:-0.000000 unit_bearing:0.158883 0.172862 0.972047 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 58953922990.562538, -15022368991.184269, -27597010250.832058 mu:-0.000000 unit_bearing:0.161759 0.172850 0.971574 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 58929398641.611694, -15165090604.241596, -27571318132.656506 mu:-0.000000 unit_bearing:0.161750 0.175018 0.971188 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 54159697132.144806, -26399978923.238663, -28854807229.893192 mu:-0.000000 unit_bearing:0.220375 0.339598 0.914389 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 52802179168.547516, -29452864167.953857, -28412853574.107967 mu:-0.000000 unit_bearing:0.225333 0.385763 0.894657 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 52702846740.969780, -29470097928.599472, -28578923253.747532 mu:-0.000000 unit_bearing:0.228157 0.385716 0.893962 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 52602966457.761909, -29487258488.819511, -28744757565.929317 mu:-0.000000 unit_bearing:0.230979 0.385668 0.893257 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:10.007] If point is visible? 52502538278.744736, -29504345540.404305, -28910355400.587040 mu:-0.000000 unit_bearing:0.233800 0.385620 0.892544 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:10.007] If point is visible? 59632500653.777603, -28109911673.525269, -10799505190.285147 mu:-0.000000 unit_bearing:-0.057127 0.397942 0.915630 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 59403012154.226906, -28226455124.109722, -11720962375.265448 mu:-0.000000 unit_bearing:-0.042826 0.397992 0.916389 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 59355436362.382103, -28249591130.735092, -11904803906.342299 mu:-0.000000 unit_bearing:-0.039965 0.398000 0.916514 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 54727612953.279076, 29538056241.173046, -24397196453.639217 mu:-0.000000 unit_bearing:0.056906 -0.483368 0.873565 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 62162259102.456398, 17096849360.832476, -17503795762.155048 mu:-0.000000 unit_bearing:-0.051746 -0.285948 0.956847 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 62068886311.371078, 17052152442.450939, -17874815523.987736 mu:-0.000000 unit_bearing:-0.045987 -0.285961 0.957137 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 62150292641.229591, 16764728877.577114, -17863834166.885029 mu:-0.000000 unit_bearing:-0.045996 -0.281670 0.958408 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 56990794767.970108, 9270735078.077652, -33599618505.199024 mu:-0.000000 unit_bearing:0.213234 -0.199035 0.956513 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 56797597142.832138, 9226634424.728035, -33937203138.452251 mu:-0.000000 unit_bearing:0.218951 -0.198995 0.955228 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 56933732370.084724, 9559325931.767546, -33615487308.820721 mu:-0.000000 unit_bearing:0.213204 -0.203351 0.955611 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 56740523339.149971, 9515170453.818769, -33952998737.986843 mu:-0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 56301904653.331406, 6120844178.345776, -35432504565.989502 mu:-0.000000 unit_bearing:0.247786 -0.155579 0.956241 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 57033540883.920181, 5383694693.513638, -34366009756.107338 mu:-0.000000 unit_bearing:0.230726 -0.142681 0.962501 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 57998873995.887054, 5600703335.962562, -32674061856.767544 mu:-0.000000 unit_bearing:0.202093 -0.142819 0.968897 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 57810113980.200912, 5557192407.557338, -33014238064.955921 mu:-0.000000 unit_bearing:0.207826 -0.142793 0.967687 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 57270585889.811165, 5137785022.003554, -34007568830.676159 mu:-0.000000 unit_bearing:0.225028 -0.138374 0.964477 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 57073219969.881950, 5094549780.392528, -34344209201.439037 mu:-0.000000 unit_bearing:0.230748 -0.138345 0.963128 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 57697268863.985992, 4935088132.605585, -33309182692.288898 mu:-0.000000 unit_bearing:0.213596 -0.134088 0.967676 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 58038509447.328827, 5311293931.771530, -32652000838.704823 mu:-0.000000 unit_bearing:0.202112 -0.138479 0.969523 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 57849757374.577332, 5267832562.440940, -32992227761.469166 mu:-0.000000 unit_bearing:0.207846 -0.138453 0.968313 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 65266013284.191765, 3237588931.490921, -13881538415.136831 mu:-0.000000 unit_bearing:-0.092563 -0.073426 0.992996 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 65186930928.982025, 3191650457.101807, -14258645948.766203 mu:-0.000000 unit_bearing:-0.086778 -0.073432 0.993518 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 66576083801.347252, 4429851768.048106, 3291361399.792392 mu:-0.000000 unit_bearing:-0.344459 -0.059812 0.936894 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 60421496395.192657, -2658396743.805514, -28372650228.478840 mu:-0.000000 unit_bearing:0.144813 -0.012262 0.989383 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 65297800135.561844, -922901206.910079, 14077539973.103010 mu:-0.000000 unit_bearing:-0.482873 0.039393 0.874804 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 65834594070.869629, -1277118380.777149, 11269728170.676729 mu:-0.000000 unit_bearing:-0.444680 0.039534 0.894817 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 65285066734.535202, -1206649819.828302, 14115085495.858767 mu:-0.000000 unit_bearing:-0.482856 0.043678 0.874610 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 65888334748.018524, -1612462076.033809, 10906827726.796961 mu:-0.000000 unit_bearing:-0.439170 0.043854 0.897333 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 65271018491.581970, -1490333088.888296, 14152901936.759813 mu:-0.000000 unit_bearing:-0.482837 0.047961 0.874396 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 65860644861.076752, -7531513904.425962, -8275466008.867879 mu:-0.000000 unit_bearing:-0.156046 0.096803 0.982995 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 65805916991.714455, -7579364665.320328, -8658296658.291601 mu:-0.000000 unit_bearing:-0.150282 0.096815 0.983891 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 58978136683.017166, -14879609412.292824, -27622603027.339001 mu:-0.000000 unit_bearing:0.161768 0.170683 0.971956 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 59243482533.186905, -14267084559.541986, -27376845259.817135 mu:-0.000000 unit_bearing:0.156050 0.162030 0.974369 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 60323111964.498955, -16702887373.733482, -23344534631.660862 mu:-0.000000 unit_bearing:0.098281 0.205576 0.973694 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 62215692317.486862, -19423723441.046814, -14654629917.300604 mu:-0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 54110531426.415863, -26279840687.642532, -29056013887.839909 mu:-0.000000 unit_bearing:0.223240 0.337446 0.914491 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 55062712217.567078, -32275435477.747768, -19728800491.562252 mu:-0.000000 unit_bearing:0.096973 0.443541 0.890992 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 62504104684.806671, 16611339696.331474, -16737140493.978125 mu:-0.000000 unit_bearing:-0.063285 -0.277336 0.958686 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 62323847055.192039, 16521917855.449013, -17481301424.380154 mu:-0.000000 unit_bearing:-0.051766 -0.277365 0.959369 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 56077546081.619247, 13303194423.775293, -33781140070.378109 mu:-0.000000 unit_bearing:0.212753 -0.259278 0.942078 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 62946639529.863373, 20357475964.504791, -9280373113.426619 mu:-0.000000 unit_bearing:-0.177747 -0.319391 0.930804 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 56067643935.572037, 28377025102.839489, -22671465120.177608 mu:-0.000000 unit_bearing:0.028566 -0.462970 0.885913 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 64233669460.411842, 8521440482.293285, -16255840200.654768 mu:-0.000000 unit_bearing:-0.063539 -0.156262 0.985670 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 58243656672.468895, 6556189786.346472, -32055021662.342381 mu:-0.000000 unit_bearing:0.190559 -0.155886 0.969220 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 57872543230.711174, 6468724195.055368, -32737683610.265446 mu:-0.000000 unit_bearing:0.202032 -0.155831 0.966902 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 65535364142.162315, 10769882258.624874, -7208138716.959783 mu:-0.000000 unit_bearing:-0.201744 -0.173163 0.964009 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 64656709237.918579, 8123355769.866032, -14708930023.345831 mu:-0.000000 unit_bearing:-0.086676 -0.147526 0.985253 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 65498569936.432831, 11437723893.549257, -6476680422.146611 mu:-0.000000 unit_bearing:-0.213147 -0.181751 0.959966 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 57492819676.374512, 6381453063.884466, -33416826948.727505 mu:-0.000000 unit_bearing:0.213492 -0.155774 0.964446 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 57104477977.806168, 6294380166.756258, -34092388506.326069 mu:-0.000000 unit_bearing:0.224938 -0.155712 0.961851 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 56707509416.269516, 6207509277.578251, -34764303318.777504 mu:-0.000000 unit_bearing:0.236370 -0.155647 0.959116 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 66559941193.702232, 4957750952.322159, 2833110421.520411 mu:-0.000000 unit_bearing:-0.338796 -0.068491 0.938364 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 64638174908.612389, -3266137348.605702, -16555067869.860823 mu:-0.000000 unit_bearing:-0.040474 0.018326 0.999013 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 66487303991.946442, -2215961896.936408, 6112241947.850772 mu:-0.000000 unit_bearing:-0.372571 0.044074 0.926956 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.007] If point is visible? 66141837487.823967, -2914406552.872620, -8921611348.418623 mu:-0.000000 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 66638623446.127319, -1764414176.594057, -4360308325.421941 mu:-0.000000 unit_bearing:-0.225153 0.018260 0.974152 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 59288492561.328751, -13981112638.366634, -27426897747.789379 mu:-0.000000 unit_bearing:0.156066 0.157690 0.975078 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 60972649026.585953, -12987978543.016392, -24009999269.407490 mu:-0.000000 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 60670229342.164551, -13073297169.917337, -24719299212.276348 mu:-0.000000 unit_bearing:0.109976 0.149142 0.982681 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 59711521318.010315, -13325775996.344994, -26828892948.710308 mu:-0.000000 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 60264420100.137070, -16987540795.718304, -23290657109.190929 mu:-0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 59962015563.979095, -17071907639.462095, -23998713297.269367 mu:-0.000000 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 60380552118.655205, -16418063549.435053, -23398027609.245228 mu:-0.000000 unit_bearing:0.098294 0.201247 0.974596 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 60078143787.371948, -16502574067.573479, -24106291068.471401 mu:-0.000000 unit_bearing:0.109826 0.201210 0.973372 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 51234796961.244499, -20355307844.871754, -37729147932.944641 mu:-0.000000 unit_bearing:0.348710 0.233601 0.907652 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? 50741491425.539154, -20420571743.088173, -38355350063.095100 mu:-0.000000 unit_bearing:0.359874 0.233428 0.903328 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? 50604068074.583725, -20979495696.218853, -38235070753.176933 mu:-0.000000 unit_bearing:0.359738 0.241952 0.901137 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? 60432077597.671432, -9720581853.574419, 26763891094.771572 mu:-0.000000 unit_bearing:-0.626661 0.193248 0.754951 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 62702794318.588516, -18199592843.711544, -14140932990.281225 mu:-0.000000 unit_bearing:-0.040298 0.244603 0.968785 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? 62504537969.810745, -18291438215.616753, -14880779618.566061 mu:-0.000000 unit_bearing:-0.028757 0.244618 0.969193 T_cur_ref: x=0.152145 y=0.000000 z=0.058520 +[21:41:10.008] If point is visible? -2.626332, 0.150199, 0.845534 mu:0.346609 unit_bearing:-0.017290 0.018327 0.999683 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.536836, 0.819592, 0.735799 mu:0.346609 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.028102, 0.931141, 1.710254 mu:0.346609 unit_bearing:0.359597 0.250465 0.898865 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? -2.006310, 0.933857, 1.736988 mu:0.346609 unit_bearing:0.370720 0.250270 0.894389 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? -2.538220, -0.801558, 0.751662 mu:0.346609 unit_bearing:-0.077576 -0.305136 0.949144 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.536403, -0.800599, 0.759723 mu:0.346609 unit_bearing:-0.074702 -0.305147 0.949371 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.532477, -0.770065, 0.807155 mu:0.346609 unit_bearing:-0.057475 -0.296646 0.953256 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.532591, -0.777223, 0.799337 mu:0.346609 unit_bearing:-0.060346 -0.298779 0.952413 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.517328, -0.714096, 0.909353 mu:0.346609 unit_bearing:-0.020070 -0.281708 0.959290 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.516764, -0.706917, 0.917055 mu:0.346609 unit_bearing:-0.017190 -0.279564 0.959973 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.518482, -0.700704, 0.916821 mu:0.346609 unit_bearing:-0.017192 -0.277417 0.960596 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.282825, -0.386373, 1.566796 mu:0.346609 unit_bearing:0.233244 -0.196734 0.952309 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? -2.292654, -0.382038, 1.552000 mu:0.346609 unit_bearing:0.227551 -0.194618 0.954120 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.323974, -0.304735, 1.518000 mu:0.346609 unit_bearing:0.216296 -0.166588 0.962011 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.329169, -0.299435, 1.510293 mu:0.346609 unit_bearing:0.213446 -0.164438 0.963017 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.340018, -0.256660, 1.499939 mu:0.346609 unit_bearing:0.210661 -0.149286 0.966093 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.342684, -0.237918, 1.498559 mu:0.346609 unit_bearing:0.210692 -0.142780 0.967069 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.240285, -0.254858, 1.659612 mu:0.346609 unit_bearing:0.273410 -0.155410 0.949260 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? -2.340232, -0.224487, 1.504923 mu:0.346609 unit_bearing:0.213577 -0.138428 0.967069 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.261347, -0.207764, 1.634749 mu:0.346609 unit_bearing:0.264987 -0.138159 0.954303 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? -2.256743, -0.206841, 1.641864 mu:0.346609 unit_bearing:0.267833 -0.138142 0.953510 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? -2.337704, -0.211057, 1.511261 mu:0.346609 unit_bearing:0.216460 -0.134075 0.967041 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.634695, -0.243799, 0.790884 mu:0.346609 unit_bearing:-0.052016 -0.114910 0.992013 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.632642, -0.242818, 0.798929 mu:0.346609 unit_bearing:-0.049121 -0.114912 0.992160 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.331651, -0.190451, 1.524358 mu:0.346609 unit_bearing:0.222216 -0.127539 0.966620 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.327397, -0.189521, 1.531629 mu:0.346609 unit_bearing:0.225078 -0.127527 0.965959 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.323120, -0.188592, 1.538890 mu:0.346609 unit_bearing:0.227940 -0.127514 0.965289 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.292528, -0.182108, 1.589437 mu:0.346609 unit_bearing:0.247942 -0.127418 0.960359 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? -2.288065, -0.181185, 1.596617 mu:0.346609 unit_bearing:0.250796 -0.127404 0.959620 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? -2.283578, -0.180262, 1.603787 mu:0.346609 unit_bearing:0.253648 -0.127389 0.958871 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.008] If point is visible? -2.323889, -0.182345, 1.538391 mu:0.346609 unit_bearing:0.227949 -0.125344 0.965571 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.319588, -0.181418, 1.545643 mu:0.346609 unit_bearing:0.230810 -0.125331 0.964893 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.644044, -0.235193, 0.757508 mu:0.346609 unit_bearing:-0.063595 -0.110539 0.991835 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.614474, -0.221472, 0.869915 mu:0.346609 unit_bearing:-0.023067 -0.110567 0.993601 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.643887, -0.195620, 0.770171 mu:0.346609 unit_bearing:-0.057819 -0.097460 0.993559 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.641880, -0.194637, 0.778231 mu:0.346609 unit_bearing:-0.054924 -0.097462 0.993723 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.643290, -0.201888, 0.770760 mu:0.346609 unit_bearing:-0.057817 -0.099641 0.993342 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.731173, -0.231678, 0.050316 mu:0.346609 unit_bearing:-0.304848 -0.079457 0.949081 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.631598, -0.163670, 0.824063 mu:0.346609 unit_bearing:-0.037557 -0.088745 0.995346 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.631054, -0.169940, 0.824667 mu:0.346609 unit_bearing:-0.037556 -0.090927 0.995149 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.730868, -0.211772, -0.046910 mu:0.346609 unit_bearing:-0.335978 -0.068502 0.939375 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.736732, -0.141411, 0.014802 mu:0.346609 unit_bearing:-0.313448 -0.046903 0.948446 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.734338, -0.188114, 0.045786 mu:0.346609 unit_bearing:-0.304902 -0.064279 0.950212 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.734423, -0.187094, 0.054310 mu:0.346609 unit_bearing:-0.302067 -0.064288 0.951116 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.445657, 0.132213, 1.319804 mu:0.346609 unit_bearing:0.156352 -0.007894 0.987670 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.441937, 0.133135, 1.327305 mu:0.346609 unit_bearing:0.159235 -0.007894 0.987209 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.438194, 0.134057, 1.334797 mu:0.346609 unit_bearing:0.162118 -0.007893 0.986740 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.729021, -0.010280, -0.200727 mu:0.346609 unit_bearing:-0.378226 0.007314 0.925685 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.729781, -0.009218, -0.192116 mu:0.346609 unit_bearing:-0.375430 0.007315 0.926822 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.734788, 0.011654, -0.124891 mu:0.346609 unit_bearing:-0.352997 0.011656 0.935552 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.735310, 0.012714, -0.116308 mu:0.346609 unit_bearing:-0.350185 0.011658 0.936608 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] If point is visible? -2.735806, 0.013773, -0.107728 mu:0.346609 unit_bearing:-0.347373 0.011660 0.937655 T_cur_ref: x=0.144595 y=0.000000 z=0.056134 +[21:41:10.008] init seeds +[21:41:10.008] DepthFilter: Initialized 6 new seeds +[21:41:10.011] DepthFilter: Initialized 4 new seeds +[21:41:10.599] add new frame +[21:41:10.600] update seed +[21:41:10.600] If point is visible? 53695170606.881195, 27923663445.492687, -28283020598.034702 mu:-0.000000 unit_bearing:0.119456 -0.466471 0.876433 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 62303623150.330765, 19338390539.592255, -14391552193.990948 mu:-0.000000 unit_bearing:-0.100514 -0.313574 0.944229 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 62258037872.776176, 19481406898.945213, -14395939925.627300 mu:-0.000000 unit_bearing:-0.100503 -0.315707 0.943519 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 62312022048.554298, 19173238083.194057, -14574993327.552822 mu:-0.000000 unit_bearing:-0.097655 -0.311455 0.945230 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 62203873870.643547, 18941596853.403038, -15320756019.226414 mu:-0.000000 unit_bearing:-0.086179 -0.309374 0.947028 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 64361062905.407379, 16638021356.813194, -6607677949.979566 mu:-0.000000 unit_bearing:-0.215407 -0.259253 0.941481 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 57124781486.865318, 9603511981.535904, -33277071364.033054 mu:-0.000000 unit_bearing:0.207485 -0.203390 0.956861 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 56808394503.523232, 9681498862.942129, -33792106690.280788 mu:-0.000000 unit_bearing:0.216048 -0.205489 0.954514 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 56488021643.034889, 8705768108.409233, -34585323380.977959 mu:-0.000000 unit_bearing:0.230421 -0.192439 0.953873 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 56442439327.907562, 8395244961.147175, -34736184097.076149 mu:-0.000000 unit_bearing:0.233306 -0.188100 0.954037 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 56468960478.907333, 8250939632.955095, -34727655815.979012 mu:-0.000000 unit_bearing:0.233321 -0.185941 0.954456 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 56420981018.207214, 7940406594.116549, -34877706704.015800 mu:-0.000000 unit_bearing:0.236205 -0.181601 0.954583 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 56266396580.561195, 7008892218.730413, -35324207373.602341 mu:-0.000000 unit_bearing:0.244851 -0.168575 0.954793 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 56234434057.635139, 6554049911.705452, -35462154994.308525 mu:-0.000000 unit_bearing:0.247745 -0.162069 0.955173 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 58308191522.185883, 6122078865.119421, -32023530921.034451 mu:-0.000000 unit_bearing:0.190588 -0.149378 0.970238 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 56753435340.874901, 5174338197.712898, -34858361724.169800 mu:-0.000000 unit_bearing:0.239310 -0.140469 0.960728 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 56652323123.071686, 5152770995.094951, -35025630853.695930 mu:-0.000000 unit_bearing:0.242166 -0.140453 0.960015 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 58076908975.996712, 5021854500.269911, -32629514278.347179 mu:-0.000000 unit_bearing:0.202130 -0.134137 0.970129 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 57982805674.701981, 5000141417.982951, -32799762388.755459 mu:-0.000000 unit_bearing:0.204998 -0.134125 0.969529 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 57888164642.007530, 4978442618.018072, -32969790480.798878 mu:-0.000000 unit_bearing:0.207865 -0.134113 0.968920 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 64310538099.400520, 7316067670.283746, -16536669074.585438 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 64375140840.005852, 7193741549.886690, -16337775405.968227 mu:-0.000000 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 64329964941.625381, 7171025025.930511, -16524635897.946545 mu:-0.000000 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 56873697733.405624, 5051372387.305362, -34679932583.589157 mu:-0.000000 unit_bearing:0.236465 -0.138316 0.961745 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 56773127616.745224, 5029805549.746494, -34847447791.951035 mu:-0.000000 unit_bearing:0.239322 -0.138301 0.961040 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 64685440431.072769, 6582259595.570254, -15339466605.064846 mu:-0.000000 unit_bearing:-0.075148 -0.125779 0.989208 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 64744955994.674500, 6459997859.734486, -15139044942.570621 mu:-0.000000 unit_bearing:-0.078043 -0.123597 0.989259 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 64762238785.484726, 6314942724.054673, -15126318347.736103 mu:-0.000000 unit_bearing:-0.078046 -0.121419 0.989528 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 64915954643.052948, 5322260116.713677, -14846681814.617954 mu:-0.000000 unit_bearing:-0.080958 -0.106160 0.991048 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 64702758616.932373, 4749960225.017216, -15931807370.568798 mu:-0.000000 unit_bearing:-0.063606 -0.099636 0.992989 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] If point is visible? 66471384167.347977, 6325809216.667744, 2090647150.323169 mu:-0.000000 unit_bearing:-0.330244 -0.090172 0.939579 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] add key frame +[21:41:10.600] If point is visible? 64716622388.146881, 4604834234.638408, -15918098793.973019 mu:-0.000000 unit_bearing:-0.063608 -0.097455 0.993205 T_cur_ref: x=0.161256 y=0.000000 z=0.062404 +[21:41:10.600] init seeds +[21:41:10.600] remove key frame +[21:41:10.600] update seed +[21:41:10.600] If point is visible? -2.617221, 0.150199, 0.849418 mu:0.346609 unit_bearing:-0.017290 0.018327 0.999683 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.527725, 0.819592, 0.739683 mu:0.346609 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.018991, 0.931141, 1.714137 mu:0.346609 unit_bearing:0.359597 0.250465 0.898865 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.600] If point is visible? -1.997199, 0.933857, 1.740872 mu:0.346609 unit_bearing:0.370720 0.250270 0.894389 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.600] If point is visible? -2.529109, -0.801558, 0.755546 mu:0.346609 unit_bearing:-0.077576 -0.305136 0.949144 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.527292, -0.800599, 0.763607 mu:0.346609 unit_bearing:-0.074702 -0.305147 0.949371 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.523366, -0.770065, 0.811039 mu:0.346609 unit_bearing:-0.057475 -0.296646 0.953256 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.523480, -0.777223, 0.803221 mu:0.346609 unit_bearing:-0.060346 -0.298779 0.952413 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.508217, -0.714096, 0.913237 mu:0.346609 unit_bearing:-0.020070 -0.281708 0.959290 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.507653, -0.706917, 0.920939 mu:0.346609 unit_bearing:-0.017190 -0.279564 0.959973 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.509371, -0.700704, 0.920705 mu:0.346609 unit_bearing:-0.017192 -0.277417 0.960596 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.273714, -0.386373, 1.570679 mu:0.346609 unit_bearing:0.233244 -0.196734 0.952309 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.600] If point is visible? -2.283543, -0.382038, 1.555883 mu:0.346609 unit_bearing:0.227551 -0.194618 0.954120 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.600] If point is visible? -2.314863, -0.304735, 1.521883 mu:0.346609 unit_bearing:0.216296 -0.166588 0.962011 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.320058, -0.299435, 1.514177 mu:0.346609 unit_bearing:0.213446 -0.164438 0.963017 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.330907, -0.256660, 1.503822 mu:0.346609 unit_bearing:0.210661 -0.149286 0.966093 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.333572, -0.237918, 1.502443 mu:0.346609 unit_bearing:0.210692 -0.142780 0.967069 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.231174, -0.254858, 1.663496 mu:0.346609 unit_bearing:0.273410 -0.155410 0.949260 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.600] If point is visible? -2.331121, -0.224487, 1.508807 mu:0.346609 unit_bearing:0.213577 -0.138428 0.967069 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] If point is visible? -2.252236, -0.207764, 1.638633 mu:0.346609 unit_bearing:0.264987 -0.138159 0.954303 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.600] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.601] If point is visible? -2.247632, -0.206841, 1.645748 mu:0.346609 unit_bearing:0.267833 -0.138142 0.953510 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.601] If point is visible? -2.328593, -0.211057, 1.515145 mu:0.346609 unit_bearing:0.216460 -0.134075 0.967041 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.625584, -0.243799, 0.794768 mu:0.346609 unit_bearing:-0.052016 -0.114910 0.992013 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.623531, -0.242818, 0.802813 mu:0.346609 unit_bearing:-0.049121 -0.114912 0.992160 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.322540, -0.190451, 1.528242 mu:0.346609 unit_bearing:0.222216 -0.127539 0.966620 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.318286, -0.189521, 1.535513 mu:0.346609 unit_bearing:0.225078 -0.127527 0.965959 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.314009, -0.188592, 1.542774 mu:0.346609 unit_bearing:0.227940 -0.127514 0.965289 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.283417, -0.182108, 1.593320 mu:0.346609 unit_bearing:0.247942 -0.127418 0.960359 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.601] If point is visible? -2.278954, -0.181185, 1.600501 mu:0.346609 unit_bearing:0.250796 -0.127404 0.959620 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.601] If point is visible? -2.274467, -0.180262, 1.607671 mu:0.346609 unit_bearing:0.253648 -0.127389 0.958871 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.601] If point is visible? -2.314778, -0.182345, 1.542275 mu:0.346609 unit_bearing:0.227949 -0.125344 0.965571 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.310477, -0.181418, 1.549527 mu:0.346609 unit_bearing:0.230810 -0.125331 0.964893 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.634933, -0.235193, 0.761392 mu:0.346609 unit_bearing:-0.063595 -0.110539 0.991835 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.605363, -0.221472, 0.873798 mu:0.346609 unit_bearing:-0.023067 -0.110567 0.993601 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.634776, -0.195620, 0.774054 mu:0.346609 unit_bearing:-0.057819 -0.097460 0.993559 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.632769, -0.194637, 0.782115 mu:0.346609 unit_bearing:-0.054924 -0.097462 0.993723 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.634179, -0.201888, 0.774644 mu:0.346609 unit_bearing:-0.057817 -0.099641 0.993342 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.722062, -0.231678, 0.054200 mu:0.346609 unit_bearing:-0.304848 -0.079457 0.949081 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.622487, -0.163670, 0.827947 mu:0.346609 unit_bearing:-0.037557 -0.088745 0.995346 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.621943, -0.169940, 0.828551 mu:0.346609 unit_bearing:-0.037556 -0.090927 0.995149 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.721756, -0.211772, -0.043026 mu:0.346609 unit_bearing:-0.335978 -0.068502 0.939375 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.727621, -0.141411, 0.018686 mu:0.346609 unit_bearing:-0.313448 -0.046903 0.948446 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.725227, -0.188114, 0.049670 mu:0.346609 unit_bearing:-0.304902 -0.064279 0.950212 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.725312, -0.187094, 0.058194 mu:0.346609 unit_bearing:-0.302067 -0.064288 0.951116 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.436546, 0.132213, 1.323688 mu:0.346609 unit_bearing:0.156352 -0.007894 0.987670 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.432826, 0.133135, 1.331189 mu:0.346609 unit_bearing:0.159235 -0.007894 0.987209 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.429083, 0.134057, 1.338681 mu:0.346609 unit_bearing:0.162118 -0.007893 0.986740 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.719910, -0.010280, -0.196843 mu:0.346609 unit_bearing:-0.378226 0.007314 0.925685 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.720670, -0.009218, -0.188233 mu:0.346609 unit_bearing:-0.375430 0.007315 0.926822 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.725677, 0.011654, -0.121007 mu:0.346609 unit_bearing:-0.352997 0.011656 0.935552 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.726199, 0.012714, -0.112424 mu:0.346609 unit_bearing:-0.350185 0.011658 0.936608 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.726695, 0.013773, -0.103844 mu:0.346609 unit_bearing:-0.347373 0.011660 0.937655 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.492663, 0.186111, 1.193967 mu:0.346609 unit_bearing:0.110151 0.016128 0.993784 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.489312, 0.187047, 1.201604 mu:0.346609 unit_bearing:0.113042 0.016127 0.993459 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.726118, 0.018913, -0.113205 mu:0.346609 unit_bearing:-0.350184 0.013824 0.936579 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.722097, 0.063134, -0.162515 mu:0.346609 unit_bearing:-0.364200 0.031120 0.930801 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.720555, 0.067177, -0.180521 mu:0.346609 unit_bearing:-0.369799 0.033271 0.928516 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.715206, 0.079259, -0.234622 mu:0.346609 unit_bearing:-0.386551 0.039713 0.921412 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.716048, 0.080339, -0.226007 mu:0.346609 unit_bearing:-0.383761 0.039721 0.922578 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.724320, 0.087065, -0.122022 mu:0.346609 unit_bearing:-0.350148 0.037642 0.935938 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.703171, 0.111564, -0.326706 mu:0.346609 unit_bearing:-0.414293 0.054717 0.908497 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.713510, 0.096703, -0.245713 mu:0.346609 unit_bearing:-0.389321 0.046183 0.919944 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.700351, 0.095965, -0.350958 mu:0.346609 unit_bearing:-0.422608 0.050374 0.904912 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.685061, 0.090043, -0.446978 mu:0.346609 unit_bearing:-0.452854 0.052393 0.890044 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.686559, 0.091144, -0.438317 mu:0.346609 unit_bearing:-0.450115 0.052406 0.891431 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.669203, 0.066759, -0.531997 mu:0.346609 unit_bearing:-0.480126 0.047974 0.875887 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.670981, 0.067862, -0.523325 mu:0.346609 unit_bearing:-0.477412 0.047987 0.877368 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.727047, 0.146503, 0.000430 mu:0.346609 unit_bearing:-0.307769 0.052918 0.949988 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.695558, 0.111137, -0.379407 mu:0.346609 unit_bearing:-0.430859 0.056796 0.900630 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.668878, 0.072886, -0.532819 mu:0.346609 unit_bearing:-0.480116 0.050117 0.875772 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.670657, 0.073989, -0.524148 mu:0.346609 unit_bearing:-0.477402 0.050130 0.877254 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.724381, 0.189894, -0.005586 mu:0.346609 unit_bearing:-0.307723 0.068100 0.949036 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.701295, 0.122784, -0.337029 mu:0.346609 unit_bearing:-0.417042 0.059012 0.906969 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.699891, 0.160813, -0.333522 mu:0.346609 unit_bearing:-0.414211 0.071947 0.907333 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.721073, 0.223808, -0.036455 mu:0.346609 unit_bearing:-0.316165 0.081071 0.945234 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.721262, 0.224890, -0.027925 mu:0.346609 unit_bearing:-0.313336 0.081083 0.946174 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.700350, 0.154660, -0.332659 mu:0.346609 unit_bearing:-0.414222 0.069794 0.907496 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.675612, 0.354485, 0.499395 mu:0.346609 unit_bearing:-0.130080 0.103392 0.986098 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.474833, 0.520600, 1.129367 mu:0.346609 unit_bearing:0.104236 0.133929 0.985494 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.471527, 0.521521, 1.137012 mu:0.346609 unit_bearing:0.107124 0.133923 0.985185 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.468198, 0.522441, 1.144648 mu:0.346609 unit_bearing:0.110011 0.133917 0.984867 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.316090, 0.557940, 1.442971 mu:0.346609 unit_bearing:0.225051 0.133528 0.965154 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.354349, 0.543997, 1.378152 mu:0.346609 unit_bearing:0.199272 0.131470 0.971085 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.341630, 0.606641, 1.374946 mu:0.346609 unit_bearing:0.202045 0.153156 0.967327 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.342555, 0.600470, 1.376022 mu:0.346609 unit_bearing:0.202055 0.150988 0.967665 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.338462, 0.601332, 1.383364 mu:0.346609 unit_bearing:0.204922 0.150974 0.967064 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.362485, 0.667516, 1.303784 mu:0.346609 unit_bearing:0.178978 0.177105 0.967781 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.358577, 0.668385, 1.311195 mu:0.346609 unit_bearing:0.181849 0.177091 0.967249 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.285335, 0.677556, 1.444122 mu:0.346609 unit_bearing:0.233397 0.174631 0.956572 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.145305, 1.147313, 1.372257 mu:0.346609 unit_bearing:0.243029 0.339275 0.908751 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.601] If point is visible? -2.104497, 1.264950, 1.334447 mu:0.346609 unit_bearing:0.239514 0.381342 0.892867 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.601] If point is visible? -2.100062, 1.265679, 1.341554 mu:0.346609 unit_bearing:0.242332 0.381293 0.892127 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.601] If point is visible? -2.399169, 1.215293, 0.634160 mu:0.346609 unit_bearing:-0.022804 0.393840 0.918896 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.431450, -1.222523, 0.442320 mu:0.346609 unit_bearing:-0.187578 -0.436728 0.879820 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.200848, -1.230811, 1.184708 mu:0.346609 unit_bearing:0.079701 -0.470939 0.878558 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.028936, -1.263876, 1.460889 mu:0.346609 unit_bearing:0.186715 -0.493980 0.849188 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.601] If point is visible? -2.043226, -1.254084, 1.447286 mu:0.346609 unit_bearing:0.181179 -0.490037 0.852665 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.601] If point is visible? -2.035276, -1.252011, 1.461651 mu:0.346609 unit_bearing:0.186798 -0.489931 0.851513 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.601] If point is visible? -2.510489, -0.715062, 0.905297 mu:0.346609 unit_bearing:-0.022951 -0.281706 0.959226 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.513941, -0.702639, 0.904830 mu:0.346609 unit_bearing:-0.022955 -0.277412 0.960477 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.509371, -0.700704, 0.920705 mu:0.346609 unit_bearing:-0.017192 -0.277417 0.960596 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.517337, -0.690210, 0.904346 mu:0.346609 unit_bearing:-0.022960 -0.273115 0.961707 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.512766, -0.688275, 0.920223 mu:0.346609 unit_bearing:-0.017195 -0.273120 0.961826 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] If point is visible? -2.279239, -0.381090, 1.563114 mu:0.346609 unit_bearing:0.230406 -0.194597 0.953439 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.601] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.270561, -0.379197, 1.577545 mu:0.346609 unit_bearing:0.236113 -0.194555 0.952050 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.261790, -0.377304, 1.591935 mu:0.346609 unit_bearing:0.241815 -0.194512 0.950626 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.290178, -0.370520, 1.547934 mu:0.346609 unit_bearing:0.224725 -0.190320 0.955655 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.324385, -0.210124, 1.522434 mu:0.346609 unit_bearing:0.219324 -0.134062 0.966398 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.315900, -0.208261, 1.536982 mu:0.346609 unit_bearing:0.225049 -0.134036 0.965084 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.307321, -0.206400, 1.551491 mu:0.346609 unit_bearing:0.230769 -0.134008 0.963736 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.603294, -0.240278, 0.875473 mu:0.346609 unit_bearing:-0.023065 -0.117108 0.992851 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.604687, -0.227741, 0.874361 mu:0.346609 unit_bearing:-0.023067 -0.112747 0.993356 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.649951, -0.105542, 0.732414 mu:0.346609 unit_bearing:-0.069422 -0.064712 0.995486 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.646097, -0.103567, 0.748587 mu:0.346609 unit_bearing:-0.063632 -0.064716 0.995873 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.713483, -0.099517, 0.365097 mu:0.346609 unit_bearing:-0.196426 -0.047123 0.979386 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.714036, -0.087017, 0.363717 mu:0.346609 unit_bearing:-0.196431 -0.042765 0.979585 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.490981, 0.029670, 1.212624 mu:0.346609 unit_bearing:0.110142 -0.038480 0.993171 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.683535, 0.088942, -0.455640 mu:0.346609 unit_bearing:-0.455590 0.052380 0.888647 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.682820, 0.101219, -0.457308 mu:0.346609 unit_bearing:-0.455570 0.056674 0.888394 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.721122, 0.215455, -0.052637 mu:0.346609 unit_bearing:-0.321827 0.078881 0.943507 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.685319, 0.363849, 0.422373 mu:0.346609 unit_bearing:-0.156015 0.109867 0.981625 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.672240, 0.374155, 0.504750 mu:0.346609 unit_bearing:-0.127181 0.109933 0.985769 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.722092, 0.203079, -0.050870 mu:0.346609 unit_bearing:-0.321845 0.074549 0.943853 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.676365, 0.359675, 0.490228 mu:0.346609 unit_bearing:-0.132961 0.105565 0.985483 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.673557, 0.361726, 0.506659 mu:0.346609 unit_bearing:-0.127190 0.105576 0.986244 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.363117, 0.566116, 1.351864 mu:0.346609 unit_bearing:0.190627 0.140190 0.971601 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.292455, 0.544506, 1.489549 mu:0.346609 unit_bearing:0.242235 0.126939 0.961878 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.363557, 0.661358, 1.304905 mu:0.346609 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.375455, 0.634960, 1.294490 mu:0.346609 unit_bearing:0.173284 0.166297 0.970731 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.151851, 1.140605, 1.366608 mu:0.346609 unit_bearing:0.240233 0.337206 0.910264 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.527082, -0.708438, 0.857038 mu:0.346609 unit_bearing:-0.040244 -0.277388 0.959915 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.518416, -0.704573, 0.888927 mu:0.346609 unit_bearing:-0.028719 -0.277405 0.960324 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.411267, -1.273937, 0.408943 mu:0.346609 unit_bearing:-0.198566 -0.453006 0.869113 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.290178, -0.370520, 1.547934 mu:0.346609 unit_bearing:0.224725 -0.190320 0.955655 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.272916, -0.366736, 1.576843 mu:0.346609 unit_bearing:0.236144 -0.190239 0.952914 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.533826, -0.683579, 0.856034 mu:0.346609 unit_bearing:-0.040259 -0.268794 0.962356 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.525155, -0.679711, 0.887935 mu:0.346609 unit_bearing:-0.028729 -0.268810 0.962765 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.288205, -1.148184, 1.081044 mu:0.346609 unit_bearing:0.040037 -0.438134 0.898017 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.230915, -1.212717, 1.140132 mu:0.346609 unit_bearing:0.062707 -0.462831 0.884226 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.672254, -0.459902, 0.415248 mu:0.346609 unit_bearing:-0.190277 -0.173224 0.966327 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.668509, -0.455982, 0.448520 mu:0.346609 unit_bearing:-0.178797 -0.173280 0.968507 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.592860, -0.355019, 0.868775 mu:0.346609 unit_bearing:-0.028833 -0.156299 0.987289 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.668547, -0.427086, 0.479821 mu:0.346609 unit_bearing:-0.167344 -0.164662 0.972051 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.250289, -0.284437, 1.629620 mu:0.346609 unit_bearing:0.259128 -0.164155 0.951791 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.327647, -0.249476, 1.510672 mu:0.346609 unit_bearing:0.213536 -0.147103 0.965797 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.310767, -0.245732, 1.539795 mu:0.346609 unit_bearing:0.224985 -0.147046 0.963203 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.293514, -0.241998, 1.568758 mu:0.346609 unit_bearing:0.236419 -0.146985 0.960470 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.275890, -0.238274, 1.597561 mu:0.346609 unit_bearing:0.247838 -0.146920 0.957597 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.605274, -0.333871, 0.834814 mu:0.346609 unit_bearing:-0.040412 -0.147589 0.988223 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.596554, -0.329965, 0.866829 mu:0.346609 unit_bearing:-0.028839 -0.147597 0.988627 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.314242, -0.220753, 1.537939 mu:0.346609 unit_bearing:0.225028 -0.138374 0.964477 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.279369, -0.213315, 1.595724 mu:0.346609 unit_bearing:0.247886 -0.138256 0.958873 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.617221, 0.150199, 0.849418 mu:0.346609 unit_bearing:-0.017290 0.018327 0.999683 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.717248, 0.110739, 0.322905 mu:0.346609 unit_bearing:-0.202194 0.026993 0.978974 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.721025, 0.184208, -0.100425 mu:0.346609 unit_bearing:-0.338790 0.070150 0.938243 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.462200, 0.565799, 1.137356 mu:0.346609 unit_bearing:0.109976 0.149142 0.982681 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.448653, 0.569453, 1.167808 mu:0.346609 unit_bearing:0.121518 0.149112 0.981325 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.434737, 0.573081, 1.198126 mu:0.346609 unit_bearing:0.133053 0.149080 0.979833 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.390768, 0.583811, 1.288254 mu:0.346609 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.724144, 0.134704, -0.093561 mu:0.346609 unit_bearing:-0.338850 0.052829 0.939356 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.402072, 0.604978, 1.254065 mu:0.346609 unit_bearing:0.156066 0.157690 0.975078 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.398960, 0.770202, 1.162031 mu:0.346609 unit_bearing:0.132796 0.218419 0.966777 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.722694, 0.159463, -0.096966 mu:0.346609 unit_bearing:-0.338822 0.061490 0.938839 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.418104, 0.742082, 1.136519 mu:0.346609 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.404186, 0.745662, 1.166782 mu:0.346609 unit_bearing:0.132834 0.209776 0.968684 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.527725, 0.819592, 0.739683 mu:0.346609 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.003348, 0.909785, 1.746185 mu:0.346609 unit_bearing:0.370867 0.241764 0.896665 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.018991, 0.931141, 1.714137 mu:0.346609 unit_bearing:0.359597 0.250465 0.898865 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -1.997199, 0.933857, 1.740872 mu:0.346609 unit_bearing:0.370720 0.250270 0.894389 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.425337, 1.193497, 0.557865 mu:0.346609 unit_bearing:-0.051438 0.389564 0.919562 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.417135, 1.197504, 0.589651 mu:0.346609 unit_bearing:-0.039989 0.389600 0.920116 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.408548, 1.201472, 0.621330 mu:0.346609 unit_bearing:-0.028537 0.389627 0.920531 T_cur_ref: x=0.153706 y=0.000000 z=0.060017 +[21:41:10.602] If point is visible? -2.482443, -1.308984, 1.319980 mu:0.312845 unit_bearing:0.062754 -0.454589 0.888488 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] If point is visible? -2.911170, 0.199029, 0.968458 mu:0.312845 unit_bearing:-0.028882 0.027071 0.999216 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] If point is visible? -2.243281, 1.009130, 1.925430 mu:0.312845 unit_bearing:0.348580 0.242131 0.905464 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.218825, 1.012144, 1.954696 mu:0.312845 unit_bearing:0.359738 0.241952 0.901137 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.236542, 1.035831, 1.919413 mu:0.312845 unit_bearing:0.348444 0.250652 0.903194 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.806361, 0.939688, 0.842580 mu:0.312845 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] If point is visible? -2.686318, 0.826762, 1.286455 mu:0.312845 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] If point is visible? -2.670474, 0.830714, 1.319755 mu:0.312845 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] If point is visible? -2.350429, 1.587753, 1.267031 mu:0.312845 unit_bearing:0.165009 0.446904 0.879232 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] If point is visible? -2.482443, -1.308984, 1.319980 mu:0.312845 unit_bearing:0.062754 -0.454589 0.888488 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] If point is visible? -2.911170, 0.199029, 0.968458 mu:0.312845 unit_bearing:-0.028882 0.027071 0.999216 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] If point is visible? -2.243281, 1.009130, 1.925430 mu:0.312845 unit_bearing:0.348580 0.242131 0.905464 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.218825, 1.012144, 1.954696 mu:0.312845 unit_bearing:0.359738 0.241952 0.901137 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:10.602] If point is visible? -2.686318, 0.826762, 1.286455 mu:0.312845 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] If point is visible? -2.670474, 0.830714, 1.319755 mu:0.312845 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] If point is visible? -2.236542, 1.035831, 1.919413 mu:0.312845 unit_bearing:0.348444 0.250652 0.903194 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.602] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:10.603] If point is visible? -2.806361, 0.939688, 0.842580 mu:0.312845 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.603] If point is visible? -2.350429, 1.587753, 1.267031 mu:0.312845 unit_bearing:0.165009 0.446904 0.879232 T_cur_ref: x=0.146285 y=0.000000 z=0.057522 +[21:41:10.603] If point is visible? -2.568952, 1.340498, 3.264707 mu:0.226850 unit_bearing:0.523549 0.213086 0.824919 T_cur_ref: x=0.138862 y=0.000000 z=0.054874 +[21:41:10.603] Z inverse min: 0.639161, Z inverse max: 0.000000 +[21:41:10.603] If point is visible? -2.568952, 1.340498, 3.264707 mu:0.226850 unit_bearing:0.523549 0.213086 0.824919 T_cur_ref: x=0.138862 y=0.000000 z=0.054874 +[21:41:10.603] Z inverse min: 0.639161, Z inverse max: 0.000000 +[21:41:10.603] If point is visible? -2.197987, 0.988844, 1.786862 mu:0.325942 unit_bearing:0.326059 0.251004 0.911418 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:10.603] If point is visible? -2.249646, -1.361319, 1.427062 mu:0.325942 unit_bearing:0.121936 -0.495012 0.860287 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:10.603] If point is visible? -2.242390, -1.366584, 1.434367 mu:0.325942 unit_bearing:0.124734 -0.497006 0.858736 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:10.603] If point is visible? -2.737585, -0.814759, 0.771705 mu:0.325942 unit_bearing:-0.109239 -0.292161 0.950110 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.735701, -0.813748, 0.780310 mu:0.325942 unit_bearing:-0.106367 -0.292175 0.950431 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.735703, -0.806142, 0.788714 mu:0.325942 unit_bearing:-0.103505 -0.290049 0.951398 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.737546, -0.791935, 0.796904 mu:0.325942 unit_bearing:-0.100652 -0.285778 0.952995 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.735584, -0.790922, 0.805489 mu:0.325942 unit_bearing:-0.097778 -0.285791 0.953291 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.737451, -0.784322, 0.805282 mu:0.325942 unit_bearing:-0.097787 -0.283648 0.953930 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.735463, -0.783308, 0.813860 mu:0.325942 unit_bearing:-0.094913 -0.283660 0.954216 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.730648, -0.758416, 0.856002 mu:0.325942 unit_bearing:-0.080556 -0.277281 0.957406 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.715593, -0.699885, 0.956319 mu:0.325942 unit_bearing:-0.046035 -0.262331 0.963879 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.713148, -0.698864, 0.964766 mu:0.325942 unit_bearing:-0.043152 -0.262336 0.964011 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.713232, -0.676952, 0.980883 mu:0.325942 unit_bearing:-0.037396 -0.255887 0.965983 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.714059, -0.684598, 0.972706 mu:0.325942 unit_bearing:-0.040277 -0.258036 0.965295 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.835856, -0.649107, 0.484125 mu:0.325942 unit_bearing:-0.201398 -0.227147 0.952808 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.456522, -0.350802, 1.662306 mu:0.325942 unit_bearing:0.210510 -0.177441 0.961353 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] If point is visible? -2.475946, -0.348127, 1.631247 mu:0.325942 unit_bearing:0.199066 -0.175342 0.964172 T_cur_ref: x=0.131464 y=0.000000 z=0.052322 +[21:41:10.603] init seeds +[21:41:10.603] DepthFilter: Initialized 2 new seeds +[21:41:10.605] DepthFilter: Initialized 2 new seeds +[21:41:11.196] add new frame +[21:41:11.196] update seed +[21:41:11.196] If point is visible? -2.606558, 0.150199, 0.854419 mu:0.346609 unit_bearing:-0.017290 0.018327 0.999683 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] If point is visible? -2.517062, 0.819592, 0.744684 mu:0.346609 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] If point is visible? -2.008328, 0.931141, 1.719139 mu:0.346609 unit_bearing:0.359597 0.250465 0.898865 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:11.196] If point is visible? -1.986535, 0.933857, 1.745873 mu:0.346609 unit_bearing:0.370720 0.250270 0.894389 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:11.196] If point is visible? -2.518445, -0.801558, 0.760547 mu:0.346609 unit_bearing:-0.077576 -0.305136 0.949144 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] If point is visible? -2.516629, -0.800599, 0.768608 mu:0.346609 unit_bearing:-0.074702 -0.305147 0.949371 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] If point is visible? -2.512703, -0.770065, 0.816040 mu:0.346609 unit_bearing:-0.057475 -0.296646 0.953256 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] If point is visible? -2.512816, -0.777223, 0.808222 mu:0.346609 unit_bearing:-0.060346 -0.298779 0.952413 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] If point is visible? -2.497554, -0.714096, 0.918238 mu:0.346609 unit_bearing:-0.020070 -0.281708 0.959290 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] If point is visible? -2.496990, -0.706917, 0.925940 mu:0.346609 unit_bearing:-0.017190 -0.279564 0.959973 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] If point is visible? -2.498708, -0.700704, 0.925706 mu:0.346609 unit_bearing:-0.017192 -0.277417 0.960596 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] If point is visible? -2.263050, -0.386373, 1.575681 mu:0.346609 unit_bearing:0.233244 -0.196734 0.952309 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:11.196] If point is visible? -2.272879, -0.382038, 1.560885 mu:0.346609 unit_bearing:0.227551 -0.194618 0.954120 T_cur_ref: x=0.164370 y=0.000000 z=0.065019 +[21:41:11.196] Z inverse min: 0.775964, Z inverse max: 0.000000 +[21:41:11.196] add key frame +[21:41:11.196] init seeds +[21:41:11.196] remove key frame +[21:41:11.196] update seed +[21:41:11.197] If point is visible? -2.471780, -1.308984, 1.324982 mu:0.312845 unit_bearing:0.062754 -0.454589 0.888488 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.900507, 0.199029, 0.973460 mu:0.312845 unit_bearing:-0.028882 0.027071 0.999216 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.232618, 1.009130, 1.930431 mu:0.312845 unit_bearing:0.348580 0.242131 0.905464 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.208162, 1.012144, 1.959697 mu:0.312845 unit_bearing:0.359738 0.241952 0.901137 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.225879, 1.035831, 1.924414 mu:0.312845 unit_bearing:0.348444 0.250652 0.903194 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.795698, 0.939688, 0.847581 mu:0.312845 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.675654, 0.826762, 1.291457 mu:0.312845 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.659811, 0.830714, 1.324756 mu:0.312845 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.339765, 1.587753, 1.272032 mu:0.312845 unit_bearing:0.165009 0.446904 0.879232 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.471780, -1.308984, 1.324982 mu:0.312845 unit_bearing:0.062754 -0.454589 0.888488 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.900507, 0.199029, 0.973460 mu:0.312845 unit_bearing:-0.028882 0.027071 0.999216 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.232618, 1.009130, 1.930431 mu:0.312845 unit_bearing:0.348580 0.242131 0.905464 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.208162, 1.012144, 1.959697 mu:0.312845 unit_bearing:0.359738 0.241952 0.901137 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.675654, 0.826762, 1.291457 mu:0.312845 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.659811, 0.830714, 1.324756 mu:0.312845 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.225879, 1.035831, 1.924414 mu:0.312845 unit_bearing:0.348444 0.250652 0.903194 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.795698, 0.939688, 0.847581 mu:0.312845 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.339765, 1.587753, 1.272032 mu:0.312845 unit_bearing:0.165009 0.446904 0.879232 T_cur_ref: x=0.156949 y=0.000000 z=0.062523 +[21:41:11.197] If point is visible? -2.558288, 1.340498, 3.269708 mu:0.226850 unit_bearing:0.523549 0.213086 0.824919 T_cur_ref: x=0.149526 y=0.000000 z=0.059876 +[21:41:11.197] Z inverse min: 0.639161, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.558288, 1.340498, 3.269708 mu:0.226850 unit_bearing:0.523549 0.213086 0.824919 T_cur_ref: x=0.149526 y=0.000000 z=0.059876 +[21:41:11.197] Z inverse min: 0.639161, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.187324, 0.988844, 1.791864 mu:0.325942 unit_bearing:0.326059 0.251004 0.911418 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.238982, -1.361319, 1.432063 mu:0.325942 unit_bearing:0.121936 -0.495012 0.860287 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.231727, -1.366584, 1.439368 mu:0.325942 unit_bearing:0.124734 -0.497006 0.858736 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.726921, -0.814759, 0.776706 mu:0.325942 unit_bearing:-0.109239 -0.292161 0.950110 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.725037, -0.813748, 0.785311 mu:0.325942 unit_bearing:-0.106367 -0.292175 0.950431 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.725040, -0.806142, 0.793715 mu:0.325942 unit_bearing:-0.103505 -0.290049 0.951398 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.726883, -0.791935, 0.801905 mu:0.325942 unit_bearing:-0.100652 -0.285778 0.952995 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.724921, -0.790922, 0.810490 mu:0.325942 unit_bearing:-0.097778 -0.285791 0.953291 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.726788, -0.784322, 0.810283 mu:0.325942 unit_bearing:-0.097787 -0.283648 0.953930 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.724800, -0.783308, 0.818861 mu:0.325942 unit_bearing:-0.094913 -0.283660 0.954216 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.719985, -0.758416, 0.861003 mu:0.325942 unit_bearing:-0.080556 -0.277281 0.957406 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.704930, -0.699885, 0.961321 mu:0.325942 unit_bearing:-0.046035 -0.262331 0.963879 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.702485, -0.698864, 0.969768 mu:0.325942 unit_bearing:-0.043152 -0.262336 0.964011 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.702568, -0.676952, 0.985884 mu:0.325942 unit_bearing:-0.037396 -0.255887 0.965983 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.703396, -0.684598, 0.977708 mu:0.325942 unit_bearing:-0.040277 -0.258036 0.965295 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.825193, -0.649107, 0.489126 mu:0.325942 unit_bearing:-0.201398 -0.227147 0.952808 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.445859, -0.350802, 1.667307 mu:0.325942 unit_bearing:0.210510 -0.177441 0.961353 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.465282, -0.348127, 1.636249 mu:0.325942 unit_bearing:0.199066 -0.175342 0.964172 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.460746, -0.347135, 1.643932 mu:0.325942 unit_bearing:0.201931 -0.175327 0.963579 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.426548, -0.257578, 1.715136 mu:0.325942 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.423632, -0.243318, 1.721793 mu:0.325942 unit_bearing:0.233573 -0.144833 0.961492 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.420635, -0.229060, 1.728420 mu:0.325942 unit_bearing:0.236454 -0.140484 0.961433 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.416677, -0.221445, 1.735496 mu:0.325942 unit_bearing:0.239322 -0.138301 0.961040 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.511672, -0.221085, 1.580889 mu:0.325942 unit_bearing:0.182042 -0.132044 0.974385 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.513332, -0.207777, 1.579869 mu:0.325942 unit_bearing:0.182057 -0.127698 0.974961 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.794967, -0.250756, 0.907841 mu:0.325942 unit_bearing:-0.054910 -0.114907 0.991857 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.417558, -0.214804, 1.735016 mu:0.325942 unit_bearing:0.239333 -0.136134 0.961347 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.510548, -0.193485, 1.586592 mu:0.325942 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.428179, -0.169275, 1.723953 mu:0.325942 unit_bearing:0.236548 -0.120965 0.964060 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.433774, -0.163599, 1.715862 mu:0.325942 unit_bearing:0.233698 -0.118807 0.965023 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.428947, -0.162631, 1.723429 mu:0.325942 unit_bearing:0.236557 -0.118795 0.964328 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.197] If point is visible? -2.501714, -0.150621, 1.606581 mu:0.325942 unit_bearing:0.193607 -0.110268 0.974863 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.497229, -0.149644, 1.614304 mu:0.325942 unit_bearing:0.196479 -0.110259 0.974289 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.492719, -0.148668, 1.622016 mu:0.325942 unit_bearing:0.199350 -0.110249 0.973707 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.493416, -0.142015, 1.621460 mu:0.325942 unit_bearing:0.199357 -0.108075 0.973949 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.801812, -0.232829, 0.889065 mu:0.325942 unit_bearing:-0.060704 -0.108362 0.992256 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.827748, -0.203246, 0.799827 mu:0.325942 unit_bearing:-0.089647 -0.095247 0.991409 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.818618, -0.205737, 0.834781 mu:0.325942 unit_bearing:-0.078076 -0.097441 0.992174 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.816428, -0.204695, 0.843346 mu:0.325942 unit_bearing:-0.075182 -0.097444 0.992397 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.796218, -0.188672, 0.919481 mu:0.325942 unit_bearing:-0.049136 -0.095285 0.994237 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.813432, -0.127191, 0.870512 mu:0.325942 unit_bearing:-0.063626 -0.073450 0.995267 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.824812, -0.160117, 0.821796 mu:0.325942 unit_bearing:-0.080984 -0.082167 0.993323 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.810640, -0.132816, 0.879703 mu:0.325942 unit_bearing:-0.060730 -0.075635 0.995285 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.918001, -0.192413, 0.163980 mu:0.325942 unit_bearing:-0.293549 -0.066485 0.953629 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.921097, -0.166918, 0.097057 mu:0.325942 unit_bearing:-0.313425 -0.055578 0.947985 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.922811, -0.134933, 0.084389 mu:0.325942 unit_bearing:-0.316283 -0.044728 0.947610 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.670813, 0.064955, 1.280406 mu:0.325942 unit_bearing:0.084114 -0.027570 0.996075 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.678327, 0.082937, 1.261873 mu:0.325942 unit_bearing:0.078327 -0.021016 0.996706 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.674813, 0.083937, 1.269999 mu:0.325942 unit_bearing:0.081221 -0.021016 0.996475 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.678878, 0.122888, 1.257162 mu:0.325942 unit_bearing:0.078329 -0.007904 0.996896 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.675364, 0.123887, 1.265288 mu:0.325942 unit_bearing:0.081223 -0.007904 0.996665 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.925269, -0.005038, -0.004603 mu:0.325942 unit_bearing:-0.338928 0.000830 0.940812 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.197] If point is visible? -2.575550, 0.189337, 1.468410 mu:0.325942 unit_bearing:0.156353 0.005201 0.987688 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.917940, 0.042751, -0.159344 mu:0.325942 unit_bearing:-0.383797 0.022437 0.923145 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.917781, 0.049326, -0.160194 mu:0.325942 unit_bearing:-0.383794 0.024598 0.923091 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.918401, 0.050467, -0.151014 mu:0.325942 unit_bearing:-0.381002 0.024602 0.924247 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.905788, 0.097823, 0.394108 mu:0.325942 unit_bearing:-0.210813 0.018269 0.977356 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.917607, 0.055899, -0.161048 mu:0.325942 unit_bearing:-0.383790 0.026758 0.923033 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.919918, 0.060468, -0.124351 mu:0.325942 unit_bearing:-0.372611 0.026779 0.927601 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.917215, 0.069045, -0.162768 mu:0.325942 unit_bearing:-0.383782 0.031080 0.922901 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.909985, 0.092659, -0.240684 mu:0.325942 unit_bearing:-0.406022 0.041814 0.912906 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.915330, 0.100744, -0.176318 mu:0.325942 unit_bearing:-0.386545 0.041873 0.921319 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.670854, 0.231310, 1.259994 mu:0.325942 unit_bearing:0.084114 0.027059 0.996089 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.902300, 0.124986, -0.301319 mu:0.325942 unit_bearing:-0.422590 0.054681 0.904670 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.906749, 0.137377, -0.256149 mu:0.325942 unit_bearing:-0.408742 0.056895 0.910875 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.884979, 0.225840, 0.502752 mu:0.325942 unit_bearing:-0.170524 0.055369 0.983797 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.900467, 0.136901, -0.312352 mu:0.325942 unit_bearing:-0.425333 0.058974 0.903114 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.555281, 0.397792, 1.463926 mu:0.325942 unit_bearing:0.164937 0.072817 0.983613 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.870698, 0.125124, -0.508374 mu:0.325942 unit_bearing:-0.482757 0.062950 0.873489 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.872373, 0.126315, -0.499108 mu:0.325942 unit_bearing:-0.480047 0.062967 0.874980 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.874018, 0.127505, -0.489843 mu:0.325942 unit_bearing:-0.477334 0.062984 0.876462 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.893933, 0.123315, -0.366841 mu:0.325942 unit_bearing:-0.441865 0.056743 0.895285 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.881802, 0.174923, -0.430566 mu:0.325942 unit_bearing:-0.458191 0.075970 0.885601 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.555738, 0.391175, 1.464906 mu:0.325942 unit_bearing:0.164940 0.070638 0.983771 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.912919, 0.279621, 0.021446 mu:0.325942 unit_bearing:-0.318943 0.091886 0.943309 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.912242, 0.283873, 0.002299 mu:0.325942 unit_bearing:-0.324581 0.094022 0.941173 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.862920, 0.397774, 0.530872 mu:0.325942 unit_bearing:-0.153134 0.109875 0.982078 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.850371, 0.430735, 0.579054 mu:0.325942 unit_bearing:-0.135817 0.118624 0.983607 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.648428, 0.561397, 1.202059 mu:0.325942 unit_bearing:0.081116 0.136148 0.987362 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.647552, 0.567988, 1.200941 mu:0.325942 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.644015, 0.568968, 1.209047 mu:0.325942 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.525705, 0.604171, 1.446722 mu:0.325942 unit_bearing:0.170514 0.140267 0.975321 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.460659, 0.636659, 1.551631 mu:0.325942 unit_bearing:0.210674 0.146610 0.966500 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.520306, 0.668915, 1.427282 mu:0.325942 unit_bearing:0.167554 0.161985 0.972464 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.516038, 0.669837, 1.435096 mu:0.325942 unit_bearing:0.170429 0.161973 0.971966 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.511747, 0.670758, 1.442899 mu:0.325942 unit_bearing:0.173303 0.161960 0.971460 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.643126, 0.575557, 1.207924 mu:0.325942 unit_bearing:0.084000 0.140495 0.986512 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.512777, 0.664199, 1.444085 mu:0.325942 unit_bearing:0.173312 0.159792 0.971818 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.534324, 0.728875, 1.368098 mu:0.325942 unit_bearing:0.150209 0.183734 0.971432 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.529018, 0.736347, 1.374730 mu:0.325942 unit_bearing:0.153076 0.185887 0.970574 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.283457, 1.301164, 1.412423 mu:0.325942 unit_bearing:0.211485 0.367116 0.905815 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.198] If point is visible? -2.278789, 1.301966, 1.419979 mu:0.325942 unit_bearing:0.214318 0.367075 0.905165 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.198] If point is visible? -2.221139, -1.241439, 1.569470 mu:0.325942 unit_bearing:0.170426 -0.461688 0.870517 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.198] If point is visible? -2.305687, -1.307285, 1.365755 mu:0.325942 unit_bearing:0.096691 -0.474898 0.874713 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.198] If point is visible? -2.644013, -1.205024, 0.502436 mu:0.325942 unit_bearing:-0.199354 -0.407522 0.891170 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.662390, -1.183238, -0.326623 mu:0.325942 unit_bearing:-0.454574 -0.367541 0.811342 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.643836, -1.232166, -0.307317 mu:0.325942 unit_bearing:-0.448563 -0.384137 0.806988 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.732272, -0.825390, 0.742408 mu:0.325942 unit_bearing:-0.120710 -0.294237 0.948079 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.706628, -0.693264, 0.961072 mu:0.325942 unit_bearing:-0.046039 -0.260179 0.964462 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.709981, -0.680017, 0.960560 mu:0.325942 unit_bearing:-0.046047 -0.255873 0.965613 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.705064, -0.677974, 0.977450 mu:0.325942 unit_bearing:-0.040280 -0.255883 0.965868 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.795282, -0.673440, -0.517904 mu:0.325942 unit_bearing:-0.507872 -0.195017 0.839068 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.450468, -0.351793, 1.659657 mu:0.325942 unit_bearing:0.207647 -0.177458 0.961973 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.429357, -0.237652, 1.713757 mu:0.325942 unit_bearing:0.230726 -0.142681 0.962501 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.198] If point is visible? -2.436230, -0.184502, 1.709841 mu:0.325942 unit_bearing:0.230810 -0.125331 0.964893 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.198] If point is visible? -2.459760, -0.148506, 1.676247 mu:0.325942 unit_bearing:0.219414 -0.112351 0.969141 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.503999, -0.171561, 1.600490 mu:0.325942 unit_bearing:0.190714 -0.116800 0.974672 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.495053, -0.169602, 1.615943 mu:0.325942 unit_bearing:0.196457 -0.116781 0.973533 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.486010, -0.167647, 1.631354 mu:0.325942 unit_bearing:0.202197 -0.116760 0.972360 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.447339, -0.173153, 1.693619 mu:0.325942 unit_bearing:0.225106 -0.121015 0.966790 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.198] If point is visible? -2.437808, -0.171213, 1.708808 mu:0.325942 unit_bearing:0.230829 -0.120990 0.965443 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.198] If point is visible? -2.829070, -0.162208, 0.804626 mu:0.325942 unit_bearing:-0.086770 -0.082161 0.992835 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.824812, -0.160117, 0.821796 mu:0.325942 unit_bearing:-0.080984 -0.082167 0.993323 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.906333, -0.036002, 0.401378 mu:0.325942 unit_bearing:-0.213678 -0.025314 0.976576 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.904493, 0.112181, 0.401278 mu:0.325942 unit_bearing:-0.207940 0.022629 0.977880 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.839625, 0.235032, 0.740475 mu:0.325942 unit_bearing:-0.092583 0.048899 0.994504 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.902034, 0.127634, 0.417291 mu:0.325942 unit_bearing:-0.202194 0.026993 0.978974 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.864431, 0.396677, 0.522122 mu:0.325942 unit_bearing:-0.156015 0.109867 0.981625 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.861384, 0.398870, 0.539616 mu:0.325942 unit_bearing:-0.150253 0.109882 0.982522 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.549307, 0.687707, 1.359638 mu:0.325942 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.711612, 0.588044, -0.903489 mu:0.325942 unit_bearing:-0.569862 0.228406 0.789359 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.596701, 1.240173, 0.668530 mu:0.325942 unit_bearing:-0.051483 0.376933 0.924808 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.645505, -1.225365, 0.431984 mu:0.325942 unit_bearing:-0.221870 -0.411304 0.884083 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.594416, -1.343507, -0.287791 mu:0.325942 unit_bearing:-0.441617 -0.420933 0.792332 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.739142, -0.829423, 0.707806 mu:0.325942 unit_bearing:-0.132184 -0.294168 0.946569 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.671435, -1.148449, -0.364242 mu:0.325942 unit_bearing:-0.465738 -0.354792 0.810685 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.440637, -1.186826, 1.212120 mu:0.325942 unit_bearing:0.040065 -0.429825 0.902023 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.724514, -0.642296, 0.941974 mu:0.325942 unit_bearing:-0.051839 -0.242931 0.968657 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.440692, -0.226318, 1.697630 mu:0.325942 unit_bearing:0.225028 -0.138374 0.964477 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.198] If point is visible? -2.499272, -0.211479, 1.603632 mu:0.325942 unit_bearing:0.190668 -0.129839 0.973030 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.481280, -0.207553, 1.634484 mu:0.325942 unit_bearing:0.202148 -0.129795 0.970716 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.462899, -0.203639, 1.665163 mu:0.325942 unit_bearing:0.213615 -0.129747 0.968264 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.866710, -0.430407, 0.474973 mu:0.325942 unit_bearing:-0.201833 -0.155832 0.966943 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.862183, -0.426231, 0.510350 mu:0.325942 unit_bearing:-0.190360 -0.155886 0.969259 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.861192, -0.395475, 0.543589 mu:0.325942 unit_bearing:-0.178911 -0.147257 0.972783 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.799197, 0.240699, 0.896047 mu:0.325942 unit_bearing:-0.040469 0.044553 0.998187 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.635868, 0.602873, 1.211477 mu:0.325942 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.621380, 0.606765, 1.243767 mu:0.325942 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.551465, 0.674590, 1.362035 mu:0.325942 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.631946, 0.629185, 1.206857 mu:0.325942 unit_bearing:0.086856 0.157887 0.983630 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.617458, 0.633072, 1.239140 mu:0.325942 unit_bearing:0.098409 0.157863 0.982545 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.916685, 0.201169, -0.069106 mu:0.325942 unit_bearing:-0.350044 0.070103 0.934106 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.598160, 0.812582, 1.172364 mu:0.325942 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.583677, 0.816429, 1.204588 mu:0.325942 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.712530, 0.560067, -0.917376 mu:0.325942 unit_bearing:-0.575268 0.219906 0.787850 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.198] If point is visible? -2.589184, 0.790328, 1.209756 mu:0.325942 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.199] If point is visible? -2.187324, 0.988844, 1.791864 mu:0.325942 unit_bearing:0.326059 0.251004 0.911418 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.199] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.199] If point is visible? -2.707103, 0.872423, 0.787765 mu:0.325942 unit_bearing:-0.040284 0.253225 0.966568 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.199] If point is visible? -2.601678, 1.227526, 0.671729 mu:0.325942 unit_bearing:-0.051497 0.372715 0.926516 T_cur_ref: x=0.142128 y=0.000000 z=0.057323 +[21:41:11.199] If point is visible? -3.992691, 1.199922, 2.226982 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.134803 y=0.000000 z=0.054509 +[21:41:11.199] If point is visible? -3.992691, 1.199922, 2.226982 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.134803 y=0.000000 z=0.054509 +[21:41:11.199] If point is visible? -160357.335878, -44111.576304, -20025.108167 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.127251 y=0.000000 z=0.051787 +[21:41:11.199] If point is visible? -161279.336459, -39968.561920, -21279.112192 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.127251 y=0.000000 z=0.051787 +[21:41:11.199] If point is visible? -147248.809764, 44982.644583, 65997.524547 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.127251 y=0.000000 z=0.051787 +[21:41:11.199] If point is visible? -149333.979757, 66070.447074, 37354.766134 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.127251 y=0.000000 z=0.051787 +[21:41:11.199] If point is visible? -160357.335878, -44111.576304, -20025.108167 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.127251 y=0.000000 z=0.051787 +[21:41:11.199] If point is visible? -161279.336459, -39968.561920, -21279.112192 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.127251 y=0.000000 z=0.051787 +[21:41:11.199] If point is visible? -147248.809764, 44982.644583, 65997.524547 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.127251 y=0.000000 z=0.051787 +[21:41:11.199] If point is visible? -149333.979757, 66070.447074, 37354.766134 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.127251 y=0.000000 z=0.051787 +[21:41:11.199] If point is visible? -2.417637, 1.627007, 1.404739 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.117693 y=0.000000 z=0.047932 +[21:41:11.199] If point is visible? -2.967802, 0.956093, 0.741895 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.117693 y=0.000000 z=0.047932 +[21:41:11.199] If point is visible? -2.417637, 1.627007, 1.404739 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.117693 y=0.000000 z=0.047932 +[21:41:11.199] If point is visible? -2.967802, 0.956093, 0.741895 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.117693 y=0.000000 z=0.047932 +[21:41:11.199] If point is visible? -2.782050, 0.840383, 0.709966 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.105635 y=0.000000 z=0.043429 +[21:41:11.199] If point is visible? -2.679998, 1.291714, -0.203478 mu:0.324627 unit_bearing:-0.355005 0.425968 0.832180 T_cur_ref: x=0.105635 y=0.000000 z=0.043429 +[21:41:11.199] If point is visible? -2.691836, 1.267166, -0.196739 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.105635 y=0.000000 z=0.043429 +[21:41:11.199] If point is visible? -2.782050, 0.840383, 0.709966 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.105635 y=0.000000 z=0.043429 +[21:41:11.199] If point is visible? -2.691836, 1.267166, -0.196739 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.105635 y=0.000000 z=0.043429 +[21:41:11.199] If point is visible? -157001954095.509186, 1091437484.317157, 30705986818.898762 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.098030 y=0.000000 z=0.040517 +[21:41:11.199] If point is visible? -124198397207.142334, 49953641192.578041, 87595972024.426086 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.098030 y=0.000000 z=0.040517 +[21:41:11.199] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:11.199] If point is visible? -157001954095.509186, 1091437484.317157, 30705986818.898762 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.098030 y=0.000000 z=0.040517 +[21:41:11.199] If point is visible? -124198397207.142334, 49953641192.578041, 87595972024.426086 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.098030 y=0.000000 z=0.040517 +[21:41:11.199] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:11.199] If point is visible? -2.019602, 0.915194, 1.673970 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.090386 y=0.000000 z=0.037638 +[21:41:11.199] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:11.199] If point is visible? -2.408132, 1.100063, 0.754907 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.090386 y=0.000000 z=0.037638 +[21:41:11.199] If point is visible? -2.019602, 0.915194, 1.673970 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.090386 y=0.000000 z=0.037638 +[21:41:11.199] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:11.199] If point is visible? -2.408132, 1.100063, 0.754907 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.090386 y=0.000000 z=0.037638 +[21:41:11.199] If point is visible? -0.353297, 0.135071, 0.238939 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.081702 y=0.000000 z=0.034342 +[21:41:11.199] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:11.199] If point is visible? -0.348848, 0.132040, 0.250027 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.081702 y=0.000000 z=0.034342 +[21:41:11.199] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:11.199] If point is visible? -0.353297, 0.135071, 0.238939 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.081702 y=0.000000 z=0.034342 +[21:41:11.199] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:11.199] If point is visible? -0.348848, 0.132040, 0.250027 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.081702 y=0.000000 z=0.034342 +[21:41:11.199] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:11.199] If point is visible? -3.515187, 1.093495, 1.621172 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.575326, 1.543688, 0.980572 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.206714, -1.498388, 1.929444 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:11.199] If point is visible? -3.144653, -1.378939, 2.117385 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:11.199] If point is visible? -3.135257, -1.386216, 2.127057 mu:0.245118 unit_bearing:0.154294 -0.399783 0.903530 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:11.199] If point is visible? -3.406113, -1.130826, 1.825224 mu:0.245118 unit_bearing:0.069067 -0.328632 0.941929 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.738744, -0.925085, 1.130179 mu:0.245118 unit_bearing:-0.112281 -0.257815 0.959648 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.735791, -0.923744, 1.141535 mu:0.245118 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.742940, -0.946715, 1.096576 mu:0.245118 unit_bearing:-0.120885 -0.262074 0.957447 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.740088, -0.945376, 1.107963 mu:0.245118 unit_bearing:-0.118011 -0.262088 0.957801 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.732322, -0.883125, 1.185727 mu:0.245118 unit_bearing:-0.097930 -0.249266 0.963471 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.724741, -0.841120, 1.240912 mu:0.245118 unit_bearing:-0.083559 -0.240695 0.966997 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.721451, -0.839774, 1.252163 mu:0.245118 unit_bearing:-0.080677 -0.240704 0.967240 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.725935, -0.851289, 1.229967 mu:0.245118 unit_bearing:-0.086433 -0.242842 0.966208 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.722679, -0.849944, 1.241228 mu:0.245118 unit_bearing:-0.083552 -0.242851 0.966459 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.719390, -0.848599, 1.252478 mu:0.245118 unit_bearing:-0.080670 -0.242860 0.966701 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.698680, -0.773329, 1.362039 mu:0.245118 unit_bearing:-0.051867 -0.227820 0.972321 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.695026, -0.771983, 1.373167 mu:0.245118 unit_bearing:-0.048981 -0.227825 0.972469 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.698854, -0.754306, 1.372445 mu:0.245118 unit_bearing:-0.048988 -0.223503 0.973471 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.695166, -0.752960, 1.383563 mu:0.245118 unit_bearing:-0.046102 -0.223508 0.973611 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.321737, -0.477498, 2.234079 mu:0.245118 unit_bearing:0.187562 -0.181897 0.965264 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.355126, -0.347382, 2.206415 mu:0.245118 unit_bearing:0.181975 -0.149415 0.971885 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.348869, -0.346096, 2.216482 mu:0.245118 unit_bearing:0.184847 -0.149403 0.971345 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] If point is visible? -3.385861, -0.308263, 2.163065 mu:0.245118 unit_bearing:0.170520 -0.138603 0.975557 T_cur_ref: x=0.080413 y=0.000000 z=0.033831 +[21:41:11.199] init seeds +[21:41:11.199] DepthFilter: Initialized 5 new seeds +[21:41:11.202] DepthFilter: Initialized 5 new seeds +[21:41:11.797] add new frame +[21:41:11.797] update seed +[21:41:11.797] If point is visible? -2.463261, -1.308984, 1.329002 mu:0.312845 unit_bearing:0.062754 -0.454589 0.888488 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.891988, 0.199029, 0.977481 mu:0.312845 unit_bearing:-0.028882 0.027071 0.999216 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.224099, 1.009130, 1.934452 mu:0.312845 unit_bearing:0.348580 0.242131 0.905464 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.797] If point is visible? -2.199643, 1.012144, 1.963718 mu:0.312845 unit_bearing:0.359738 0.241952 0.901137 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.797] If point is visible? -2.217360, 1.035831, 1.928435 mu:0.312845 unit_bearing:0.348444 0.250652 0.903194 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.797] If point is visible? -2.787179, 0.939688, 0.851602 mu:0.312845 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.667135, 0.826762, 1.295478 mu:0.312845 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.651292, 0.830714, 1.328777 mu:0.312845 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.331246, 1.587753, 1.276053 mu:0.312845 unit_bearing:0.165009 0.446904 0.879232 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.463261, -1.308984, 1.329002 mu:0.312845 unit_bearing:0.062754 -0.454589 0.888488 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.891988, 0.199029, 0.977481 mu:0.312845 unit_bearing:-0.028882 0.027071 0.999216 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.224099, 1.009130, 1.934452 mu:0.312845 unit_bearing:0.348580 0.242131 0.905464 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.797] If point is visible? -2.199643, 1.012144, 1.963718 mu:0.312845 unit_bearing:0.359738 0.241952 0.901137 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.797] If point is visible? -2.667135, 0.826762, 1.295478 mu:0.312845 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.651292, 0.830714, 1.328777 mu:0.312845 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.217360, 1.035831, 1.928435 mu:0.312845 unit_bearing:0.348444 0.250652 0.903194 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] Z inverse min: 0.727596, Z inverse max: 0.000000 +[21:41:11.797] If point is visible? -2.787179, 0.939688, 0.851602 mu:0.312845 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.331246, 1.587753, 1.276053 mu:0.312845 unit_bearing:0.165009 0.446904 0.879232 T_cur_ref: x=0.165468 y=0.000000 z=0.066544 +[21:41:11.797] If point is visible? -2.549769, 1.340498, 3.273729 mu:0.226850 unit_bearing:0.523549 0.213086 0.824919 T_cur_ref: x=0.158045 y=0.000000 z=0.063896 +[21:41:11.797] Z inverse min: 0.639161, Z inverse max: 0.000000 +[21:41:11.797] add key frame +[21:41:11.797] remove key frame +[21:41:11.797] init seeds +[21:41:11.797] update seed +[21:41:11.797] If point is visible? -2.549769, 1.340498, 3.273729 mu:0.226850 unit_bearing:0.523549 0.213086 0.824919 T_cur_ref: x=0.158045 y=0.000000 z=0.063896 +[21:41:11.797] Z inverse min: 0.639161, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.549769, 1.340498, 3.273729 mu:0.226850 unit_bearing:0.523549 0.213086 0.824919 T_cur_ref: x=0.158045 y=0.000000 z=0.063896 +[21:41:11.798] Z inverse min: 0.639161, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.178805, 0.988844, 1.795885 mu:0.325942 unit_bearing:0.326059 0.251004 0.911418 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.230463, -1.361319, 1.436084 mu:0.325942 unit_bearing:0.121936 -0.495012 0.860287 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.223208, -1.366584, 1.443389 mu:0.325942 unit_bearing:0.124734 -0.497006 0.858736 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.718402, -0.814759, 0.780727 mu:0.325942 unit_bearing:-0.109239 -0.292161 0.950110 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.716518, -0.813748, 0.789332 mu:0.325942 unit_bearing:-0.106367 -0.292175 0.950431 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.716521, -0.806142, 0.797736 mu:0.325942 unit_bearing:-0.103505 -0.290049 0.951398 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.718364, -0.791935, 0.805926 mu:0.325942 unit_bearing:-0.100652 -0.285778 0.952995 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.716402, -0.790922, 0.814511 mu:0.325942 unit_bearing:-0.097778 -0.285791 0.953291 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.718269, -0.784322, 0.814304 mu:0.325942 unit_bearing:-0.097787 -0.283648 0.953930 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.716281, -0.783308, 0.822882 mu:0.325942 unit_bearing:-0.094913 -0.283660 0.954216 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.711466, -0.758416, 0.865024 mu:0.325942 unit_bearing:-0.080556 -0.277281 0.957406 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.696411, -0.699885, 0.965341 mu:0.325942 unit_bearing:-0.046035 -0.262331 0.963879 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.693966, -0.698864, 0.973789 mu:0.325942 unit_bearing:-0.043152 -0.262336 0.964011 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.694050, -0.676952, 0.989905 mu:0.325942 unit_bearing:-0.037396 -0.255887 0.965983 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.694877, -0.684598, 0.981729 mu:0.325942 unit_bearing:-0.040277 -0.258036 0.965295 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.816674, -0.649107, 0.493147 mu:0.325942 unit_bearing:-0.201398 -0.227147 0.952808 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.437340, -0.350802, 1.671328 mu:0.325942 unit_bearing:0.210510 -0.177441 0.961353 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.456764, -0.348127, 1.640270 mu:0.325942 unit_bearing:0.199066 -0.175342 0.964172 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.452228, -0.347135, 1.647953 mu:0.325942 unit_bearing:0.201931 -0.175327 0.963579 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.418029, -0.257578, 1.719157 mu:0.325942 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.415113, -0.243318, 1.725814 mu:0.325942 unit_bearing:0.233573 -0.144833 0.961492 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.412116, -0.229060, 1.732441 mu:0.325942 unit_bearing:0.236454 -0.140484 0.961433 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.408159, -0.221445, 1.739517 mu:0.325942 unit_bearing:0.239322 -0.138301 0.961040 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.503154, -0.221085, 1.584909 mu:0.325942 unit_bearing:0.182042 -0.132044 0.974385 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.504813, -0.207777, 1.583890 mu:0.325942 unit_bearing:0.182057 -0.127698 0.974961 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.786448, -0.250756, 0.911862 mu:0.325942 unit_bearing:-0.054910 -0.114907 0.991857 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.409039, -0.214804, 1.739037 mu:0.325942 unit_bearing:0.239333 -0.136134 0.961347 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.502029, -0.193485, 1.590613 mu:0.325942 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.419660, -0.169275, 1.727974 mu:0.325942 unit_bearing:0.236548 -0.120965 0.964060 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.425255, -0.163599, 1.719883 mu:0.325942 unit_bearing:0.233698 -0.118807 0.965023 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.420428, -0.162631, 1.727450 mu:0.325942 unit_bearing:0.236557 -0.118795 0.964328 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.798] If point is visible? -2.493195, -0.150621, 1.610602 mu:0.325942 unit_bearing:0.193607 -0.110268 0.974863 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.488710, -0.149644, 1.618325 mu:0.325942 unit_bearing:0.196479 -0.110259 0.974289 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.484200, -0.148668, 1.626037 mu:0.325942 unit_bearing:0.199350 -0.110249 0.973707 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.484898, -0.142015, 1.625481 mu:0.325942 unit_bearing:0.199357 -0.108075 0.973949 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.793293, -0.232829, 0.893086 mu:0.325942 unit_bearing:-0.060704 -0.108362 0.992256 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.819230, -0.203246, 0.803848 mu:0.325942 unit_bearing:-0.089647 -0.095247 0.991409 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.810100, -0.205737, 0.838802 mu:0.325942 unit_bearing:-0.078076 -0.097441 0.992174 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.807910, -0.204695, 0.847367 mu:0.325942 unit_bearing:-0.075182 -0.097444 0.992397 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.787699, -0.188672, 0.923502 mu:0.325942 unit_bearing:-0.049136 -0.095285 0.994237 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.804913, -0.127191, 0.874533 mu:0.325942 unit_bearing:-0.063626 -0.073450 0.995267 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.816293, -0.160117, 0.825817 mu:0.325942 unit_bearing:-0.080984 -0.082167 0.993323 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.802121, -0.132816, 0.883724 mu:0.325942 unit_bearing:-0.060730 -0.075635 0.995285 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.909482, -0.192413, 0.168001 mu:0.325942 unit_bearing:-0.293549 -0.066485 0.953629 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.912578, -0.166918, 0.101078 mu:0.325942 unit_bearing:-0.313425 -0.055578 0.947985 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.914292, -0.134933, 0.088410 mu:0.325942 unit_bearing:-0.316283 -0.044728 0.947610 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.662294, 0.064955, 1.284427 mu:0.325942 unit_bearing:0.084114 -0.027570 0.996075 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.669808, 0.082937, 1.265894 mu:0.325942 unit_bearing:0.078327 -0.021016 0.996706 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.666295, 0.083937, 1.274020 mu:0.325942 unit_bearing:0.081221 -0.021016 0.996475 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.670359, 0.122888, 1.261183 mu:0.325942 unit_bearing:0.078329 -0.007904 0.996896 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.666845, 0.123887, 1.269309 mu:0.325942 unit_bearing:0.081223 -0.007904 0.996665 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.916751, -0.005038, -0.000582 mu:0.325942 unit_bearing:-0.338928 0.000830 0.940812 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.567031, 0.189337, 1.472431 mu:0.325942 unit_bearing:0.156353 0.005201 0.987688 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.909421, 0.042751, -0.155323 mu:0.325942 unit_bearing:-0.383797 0.022437 0.923145 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.909262, 0.049326, -0.156173 mu:0.325942 unit_bearing:-0.383794 0.024598 0.923091 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.909882, 0.050467, -0.146993 mu:0.325942 unit_bearing:-0.381002 0.024602 0.924247 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.897270, 0.097823, 0.398128 mu:0.325942 unit_bearing:-0.210813 0.018269 0.977356 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.909088, 0.055899, -0.157027 mu:0.325942 unit_bearing:-0.383790 0.026758 0.923033 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.911399, 0.060468, -0.120330 mu:0.325942 unit_bearing:-0.372611 0.026779 0.927601 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.908696, 0.069045, -0.158747 mu:0.325942 unit_bearing:-0.383782 0.031080 0.922901 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.901466, 0.092659, -0.236663 mu:0.325942 unit_bearing:-0.406022 0.041814 0.912906 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.906811, 0.100744, -0.172297 mu:0.325942 unit_bearing:-0.386545 0.041873 0.921319 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.662335, 0.231310, 1.264015 mu:0.325942 unit_bearing:0.084114 0.027059 0.996089 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.893781, 0.124986, -0.297298 mu:0.325942 unit_bearing:-0.422590 0.054681 0.904670 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.898230, 0.137377, -0.252128 mu:0.325942 unit_bearing:-0.408742 0.056895 0.910875 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.876460, 0.225840, 0.506773 mu:0.325942 unit_bearing:-0.170524 0.055369 0.983797 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.891948, 0.136901, -0.308331 mu:0.325942 unit_bearing:-0.425333 0.058974 0.903114 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.546763, 0.397792, 1.467947 mu:0.325942 unit_bearing:0.164937 0.072817 0.983613 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.862179, 0.125124, -0.504353 mu:0.325942 unit_bearing:-0.482757 0.062950 0.873489 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.863854, 0.126315, -0.495087 mu:0.325942 unit_bearing:-0.480047 0.062967 0.874980 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.865500, 0.127505, -0.485822 mu:0.325942 unit_bearing:-0.477334 0.062984 0.876462 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.885414, 0.123315, -0.362820 mu:0.325942 unit_bearing:-0.441865 0.056743 0.895285 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.873283, 0.174923, -0.426545 mu:0.325942 unit_bearing:-0.458191 0.075970 0.885601 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.547219, 0.391175, 1.468927 mu:0.325942 unit_bearing:0.164940 0.070638 0.983771 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.904400, 0.279621, 0.025467 mu:0.325942 unit_bearing:-0.318943 0.091886 0.943309 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.798] If point is visible? -2.903723, 0.283873, 0.006320 mu:0.325942 unit_bearing:-0.324581 0.094022 0.941173 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.854401, 0.397774, 0.534893 mu:0.325942 unit_bearing:-0.153134 0.109875 0.982078 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.841853, 0.430735, 0.583075 mu:0.325942 unit_bearing:-0.135817 0.118624 0.983607 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.639909, 0.561397, 1.206080 mu:0.325942 unit_bearing:0.081116 0.136148 0.987362 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.639034, 0.567988, 1.204962 mu:0.325942 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.635497, 0.568968, 1.213068 mu:0.325942 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.517187, 0.604171, 1.450743 mu:0.325942 unit_bearing:0.170514 0.140267 0.975321 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.452140, 0.636659, 1.555651 mu:0.325942 unit_bearing:0.210674 0.146610 0.966500 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.511787, 0.668915, 1.431303 mu:0.325942 unit_bearing:0.167554 0.161985 0.972464 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.507519, 0.669837, 1.439116 mu:0.325942 unit_bearing:0.170429 0.161973 0.971966 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.503228, 0.670758, 1.446920 mu:0.325942 unit_bearing:0.173303 0.161960 0.971460 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.634607, 0.575557, 1.211944 mu:0.325942 unit_bearing:0.084000 0.140495 0.986512 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.504258, 0.664199, 1.448105 mu:0.325942 unit_bearing:0.173312 0.159792 0.971818 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.525806, 0.728875, 1.372119 mu:0.325942 unit_bearing:0.150209 0.183734 0.971432 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.520499, 0.736347, 1.378751 mu:0.325942 unit_bearing:0.153076 0.185887 0.970574 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.274938, 1.301164, 1.416444 mu:0.325942 unit_bearing:0.211485 0.367116 0.905815 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.799] If point is visible? -2.270270, 1.301966, 1.424000 mu:0.325942 unit_bearing:0.214318 0.367075 0.905165 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.799] If point is visible? -2.212620, -1.241439, 1.573490 mu:0.325942 unit_bearing:0.170426 -0.461688 0.870517 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.799] If point is visible? -2.297168, -1.307285, 1.369776 mu:0.325942 unit_bearing:0.096691 -0.474898 0.874713 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.799] If point is visible? -2.635494, -1.205024, 0.506457 mu:0.325942 unit_bearing:-0.199354 -0.407522 0.891170 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.653871, -1.183238, -0.322602 mu:0.325942 unit_bearing:-0.454574 -0.367541 0.811342 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.635317, -1.232166, -0.303297 mu:0.325942 unit_bearing:-0.448563 -0.384137 0.806988 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.723754, -0.825390, 0.746429 mu:0.325942 unit_bearing:-0.120710 -0.294237 0.948079 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.698109, -0.693264, 0.965093 mu:0.325942 unit_bearing:-0.046039 -0.260179 0.964462 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.701462, -0.680017, 0.964581 mu:0.325942 unit_bearing:-0.046047 -0.255873 0.965613 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.696546, -0.677974, 0.981471 mu:0.325942 unit_bearing:-0.040280 -0.255883 0.965868 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.786763, -0.673440, -0.513883 mu:0.325942 unit_bearing:-0.507872 -0.195017 0.839068 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.441949, -0.351793, 1.663678 mu:0.325942 unit_bearing:0.207647 -0.177458 0.961973 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.420838, -0.237652, 1.717778 mu:0.325942 unit_bearing:0.230726 -0.142681 0.962501 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.799] If point is visible? -2.427711, -0.184502, 1.713862 mu:0.325942 unit_bearing:0.230810 -0.125331 0.964893 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.799] If point is visible? -2.451241, -0.148506, 1.680267 mu:0.325942 unit_bearing:0.219414 -0.112351 0.969141 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.495481, -0.171561, 1.604511 mu:0.325942 unit_bearing:0.190714 -0.116800 0.974672 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.486535, -0.169602, 1.619964 mu:0.325942 unit_bearing:0.196457 -0.116781 0.973533 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.477491, -0.167647, 1.635375 mu:0.325942 unit_bearing:0.202197 -0.116760 0.972360 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.438821, -0.173153, 1.697640 mu:0.325942 unit_bearing:0.225106 -0.121015 0.966790 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.799] If point is visible? -2.429289, -0.171213, 1.712829 mu:0.325942 unit_bearing:0.230829 -0.120990 0.965443 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.799] If point is visible? -2.820551, -0.162208, 0.808647 mu:0.325942 unit_bearing:-0.086770 -0.082161 0.992835 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.816293, -0.160117, 0.825817 mu:0.325942 unit_bearing:-0.080984 -0.082167 0.993323 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.897815, -0.036002, 0.405399 mu:0.325942 unit_bearing:-0.213678 -0.025314 0.976576 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.895974, 0.112181, 0.405299 mu:0.325942 unit_bearing:-0.207940 0.022629 0.977880 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.831106, 0.235032, 0.744496 mu:0.325942 unit_bearing:-0.092583 0.048899 0.994504 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.893515, 0.127634, 0.421312 mu:0.325942 unit_bearing:-0.202194 0.026993 0.978974 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.855912, 0.396677, 0.526143 mu:0.325942 unit_bearing:-0.156015 0.109867 0.981625 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.852865, 0.398870, 0.543637 mu:0.325942 unit_bearing:-0.150253 0.109882 0.982522 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.540788, 0.687707, 1.363659 mu:0.325942 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.703093, 0.588044, -0.899468 mu:0.325942 unit_bearing:-0.569862 0.228406 0.789359 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.588182, 1.240173, 0.672551 mu:0.325942 unit_bearing:-0.051483 0.376933 0.924808 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.636986, -1.225365, 0.436005 mu:0.325942 unit_bearing:-0.221870 -0.411304 0.884083 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.585897, -1.343507, -0.283770 mu:0.325942 unit_bearing:-0.441617 -0.420933 0.792332 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.730623, -0.829423, 0.711827 mu:0.325942 unit_bearing:-0.132184 -0.294168 0.946569 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.662916, -1.148449, -0.360221 mu:0.325942 unit_bearing:-0.465738 -0.354792 0.810685 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.432118, -1.186826, 1.216141 mu:0.325942 unit_bearing:0.040065 -0.429825 0.902023 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.715995, -0.642296, 0.945995 mu:0.325942 unit_bearing:-0.051839 -0.242931 0.968657 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.432174, -0.226318, 1.701651 mu:0.325942 unit_bearing:0.225028 -0.138374 0.964477 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.799] If point is visible? -2.490753, -0.211479, 1.607653 mu:0.325942 unit_bearing:0.190668 -0.129839 0.973030 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.472762, -0.207553, 1.638505 mu:0.325942 unit_bearing:0.202148 -0.129795 0.970716 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.454381, -0.203639, 1.669184 mu:0.325942 unit_bearing:0.213615 -0.129747 0.968264 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.858191, -0.430407, 0.478994 mu:0.325942 unit_bearing:-0.201833 -0.155832 0.966943 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.853664, -0.426231, 0.514371 mu:0.325942 unit_bearing:-0.190360 -0.155886 0.969259 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.852673, -0.395475, 0.547610 mu:0.325942 unit_bearing:-0.178911 -0.147257 0.972783 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.790678, 0.240699, 0.900068 mu:0.325942 unit_bearing:-0.040469 0.044553 0.998187 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.627349, 0.602873, 1.215498 mu:0.325942 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.612861, 0.606765, 1.247788 mu:0.325942 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.542946, 0.674590, 1.366056 mu:0.325942 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.623427, 0.629185, 1.210878 mu:0.325942 unit_bearing:0.086856 0.157887 0.983630 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.608939, 0.633072, 1.243161 mu:0.325942 unit_bearing:0.098409 0.157863 0.982545 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.908166, 0.201169, -0.065085 mu:0.325942 unit_bearing:-0.350044 0.070103 0.934106 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.589642, 0.812582, 1.176385 mu:0.325942 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.575159, 0.816429, 1.208609 mu:0.325942 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.704011, 0.560067, -0.913355 mu:0.325942 unit_bearing:-0.575268 0.219906 0.787850 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.580666, 0.790328, 1.213777 mu:0.325942 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.178805, 0.988844, 1.795885 mu:0.325942 unit_bearing:0.326059 0.251004 0.911418 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:11.799] If point is visible? -2.698585, 0.872423, 0.791786 mu:0.325942 unit_bearing:-0.040284 0.253225 0.966568 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -2.593159, 1.227526, 0.675750 mu:0.325942 unit_bearing:-0.051497 0.372715 0.926516 T_cur_ref: x=0.150646 y=0.000000 z=0.061344 +[21:41:11.799] If point is visible? -3.984172, 1.199922, 2.231003 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.143322 y=0.000000 z=0.058530 +[21:41:11.799] If point is visible? -3.984172, 1.199922, 2.231003 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.143322 y=0.000000 z=0.058530 +[21:41:11.799] If point is visible? -160357.327359, -44111.576304, -20025.104146 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.135770 y=0.000000 z=0.055808 +[21:41:11.799] If point is visible? -161279.327941, -39968.561920, -21279.108171 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.135770 y=0.000000 z=0.055808 +[21:41:11.799] If point is visible? -147248.801245, 44982.644583, 65997.528568 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.135770 y=0.000000 z=0.055808 +[21:41:11.799] If point is visible? -149333.971238, 66070.447074, 37354.770155 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.135770 y=0.000000 z=0.055808 +[21:41:11.799] If point is visible? -160357.327359, -44111.576304, -20025.104146 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.135770 y=0.000000 z=0.055808 +[21:41:11.799] If point is visible? -161279.327941, -39968.561920, -21279.108171 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.135770 y=0.000000 z=0.055808 +[21:41:11.799] If point is visible? -147248.801245, 44982.644583, 65997.528568 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.135770 y=0.000000 z=0.055808 +[21:41:11.799] If point is visible? -149333.971238, 66070.447074, 37354.770155 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.135770 y=0.000000 z=0.055808 +[21:41:11.800] If point is visible? -2.409119, 1.627007, 1.408760 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.126211 y=0.000000 z=0.051953 +[21:41:11.800] If point is visible? -2.959283, 0.956093, 0.745916 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.126211 y=0.000000 z=0.051953 +[21:41:11.800] If point is visible? -2.409119, 1.627007, 1.408760 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.126211 y=0.000000 z=0.051953 +[21:41:11.800] If point is visible? -2.959283, 0.956093, 0.745916 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.126211 y=0.000000 z=0.051953 +[21:41:11.800] If point is visible? -2.773531, 0.840383, 0.713987 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.114154 y=0.000000 z=0.047450 +[21:41:11.800] If point is visible? -2.671479, 1.291714, -0.199457 mu:0.324627 unit_bearing:-0.355005 0.425968 0.832180 T_cur_ref: x=0.114154 y=0.000000 z=0.047450 +[21:41:11.800] If point is visible? -2.683318, 1.267166, -0.192718 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.114154 y=0.000000 z=0.047450 +[21:41:11.800] If point is visible? -2.773531, 0.840383, 0.713987 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.114154 y=0.000000 z=0.047450 +[21:41:11.800] If point is visible? -2.683318, 1.267166, -0.192718 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.114154 y=0.000000 z=0.047450 +[21:41:11.800] If point is visible? -157001954095.500671, 1091437484.317157, 30705986818.902782 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.106549 y=0.000000 z=0.044538 +[21:41:11.800] If point is visible? -124198397207.133820, 49953641192.578041, 87595972024.430115 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.106549 y=0.000000 z=0.044538 +[21:41:11.800] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:11.800] If point is visible? -157001954095.500671, 1091437484.317157, 30705986818.902782 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.106549 y=0.000000 z=0.044538 +[21:41:11.800] If point is visible? -124198397207.133820, 49953641192.578041, 87595972024.430115 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.106549 y=0.000000 z=0.044538 +[21:41:11.800] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:11.800] If point is visible? -2.011083, 0.915194, 1.677991 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.098905 y=0.000000 z=0.041659 +[21:41:11.800] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:11.800] If point is visible? -2.399614, 1.100063, 0.758928 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.098905 y=0.000000 z=0.041659 +[21:41:11.800] If point is visible? -2.011083, 0.915194, 1.677991 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.098905 y=0.000000 z=0.041659 +[21:41:11.800] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:11.800] If point is visible? -2.399614, 1.100063, 0.758928 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.098905 y=0.000000 z=0.041659 +[21:41:11.800] If point is visible? -0.344778, 0.135071, 0.242959 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.090221 y=0.000000 z=0.038363 +[21:41:11.800] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:11.800] If point is visible? -0.340330, 0.132040, 0.254048 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.090221 y=0.000000 z=0.038363 +[21:41:11.800] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:11.800] If point is visible? -0.344778, 0.135071, 0.242959 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.090221 y=0.000000 z=0.038363 +[21:41:11.800] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:11.800] If point is visible? -0.340330, 0.132040, 0.254048 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.090221 y=0.000000 z=0.038363 +[21:41:11.800] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:11.800] If point is visible? -3.506668, 1.093495, 1.625193 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.566807, 1.543688, 0.984593 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.198195, -1.498388, 1.933465 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:11.800] If point is visible? -3.136135, -1.378939, 2.121406 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:11.800] If point is visible? -3.126738, -1.386216, 2.131078 mu:0.245118 unit_bearing:0.154294 -0.399783 0.903530 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:11.800] If point is visible? -3.397594, -1.130826, 1.829245 mu:0.245118 unit_bearing:0.069067 -0.328632 0.941929 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.730225, -0.925085, 1.134200 mu:0.245118 unit_bearing:-0.112281 -0.257815 0.959648 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.727272, -0.923744, 1.145555 mu:0.245118 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.734421, -0.946715, 1.100597 mu:0.245118 unit_bearing:-0.120885 -0.262074 0.957447 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.731569, -0.945376, 1.111984 mu:0.245118 unit_bearing:-0.118011 -0.262088 0.957801 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.723803, -0.883125, 1.189748 mu:0.245118 unit_bearing:-0.097930 -0.249266 0.963471 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.716222, -0.841120, 1.244933 mu:0.245118 unit_bearing:-0.083559 -0.240695 0.966997 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.712932, -0.839774, 1.256184 mu:0.245118 unit_bearing:-0.080677 -0.240704 0.967240 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.717417, -0.851289, 1.233988 mu:0.245118 unit_bearing:-0.086433 -0.242842 0.966208 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.714160, -0.849944, 1.245249 mu:0.245118 unit_bearing:-0.083552 -0.242851 0.966459 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.710871, -0.848599, 1.256499 mu:0.245118 unit_bearing:-0.080670 -0.242860 0.966701 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.690162, -0.773329, 1.366060 mu:0.245118 unit_bearing:-0.051867 -0.227820 0.972321 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.686508, -0.771983, 1.377188 mu:0.245118 unit_bearing:-0.048981 -0.227825 0.972469 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.690335, -0.754306, 1.376466 mu:0.245118 unit_bearing:-0.048988 -0.223503 0.973471 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.686647, -0.752960, 1.387583 mu:0.245118 unit_bearing:-0.046102 -0.223508 0.973611 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.313218, -0.477498, 2.238100 mu:0.245118 unit_bearing:0.187562 -0.181897 0.965264 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.346607, -0.347382, 2.210436 mu:0.245118 unit_bearing:0.181975 -0.149415 0.971885 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.340350, -0.346096, 2.220503 mu:0.245118 unit_bearing:0.184847 -0.149403 0.971345 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.377342, -0.308263, 2.167086 mu:0.245118 unit_bearing:0.170520 -0.138603 0.975557 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.321032, -0.296724, 2.257723 mu:0.245118 unit_bearing:0.196374 -0.138503 0.970698 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.320185, -0.251202, 2.264631 mu:0.245118 unit_bearing:0.199287 -0.127634 0.971594 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.406214, -0.223549, 2.130148 mu:0.245118 unit_bearing:0.161956 -0.116889 0.979851 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.416866, -0.180537, 2.116435 mu:0.245118 unit_bearing:0.159105 -0.106015 0.981553 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.414255, -0.143819, 2.123690 mu:0.245118 unit_bearing:0.162006 -0.097299 0.981981 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.793503, -0.213062, 1.272771 mu:0.245118 unit_bearing:-0.066509 -0.088726 0.993833 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.404507, -0.114690, 2.141765 mu:0.245118 unit_bearing:0.167780 -0.090752 0.981638 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.398410, -0.113416, 2.151925 mu:0.245118 unit_bearing:0.170659 -0.090745 0.981143 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.329248, -0.099488, 2.262683 mu:0.245118 unit_bearing:0.202280 -0.090665 0.975122 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.797717, -0.205562, 1.260729 mu:0.245118 unit_bearing:-0.069406 -0.086541 0.993828 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.342856, -0.093157, 2.241911 mu:0.245118 unit_bearing:0.196543 -0.088505 0.976493 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.835355, -0.157247, 1.141921 mu:0.245118 unit_bearing:-0.098349 -0.071238 0.992599 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.832201, -0.155866, 1.153263 mu:0.245118 unit_bearing:-0.095458 -0.071241 0.992881 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.806673, -0.181698, 1.235755 mu:0.245118 unit_bearing:-0.075199 -0.079990 0.993955 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.818652, -0.159219, 1.199385 mu:0.245118 unit_bearing:-0.083885 -0.073434 0.993766 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.818027, -0.168085, 1.200240 mu:0.245118 unit_bearing:-0.083883 -0.075617 0.993602 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.343586, -0.084306, 2.241131 mu:0.245118 unit_bearing:0.196548 -0.086328 0.976686 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.803059, -0.071177, 1.258942 mu:0.245118 unit_bearing:-0.066533 -0.053794 0.996333 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.806982, -0.063685, 1.246787 mu:0.245118 unit_bearing:-0.069429 -0.051608 0.996251 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.974523, -0.143112, 0.371879 mu:0.245118 unit_bearing:-0.285080 -0.044796 0.957456 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.978029, -0.101969, 0.343068 mu:0.245118 unit_bearing:-0.290785 -0.033926 0.956187 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.977147, -0.100515, 0.355061 mu:0.245118 unit_bearing:-0.287943 -0.033930 0.957046 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.980303, -0.050599, 0.325060 mu:0.245118 unit_bearing:-0.293642 -0.020890 0.955687 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.979456, -0.049137, 0.337061 mu:0.245118 unit_bearing:-0.290801 -0.020893 0.956555 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.978574, -0.047676, 0.349053 mu:0.245118 unit_bearing:-0.287959 -0.020895 0.957415 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.623019, 0.138704, 1.724833 mu:0.245118 unit_bearing:0.060954 -0.016649 0.998002 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.981052, 0.002205, 0.318827 mu:0.245118 unit_bearing:-0.293651 -0.007857 0.955880 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.980205, 0.003674, 0.330828 mu:0.245118 unit_bearing:-0.290810 -0.007858 0.956749 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.979322, 0.005142, 0.342820 mu:0.245118 unit_bearing:-0.287967 -0.007859 0.957608 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.473658, 0.227961, 2.012621 mu:0.245118 unit_bearing:0.141929 -0.003530 0.989871 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] If point is visible? -3.467846, 0.229227, 2.022923 mu:0.245118 unit_bearing:0.144815 -0.003530 0.989452 T_cur_ref: x=0.088932 y=0.000000 z=0.037851 +[21:41:11.800] init seeds +[21:41:11.800] DepthFilter: Initialized 3 new seeds +[21:41:11.803] DepthFilter: Initialized 3 new seeds +[21:41:12.407] add new frame +[21:41:12.407] update seed +[21:41:12.407] If point is visible? -2.541100, 1.340498, 3.277744 mu:0.226850 unit_bearing:0.523549 0.213086 0.824919 T_cur_ref: x=0.166714 y=0.000000 z=0.067911 +[21:41:12.407] Z inverse min: 0.639161, Z inverse max: 0.000000 +[21:41:12.407] If point is visible? -2.541100, 1.340498, 3.277744 mu:0.226850 unit_bearing:0.523549 0.213086 0.824919 T_cur_ref: x=0.166714 y=0.000000 z=0.067911 +[21:41:12.407] Z inverse min: 0.639161, Z inverse max: 0.000000 +[21:41:12.407] If point is visible? -2.170136, 0.988844, 1.799899 mu:0.325942 unit_bearing:0.326059 0.251004 0.911418 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.407] If point is visible? -2.221794, -1.361319, 1.440099 mu:0.325942 unit_bearing:0.121936 -0.495012 0.860287 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.407] If point is visible? -2.214539, -1.366584, 1.447404 mu:0.325942 unit_bearing:0.124734 -0.497006 0.858736 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.407] If point is visible? -2.709733, -0.814759, 0.784742 mu:0.325942 unit_bearing:-0.109239 -0.292161 0.950110 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.707849, -0.813748, 0.793347 mu:0.325942 unit_bearing:-0.106367 -0.292175 0.950431 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.707852, -0.806142, 0.801750 mu:0.325942 unit_bearing:-0.103505 -0.290049 0.951398 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.709695, -0.791935, 0.809940 mu:0.325942 unit_bearing:-0.100652 -0.285778 0.952995 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.707733, -0.790922, 0.818525 mu:0.325942 unit_bearing:-0.097778 -0.285791 0.953291 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.709600, -0.784322, 0.818318 mu:0.325942 unit_bearing:-0.097787 -0.283648 0.953930 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.707612, -0.783308, 0.826897 mu:0.325942 unit_bearing:-0.094913 -0.283660 0.954216 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.702797, -0.758416, 0.869039 mu:0.325942 unit_bearing:-0.080556 -0.277281 0.957406 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.687742, -0.699885, 0.969356 mu:0.325942 unit_bearing:-0.046035 -0.262331 0.963879 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.685297, -0.698864, 0.977803 mu:0.325942 unit_bearing:-0.043152 -0.262336 0.964011 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.685381, -0.676952, 0.993919 mu:0.325942 unit_bearing:-0.037396 -0.255887 0.965983 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.686208, -0.684598, 0.985743 mu:0.325942 unit_bearing:-0.040277 -0.258036 0.965295 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.808005, -0.649107, 0.497162 mu:0.325942 unit_bearing:-0.201398 -0.227147 0.952808 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.428671, -0.350802, 1.675343 mu:0.325942 unit_bearing:0.210510 -0.177441 0.961353 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.407] add key frame +[21:41:12.407] remove key frame +[21:41:12.407] init seeds +[21:41:12.407] update seed +[21:41:12.407] If point is visible? -2.170136, 0.988844, 1.799899 mu:0.325942 unit_bearing:0.326059 0.251004 0.911418 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.407] If point is visible? -2.221794, -1.361319, 1.440099 mu:0.325942 unit_bearing:0.121936 -0.495012 0.860287 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.407] If point is visible? -2.214539, -1.366584, 1.447404 mu:0.325942 unit_bearing:0.124734 -0.497006 0.858736 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.407] If point is visible? -2.709733, -0.814759, 0.784742 mu:0.325942 unit_bearing:-0.109239 -0.292161 0.950110 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.707849, -0.813748, 0.793347 mu:0.325942 unit_bearing:-0.106367 -0.292175 0.950431 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.707852, -0.806142, 0.801750 mu:0.325942 unit_bearing:-0.103505 -0.290049 0.951398 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.709695, -0.791935, 0.809940 mu:0.325942 unit_bearing:-0.100652 -0.285778 0.952995 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.707733, -0.790922, 0.818525 mu:0.325942 unit_bearing:-0.097778 -0.285791 0.953291 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.709600, -0.784322, 0.818318 mu:0.325942 unit_bearing:-0.097787 -0.283648 0.953930 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.707612, -0.783308, 0.826897 mu:0.325942 unit_bearing:-0.094913 -0.283660 0.954216 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.702797, -0.758416, 0.869039 mu:0.325942 unit_bearing:-0.080556 -0.277281 0.957406 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.687742, -0.699885, 0.969356 mu:0.325942 unit_bearing:-0.046035 -0.262331 0.963879 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.685297, -0.698864, 0.977803 mu:0.325942 unit_bearing:-0.043152 -0.262336 0.964011 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.685381, -0.676952, 0.993919 mu:0.325942 unit_bearing:-0.037396 -0.255887 0.965983 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.686208, -0.684598, 0.985743 mu:0.325942 unit_bearing:-0.040277 -0.258036 0.965295 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.808005, -0.649107, 0.497162 mu:0.325942 unit_bearing:-0.201398 -0.227147 0.952808 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] If point is visible? -2.428671, -0.350802, 1.675343 mu:0.325942 unit_bearing:0.210510 -0.177441 0.961353 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.407] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.408] If point is visible? -2.448094, -0.348127, 1.644284 mu:0.325942 unit_bearing:0.199066 -0.175342 0.964172 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.443559, -0.347135, 1.651968 mu:0.325942 unit_bearing:0.201931 -0.175327 0.963579 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.409360, -0.257578, 1.723172 mu:0.325942 unit_bearing:0.230692 -0.149182 0.961523 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.408] If point is visible? -2.406444, -0.243318, 1.729829 mu:0.325942 unit_bearing:0.233573 -0.144833 0.961492 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.408] If point is visible? -2.403447, -0.229060, 1.736456 mu:0.325942 unit_bearing:0.236454 -0.140484 0.961433 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.408] If point is visible? -2.399489, -0.221445, 1.743531 mu:0.325942 unit_bearing:0.239322 -0.138301 0.961040 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.408] If point is visible? -2.494485, -0.221085, 1.588924 mu:0.325942 unit_bearing:0.182042 -0.132044 0.974385 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.496144, -0.207777, 1.587905 mu:0.325942 unit_bearing:0.182057 -0.127698 0.974961 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.777779, -0.250756, 0.915876 mu:0.325942 unit_bearing:-0.054910 -0.114907 0.991857 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.400370, -0.214804, 1.743052 mu:0.325942 unit_bearing:0.239333 -0.136134 0.961347 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.408] If point is visible? -2.493360, -0.193485, 1.594627 mu:0.325942 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.410991, -0.169275, 1.731988 mu:0.325942 unit_bearing:0.236548 -0.120965 0.964060 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.408] If point is visible? -2.416586, -0.163599, 1.723898 mu:0.325942 unit_bearing:0.233698 -0.118807 0.965023 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.408] If point is visible? -2.411759, -0.162631, 1.731465 mu:0.325942 unit_bearing:0.236557 -0.118795 0.964328 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.408] If point is visible? -2.484526, -0.150621, 1.614617 mu:0.325942 unit_bearing:0.193607 -0.110268 0.974863 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.480041, -0.149644, 1.622340 mu:0.325942 unit_bearing:0.196479 -0.110259 0.974289 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.475531, -0.148668, 1.630052 mu:0.325942 unit_bearing:0.199350 -0.110249 0.973707 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.476229, -0.142015, 1.629495 mu:0.325942 unit_bearing:0.199357 -0.108075 0.973949 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.784624, -0.232829, 0.897101 mu:0.325942 unit_bearing:-0.060704 -0.108362 0.992256 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.810561, -0.203246, 0.807863 mu:0.325942 unit_bearing:-0.089647 -0.095247 0.991409 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.801431, -0.205737, 0.842816 mu:0.325942 unit_bearing:-0.078076 -0.097441 0.992174 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.799240, -0.204695, 0.851381 mu:0.325942 unit_bearing:-0.075182 -0.097444 0.992397 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.779030, -0.188672, 0.927516 mu:0.325942 unit_bearing:-0.049136 -0.095285 0.994237 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.796244, -0.127191, 0.878547 mu:0.325942 unit_bearing:-0.063626 -0.073450 0.995267 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.807624, -0.160117, 0.829832 mu:0.325942 unit_bearing:-0.080984 -0.082167 0.993323 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.793452, -0.132816, 0.887738 mu:0.325942 unit_bearing:-0.060730 -0.075635 0.995285 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.900813, -0.192413, 0.172015 mu:0.325942 unit_bearing:-0.293549 -0.066485 0.953629 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.903909, -0.166918, 0.105092 mu:0.325942 unit_bearing:-0.313425 -0.055578 0.947985 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.905623, -0.134933, 0.092424 mu:0.325942 unit_bearing:-0.316283 -0.044728 0.947610 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.653625, 0.064955, 1.288441 mu:0.325942 unit_bearing:0.084114 -0.027570 0.996075 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.661139, 0.082937, 1.269909 mu:0.325942 unit_bearing:0.078327 -0.021016 0.996706 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.657625, 0.083937, 1.278035 mu:0.325942 unit_bearing:0.081221 -0.021016 0.996475 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.661690, 0.122888, 1.265198 mu:0.325942 unit_bearing:0.078329 -0.007904 0.996896 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.658176, 0.123887, 1.273324 mu:0.325942 unit_bearing:0.081223 -0.007904 0.996665 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.908082, -0.005038, 0.003433 mu:0.325942 unit_bearing:-0.338928 0.000830 0.940812 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.558362, 0.189337, 1.476445 mu:0.325942 unit_bearing:0.156353 0.005201 0.987688 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.900752, 0.042751, -0.151308 mu:0.325942 unit_bearing:-0.383797 0.022437 0.923145 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.900593, 0.049326, -0.152159 mu:0.325942 unit_bearing:-0.383794 0.024598 0.923091 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.901213, 0.050467, -0.142979 mu:0.325942 unit_bearing:-0.381002 0.024602 0.924247 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.888601, 0.097823, 0.402143 mu:0.325942 unit_bearing:-0.210813 0.018269 0.977356 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.900419, 0.055899, -0.153013 mu:0.325942 unit_bearing:-0.383790 0.026758 0.923033 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.902730, 0.060468, -0.116315 mu:0.325942 unit_bearing:-0.372611 0.026779 0.927601 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.900027, 0.069045, -0.154733 mu:0.325942 unit_bearing:-0.383782 0.031080 0.922901 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.892797, 0.092659, -0.232649 mu:0.325942 unit_bearing:-0.406022 0.041814 0.912906 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.898142, 0.100744, -0.168282 mu:0.325942 unit_bearing:-0.386545 0.041873 0.921319 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.653666, 0.231310, 1.268030 mu:0.325942 unit_bearing:0.084114 0.027059 0.996089 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.885112, 0.124986, -0.293284 mu:0.325942 unit_bearing:-0.422590 0.054681 0.904670 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.889561, 0.137377, -0.248113 mu:0.325942 unit_bearing:-0.408742 0.056895 0.910875 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.867791, 0.225840, 0.510788 mu:0.325942 unit_bearing:-0.170524 0.055369 0.983797 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.883279, 0.136901, -0.304317 mu:0.325942 unit_bearing:-0.425333 0.058974 0.903114 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.538093, 0.397792, 1.471961 mu:0.325942 unit_bearing:0.164937 0.072817 0.983613 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.853510, 0.125124, -0.500339 mu:0.325942 unit_bearing:-0.482757 0.062950 0.873489 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.855185, 0.126315, -0.491073 mu:0.325942 unit_bearing:-0.480047 0.062967 0.874980 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.856831, 0.127505, -0.481808 mu:0.325942 unit_bearing:-0.477334 0.062984 0.876462 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.876745, 0.123315, -0.358806 mu:0.325942 unit_bearing:-0.441865 0.056743 0.895285 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.864614, 0.174923, -0.422531 mu:0.325942 unit_bearing:-0.458191 0.075970 0.885601 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.538550, 0.391175, 1.472941 mu:0.325942 unit_bearing:0.164940 0.070638 0.983771 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.895731, 0.279621, 0.029482 mu:0.325942 unit_bearing:-0.318943 0.091886 0.943309 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.895054, 0.283873, 0.010334 mu:0.325942 unit_bearing:-0.324581 0.094022 0.941173 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.845732, 0.397774, 0.538908 mu:0.325942 unit_bearing:-0.153134 0.109875 0.982078 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.833183, 0.430735, 0.587089 mu:0.325942 unit_bearing:-0.135817 0.118624 0.983607 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.631240, 0.561397, 1.210094 mu:0.325942 unit_bearing:0.081116 0.136148 0.987362 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.630364, 0.567988, 1.208976 mu:0.325942 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.626827, 0.568968, 1.217082 mu:0.325942 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.508518, 0.604171, 1.454758 mu:0.325942 unit_bearing:0.170514 0.140267 0.975321 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.443471, 0.636659, 1.559666 mu:0.325942 unit_bearing:0.210674 0.146610 0.966500 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.503118, 0.668915, 1.435318 mu:0.325942 unit_bearing:0.167554 0.161985 0.972464 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.498850, 0.669837, 1.443131 mu:0.325942 unit_bearing:0.170429 0.161973 0.971966 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.494559, 0.670758, 1.450934 mu:0.325942 unit_bearing:0.173303 0.161960 0.971460 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.625938, 0.575557, 1.215959 mu:0.325942 unit_bearing:0.084000 0.140495 0.986512 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.495589, 0.664199, 1.452120 mu:0.325942 unit_bearing:0.173312 0.159792 0.971818 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.517136, 0.728875, 1.376133 mu:0.325942 unit_bearing:0.150209 0.183734 0.971432 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.511830, 0.736347, 1.382765 mu:0.325942 unit_bearing:0.153076 0.185887 0.970574 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] If point is visible? -2.266269, 1.301164, 1.420459 mu:0.325942 unit_bearing:0.211485 0.367116 0.905815 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.408] If point is visible? -2.261601, 1.301966, 1.428015 mu:0.325942 unit_bearing:0.214318 0.367075 0.905165 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.408] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.408] If point is visible? -2.203951, -1.241439, 1.577505 mu:0.325942 unit_bearing:0.170426 -0.461688 0.870517 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -2.288499, -1.307285, 1.373790 mu:0.325942 unit_bearing:0.096691 -0.474898 0.874713 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -2.626825, -1.205024, 0.510471 mu:0.325942 unit_bearing:-0.199354 -0.407522 0.891170 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.645202, -1.183238, -0.318588 mu:0.325942 unit_bearing:-0.454574 -0.367541 0.811342 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.626648, -1.232166, -0.299282 mu:0.325942 unit_bearing:-0.448563 -0.384137 0.806988 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.715084, -0.825390, 0.750444 mu:0.325942 unit_bearing:-0.120710 -0.294237 0.948079 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.689440, -0.693264, 0.969107 mu:0.325942 unit_bearing:-0.046039 -0.260179 0.964462 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.692793, -0.680017, 0.968595 mu:0.325942 unit_bearing:-0.046047 -0.255873 0.965613 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.687876, -0.677974, 0.985486 mu:0.325942 unit_bearing:-0.040280 -0.255883 0.965868 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.778094, -0.673440, -0.509869 mu:0.325942 unit_bearing:-0.507872 -0.195017 0.839068 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.433280, -0.351793, 1.667692 mu:0.325942 unit_bearing:0.207647 -0.177458 0.961973 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -2.412169, -0.237652, 1.721792 mu:0.325942 unit_bearing:0.230726 -0.142681 0.962501 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -2.419042, -0.184502, 1.717876 mu:0.325942 unit_bearing:0.230810 -0.125331 0.964893 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -2.442572, -0.148506, 1.684282 mu:0.325942 unit_bearing:0.219414 -0.112351 0.969141 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -2.486812, -0.171561, 1.608525 mu:0.325942 unit_bearing:0.190714 -0.116800 0.974672 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.477865, -0.169602, 1.623979 mu:0.325942 unit_bearing:0.196457 -0.116781 0.973533 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.468822, -0.167647, 1.639389 mu:0.325942 unit_bearing:0.202197 -0.116760 0.972360 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.430152, -0.173153, 1.701654 mu:0.325942 unit_bearing:0.225106 -0.121015 0.966790 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -2.420620, -0.171213, 1.716844 mu:0.325942 unit_bearing:0.230829 -0.120990 0.965443 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -2.811882, -0.162208, 0.812661 mu:0.325942 unit_bearing:-0.086770 -0.082161 0.992835 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.807624, -0.160117, 0.829832 mu:0.325942 unit_bearing:-0.080984 -0.082167 0.993323 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.889146, -0.036002, 0.409414 mu:0.325942 unit_bearing:-0.213678 -0.025314 0.976576 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.887305, 0.112181, 0.409313 mu:0.325942 unit_bearing:-0.207940 0.022629 0.977880 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.822437, 0.235032, 0.748511 mu:0.325942 unit_bearing:-0.092583 0.048899 0.994504 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.884846, 0.127634, 0.425327 mu:0.325942 unit_bearing:-0.202194 0.026993 0.978974 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.847243, 0.396677, 0.530157 mu:0.325942 unit_bearing:-0.156015 0.109867 0.981625 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.844196, 0.398870, 0.547652 mu:0.325942 unit_bearing:-0.150253 0.109882 0.982522 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.532119, 0.687707, 1.367674 mu:0.325942 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.694424, 0.588044, -0.895454 mu:0.325942 unit_bearing:-0.569862 0.228406 0.789359 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.579513, 1.240173, 0.676566 mu:0.325942 unit_bearing:-0.051483 0.376933 0.924808 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.628317, -1.225365, 0.440020 mu:0.325942 unit_bearing:-0.221870 -0.411304 0.884083 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.577228, -1.343507, -0.279756 mu:0.325942 unit_bearing:-0.441617 -0.420933 0.792332 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.721954, -0.829423, 0.715841 mu:0.325942 unit_bearing:-0.132184 -0.294168 0.946569 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.654247, -1.148449, -0.356206 mu:0.325942 unit_bearing:-0.465738 -0.354792 0.810685 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.423449, -1.186826, 1.220156 mu:0.325942 unit_bearing:0.040065 -0.429825 0.902023 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.707326, -0.642296, 0.950010 mu:0.325942 unit_bearing:-0.051839 -0.242931 0.968657 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.423505, -0.226318, 1.705665 mu:0.325942 unit_bearing:0.225028 -0.138374 0.964477 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -2.482084, -0.211479, 1.611668 mu:0.325942 unit_bearing:0.190668 -0.129839 0.973030 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.464093, -0.207553, 1.642520 mu:0.325942 unit_bearing:0.202148 -0.129795 0.970716 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.445712, -0.203639, 1.673199 mu:0.325942 unit_bearing:0.213615 -0.129747 0.968264 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.849522, -0.430407, 0.483008 mu:0.325942 unit_bearing:-0.201833 -0.155832 0.966943 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.844995, -0.426231, 0.518385 mu:0.325942 unit_bearing:-0.190360 -0.155886 0.969259 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.844004, -0.395475, 0.551624 mu:0.325942 unit_bearing:-0.178911 -0.147257 0.972783 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.782009, 0.240699, 0.904082 mu:0.325942 unit_bearing:-0.040469 0.044553 0.998187 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.618680, 0.602873, 1.219513 mu:0.325942 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.604192, 0.606765, 1.251802 mu:0.325942 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.534277, 0.674590, 1.370070 mu:0.325942 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.614758, 0.629185, 1.214893 mu:0.325942 unit_bearing:0.086856 0.157887 0.983630 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.600270, 0.633072, 1.247176 mu:0.325942 unit_bearing:0.098409 0.157863 0.982545 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.899497, 0.201169, -0.061071 mu:0.325942 unit_bearing:-0.350044 0.070103 0.934106 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.580973, 0.812582, 1.180400 mu:0.325942 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.566489, 0.816429, 1.212623 mu:0.325942 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.695342, 0.560067, -0.909341 mu:0.325942 unit_bearing:-0.575268 0.219906 0.787850 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.571996, 0.790328, 1.217792 mu:0.325942 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.170136, 0.988844, 1.799899 mu:0.325942 unit_bearing:0.326059 0.251004 0.911418 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -2.689916, 0.872423, 0.795801 mu:0.325942 unit_bearing:-0.040284 0.253225 0.966568 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -2.584490, 1.227526, 0.679764 mu:0.325942 unit_bearing:-0.051497 0.372715 0.926516 T_cur_ref: x=0.159315 y=0.000000 z=0.065359 +[21:41:12.409] If point is visible? -3.975503, 1.199922, 2.235017 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.151991 y=0.000000 z=0.062544 +[21:41:12.409] If point is visible? -3.975503, 1.199922, 2.235017 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.151991 y=0.000000 z=0.062544 +[21:41:12.409] If point is visible? -160357.318690, -44111.576304, -20025.100131 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.144439 y=0.000000 z=0.059822 +[21:41:12.409] If point is visible? -161279.319272, -39968.561920, -21279.104156 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.144439 y=0.000000 z=0.059822 +[21:41:12.409] If point is visible? -147248.792576, 44982.644583, 65997.532582 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.144439 y=0.000000 z=0.059822 +[21:41:12.409] If point is visible? -149333.962569, 66070.447074, 37354.774170 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.144439 y=0.000000 z=0.059822 +[21:41:12.409] If point is visible? -160357.318690, -44111.576304, -20025.100131 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.144439 y=0.000000 z=0.059822 +[21:41:12.409] If point is visible? -161279.319272, -39968.561920, -21279.104156 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.144439 y=0.000000 z=0.059822 +[21:41:12.409] If point is visible? -147248.792576, 44982.644583, 65997.532582 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.144439 y=0.000000 z=0.059822 +[21:41:12.409] If point is visible? -149333.962569, 66070.447074, 37354.774170 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.144439 y=0.000000 z=0.059822 +[21:41:12.409] If point is visible? -2.400450, 1.627007, 1.412775 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.134880 y=0.000000 z=0.055968 +[21:41:12.409] If point is visible? -2.950614, 0.956093, 0.749931 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.134880 y=0.000000 z=0.055968 +[21:41:12.409] If point is visible? -2.400450, 1.627007, 1.412775 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.134880 y=0.000000 z=0.055968 +[21:41:12.409] If point is visible? -2.950614, 0.956093, 0.749931 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.134880 y=0.000000 z=0.055968 +[21:41:12.409] If point is visible? -2.764862, 0.840383, 0.718001 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.122823 y=0.000000 z=0.051464 +[21:41:12.409] If point is visible? -2.662810, 1.291714, -0.195442 mu:0.324627 unit_bearing:-0.355005 0.425968 0.832180 T_cur_ref: x=0.122823 y=0.000000 z=0.051464 +[21:41:12.409] If point is visible? -2.674649, 1.267166, -0.188704 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.122823 y=0.000000 z=0.051464 +[21:41:12.409] If point is visible? -2.764862, 0.840383, 0.718001 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.122823 y=0.000000 z=0.051464 +[21:41:12.409] If point is visible? -2.674649, 1.267166, -0.188704 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.122823 y=0.000000 z=0.051464 +[21:41:12.409] If point is visible? -157001954095.492004, 1091437484.317157, 30705986818.906799 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.115218 y=0.000000 z=0.048552 +[21:41:12.409] If point is visible? -124198397207.125153, 49953641192.578041, 87595972024.434128 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.115218 y=0.000000 z=0.048552 +[21:41:12.409] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -157001954095.492004, 1091437484.317157, 30705986818.906799 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.115218 y=0.000000 z=0.048552 +[21:41:12.409] If point is visible? -124198397207.125153, 49953641192.578041, 87595972024.434128 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.115218 y=0.000000 z=0.048552 +[21:41:12.409] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:12.409] If point is visible? -2.002414, 0.915194, 1.682005 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.107574 y=0.000000 z=0.045674 +[21:41:12.409] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:12.409] If point is visible? -2.390945, 1.100063, 0.762942 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.107574 y=0.000000 z=0.045674 +[21:41:12.409] If point is visible? -2.002414, 0.915194, 1.682005 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.107574 y=0.000000 z=0.045674 +[21:41:12.409] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:12.410] If point is visible? -2.390945, 1.100063, 0.762942 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.107574 y=0.000000 z=0.045674 +[21:41:12.410] If point is visible? -0.336109, 0.135071, 0.246974 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.098890 y=0.000000 z=0.042377 +[21:41:12.410] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:12.410] If point is visible? -0.331660, 0.132040, 0.258062 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.098890 y=0.000000 z=0.042377 +[21:41:12.410] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:12.410] If point is visible? -0.336109, 0.135071, 0.246974 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.098890 y=0.000000 z=0.042377 +[21:41:12.410] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:12.410] If point is visible? -0.331660, 0.132040, 0.258062 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.098890 y=0.000000 z=0.042377 +[21:41:12.410] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:12.410] If point is visible? -3.497999, 1.093495, 1.629208 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.558138, 1.543688, 0.988608 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.189526, -1.498388, 1.937480 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:12.410] If point is visible? -3.127466, -1.378939, 2.125420 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:12.410] If point is visible? -3.118069, -1.386216, 2.135093 mu:0.245118 unit_bearing:0.154294 -0.399783 0.903530 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:12.410] If point is visible? -3.388925, -1.130826, 1.833260 mu:0.245118 unit_bearing:0.069067 -0.328632 0.941929 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.721556, -0.925085, 1.138214 mu:0.245118 unit_bearing:-0.112281 -0.257815 0.959648 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.718603, -0.923744, 1.149570 mu:0.245118 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.725752, -0.946715, 1.104612 mu:0.245118 unit_bearing:-0.120885 -0.262074 0.957447 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.722900, -0.945376, 1.115998 mu:0.245118 unit_bearing:-0.118011 -0.262088 0.957801 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.715134, -0.883125, 1.193762 mu:0.245118 unit_bearing:-0.097930 -0.249266 0.963471 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.707553, -0.841120, 1.248948 mu:0.245118 unit_bearing:-0.083559 -0.240695 0.966997 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.704263, -0.839774, 1.260198 mu:0.245118 unit_bearing:-0.080677 -0.240704 0.967240 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.708747, -0.851289, 1.238003 mu:0.245118 unit_bearing:-0.086433 -0.242842 0.966208 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.705491, -0.849944, 1.249264 mu:0.245118 unit_bearing:-0.083552 -0.242851 0.966459 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.702202, -0.848599, 1.260513 mu:0.245118 unit_bearing:-0.080670 -0.242860 0.966701 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.681492, -0.773329, 1.370075 mu:0.245118 unit_bearing:-0.051867 -0.227820 0.972321 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.677838, -0.771983, 1.381203 mu:0.245118 unit_bearing:-0.048981 -0.227825 0.972469 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.681666, -0.754306, 1.380480 mu:0.245118 unit_bearing:-0.048988 -0.223503 0.973471 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.677978, -0.752960, 1.391598 mu:0.245118 unit_bearing:-0.046102 -0.223508 0.973611 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.304549, -0.477498, 2.242114 mu:0.245118 unit_bearing:0.187562 -0.181897 0.965264 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.337938, -0.347382, 2.214450 mu:0.245118 unit_bearing:0.181975 -0.149415 0.971885 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.331681, -0.346096, 2.224517 mu:0.245118 unit_bearing:0.184847 -0.149403 0.971345 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.368673, -0.308263, 2.171101 mu:0.245118 unit_bearing:0.170520 -0.138603 0.975557 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.312362, -0.296724, 2.261737 mu:0.245118 unit_bearing:0.196374 -0.138503 0.970698 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.311515, -0.251202, 2.268645 mu:0.245118 unit_bearing:0.199287 -0.127634 0.971594 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.397545, -0.223549, 2.134163 mu:0.245118 unit_bearing:0.161956 -0.116889 0.979851 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.408197, -0.180537, 2.120450 mu:0.245118 unit_bearing:0.159105 -0.106015 0.981553 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.405586, -0.143819, 2.127704 mu:0.245118 unit_bearing:0.162006 -0.097299 0.981981 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.784834, -0.213062, 1.276785 mu:0.245118 unit_bearing:-0.066509 -0.088726 0.993833 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.395838, -0.114690, 2.145780 mu:0.245118 unit_bearing:0.167780 -0.090752 0.981638 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.389741, -0.113416, 2.155939 mu:0.245118 unit_bearing:0.170659 -0.090745 0.981143 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.320578, -0.099488, 2.266697 mu:0.245118 unit_bearing:0.202280 -0.090665 0.975122 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.789048, -0.205562, 1.264743 mu:0.245118 unit_bearing:-0.069406 -0.086541 0.993828 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.334187, -0.093157, 2.245925 mu:0.245118 unit_bearing:0.196543 -0.088505 0.976493 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.826686, -0.157247, 1.145935 mu:0.245118 unit_bearing:-0.098349 -0.071238 0.992599 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.823532, -0.155866, 1.157278 mu:0.245118 unit_bearing:-0.095458 -0.071241 0.992881 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.798004, -0.181698, 1.239769 mu:0.245118 unit_bearing:-0.075199 -0.079990 0.993955 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.809983, -0.159219, 1.203399 mu:0.245118 unit_bearing:-0.083885 -0.073434 0.993766 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.809357, -0.168085, 1.204255 mu:0.245118 unit_bearing:-0.083883 -0.075617 0.993602 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.334916, -0.084306, 2.245145 mu:0.245118 unit_bearing:0.196548 -0.086328 0.976686 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.794390, -0.071177, 1.262957 mu:0.245118 unit_bearing:-0.066533 -0.053794 0.996333 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.798312, -0.063685, 1.250802 mu:0.245118 unit_bearing:-0.069429 -0.051608 0.996251 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.965854, -0.143112, 0.375894 mu:0.245118 unit_bearing:-0.285080 -0.044796 0.957456 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.969360, -0.101969, 0.347083 mu:0.245118 unit_bearing:-0.290785 -0.033926 0.956187 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.968478, -0.100515, 0.359076 mu:0.245118 unit_bearing:-0.287943 -0.033930 0.957046 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.971634, -0.050599, 0.329074 mu:0.245118 unit_bearing:-0.293642 -0.020890 0.955687 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.970787, -0.049137, 0.341075 mu:0.245118 unit_bearing:-0.290801 -0.020893 0.956555 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.969905, -0.047676, 0.353068 mu:0.245118 unit_bearing:-0.287959 -0.020895 0.957415 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.614350, 0.138704, 1.728848 mu:0.245118 unit_bearing:0.060954 -0.016649 0.998002 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.972383, 0.002205, 0.322842 mu:0.245118 unit_bearing:-0.293651 -0.007857 0.955880 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] If point is visible? -3.971536, 0.003674, 0.334842 mu:0.245118 unit_bearing:-0.290810 -0.007858 0.956749 T_cur_ref: x=0.097601 y=0.000000 z=0.041866 +[21:41:12.410] init seeds +[21:41:12.410] DepthFilter: Initialized 2 new seeds +[21:41:12.412] DepthFilter: Initialized 2 new seeds +[21:41:13.025] add new frame +[21:41:13.025] update seed +[21:41:13.025] If point is visible? -2.161412, 0.988844, 1.804091 mu:0.325942 unit_bearing:0.326059 0.251004 0.911418 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:13.025] If point is visible? -2.213071, -1.361319, 1.444291 mu:0.325942 unit_bearing:0.121936 -0.495012 0.860287 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:13.025] If point is visible? -2.205815, -1.366584, 1.451596 mu:0.325942 unit_bearing:0.124734 -0.497006 0.858736 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:13.025] If point is visible? -2.701009, -0.814759, 0.788934 mu:0.325942 unit_bearing:-0.109239 -0.292161 0.950110 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.699125, -0.813748, 0.797538 mu:0.325942 unit_bearing:-0.106367 -0.292175 0.950431 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.699128, -0.806142, 0.805942 mu:0.325942 unit_bearing:-0.103505 -0.290049 0.951398 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.700971, -0.791935, 0.814132 mu:0.325942 unit_bearing:-0.100652 -0.285778 0.952995 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.699009, -0.790922, 0.822717 mu:0.325942 unit_bearing:-0.097778 -0.285791 0.953291 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.700876, -0.784322, 0.822510 mu:0.325942 unit_bearing:-0.097787 -0.283648 0.953930 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.698888, -0.783308, 0.831088 mu:0.325942 unit_bearing:-0.094913 -0.283660 0.954216 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.694073, -0.758416, 0.873231 mu:0.325942 unit_bearing:-0.080556 -0.277281 0.957406 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.679018, -0.699885, 0.973548 mu:0.325942 unit_bearing:-0.046035 -0.262331 0.963879 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.676573, -0.698864, 0.981995 mu:0.325942 unit_bearing:-0.043152 -0.262336 0.964011 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.676657, -0.676952, 0.998111 mu:0.325942 unit_bearing:-0.037396 -0.255887 0.965983 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.677484, -0.684598, 0.989935 mu:0.325942 unit_bearing:-0.040277 -0.258036 0.965295 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.799281, -0.649107, 0.501353 mu:0.325942 unit_bearing:-0.201398 -0.227147 0.952808 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] If point is visible? -2.419947, -0.350802, 1.679534 mu:0.325942 unit_bearing:0.210510 -0.177441 0.961353 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] Z inverse min: 0.752207, Z inverse max: 0.000000 +[21:41:13.025] If point is visible? -2.439371, -0.348127, 1.648476 mu:0.325942 unit_bearing:0.199066 -0.175342 0.964172 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] add key frame +[21:41:13.025] If point is visible? -2.434835, -0.347135, 1.656160 mu:0.325942 unit_bearing:0.201931 -0.175327 0.963579 T_cur_ref: x=0.168039 y=0.000000 z=0.069550 +[21:41:13.025] init seeds +[21:41:13.025] remove key frame +[21:41:13.025] update seed +[21:41:13.025] If point is visible? -3.966779, 1.199922, 2.239209 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.160715 y=0.000000 z=0.066736 +[21:41:13.025] If point is visible? -3.966779, 1.199922, 2.239209 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.160715 y=0.000000 z=0.066736 +[21:41:13.025] If point is visible? -160357.309966, -44111.576304, -20025.095939 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.153163 y=0.000000 z=0.064014 +[21:41:13.025] If point is visible? -161279.310548, -39968.561920, -21279.099965 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.153163 y=0.000000 z=0.064014 +[21:41:13.025] If point is visible? -147248.783852, 44982.644583, 65997.536774 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.153163 y=0.000000 z=0.064014 +[21:41:13.025] If point is visible? -149333.953845, 66070.447074, 37354.778361 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.153163 y=0.000000 z=0.064014 +[21:41:13.025] If point is visible? -160357.309966, -44111.576304, -20025.095939 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.153163 y=0.000000 z=0.064014 +[21:41:13.025] If point is visible? -161279.310548, -39968.561920, -21279.099965 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.153163 y=0.000000 z=0.064014 +[21:41:13.025] If point is visible? -147248.783852, 44982.644583, 65997.536774 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.153163 y=0.000000 z=0.064014 +[21:41:13.025] If point is visible? -149333.953845, 66070.447074, 37354.778361 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.153163 y=0.000000 z=0.064014 +[21:41:13.025] If point is visible? -2.391726, 1.627007, 1.416966 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.143604 y=0.000000 z=0.060159 +[21:41:13.025] If point is visible? -2.941890, 0.956093, 0.754122 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.143604 y=0.000000 z=0.060159 +[21:41:13.025] If point is visible? -2.391726, 1.627007, 1.416966 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.143604 y=0.000000 z=0.060159 +[21:41:13.025] If point is visible? -2.941890, 0.956093, 0.754122 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.143604 y=0.000000 z=0.060159 +[21:41:13.025] If point is visible? -2.756138, 0.840383, 0.722193 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.131547 y=0.000000 z=0.055656 +[21:41:13.025] If point is visible? -2.654086, 1.291714, -0.191251 mu:0.324627 unit_bearing:-0.355005 0.425968 0.832180 T_cur_ref: x=0.131547 y=0.000000 z=0.055656 +[21:41:13.025] If point is visible? -2.665925, 1.267166, -0.184512 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.131547 y=0.000000 z=0.055656 +[21:41:13.025] If point is visible? -2.756138, 0.840383, 0.722193 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.131547 y=0.000000 z=0.055656 +[21:41:13.025] If point is visible? -2.665925, 1.267166, -0.184512 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.131547 y=0.000000 z=0.055656 +[21:41:13.025] If point is visible? -157001954095.483276, 1091437484.317157, 30705986818.910992 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.123942 y=0.000000 z=0.052744 +[21:41:13.025] If point is visible? -124198397207.116425, 49953641192.578041, 87595972024.438324 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.123942 y=0.000000 z=0.052744 +[21:41:13.025] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:13.025] If point is visible? -157001954095.483276, 1091437484.317157, 30705986818.910992 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.123942 y=0.000000 z=0.052744 +[21:41:13.025] If point is visible? -124198397207.116425, 49953641192.578041, 87595972024.438324 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.123942 y=0.000000 z=0.052744 +[21:41:13.025] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:13.025] If point is visible? -1.993690, 0.915194, 1.686197 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.116298 y=0.000000 z=0.049866 +[21:41:13.025] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:13.025] If point is visible? -2.382221, 1.100063, 0.767134 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.116298 y=0.000000 z=0.049866 +[21:41:13.025] If point is visible? -1.993690, 0.915194, 1.686197 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.116298 y=0.000000 z=0.049866 +[21:41:13.025] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:13.025] If point is visible? -2.382221, 1.100063, 0.767134 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.116298 y=0.000000 z=0.049866 +[21:41:13.026] If point is visible? -0.327385, 0.135071, 0.251166 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.107614 y=0.000000 z=0.046569 +[21:41:13.026] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:13.026] If point is visible? -0.322937, 0.132040, 0.262254 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.107614 y=0.000000 z=0.046569 +[21:41:13.026] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:13.026] If point is visible? -0.327385, 0.135071, 0.251166 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.107614 y=0.000000 z=0.046569 +[21:41:13.026] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:13.026] If point is visible? -0.322937, 0.132040, 0.262254 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.107614 y=0.000000 z=0.046569 +[21:41:13.026] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:13.026] If point is visible? -3.489275, 1.093495, 1.633399 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.549415, 1.543688, 0.992799 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.180802, -1.498388, 1.941672 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.026] If point is visible? -3.118742, -1.378939, 2.129612 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.026] If point is visible? -3.109345, -1.386216, 2.139285 mu:0.245118 unit_bearing:0.154294 -0.399783 0.903530 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.026] If point is visible? -3.380202, -1.130826, 1.837451 mu:0.245118 unit_bearing:0.069067 -0.328632 0.941929 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.712832, -0.925085, 1.142406 mu:0.245118 unit_bearing:-0.112281 -0.257815 0.959648 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.709879, -0.923744, 1.153762 mu:0.245118 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.717028, -0.946715, 1.108803 mu:0.245118 unit_bearing:-0.120885 -0.262074 0.957447 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.714176, -0.945376, 1.120190 mu:0.245118 unit_bearing:-0.118011 -0.262088 0.957801 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.706410, -0.883125, 1.197954 mu:0.245118 unit_bearing:-0.097930 -0.249266 0.963471 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.698829, -0.841120, 1.253140 mu:0.245118 unit_bearing:-0.083559 -0.240695 0.966997 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.695539, -0.839774, 1.264390 mu:0.245118 unit_bearing:-0.080677 -0.240704 0.967240 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.700024, -0.851289, 1.242194 mu:0.245118 unit_bearing:-0.086433 -0.242842 0.966208 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.696767, -0.849944, 1.253456 mu:0.245118 unit_bearing:-0.083552 -0.242851 0.966459 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.693478, -0.848599, 1.264705 mu:0.245118 unit_bearing:-0.080670 -0.242860 0.966701 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.672769, -0.773329, 1.374267 mu:0.245118 unit_bearing:-0.051867 -0.227820 0.972321 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.669115, -0.771983, 1.385394 mu:0.245118 unit_bearing:-0.048981 -0.227825 0.972469 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.672942, -0.754306, 1.384672 mu:0.245118 unit_bearing:-0.048988 -0.223503 0.973471 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.669254, -0.752960, 1.395790 mu:0.245118 unit_bearing:-0.046102 -0.223508 0.973611 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.295826, -0.477498, 2.246306 mu:0.245118 unit_bearing:0.187562 -0.181897 0.965264 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.329214, -0.347382, 2.218642 mu:0.245118 unit_bearing:0.181975 -0.149415 0.971885 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.322957, -0.346096, 2.228709 mu:0.245118 unit_bearing:0.184847 -0.149403 0.971345 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.359949, -0.308263, 2.175293 mu:0.245118 unit_bearing:0.170520 -0.138603 0.975557 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.303639, -0.296724, 2.265929 mu:0.245118 unit_bearing:0.196374 -0.138503 0.970698 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.302792, -0.251202, 2.272837 mu:0.245118 unit_bearing:0.199287 -0.127634 0.971594 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.388821, -0.223549, 2.138355 mu:0.245118 unit_bearing:0.161956 -0.116889 0.979851 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.399473, -0.180537, 2.124642 mu:0.245118 unit_bearing:0.159105 -0.106015 0.981553 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.396862, -0.143819, 2.131896 mu:0.245118 unit_bearing:0.162006 -0.097299 0.981981 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.776110, -0.213062, 1.280977 mu:0.245118 unit_bearing:-0.066509 -0.088726 0.993833 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.387114, -0.114690, 2.149971 mu:0.245118 unit_bearing:0.167780 -0.090752 0.981638 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.381017, -0.113416, 2.160131 mu:0.245118 unit_bearing:0.170659 -0.090745 0.981143 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.311855, -0.099488, 2.270889 mu:0.245118 unit_bearing:0.202280 -0.090665 0.975122 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.780324, -0.205562, 1.268935 mu:0.245118 unit_bearing:-0.069406 -0.086541 0.993828 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.325463, -0.093157, 2.250117 mu:0.245118 unit_bearing:0.196543 -0.088505 0.976493 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.817962, -0.157247, 1.150127 mu:0.245118 unit_bearing:-0.098349 -0.071238 0.992599 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.814808, -0.155866, 1.161470 mu:0.245118 unit_bearing:-0.095458 -0.071241 0.992881 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.789280, -0.181698, 1.243961 mu:0.245118 unit_bearing:-0.075199 -0.079990 0.993955 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.801259, -0.159219, 1.207591 mu:0.245118 unit_bearing:-0.083885 -0.073434 0.993766 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.800634, -0.168085, 1.208446 mu:0.245118 unit_bearing:-0.083883 -0.075617 0.993602 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.326193, -0.084306, 2.249337 mu:0.245118 unit_bearing:0.196548 -0.086328 0.976686 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.785666, -0.071177, 1.267148 mu:0.245118 unit_bearing:-0.066533 -0.053794 0.996333 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.789589, -0.063685, 1.254994 mu:0.245118 unit_bearing:-0.069429 -0.051608 0.996251 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.957130, -0.143112, 0.380086 mu:0.245118 unit_bearing:-0.285080 -0.044796 0.957456 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.960636, -0.101969, 0.351274 mu:0.245118 unit_bearing:-0.290785 -0.033926 0.956187 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.959754, -0.100515, 0.363267 mu:0.245118 unit_bearing:-0.287943 -0.033930 0.957046 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.962910, -0.050599, 0.333266 mu:0.245118 unit_bearing:-0.293642 -0.020890 0.955687 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.962064, -0.049137, 0.345267 mu:0.245118 unit_bearing:-0.290801 -0.020893 0.956555 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.961181, -0.047676, 0.357260 mu:0.245118 unit_bearing:-0.287959 -0.020895 0.957415 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.605626, 0.138704, 1.733040 mu:0.245118 unit_bearing:0.060954 -0.016649 0.998002 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.963659, 0.002205, 0.327034 mu:0.245118 unit_bearing:-0.293651 -0.007857 0.955880 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.962812, 0.003674, 0.339034 mu:0.245118 unit_bearing:-0.290810 -0.007858 0.956749 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.961929, 0.005142, 0.351026 mu:0.245118 unit_bearing:-0.287967 -0.007859 0.957608 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.456265, 0.227961, 2.020827 mu:0.245118 unit_bearing:0.141929 -0.003530 0.989871 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.450453, 0.229227, 2.031129 mu:0.245118 unit_bearing:0.144815 -0.003530 0.989452 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.610941, 0.234769, 1.710552 mu:0.245118 unit_bearing:0.058059 0.007395 0.998286 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.606049, 0.236082, 1.721251 mu:0.245118 unit_bearing:0.060955 0.007395 0.998113 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.966230, 0.168676, -0.125890 mu:0.245118 unit_bearing:-0.392107 0.046174 0.918760 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.894036, 0.326267, 0.777077 mu:0.245118 unit_bearing:-0.176279 0.057541 0.982657 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.955864, 0.276038, 0.303258 mu:0.245118 unit_bearing:-0.290729 0.059474 0.954955 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.956100, 0.233086, -0.247367 mu:0.245118 unit_bearing:-0.417012 0.065473 0.906540 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.477036, 0.495275, 1.932312 mu:0.245118 unit_bearing:0.127455 0.064149 0.989768 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.471382, 0.496534, 1.942683 mu:0.245118 unit_bearing:0.130342 0.064146 0.989392 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.966193, 0.223106, -0.046392 mu:0.245118 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.961887, 0.226610, -0.158939 mu:0.245118 unit_bearing:-0.397616 0.061256 0.915505 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.965741, 0.197936, -0.105035 mu:0.245118 unit_bearing:-0.386511 0.052669 0.920780 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.964931, 0.227201, -0.084263 mu:0.245118 unit_bearing:-0.380906 0.059169 0.922719 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.961330, 0.235322, -0.160183 mu:0.245118 unit_bearing:-0.397606 0.063413 0.915362 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.940424, 0.345105, -0.339230 mu:0.245118 unit_bearing:-0.433375 0.095470 0.896142 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.939550, 0.353768, -0.340558 mu:0.245118 unit_bearing:-0.433359 0.097618 0.895919 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.937401, 0.507635, 0.231293 mu:0.245118 unit_bearing:-0.298994 0.117969 0.946935 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.939423, 0.490187, 0.234110 mu:0.245118 unit_bearing:-0.299019 0.113640 0.947456 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.938422, 0.498912, 0.232705 mu:0.245118 unit_bearing:-0.299006 0.115805 0.947198 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.569596, 0.764617, 1.641893 mu:0.245118 unit_bearing:0.060872 0.138353 0.988511 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.564675, 0.765913, 1.652564 mu:0.245118 unit_bearing:0.063765 0.138349 0.988329 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.399892, 0.821161, 1.963312 mu:0.245118 unit_bearing:0.150361 0.142508 0.978306 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.563510, 0.774670, 1.651026 mu:0.245118 unit_bearing:0.063762 0.140526 0.988022 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.562327, 0.783426, 1.649481 mu:0.245118 unit_bearing:0.063759 0.142702 0.987710 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.387058, 0.908445, 1.947301 mu:0.245118 unit_bearing:0.150286 0.164222 0.974908 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.389772, 0.891007, 1.950562 mu:0.245118 unit_bearing:0.150302 0.159882 0.975627 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.383865, 0.892221, 1.960801 mu:0.245118 unit_bearing:0.153180 0.159871 0.975180 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.377926, 0.893432, 1.971025 mu:0.245118 unit_bearing:0.156058 0.159860 0.974726 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.382517, 0.900940, 1.959173 mu:0.245118 unit_bearing:0.153172 0.162041 0.974824 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.376578, 0.902151, 1.969397 mu:0.245118 unit_bearing:0.156050 0.162030 0.974369 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.366385, 0.495831, -2.036768 mu:0.245118 unit_bearing:-0.764307 0.182850 0.618385 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.026] If point is visible? -3.373181, 0.497811, -2.024919 mu:0.245118 unit_bearing:-0.762158 0.182978 0.620995 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.026] If point is visible? -3.379931, 0.499790, -2.013057 mu:0.245118 unit_bearing:-0.760001 0.183105 0.623595 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.026] If point is visible? -3.594563, 1.263245, 1.208540 mu:0.245118 unit_bearing:-0.025843 0.272610 0.961778 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.592230, 1.271838, 1.206594 mu:0.245118 unit_bearing:-0.025840 0.274758 0.961166 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] If point is visible? -3.164637, 1.566253, 1.914582 mu:0.245118 unit_bearing:0.180738 0.325238 0.928199 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.026] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.027] If point is visible? -3.158377, 1.567360, 1.924576 mu:0.245118 unit_bearing:0.183589 0.325208 0.927650 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.027] If point is visible? -3.122858, 1.637038, 1.926539 mu:0.245118 unit_bearing:0.189098 0.342102 0.920439 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.027] If point is visible? -3.543287, 1.819419, -0.071319 mu:0.245118 unit_bearing:-0.296522 0.446154 0.844406 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -2.894399, 2.142204, 1.792581 mu:0.245118 unit_bearing:0.192830 0.469006 0.861888 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.464577, 1.972222, -0.006121 mu:0.245118 unit_bearing:-0.270538 0.481382 0.833715 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.474286, 1.949965, -0.097417 mu:0.245118 unit_bearing:-0.292748 0.478694 0.827738 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -2.886078, 2.158296, 1.787037 mu:0.245118 unit_bearing:0.192750 0.473086 0.859673 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -2.890248, 2.150254, 1.789813 mu:0.245118 unit_bearing:0.192790 0.471047 0.860783 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -2.883831, 2.151236, 1.799590 mu:0.245118 unit_bearing:0.195602 0.470994 0.860177 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.296890, -1.394958, 1.811262 mu:0.245118 unit_bearing:0.063071 -0.392111 0.917753 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.280163, -1.409598, 1.831683 mu:0.245118 unit_bearing:0.068770 -0.396283 0.915549 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.142267, -1.545911, 1.969734 mu:0.245118 unit_bearing:0.108438 -0.433570 0.894571 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.027] If point is visible? -3.700886, -1.169764, 0.929531 mu:0.245118 unit_bearing:-0.166406 -0.310984 0.935734 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.678483, -0.746813, 1.373170 mu:0.245118 unit_bearing:-0.051879 -0.221337 0.973817 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.719270, -0.937913, 1.108542 mu:0.245118 unit_bearing:-0.120896 -0.259924 0.958031 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.351465, -0.324684, 2.186617 mu:0.245118 unit_bearing:0.173379 -0.142936 0.974427 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.339110, -0.322112, 2.206832 mu:0.245118 unit_bearing:0.179128 -0.142914 0.973390 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.336681, -0.339817, 2.207992 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.364012, -0.091891, 2.188962 mu:0.245118 unit_bearing:0.179302 -0.086370 0.979995 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.808889, -0.089675, 1.189205 mu:0.245118 unit_bearing:-0.086792 -0.055966 0.994653 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.362535, -0.109601, 2.190520 mu:0.245118 unit_bearing:0.179291 -0.090725 0.979604 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.809743, -0.181083, 1.175369 mu:0.245118 unit_bearing:-0.092559 -0.077791 0.992664 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.796673, -0.175577, 1.220581 mu:0.245118 unit_bearing:-0.080988 -0.077802 0.993674 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.348506, -0.124772, 2.212230 mu:0.245118 unit_bearing:0.185032 -0.095064 0.978124 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.814385, -0.110164, 1.168386 mu:0.245118 unit_bearing:-0.092575 -0.060328 0.993876 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.914992, 0.139858, 0.719239 mu:0.245118 unit_bearing:-0.196455 0.013917 0.980414 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.856600, 0.582454, 0.820459 mu:0.245118 unit_bearing:-0.155992 0.118572 0.980616 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.851594, 0.585351, 0.843534 mu:0.245118 unit_bearing:-0.150231 0.118588 0.981513 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.410410, 0.827454, 1.941214 mu:0.245118 unit_bearing:0.144593 0.144699 0.978854 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.398691, 0.829899, 1.961744 mu:0.245118 unit_bearing:0.150354 0.144681 0.977988 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.858577, 0.564918, 0.823325 mu:0.245118 unit_bearing:-0.156004 0.114220 0.981130 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.853569, 0.567812, 0.846402 mu:0.245118 unit_bearing:-0.150242 0.114235 0.982027 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.407954, 0.844927, 1.938058 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.396235, 0.847370, 1.958586 mu:0.245118 unit_bearing:0.150340 0.149026 0.977338 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.393705, 0.864831, 1.955398 mu:0.245118 unit_bearing:0.150325 0.153369 0.976668 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.069041, 1.355230, 2.219563 mu:0.245118 unit_bearing:0.252521 0.264787 0.930656 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.027] If point is visible? -3.696495, -0.734522, 1.327760 mu:0.245118 unit_bearing:-0.063432 -0.216990 0.974111 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.750879, -0.953983, 0.971055 mu:0.245118 unit_bearing:-0.155348 -0.259727 0.953105 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.740881, -0.948629, 1.017053 mu:0.245118 unit_bearing:-0.143873 -0.259798 0.954885 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.065259, -1.660218, 2.002702 mu:0.245118 unit_bearing:0.119503 -0.462365 0.878600 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.027] If point is visible? -3.042789, -1.654710, 2.043242 mu:0.245118 unit_bearing:0.130838 -0.462236 0.877051 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.027] If point is visible? -3.661670, -1.399293, 0.744571 mu:0.245118 unit_bearing:-0.211372 -0.361301 0.908176 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.390108, -1.133505, 1.816326 mu:0.245118 unit_bearing:0.063324 -0.328653 0.942325 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.370165, -1.128146, 1.858522 mu:0.245118 unit_bearing:0.074809 -0.328610 0.941498 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.284120, -1.181990, 1.982939 mu:0.245118 unit_bearing:0.109125 -0.345426 0.932080 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.412012, -1.063378, 1.816441 mu:0.245118 unit_bearing:0.063381 -0.311595 0.948099 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.420643, -1.103813, 1.774009 mu:0.245118 unit_bearing:0.051858 -0.320165 0.945941 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.703706, -0.699147, 1.326127 mu:0.245118 unit_bearing:-0.063450 -0.208335 0.975997 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.336681, -0.339817, 2.207992 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.873675, -0.476154, 0.805402 mu:0.245118 unit_bearing:-0.190435 -0.138527 0.971877 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.865158, -0.470614, 0.852015 mu:0.245118 unit_bearing:-0.178945 -0.138572 0.974052 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.856101, -0.465081, 0.898469 mu:0.245118 unit_bearing:-0.167444 -0.138613 0.976089 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.869741, -0.435228, 0.849304 mu:0.245118 unit_bearing:-0.178976 -0.129882 0.975243 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.860676, -0.429684, 0.895763 mu:0.245118 unit_bearing:-0.167473 -0.129921 0.977279 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.763729, 0.439871, 1.259698 mu:0.245118 unit_bearing:-0.052046 0.070762 0.996134 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.748837, 0.445366, 1.304270 mu:0.245118 unit_bearing:-0.040461 0.070768 0.996672 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.407954, 0.844927, 1.938058 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.761213, 0.475119, 1.254418 mu:0.245118 unit_bearing:-0.052041 0.079496 0.995476 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.955112, 0.291550, -0.205836 mu:0.245118 unit_bearing:-0.405861 0.078456 0.910561 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.553528, 0.844654, 1.638466 mu:0.245118 unit_bearing:0.063738 0.157927 0.985392 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.533527, 0.849800, 1.681002 mu:0.245118 unit_bearing:0.075299 0.157909 0.984578 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.513016, 0.854908, 1.723325 mu:0.245118 unit_bearing:0.086856 0.157887 0.983630 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.402821, 0.879847, 1.931658 mu:0.245118 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.489275, 1.093495, 1.633399 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.087538, 1.336037, 2.204291 mu:0.245118 unit_bearing:0.246892 0.260574 0.933352 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.027] If point is visible? -3.059360, 1.340244, 2.242853 mu:0.245118 unit_bearing:0.258244 0.260445 0.930311 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:13.027] If point is visible? -3.648715, 1.173368, 1.126154 mu:0.245118 unit_bearing:-0.051818 0.253204 0.966024 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.549415, 1.543688, 0.992799 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.533842, 1.827484, -0.184626 mu:0.245118 unit_bearing:-0.321203 0.451501 0.832452 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -3.532885, 1.834734, -0.137310 mu:0.245118 unit_bearing:-0.310170 0.451851 0.836436 T_cur_ref: x=0.106325 y=0.000000 z=0.046058 +[21:41:13.027] If point is visible? -282306403631.990234, 86747929517.596451, 128684093110.243607 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -280647222850.481018, 87143929261.529510, 132002941353.586777 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -281216601215.944397, 84406097252.916595, 132568995522.739639 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -294138483453.168213, 93526154565.838562, 92288220216.968460 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -279774908921.671570, 118835767106.996033, -106704102174.033493 mu:0.000000 unit_bearing:-0.576196 0.406498 0.709054 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -280678536792.696350, 122728936066.962402, -99693890798.720963 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -282306403631.990234, 86747929517.596451, 128684093110.243607 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -280647222850.481018, 87143929261.529510, 132002941353.586777 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -281216601215.944397, 84406097252.916595, 132568995522.739639 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -293446671424.278687, 96248237526.227692, 91689870923.264481 mu:0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -294138483453.168213, 93526154565.838562, 92288220216.968460 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -280678536792.696350, 122728936066.962402, -99693890798.720963 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.097116 y=0.000000 z=0.042430 +[21:41:13.027] If point is visible? -3.491219, 0.571805, 0.927999 mu:0.267923 unit_bearing:-0.109833 0.123034 0.986306 T_cur_ref: x=0.088425 y=0.000000 z=0.039117 +[21:41:13.027] If point is visible? -1.833628, 1.190263, 3.008950 mu:0.267923 unit_bearing:0.585689 0.219552 0.780234 T_cur_ref: x=0.088425 y=0.000000 z=0.039117 +[21:41:13.027] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:13.027] If point is visible? -2.772188, 1.231453, 2.096139 mu:0.267923 unit_bearing:0.269577 0.260310 0.927128 T_cur_ref: x=0.088425 y=0.000000 z=0.039117 +[21:41:13.027] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:13.027] If point is visible? -1.816907, 1.892109, 2.631520 mu:0.267923 unit_bearing:0.515125 0.418515 0.747992 T_cur_ref: x=0.088425 y=0.000000 z=0.039117 +[21:41:13.027] If point is visible? -3.488035, 2.441835, 2.007514 mu:0.210413 unit_bearing:0.153515 0.459408 0.874858 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.027] If point is visible? -3.744603, 2.304587, 1.661148 mu:0.210413 unit_bearing:0.062837 0.439627 0.895980 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.078262, -2.281507, 0.323672 mu:0.210413 unit_bearing:-0.331002 -0.483856 0.810136 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -3.112525, -2.055784, 2.893017 mu:0.210413 unit_bearing:0.247913 -0.502601 0.828210 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:13.028] If point is visible? -3.745252, -1.645761, 2.324831 mu:0.210413 unit_bearing:0.097296 -0.402400 0.910279 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:13.028] If point is visible? -3.755710, -1.637231, 2.313413 mu:0.210413 unit_bearing:0.094457 -0.400326 0.911492 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:13.028] If point is visible? -3.800857, -1.592948, 2.267858 mu:0.210413 unit_bearing:0.083098 -0.389909 0.917096 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -3.935198, -1.460960, 2.115245 mu:0.210413 unit_bearing:0.046008 -0.358431 0.932422 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -3.875586, -1.324206, 2.311831 mu:0.210413 unit_bearing:0.091995 -0.334912 0.937748 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.419960, -1.524573, 0.103676 mu:0.210413 unit_bearing:-0.382861 -0.320134 0.866564 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -3.963629, -1.235961, 2.204154 mu:0.210413 unit_bearing:0.066248 -0.313721 0.947201 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.005653, -1.202736, 2.143181 mu:0.210413 unit_bearing:0.051898 -0.305219 0.950867 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.372401, -1.033407, 1.334784 mu:0.210413 unit_bearing:-0.129573 -0.249125 0.959764 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.368882, -1.031851, 1.348015 mu:0.210413 unit_bearing:-0.126699 -0.249140 0.960144 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.365325, -1.030296, 1.361233 mu:0.210413 unit_bearing:-0.123824 -0.249154 0.960515 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.361716, -0.994802, 1.399890 mu:0.210413 unit_bearing:-0.115226 -0.242733 0.963226 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.358002, -0.993245, 1.413056 mu:0.210413 unit_bearing:-0.112348 -0.242745 0.963563 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.356635, -0.981407, 1.425888 mu:0.210413 unit_bearing:-0.109479 -0.240602 0.964430 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.359000, -0.971125, 1.425558 mu:0.210413 unit_bearing:-0.109488 -0.238446 0.964964 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.345342, -0.898469, 1.515124 mu:0.210413 unit_bearing:-0.089370 -0.225569 0.970119 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.348876, -0.922178, 1.489733 mu:0.210413 unit_bearing:-0.095120 -0.229869 0.968562 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.308991, -0.807624, 1.667954 mu:0.210413 unit_bearing:-0.054785 -0.210515 0.976054 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.618046, -0.694743, -0.118473 mu:0.210413 unit_bearing:-0.421927 -0.141132 0.895578 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -3.923384, -0.341920, 2.572831 mu:0.210413 unit_bearing:0.161896 -0.136459 0.977327 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -3.901361, -0.337480, 2.607850 mu:0.210413 unit_bearing:0.170527 -0.136430 0.975862 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.616557, -0.704910, -0.117716 mu:0.210413 unit_bearing:-0.421902 -0.143274 0.895249 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -3.921024, -0.067690, 2.598564 mu:0.210413 unit_bearing:0.173561 -0.079848 0.981581 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.434504, -0.181427, 1.507351 mu:0.210413 unit_bearing:-0.080990 -0.075619 0.993842 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.430297, -0.179837, 1.520393 mu:0.210413 unit_bearing:-0.078096 -0.075622 0.994074 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.426053, -0.178249, 1.533421 mu:0.210413 unit_bearing:-0.075203 -0.075624 0.994297 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -3.929195, -0.058831, 2.585979 mu:0.210413 unit_bearing:0.170687 -0.077675 0.982259 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -4.450301, -0.134556, 1.463157 mu:0.210413 unit_bearing:-0.089679 -0.064697 0.993867 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -3.945363, -0.041114, 2.560723 mu:0.210413 unit_bearing:0.164936 -0.073327 0.983575 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] If point is visible? -3.938023, -0.039654, 2.572415 mu:0.210413 unit_bearing:0.167816 -0.073322 0.983088 T_cur_ref: x=0.080925 y=0.000000 z=0.036010 +[21:41:13.028] init seeds +[21:41:13.028] DepthFilter: Initialized 2 new seeds +[21:41:13.030] DepthFilter: Initialized 2 new seeds +[21:41:13.638] add new frame +[21:41:13.638] update seed +[21:41:13.638] If point is visible? -3.958223, 1.199922, 2.243297 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.169271 y=0.000000 z=0.070823 +[21:41:13.638] If point is visible? -3.958223, 1.199922, 2.243297 mu:0.207633 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.169271 y=0.000000 z=0.070823 +[21:41:13.638] If point is visible? -160357.301410, -44111.576304, -20025.091852 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.161719 y=0.000000 z=0.068101 +[21:41:13.638] If point is visible? -161279.301992, -39968.561920, -21279.095877 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.161719 y=0.000000 z=0.068101 +[21:41:13.638] If point is visible? -147248.775296, 44982.644583, 65997.540861 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.161719 y=0.000000 z=0.068101 +[21:41:13.638] If point is visible? -149333.945289, 66070.447074, 37354.782449 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.161719 y=0.000000 z=0.068101 +[21:41:13.638] If point is visible? -160357.301410, -44111.576304, -20025.091852 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.161719 y=0.000000 z=0.068101 +[21:41:13.638] If point is visible? -161279.301992, -39968.561920, -21279.095877 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.161719 y=0.000000 z=0.068101 +[21:41:13.638] If point is visible? -147248.775296, 44982.644583, 65997.540861 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.161719 y=0.000000 z=0.068101 +[21:41:13.638] If point is visible? -149333.945289, 66070.447074, 37354.782449 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.161719 y=0.000000 z=0.068101 +[21:41:13.638] If point is visible? -2.383170, 1.627007, 1.421054 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.152160 y=0.000000 z=0.064247 +[21:41:13.638] If point is visible? -2.933334, 0.956093, 0.758210 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.152160 y=0.000000 z=0.064247 +[21:41:13.638] If point is visible? -2.383170, 1.627007, 1.421054 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.152160 y=0.000000 z=0.064247 +[21:41:13.638] If point is visible? -2.933334, 0.956093, 0.758210 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.152160 y=0.000000 z=0.064247 +[21:41:13.638] If point is visible? -2.747582, 0.840383, 0.726281 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.140103 y=0.000000 z=0.059744 +[21:41:13.638] If point is visible? -2.645530, 1.291714, -0.187163 mu:0.324627 unit_bearing:-0.355005 0.425968 0.832180 T_cur_ref: x=0.140103 y=0.000000 z=0.059744 +[21:41:13.638] If point is visible? -2.657369, 1.267166, -0.180425 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.140103 y=0.000000 z=0.059744 +[21:41:13.638] If point is visible? -2.747582, 0.840383, 0.726281 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.140103 y=0.000000 z=0.059744 +[21:41:13.638] If point is visible? -2.657369, 1.267166, -0.180425 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.140103 y=0.000000 z=0.059744 +[21:41:13.638] If point is visible? -157001954095.474701, 1091437484.317157, 30705986818.915077 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.132498 y=0.000000 z=0.056832 +[21:41:13.638] If point is visible? -124198397207.107880, 49953641192.578041, 87595972024.442413 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.132498 y=0.000000 z=0.056832 +[21:41:13.638] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:13.638] add key frame +[21:41:13.638] If point is visible? -157001954095.474701, 1091437484.317157, 30705986818.915077 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.132498 y=0.000000 z=0.056832 +[21:41:13.638] init seeds +[21:41:13.638] remove key frame +[21:41:13.638] update seed +[21:41:13.638] init seeds +[21:41:13.641] DepthFilter: Initialized 2 new seeds +[21:41:13.644] DepthFilter: Initialized 167 new seeds +[21:41:14.255] add new frame +[21:41:14.255] update seed +[21:41:14.255] If point is visible? -160357.292951, -44111.576304, -20025.087606 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.170178 y=0.000000 z=0.072347 +[21:41:14.255] If point is visible? -161279.293533, -39968.561920, -21279.091632 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.170178 y=0.000000 z=0.072347 +[21:41:14.255] If point is visible? -147248.766837, 44982.644583, 65997.545107 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.170178 y=0.000000 z=0.072347 +[21:41:14.255] If point is visible? -149333.936830, 66070.447074, 37354.786694 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.170178 y=0.000000 z=0.072347 +[21:41:14.255] If point is visible? -160357.292951, -44111.576304, -20025.087606 mu:0.000006 unit_bearing:-0.458363 -0.246797 0.853812 T_cur_ref: x=0.170178 y=0.000000 z=0.072347 +[21:41:14.255] If point is visible? -161279.293533, -39968.561920, -21279.091632 mu:0.000006 unit_bearing:-0.464348 -0.221337 0.857549 T_cur_ref: x=0.170178 y=0.000000 z=0.072347 +[21:41:14.255] If point is visible? -147248.766837, 44982.644583, 65997.545107 mu:0.000006 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.170178 y=0.000000 z=0.072347 +[21:41:14.255] If point is visible? -149333.936830, 66070.447074, 37354.786694 mu:0.000006 unit_bearing:-0.040057 0.364299 0.930420 T_cur_ref: x=0.170178 y=0.000000 z=0.072347 +[21:41:14.255] If point is visible? -2.374711, 1.627007, 1.425299 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.160619 y=0.000000 z=0.068492 +[21:41:14.256] If point is visible? -2.924875, 0.956093, 0.762455 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.160619 y=0.000000 z=0.068492 +[21:41:14.256] If point is visible? -2.374711, 1.627007, 1.425299 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.160619 y=0.000000 z=0.068492 +[21:41:14.256] If point is visible? -2.924875, 0.956093, 0.762455 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.160619 y=0.000000 z=0.068492 +[21:41:14.256] If point is visible? -2.739123, 0.840383, 0.730526 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.148562 y=0.000000 z=0.063989 +[21:41:14.256] If point is visible? -2.637071, 1.291714, -0.182918 mu:0.324627 unit_bearing:-0.355005 0.425968 0.832180 T_cur_ref: x=0.148562 y=0.000000 z=0.063989 +[21:41:14.256] If point is visible? -2.648910, 1.267166, -0.176179 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.148562 y=0.000000 z=0.063989 +[21:41:14.256] If point is visible? -2.739123, 0.840383, 0.730526 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.148562 y=0.000000 z=0.063989 +[21:41:14.256] If point is visible? -2.648910, 1.267166, -0.176179 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.148562 y=0.000000 z=0.063989 +[21:41:14.256] If point is visible? -157001954095.466248, 1091437484.317157, 30705986818.919323 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.140957 y=0.000000 z=0.061077 +[21:41:14.256] If point is visible? -124198397207.099411, 49953641192.578041, 87595972024.446655 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.140957 y=0.000000 z=0.061077 +[21:41:14.256] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:14.256] If point is visible? -157001954095.466248, 1091437484.317157, 30705986818.919323 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.140957 y=0.000000 z=0.061077 +[21:41:14.256] If point is visible? -124198397207.099411, 49953641192.578041, 87595972024.446655 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.140957 y=0.000000 z=0.061077 +[21:41:14.256] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:14.256] add key frame +[21:41:14.256] If point is visible? -1.976675, 0.915194, 1.694530 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.133313 y=0.000000 z=0.058199 +[21:41:14.256] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:14.256] remove key frame +[21:41:14.256] init seeds +[21:41:14.256] update seed +[21:41:14.256] If point is visible? -2.374711, 1.627007, 1.425299 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.160619 y=0.000000 z=0.068492 +[21:41:14.256] If point is visible? -2.924875, 0.956093, 0.762455 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.160619 y=0.000000 z=0.068492 +[21:41:14.256] If point is visible? -2.374711, 1.627007, 1.425299 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.160619 y=0.000000 z=0.068492 +[21:41:14.256] If point is visible? -2.924875, 0.956093, 0.762455 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.160619 y=0.000000 z=0.068492 +[21:41:14.256] If point is visible? -2.739123, 0.840383, 0.730526 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.148562 y=0.000000 z=0.063989 +[21:41:14.256] If point is visible? -2.637071, 1.291714, -0.182918 mu:0.324627 unit_bearing:-0.355005 0.425968 0.832180 T_cur_ref: x=0.148562 y=0.000000 z=0.063989 +[21:41:14.256] If point is visible? -2.648910, 1.267166, -0.176179 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.148562 y=0.000000 z=0.063989 +[21:41:14.256] If point is visible? -2.739123, 0.840383, 0.730526 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.148562 y=0.000000 z=0.063989 +[21:41:14.256] If point is visible? -2.648910, 1.267166, -0.176179 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.148562 y=0.000000 z=0.063989 +[21:41:14.256] If point is visible? -157001954095.466248, 1091437484.317157, 30705986818.919323 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.140957 y=0.000000 z=0.061077 +[21:41:14.256] If point is visible? -124198397207.099411, 49953641192.578041, 87595972024.446655 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.140957 y=0.000000 z=0.061077 +[21:41:14.256] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:14.256] If point is visible? -157001954095.466248, 1091437484.317157, 30705986818.919323 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.140957 y=0.000000 z=0.061077 +[21:41:14.256] If point is visible? -124198397207.099411, 49953641192.578041, 87595972024.446655 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.140957 y=0.000000 z=0.061077 +[21:41:14.256] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:14.256] If point is visible? -1.976675, 0.915194, 1.694530 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.133313 y=0.000000 z=0.058199 +[21:41:14.256] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:14.256] If point is visible? -2.365206, 1.100063, 0.775467 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.133313 y=0.000000 z=0.058199 +[21:41:14.256] If point is visible? -1.976675, 0.915194, 1.694530 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.133313 y=0.000000 z=0.058199 +[21:41:14.256] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:14.256] If point is visible? -2.365206, 1.100063, 0.775467 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.133313 y=0.000000 z=0.058199 +[21:41:14.256] If point is visible? -0.310371, 0.135071, 0.259499 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.124629 y=0.000000 z=0.054902 +[21:41:14.256] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:14.256] If point is visible? -0.305922, 0.132040, 0.270587 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.124629 y=0.000000 z=0.054902 +[21:41:14.256] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:14.256] If point is visible? -0.310371, 0.135071, 0.259499 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.124629 y=0.000000 z=0.054902 +[21:41:14.256] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:14.256] If point is visible? -0.305922, 0.132040, 0.270587 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.124629 y=0.000000 z=0.054902 +[21:41:14.256] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:14.256] If point is visible? -3.472260, 1.093495, 1.641732 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.532400, 1.543688, 1.001132 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.163787, -1.498388, 1.950005 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.256] If point is visible? -3.101727, -1.378939, 2.137945 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.256] If point is visible? -3.092330, -1.386216, 2.147617 mu:0.245118 unit_bearing:0.154294 -0.399783 0.903530 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.256] If point is visible? -3.363187, -1.130826, 1.845784 mu:0.245118 unit_bearing:0.069067 -0.328632 0.941929 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.695817, -0.925085, 1.150739 mu:0.245118 unit_bearing:-0.112281 -0.257815 0.959648 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.692864, -0.923744, 1.162095 mu:0.245118 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.700013, -0.946715, 1.117136 mu:0.245118 unit_bearing:-0.120885 -0.262074 0.957447 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.697161, -0.945376, 1.128523 mu:0.245118 unit_bearing:-0.118011 -0.262088 0.957801 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.689395, -0.883125, 1.206287 mu:0.245118 unit_bearing:-0.097930 -0.249266 0.963471 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.681814, -0.841120, 1.261473 mu:0.245118 unit_bearing:-0.083559 -0.240695 0.966997 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.678524, -0.839774, 1.272723 mu:0.245118 unit_bearing:-0.080677 -0.240704 0.967240 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.683009, -0.851289, 1.250527 mu:0.245118 unit_bearing:-0.086433 -0.242842 0.966208 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.679752, -0.849944, 1.261789 mu:0.245118 unit_bearing:-0.083552 -0.242851 0.966459 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.676463, -0.848599, 1.273038 mu:0.245118 unit_bearing:-0.080670 -0.242860 0.966701 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.655754, -0.773329, 1.382600 mu:0.245118 unit_bearing:-0.051867 -0.227820 0.972321 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.652100, -0.771983, 1.393727 mu:0.245118 unit_bearing:-0.048981 -0.227825 0.972469 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.655927, -0.754306, 1.393005 mu:0.245118 unit_bearing:-0.048988 -0.223503 0.973471 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.652239, -0.752960, 1.404123 mu:0.245118 unit_bearing:-0.046102 -0.223508 0.973611 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.256] If point is visible? -3.278811, -0.477498, 2.254639 mu:0.245118 unit_bearing:0.187562 -0.181897 0.965264 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.257] If point is visible? -3.312199, -0.347382, 2.226975 mu:0.245118 unit_bearing:0.181975 -0.149415 0.971885 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.305942, -0.346096, 2.237042 mu:0.245118 unit_bearing:0.184847 -0.149403 0.971345 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.342934, -0.308263, 2.183626 mu:0.245118 unit_bearing:0.170520 -0.138603 0.975557 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.286624, -0.296724, 2.274262 mu:0.245118 unit_bearing:0.196374 -0.138503 0.970698 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.257] If point is visible? -3.285777, -0.251202, 2.281170 mu:0.245118 unit_bearing:0.199287 -0.127634 0.971594 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.257] If point is visible? -3.371806, -0.223549, 2.146688 mu:0.245118 unit_bearing:0.161956 -0.116889 0.979851 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.382458, -0.180537, 2.132975 mu:0.245118 unit_bearing:0.159105 -0.106015 0.981553 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.379847, -0.143819, 2.140229 mu:0.245118 unit_bearing:0.162006 -0.097299 0.981981 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.759095, -0.213062, 1.289310 mu:0.245118 unit_bearing:-0.066509 -0.088726 0.993833 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.370100, -0.114690, 2.158304 mu:0.245118 unit_bearing:0.167780 -0.090752 0.981638 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.364002, -0.113416, 2.168464 mu:0.245118 unit_bearing:0.170659 -0.090745 0.981143 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.294840, -0.099488, 2.279222 mu:0.245118 unit_bearing:0.202280 -0.090665 0.975122 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.257] If point is visible? -3.763309, -0.205562, 1.277268 mu:0.245118 unit_bearing:-0.069406 -0.086541 0.993828 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.308448, -0.093157, 2.258450 mu:0.245118 unit_bearing:0.196543 -0.088505 0.976493 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.800947, -0.157247, 1.158460 mu:0.245118 unit_bearing:-0.098349 -0.071238 0.992599 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.797794, -0.155866, 1.169803 mu:0.245118 unit_bearing:-0.095458 -0.071241 0.992881 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.772265, -0.181698, 1.252294 mu:0.245118 unit_bearing:-0.075199 -0.079990 0.993955 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.784244, -0.159219, 1.215924 mu:0.245118 unit_bearing:-0.083885 -0.073434 0.993766 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.783619, -0.168085, 1.216779 mu:0.245118 unit_bearing:-0.083883 -0.075617 0.993602 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.309178, -0.084306, 2.257670 mu:0.245118 unit_bearing:0.196548 -0.086328 0.976686 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.768651, -0.071177, 1.275481 mu:0.245118 unit_bearing:-0.066533 -0.053794 0.996333 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.772574, -0.063685, 1.263327 mu:0.245118 unit_bearing:-0.069429 -0.051608 0.996251 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.940115, -0.143112, 0.388419 mu:0.245118 unit_bearing:-0.285080 -0.044796 0.957456 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.943621, -0.101969, 0.359607 mu:0.245118 unit_bearing:-0.290785 -0.033926 0.956187 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.942739, -0.100515, 0.371600 mu:0.245118 unit_bearing:-0.287943 -0.033930 0.957046 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.945895, -0.050599, 0.341599 mu:0.245118 unit_bearing:-0.293642 -0.020890 0.955687 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.945049, -0.049137, 0.353600 mu:0.245118 unit_bearing:-0.290801 -0.020893 0.956555 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.944166, -0.047676, 0.365593 mu:0.245118 unit_bearing:-0.287959 -0.020895 0.957415 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.588611, 0.138704, 1.741373 mu:0.245118 unit_bearing:0.060954 -0.016649 0.998002 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.946645, 0.002205, 0.335367 mu:0.245118 unit_bearing:-0.293651 -0.007857 0.955880 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.945797, 0.003674, 0.347367 mu:0.245118 unit_bearing:-0.290810 -0.007858 0.956749 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.944914, 0.005142, 0.359359 mu:0.245118 unit_bearing:-0.287967 -0.007859 0.957608 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.439250, 0.227961, 2.029160 mu:0.245118 unit_bearing:0.141929 -0.003530 0.989871 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.433438, 0.229227, 2.039462 mu:0.245118 unit_bearing:0.144815 -0.003530 0.989452 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.593926, 0.234769, 1.718885 mu:0.245118 unit_bearing:0.058059 0.007395 0.998286 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.589034, 0.236082, 1.729584 mu:0.245118 unit_bearing:0.060955 0.007395 0.998113 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.949216, 0.168676, -0.117557 mu:0.245118 unit_bearing:-0.392107 0.046174 0.918760 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.877021, 0.326267, 0.785410 mu:0.245118 unit_bearing:-0.176279 0.057541 0.982657 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.938849, 0.276038, 0.311591 mu:0.245118 unit_bearing:-0.290729 0.059474 0.954955 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.939085, 0.233086, -0.239034 mu:0.245118 unit_bearing:-0.417012 0.065473 0.906540 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.460021, 0.495275, 1.940645 mu:0.245118 unit_bearing:0.127455 0.064149 0.989768 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.454367, 0.496534, 1.951016 mu:0.245118 unit_bearing:0.130342 0.064146 0.989392 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.949178, 0.223106, -0.038059 mu:0.245118 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.944872, 0.226610, -0.150606 mu:0.245118 unit_bearing:-0.397616 0.061256 0.915505 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.948726, 0.197936, -0.096702 mu:0.245118 unit_bearing:-0.386511 0.052669 0.920780 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.947916, 0.227201, -0.075930 mu:0.245118 unit_bearing:-0.380906 0.059169 0.922719 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.944315, 0.235322, -0.151850 mu:0.245118 unit_bearing:-0.397606 0.063413 0.915362 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.923410, 0.345105, -0.330897 mu:0.245118 unit_bearing:-0.433375 0.095470 0.896142 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.922535, 0.353768, -0.332225 mu:0.245118 unit_bearing:-0.433359 0.097618 0.895919 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.920386, 0.507635, 0.239626 mu:0.245118 unit_bearing:-0.298994 0.117969 0.946935 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.922408, 0.490187, 0.242443 mu:0.245118 unit_bearing:-0.299019 0.113640 0.947456 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.921407, 0.498912, 0.241038 mu:0.245118 unit_bearing:-0.299006 0.115805 0.947198 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.552581, 0.764617, 1.650226 mu:0.245118 unit_bearing:0.060872 0.138353 0.988511 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.547660, 0.765913, 1.660897 mu:0.245118 unit_bearing:0.063765 0.138349 0.988329 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.382877, 0.821161, 1.971645 mu:0.245118 unit_bearing:0.150361 0.142508 0.978306 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.546495, 0.774670, 1.659359 mu:0.245118 unit_bearing:0.063762 0.140526 0.988022 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.545312, 0.783426, 1.657814 mu:0.245118 unit_bearing:0.063759 0.142702 0.987710 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.370043, 0.908445, 1.955634 mu:0.245118 unit_bearing:0.150286 0.164222 0.974908 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.372757, 0.891007, 1.958895 mu:0.245118 unit_bearing:0.150302 0.159882 0.975627 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.366850, 0.892221, 1.969134 mu:0.245118 unit_bearing:0.153180 0.159871 0.975180 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.360911, 0.893432, 1.979358 mu:0.245118 unit_bearing:0.156058 0.159860 0.974726 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.365502, 0.900940, 1.967506 mu:0.245118 unit_bearing:0.153172 0.162041 0.974824 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.359563, 0.902151, 1.977730 mu:0.245118 unit_bearing:0.156050 0.162030 0.974369 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.349370, 0.495831, -2.028435 mu:0.245118 unit_bearing:-0.764307 0.182850 0.618385 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.257] If point is visible? -3.356166, 0.497811, -2.016586 mu:0.245118 unit_bearing:-0.762158 0.182978 0.620995 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.257] If point is visible? -3.362916, 0.499790, -2.004724 mu:0.245118 unit_bearing:-0.760001 0.183105 0.623595 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.257] If point is visible? -3.577548, 1.263245, 1.216873 mu:0.245118 unit_bearing:-0.025843 0.272610 0.961778 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.575215, 1.271838, 1.214927 mu:0.245118 unit_bearing:-0.025840 0.274758 0.961166 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.147622, 1.566253, 1.922915 mu:0.245118 unit_bearing:0.180738 0.325238 0.928199 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.257] If point is visible? -3.141362, 1.567360, 1.932909 mu:0.245118 unit_bearing:0.183589 0.325208 0.927650 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.257] If point is visible? -3.105843, 1.637038, 1.934872 mu:0.245118 unit_bearing:0.189098 0.342102 0.920439 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.257] If point is visible? -3.526272, 1.819419, -0.062986 mu:0.245118 unit_bearing:-0.296522 0.446154 0.844406 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -2.877384, 2.142204, 1.800914 mu:0.245118 unit_bearing:0.192830 0.469006 0.861888 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.447563, 1.972222, 0.002212 mu:0.245118 unit_bearing:-0.270538 0.481382 0.833715 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.457271, 1.949965, -0.089084 mu:0.245118 unit_bearing:-0.292748 0.478694 0.827738 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -2.869063, 2.158296, 1.795370 mu:0.245118 unit_bearing:0.192750 0.473086 0.859673 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -2.873233, 2.150254, 1.798146 mu:0.245118 unit_bearing:0.192790 0.471047 0.860783 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -2.866816, 2.151236, 1.807923 mu:0.245118 unit_bearing:0.195602 0.470994 0.860177 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.279875, -1.394958, 1.819595 mu:0.245118 unit_bearing:0.063071 -0.392111 0.917753 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.263148, -1.409598, 1.840015 mu:0.245118 unit_bearing:0.068770 -0.396283 0.915549 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] If point is visible? -3.125252, -1.545911, 1.978067 mu:0.245118 unit_bearing:0.108438 -0.433570 0.894571 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.257] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.257] If point is visible? -3.683871, -1.169764, 0.937864 mu:0.245118 unit_bearing:-0.166406 -0.310984 0.935734 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.661468, -0.746813, 1.381503 mu:0.245118 unit_bearing:-0.051879 -0.221337 0.973817 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.702255, -0.937913, 1.116875 mu:0.245118 unit_bearing:-0.120896 -0.259924 0.958031 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.334450, -0.324684, 2.194950 mu:0.245118 unit_bearing:0.173379 -0.142936 0.974427 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.322095, -0.322112, 2.215165 mu:0.245118 unit_bearing:0.179128 -0.142914 0.973390 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.319666, -0.339817, 2.216325 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.346997, -0.091891, 2.197295 mu:0.245118 unit_bearing:0.179302 -0.086370 0.979995 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.791874, -0.089675, 1.197538 mu:0.245118 unit_bearing:-0.086792 -0.055966 0.994653 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.345521, -0.109601, 2.198853 mu:0.245118 unit_bearing:0.179291 -0.090725 0.979604 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.792728, -0.181083, 1.183701 mu:0.245118 unit_bearing:-0.092559 -0.077791 0.992664 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.779658, -0.175577, 1.228914 mu:0.245118 unit_bearing:-0.080988 -0.077802 0.993674 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.331491, -0.124772, 2.220563 mu:0.245118 unit_bearing:0.185032 -0.095064 0.978124 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.797370, -0.110164, 1.176719 mu:0.245118 unit_bearing:-0.092575 -0.060328 0.993876 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.897977, 0.139858, 0.727572 mu:0.245118 unit_bearing:-0.196455 0.013917 0.980414 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.839585, 0.582454, 0.828792 mu:0.245118 unit_bearing:-0.155992 0.118572 0.980616 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.834579, 0.585351, 0.851867 mu:0.245118 unit_bearing:-0.150231 0.118588 0.981513 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.393396, 0.827454, 1.949547 mu:0.245118 unit_bearing:0.144593 0.144699 0.978854 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.381676, 0.829899, 1.970077 mu:0.245118 unit_bearing:0.150354 0.144681 0.977988 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.841562, 0.564918, 0.831658 mu:0.245118 unit_bearing:-0.156004 0.114220 0.981130 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.836555, 0.567812, 0.854735 mu:0.245118 unit_bearing:-0.150242 0.114235 0.982027 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.390939, 0.844927, 1.946391 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.379220, 0.847370, 1.966919 mu:0.245118 unit_bearing:0.150340 0.149026 0.977338 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.376690, 0.864831, 1.963731 mu:0.245118 unit_bearing:0.150325 0.153369 0.976668 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.052026, 1.355230, 2.227896 mu:0.245118 unit_bearing:0.252521 0.264787 0.930656 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.258] If point is visible? -3.679481, -0.734522, 1.336093 mu:0.245118 unit_bearing:-0.063432 -0.216990 0.974111 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.733864, -0.953983, 0.979388 mu:0.245118 unit_bearing:-0.155348 -0.259727 0.953105 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.723866, -0.948629, 1.025386 mu:0.245118 unit_bearing:-0.143873 -0.259798 0.954885 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.048244, -1.660218, 2.011035 mu:0.245118 unit_bearing:0.119503 -0.462365 0.878600 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.258] If point is visible? -3.025774, -1.654710, 2.051575 mu:0.245118 unit_bearing:0.130838 -0.462236 0.877051 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.258] If point is visible? -3.644655, -1.399293, 0.752904 mu:0.245118 unit_bearing:-0.211372 -0.361301 0.908176 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.373093, -1.133505, 1.824659 mu:0.245118 unit_bearing:0.063324 -0.328653 0.942325 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.353150, -1.128146, 1.866855 mu:0.245118 unit_bearing:0.074809 -0.328610 0.941498 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.267105, -1.181990, 1.991272 mu:0.245118 unit_bearing:0.109125 -0.345426 0.932080 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.394997, -1.063378, 1.824774 mu:0.245118 unit_bearing:0.063381 -0.311595 0.948099 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.403628, -1.103813, 1.782342 mu:0.245118 unit_bearing:0.051858 -0.320165 0.945941 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.686692, -0.699147, 1.334460 mu:0.245118 unit_bearing:-0.063450 -0.208335 0.975997 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.319666, -0.339817, 2.216325 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.856660, -0.476154, 0.813735 mu:0.245118 unit_bearing:-0.190435 -0.138527 0.971877 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.848143, -0.470614, 0.860348 mu:0.245118 unit_bearing:-0.178945 -0.138572 0.974052 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.839086, -0.465081, 0.906802 mu:0.245118 unit_bearing:-0.167444 -0.138613 0.976089 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.852726, -0.435228, 0.857637 mu:0.245118 unit_bearing:-0.178976 -0.129882 0.975243 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.843661, -0.429684, 0.904096 mu:0.245118 unit_bearing:-0.167473 -0.129921 0.977279 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.746714, 0.439871, 1.268031 mu:0.245118 unit_bearing:-0.052046 0.070762 0.996134 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.731822, 0.445366, 1.312603 mu:0.245118 unit_bearing:-0.040461 0.070768 0.996672 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.390939, 0.844927, 1.946391 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.744198, 0.475119, 1.262751 mu:0.245118 unit_bearing:-0.052041 0.079496 0.995476 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.938097, 0.291550, -0.197503 mu:0.245118 unit_bearing:-0.405861 0.078456 0.910561 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.536513, 0.844654, 1.646799 mu:0.245118 unit_bearing:0.063738 0.157927 0.985392 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.516512, 0.849800, 1.689335 mu:0.245118 unit_bearing:0.075299 0.157909 0.984578 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.496001, 0.854908, 1.731658 mu:0.245118 unit_bearing:0.086856 0.157887 0.983630 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.385806, 0.879847, 1.939991 mu:0.245118 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.472260, 1.093495, 1.641732 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.070523, 1.336037, 2.212624 mu:0.245118 unit_bearing:0.246892 0.260574 0.933352 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.258] If point is visible? -3.042345, 1.340244, 2.251186 mu:0.245118 unit_bearing:0.258244 0.260445 0.930311 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:14.258] If point is visible? -3.631700, 1.173368, 1.134487 mu:0.245118 unit_bearing:-0.051818 0.253204 0.966024 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.532400, 1.543688, 1.001132 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.516827, 1.827484, -0.176293 mu:0.245118 unit_bearing:-0.321203 0.451501 0.832452 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -3.515870, 1.834734, -0.128977 mu:0.245118 unit_bearing:-0.310170 0.451851 0.836436 T_cur_ref: x=0.123340 y=0.000000 z=0.054391 +[21:41:14.258] If point is visible? -282306403631.973206, 86747929517.596451, 128684093110.251938 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -280647222850.463989, 87143929261.529510, 132002941353.595108 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -281216601215.927368, 84406097252.916595, 132568995522.747971 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -294138483453.151184, 93526154565.838562, 92288220216.976791 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -279774908921.654541, 118835767106.996033, -106704102174.025162 mu:0.000000 unit_bearing:-0.576196 0.406498 0.709054 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -280678536792.679321, 122728936066.962402, -99693890798.712631 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -282306403631.973206, 86747929517.596451, 128684093110.251938 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -280647222850.463989, 87143929261.529510, 132002941353.595108 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -281216601215.927368, 84406097252.916595, 132568995522.747971 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -293446671424.261658, 96248237526.227692, 91689870923.272812 mu:0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -294138483453.151184, 93526154565.838562, 92288220216.976791 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -280678536792.679321, 122728936066.962402, -99693890798.712631 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.114131 y=0.000000 z=0.050763 +[21:41:14.258] If point is visible? -3.474204, 0.571805, 0.936332 mu:0.267923 unit_bearing:-0.109833 0.123034 0.986306 T_cur_ref: x=0.105440 y=0.000000 z=0.047450 +[21:41:14.258] If point is visible? -1.816613, 1.190263, 3.017283 mu:0.267923 unit_bearing:0.585689 0.219552 0.780234 T_cur_ref: x=0.105440 y=0.000000 z=0.047450 +[21:41:14.258] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:14.258] If point is visible? -2.755174, 1.231453, 2.104472 mu:0.267923 unit_bearing:0.269577 0.260310 0.927128 T_cur_ref: x=0.105440 y=0.000000 z=0.047450 +[21:41:14.258] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:14.258] If point is visible? -1.799893, 1.892109, 2.639853 mu:0.267923 unit_bearing:0.515125 0.418515 0.747992 T_cur_ref: x=0.105440 y=0.000000 z=0.047450 +[21:41:14.258] If point is visible? -3.471020, 2.441835, 2.015847 mu:0.210413 unit_bearing:0.153515 0.459408 0.874858 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] If point is visible? -3.727589, 2.304587, 1.669481 mu:0.210413 unit_bearing:0.062837 0.439627 0.895980 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] If point is visible? -4.061247, -2.281507, 0.332005 mu:0.210413 unit_bearing:-0.331002 -0.483856 0.810136 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] If point is visible? -3.095510, -2.055784, 2.901350 mu:0.210413 unit_bearing:0.247913 -0.502601 0.828210 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:14.258] If point is visible? -3.728237, -1.645761, 2.333163 mu:0.210413 unit_bearing:0.097296 -0.402400 0.910279 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:14.258] If point is visible? -3.738695, -1.637231, 2.321746 mu:0.210413 unit_bearing:0.094457 -0.400326 0.911492 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:14.258] If point is visible? -3.783842, -1.592948, 2.276191 mu:0.210413 unit_bearing:0.083098 -0.389909 0.917096 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] If point is visible? -3.918183, -1.460960, 2.123578 mu:0.210413 unit_bearing:0.046008 -0.358431 0.932422 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] If point is visible? -3.858571, -1.324206, 2.320164 mu:0.210413 unit_bearing:0.091995 -0.334912 0.937748 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] If point is visible? -4.402945, -1.524573, 0.112009 mu:0.210413 unit_bearing:-0.382861 -0.320134 0.866564 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] If point is visible? -3.946614, -1.235961, 2.212487 mu:0.210413 unit_bearing:0.066248 -0.313721 0.947201 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] If point is visible? -3.988638, -1.202736, 2.151513 mu:0.210413 unit_bearing:0.051898 -0.305219 0.950867 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] If point is visible? -4.355387, -1.033407, 1.343117 mu:0.210413 unit_bearing:-0.129573 -0.249125 0.959764 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] If point is visible? -4.351867, -1.031851, 1.356348 mu:0.210413 unit_bearing:-0.126699 -0.249140 0.960144 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.258] If point is visible? -4.348310, -1.030296, 1.369566 mu:0.210413 unit_bearing:-0.123824 -0.249154 0.960515 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -4.344701, -0.994802, 1.408223 mu:0.210413 unit_bearing:-0.115226 -0.242733 0.963226 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -4.340987, -0.993245, 1.421389 mu:0.210413 unit_bearing:-0.112348 -0.242745 0.963563 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -4.339620, -0.981407, 1.434221 mu:0.210413 unit_bearing:-0.109479 -0.240602 0.964430 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -4.341985, -0.971125, 1.433891 mu:0.210413 unit_bearing:-0.109488 -0.238446 0.964964 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -4.328327, -0.898469, 1.523457 mu:0.210413 unit_bearing:-0.089370 -0.225569 0.970119 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -4.331861, -0.922178, 1.498066 mu:0.210413 unit_bearing:-0.095120 -0.229869 0.968562 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -4.291976, -0.807624, 1.676287 mu:0.210413 unit_bearing:-0.054785 -0.210515 0.976054 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -4.601031, -0.694743, -0.110140 mu:0.210413 unit_bearing:-0.421927 -0.141132 0.895578 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -3.906369, -0.341920, 2.581164 mu:0.210413 unit_bearing:0.161896 -0.136459 0.977327 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -3.884347, -0.337480, 2.616183 mu:0.210413 unit_bearing:0.170527 -0.136430 0.975862 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -4.599542, -0.704910, -0.109383 mu:0.210413 unit_bearing:-0.421902 -0.143274 0.895249 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -3.904009, -0.067690, 2.606897 mu:0.210413 unit_bearing:0.173561 -0.079848 0.981581 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -4.417489, -0.181427, 1.515684 mu:0.210413 unit_bearing:-0.080990 -0.075619 0.993842 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] If point is visible? -4.413282, -0.179837, 1.528726 mu:0.210413 unit_bearing:-0.078096 -0.075622 0.994074 T_cur_ref: x=0.097940 y=0.000000 z=0.044343 +[21:41:14.259] init seeds +[21:41:14.259] DepthFilter: Initialized 0 new seeds +[21:41:14.261] DepthFilter: Initialized 0 new seeds +[21:41:15.465] add new frame +[21:41:15.465] update seed +[21:41:15.465] If point is visible? -2.345864, 1.627007, 1.440321 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.189466 y=0.000000 z=0.083514 +[21:41:15.465] If point is visible? -2.896028, 0.956093, 0.777477 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.189466 y=0.000000 z=0.083514 +[21:41:15.465] If point is visible? -2.345864, 1.627007, 1.440321 mu:0.302670 unit_bearing:0.159469 0.438727 0.884357 T_cur_ref: x=0.189466 y=0.000000 z=0.083514 +[21:41:15.465] If point is visible? -2.896028, 0.956093, 0.777477 mu:0.302670 unit_bearing:-0.109388 0.261626 0.958951 T_cur_ref: x=0.189466 y=0.000000 z=0.083514 +[21:41:15.465] If point is visible? -2.710276, 0.840383, 0.745548 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.177409 y=0.000000 z=0.079011 +[21:41:15.465] If point is visible? -2.608224, 1.291714, -0.167896 mu:0.324627 unit_bearing:-0.355005 0.425968 0.832180 T_cur_ref: x=0.177409 y=0.000000 z=0.079011 +[21:41:15.465] If point is visible? -2.620063, 1.267166, -0.161157 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.177409 y=0.000000 z=0.079011 +[21:41:15.465] If point is visible? -2.710276, 0.840383, 0.745548 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.177409 y=0.000000 z=0.079011 +[21:41:15.465] If point is visible? -2.620063, 1.267166, -0.161157 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.177409 y=0.000000 z=0.079011 +[21:41:15.465] If point is visible? -157001954095.437408, 1091437484.317157, 30705986818.934345 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.169804 y=0.000000 z=0.076099 +[21:41:15.465] If point is visible? -124198397207.070572, 49953641192.578041, 87595972024.461670 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.169804 y=0.000000 z=0.076099 +[21:41:15.465] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:15.466] If point is visible? -157001954095.437408, 1091437484.317157, 30705986818.934345 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.169804 y=0.000000 z=0.076099 +[21:41:15.466] add key frame +[21:41:15.466] If point is visible? -124198397207.070572, 49953641192.578041, 87595972024.461670 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.169804 y=0.000000 z=0.076099 +[21:41:15.466] remove key frame +[21:41:15.466] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:15.466] init seeds +[21:41:15.466] update seed +[21:41:15.466] init seeds +[21:41:15.468] DepthFilter: Initialized 1 new seeds +[21:41:15.471] DepthFilter: Initialized 161 new seeds +[21:41:16.078] add new frame +[21:41:16.078] update seed +[21:41:16.078] If point is visible? -2.701828, 0.840383, 0.749932 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.185857 y=0.000000 z=0.083395 +[21:41:16.078] If point is visible? -2.599776, 1.291714, -0.163512 mu:0.324627 unit_bearing:-0.355005 0.425968 0.832180 T_cur_ref: x=0.185857 y=0.000000 z=0.083395 +[21:41:16.078] If point is visible? -2.611615, 1.267166, -0.156774 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.185857 y=0.000000 z=0.083395 +[21:41:16.078] If point is visible? -2.701828, 0.840383, 0.749932 mu:0.324627 unit_bearing:-0.109463 0.244408 0.963474 T_cur_ref: x=0.185857 y=0.000000 z=0.083395 +[21:41:16.078] If point is visible? -2.611615, 1.267166, -0.156774 mu:0.324627 unit_bearing:-0.355283 0.417791 0.836196 T_cur_ref: x=0.185857 y=0.000000 z=0.083395 +[21:41:16.078] If point is visible? -157001954095.428955, 1091437484.317157, 30705986818.938728 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.178252 y=0.000000 z=0.080483 +[21:41:16.078] If point is visible? -124198397207.062119, 49953641192.578041, 87595972024.466064 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.178252 y=0.000000 z=0.080483 +[21:41:16.078] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:16.078] If point is visible? -157001954095.428955, 1091437484.317157, 30705986818.938728 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.178252 y=0.000000 z=0.080483 +[21:41:16.078] If point is visible? -124198397207.062119, 49953641192.578041, 87595972024.466064 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.178252 y=0.000000 z=0.080483 +[21:41:16.078] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:16.078] If point is visible? -1.939380, 0.915194, 1.713935 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.170608 y=0.000000 z=0.077604 +[21:41:16.078] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:16.078] add key frame +[21:41:16.078] If point is visible? -2.327911, 1.100063, 0.794873 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.170608 y=0.000000 z=0.077604 +[21:41:16.078] init seeds +[21:41:16.078] remove key frame +[21:41:16.078] update seed +[21:41:16.079] If point is visible? -157001954095.428955, 1091437484.317157, 30705986818.938728 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.178252 y=0.000000 z=0.080483 +[21:41:16.079] If point is visible? -124198397207.062119, 49953641192.578041, 87595972024.466064 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.178252 y=0.000000 z=0.080483 +[21:41:16.079] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -157001954095.428955, 1091437484.317157, 30705986818.938728 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.178252 y=0.000000 z=0.080483 +[21:41:16.079] If point is visible? -124198397207.062119, 49953641192.578041, 87595972024.466064 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.178252 y=0.000000 z=0.080483 +[21:41:16.079] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -1.939380, 0.915194, 1.713935 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.170608 y=0.000000 z=0.077604 +[21:41:16.079] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:16.079] If point is visible? -2.327911, 1.100063, 0.794873 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.170608 y=0.000000 z=0.077604 +[21:41:16.079] If point is visible? -1.939380, 0.915194, 1.713935 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.170608 y=0.000000 z=0.077604 +[21:41:16.079] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:16.079] If point is visible? -2.327911, 1.100063, 0.794873 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.170608 y=0.000000 z=0.077604 +[21:41:16.079] If point is visible? -0.273075, 0.135071, 0.278904 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.161924 y=0.000000 z=0.074307 +[21:41:16.079] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:16.079] If point is visible? -0.268627, 0.132040, 0.289992 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.161924 y=0.000000 z=0.074307 +[21:41:16.079] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:16.079] If point is visible? -0.273075, 0.135071, 0.278904 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.161924 y=0.000000 z=0.074307 +[21:41:16.079] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:16.079] If point is visible? -0.268627, 0.132040, 0.289992 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.161924 y=0.000000 z=0.074307 +[21:41:16.079] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:16.079] If point is visible? -3.434965, 1.093495, 1.661138 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.495104, 1.543688, 1.020538 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.126492, -1.498388, 1.969410 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -3.064432, -1.378939, 2.157350 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -3.055035, -1.386216, 2.167023 mu:0.245118 unit_bearing:0.154294 -0.399783 0.903530 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -3.325891, -1.130826, 1.865190 mu:0.245118 unit_bearing:0.069067 -0.328632 0.941929 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.658522, -0.925085, 1.170144 mu:0.245118 unit_bearing:-0.112281 -0.257815 0.959648 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.655569, -0.923744, 1.181500 mu:0.245118 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.662718, -0.946715, 1.136542 mu:0.245118 unit_bearing:-0.120885 -0.262074 0.957447 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.659866, -0.945376, 1.147929 mu:0.245118 unit_bearing:-0.118011 -0.262088 0.957801 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.652100, -0.883125, 1.225692 mu:0.245118 unit_bearing:-0.097930 -0.249266 0.963471 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.644519, -0.841120, 1.280878 mu:0.245118 unit_bearing:-0.083559 -0.240695 0.966997 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.641229, -0.839774, 1.292129 mu:0.245118 unit_bearing:-0.080677 -0.240704 0.967240 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.645714, -0.851289, 1.269933 mu:0.245118 unit_bearing:-0.086433 -0.242842 0.966208 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.642457, -0.849944, 1.281194 mu:0.245118 unit_bearing:-0.083552 -0.242851 0.966459 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.639168, -0.848599, 1.292444 mu:0.245118 unit_bearing:-0.080670 -0.242860 0.966701 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.618459, -0.773329, 1.402005 mu:0.245118 unit_bearing:-0.051867 -0.227820 0.972321 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.614805, -0.771983, 1.413133 mu:0.245118 unit_bearing:-0.048981 -0.227825 0.972469 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.618632, -0.754306, 1.412411 mu:0.245118 unit_bearing:-0.048988 -0.223503 0.973471 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.614944, -0.752960, 1.423528 mu:0.245118 unit_bearing:-0.046102 -0.223508 0.973611 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.241515, -0.477498, 2.274044 mu:0.245118 unit_bearing:0.187562 -0.181897 0.965264 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -3.274904, -0.347382, 2.246380 mu:0.245118 unit_bearing:0.181975 -0.149415 0.971885 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.268647, -0.346096, 2.256447 mu:0.245118 unit_bearing:0.184847 -0.149403 0.971345 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -3.305639, -0.308263, 2.203031 mu:0.245118 unit_bearing:0.170520 -0.138603 0.975557 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.249329, -0.296724, 2.293667 mu:0.245118 unit_bearing:0.196374 -0.138503 0.970698 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -3.248482, -0.251202, 2.300576 mu:0.245118 unit_bearing:0.199287 -0.127634 0.971594 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -3.334511, -0.223549, 2.166093 mu:0.245118 unit_bearing:0.161956 -0.116889 0.979851 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.345163, -0.180537, 2.152380 mu:0.245118 unit_bearing:0.159105 -0.106015 0.981553 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.342552, -0.143819, 2.159635 mu:0.245118 unit_bearing:0.162006 -0.097299 0.981981 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.721800, -0.213062, 1.308715 mu:0.245118 unit_bearing:-0.066509 -0.088726 0.993833 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.332804, -0.114690, 2.177710 mu:0.245118 unit_bearing:0.167780 -0.090752 0.981638 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.326707, -0.113416, 2.187869 mu:0.245118 unit_bearing:0.170659 -0.090745 0.981143 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.257545, -0.099488, 2.298628 mu:0.245118 unit_bearing:0.202280 -0.090665 0.975122 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -3.726014, -0.205562, 1.296673 mu:0.245118 unit_bearing:-0.069406 -0.086541 0.993828 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.271153, -0.093157, 2.277856 mu:0.245118 unit_bearing:0.196543 -0.088505 0.976493 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -3.763652, -0.157247, 1.177866 mu:0.245118 unit_bearing:-0.098349 -0.071238 0.992599 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.760498, -0.155866, 1.189208 mu:0.245118 unit_bearing:-0.095458 -0.071241 0.992881 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.734970, -0.181698, 1.271700 mu:0.245118 unit_bearing:-0.075199 -0.079990 0.993955 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.746949, -0.159219, 1.235330 mu:0.245118 unit_bearing:-0.083885 -0.073434 0.993766 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.746324, -0.168085, 1.236185 mu:0.245118 unit_bearing:-0.083883 -0.075617 0.993602 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.271883, -0.084306, 2.277076 mu:0.245118 unit_bearing:0.196548 -0.086328 0.976686 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.079] If point is visible? -3.731356, -0.071177, 1.294887 mu:0.245118 unit_bearing:-0.066533 -0.053794 0.996333 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.735279, -0.063685, 1.282732 mu:0.245118 unit_bearing:-0.069429 -0.051608 0.996251 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.902820, -0.143112, 0.407824 mu:0.245118 unit_bearing:-0.285080 -0.044796 0.957456 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.906326, -0.101969, 0.379013 mu:0.245118 unit_bearing:-0.290785 -0.033926 0.956187 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.905444, -0.100515, 0.391006 mu:0.245118 unit_bearing:-0.287943 -0.033930 0.957046 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.908600, -0.050599, 0.361004 mu:0.245118 unit_bearing:-0.293642 -0.020890 0.955687 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.907753, -0.049137, 0.373005 mu:0.245118 unit_bearing:-0.290801 -0.020893 0.956555 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.079] If point is visible? -3.906871, -0.047676, 0.384998 mu:0.245118 unit_bearing:-0.287959 -0.020895 0.957415 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.551316, 0.138704, 1.760778 mu:0.245118 unit_bearing:0.060954 -0.016649 0.998002 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.909349, 0.002205, 0.354772 mu:0.245118 unit_bearing:-0.293651 -0.007857 0.955880 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.908502, 0.003674, 0.366772 mu:0.245118 unit_bearing:-0.290810 -0.007858 0.956749 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.907619, 0.005142, 0.378765 mu:0.245118 unit_bearing:-0.287967 -0.007859 0.957608 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.401955, 0.227961, 2.048565 mu:0.245118 unit_bearing:0.141929 -0.003530 0.989871 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.396143, 0.229227, 2.058868 mu:0.245118 unit_bearing:0.144815 -0.003530 0.989452 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.556631, 0.234769, 1.738291 mu:0.245118 unit_bearing:0.058059 0.007395 0.998286 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.551739, 0.236082, 1.748989 mu:0.245118 unit_bearing:0.060955 0.007395 0.998113 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.911920, 0.168676, -0.098152 mu:0.245118 unit_bearing:-0.392107 0.046174 0.918760 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.839726, 0.326267, 0.804815 mu:0.245118 unit_bearing:-0.176279 0.057541 0.982657 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.901554, 0.276038, 0.330997 mu:0.245118 unit_bearing:-0.290729 0.059474 0.954955 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.901790, 0.233086, -0.219629 mu:0.245118 unit_bearing:-0.417012 0.065473 0.906540 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.422726, 0.495275, 1.960050 mu:0.245118 unit_bearing:0.127455 0.064149 0.989768 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.417072, 0.496534, 1.970422 mu:0.245118 unit_bearing:0.130342 0.064146 0.989392 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.911883, 0.223106, -0.018653 mu:0.245118 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.907577, 0.226610, -0.131201 mu:0.245118 unit_bearing:-0.397616 0.061256 0.915505 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.911430, 0.197936, -0.077297 mu:0.245118 unit_bearing:-0.386511 0.052669 0.920780 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.910621, 0.227201, -0.056524 mu:0.245118 unit_bearing:-0.380906 0.059169 0.922719 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.907020, 0.235322, -0.132444 mu:0.245118 unit_bearing:-0.397606 0.063413 0.915362 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.886114, 0.345105, -0.311492 mu:0.245118 unit_bearing:-0.433375 0.095470 0.896142 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.885240, 0.353768, -0.312820 mu:0.245118 unit_bearing:-0.433359 0.097618 0.895919 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.883091, 0.507635, 0.259032 mu:0.245118 unit_bearing:-0.298994 0.117969 0.946935 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.885113, 0.490187, 0.261848 mu:0.245118 unit_bearing:-0.299019 0.113640 0.947456 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.884112, 0.498912, 0.260443 mu:0.245118 unit_bearing:-0.299006 0.115805 0.947198 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.515286, 0.764617, 1.669631 mu:0.245118 unit_bearing:0.060872 0.138353 0.988511 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.510365, 0.765913, 1.680303 mu:0.245118 unit_bearing:0.063765 0.138349 0.988329 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.345582, 0.821161, 1.991050 mu:0.245118 unit_bearing:0.150361 0.142508 0.978306 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.509200, 0.774670, 1.678764 mu:0.245118 unit_bearing:0.063762 0.140526 0.988022 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.508017, 0.783426, 1.677219 mu:0.245118 unit_bearing:0.063759 0.142702 0.987710 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.332748, 0.908445, 1.975039 mu:0.245118 unit_bearing:0.150286 0.164222 0.974908 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.335462, 0.891007, 1.978300 mu:0.245118 unit_bearing:0.150302 0.159882 0.975627 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.329555, 0.892221, 1.988539 mu:0.245118 unit_bearing:0.153180 0.159871 0.975180 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.323616, 0.893432, 1.998764 mu:0.245118 unit_bearing:0.156058 0.159860 0.974726 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.328207, 0.900940, 1.986912 mu:0.245118 unit_bearing:0.153172 0.162041 0.974824 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.322268, 0.902151, 1.997136 mu:0.245118 unit_bearing:0.156050 0.162030 0.974369 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.312075, 0.495831, -2.009029 mu:0.245118 unit_bearing:-0.764307 0.182850 0.618385 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.080] If point is visible? -3.318871, 0.497811, -1.997181 mu:0.245118 unit_bearing:-0.762158 0.182978 0.620995 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.080] If point is visible? -3.325621, 0.499790, -1.985318 mu:0.245118 unit_bearing:-0.760001 0.183105 0.623595 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.080] If point is visible? -3.540253, 1.263245, 1.236279 mu:0.245118 unit_bearing:-0.025843 0.272610 0.961778 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.537920, 1.271838, 1.234332 mu:0.245118 unit_bearing:-0.025840 0.274758 0.961166 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.110327, 1.566253, 1.942320 mu:0.245118 unit_bearing:0.180738 0.325238 0.928199 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.080] If point is visible? -3.104067, 1.567360, 1.952314 mu:0.245118 unit_bearing:0.183589 0.325208 0.927650 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.080] If point is visible? -3.068548, 1.637038, 1.954277 mu:0.245118 unit_bearing:0.189098 0.342102 0.920439 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.080] If point is visible? -3.488976, 1.819419, -0.043581 mu:0.245118 unit_bearing:-0.296522 0.446154 0.844406 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -2.840089, 2.142204, 1.820320 mu:0.245118 unit_bearing:0.192830 0.469006 0.861888 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.410267, 1.972222, 0.021618 mu:0.245118 unit_bearing:-0.270538 0.481382 0.833715 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.419976, 1.949965, -0.069678 mu:0.245118 unit_bearing:-0.292748 0.478694 0.827738 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -2.831768, 2.158296, 1.814776 mu:0.245118 unit_bearing:0.192750 0.473086 0.859673 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -2.835938, 2.150254, 1.817552 mu:0.245118 unit_bearing:0.192790 0.471047 0.860783 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -2.829521, 2.151236, 1.827328 mu:0.245118 unit_bearing:0.195602 0.470994 0.860177 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.242580, -1.394958, 1.839000 mu:0.245118 unit_bearing:0.063071 -0.392111 0.917753 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.225853, -1.409598, 1.859421 mu:0.245118 unit_bearing:0.068770 -0.396283 0.915549 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.087957, -1.545911, 1.997473 mu:0.245118 unit_bearing:0.108438 -0.433570 0.894571 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.080] If point is visible? -3.646575, -1.169764, 0.957269 mu:0.245118 unit_bearing:-0.166406 -0.310984 0.935734 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.624173, -0.746813, 1.400908 mu:0.245118 unit_bearing:-0.051879 -0.221337 0.973817 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.664959, -0.937913, 1.136280 mu:0.245118 unit_bearing:-0.120896 -0.259924 0.958031 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.297155, -0.324684, 2.214356 mu:0.245118 unit_bearing:0.173379 -0.142936 0.974427 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.284800, -0.322112, 2.234571 mu:0.245118 unit_bearing:0.179128 -0.142914 0.973390 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.282371, -0.339817, 2.235730 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.309702, -0.091891, 2.216701 mu:0.245118 unit_bearing:0.179302 -0.086370 0.979995 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.754579, -0.089675, 1.216943 mu:0.245118 unit_bearing:-0.086792 -0.055966 0.994653 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.308225, -0.109601, 2.218259 mu:0.245118 unit_bearing:0.179291 -0.090725 0.979604 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.755433, -0.181083, 1.203107 mu:0.245118 unit_bearing:-0.092559 -0.077791 0.992664 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.742363, -0.175577, 1.248320 mu:0.245118 unit_bearing:-0.080988 -0.077802 0.993674 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.294196, -0.124772, 2.239968 mu:0.245118 unit_bearing:0.185032 -0.095064 0.978124 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.760075, -0.110164, 1.196125 mu:0.245118 unit_bearing:-0.092575 -0.060328 0.993876 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.860682, 0.139858, 0.746977 mu:0.245118 unit_bearing:-0.196455 0.013917 0.980414 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.802290, 0.582454, 0.848197 mu:0.245118 unit_bearing:-0.155992 0.118572 0.980616 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.797284, 0.585351, 0.871272 mu:0.245118 unit_bearing:-0.150231 0.118588 0.981513 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.356100, 0.827454, 1.968952 mu:0.245118 unit_bearing:0.144593 0.144699 0.978854 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.344381, 0.829899, 1.989482 mu:0.245118 unit_bearing:0.150354 0.144681 0.977988 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.804267, 0.564918, 0.851064 mu:0.245118 unit_bearing:-0.156004 0.114220 0.981130 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.799259, 0.567812, 0.874140 mu:0.245118 unit_bearing:-0.150242 0.114235 0.982027 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.353644, 0.844927, 1.965796 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.341925, 0.847370, 1.986324 mu:0.245118 unit_bearing:0.150340 0.149026 0.977338 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.339395, 0.864831, 1.983137 mu:0.245118 unit_bearing:0.150325 0.153369 0.976668 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.014731, 1.355230, 2.247301 mu:0.245118 unit_bearing:0.252521 0.264787 0.930656 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.080] If point is visible? -3.642185, -0.734522, 1.355498 mu:0.245118 unit_bearing:-0.063432 -0.216990 0.974111 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.696569, -0.953983, 0.998793 mu:0.245118 unit_bearing:-0.155348 -0.259727 0.953105 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.686571, -0.948629, 1.044791 mu:0.245118 unit_bearing:-0.143873 -0.259798 0.954885 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] If point is visible? -3.010949, -1.660218, 2.030441 mu:0.245118 unit_bearing:0.119503 -0.462365 0.878600 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.080] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.081] If point is visible? -2.988479, -1.654710, 2.070980 mu:0.245118 unit_bearing:0.130838 -0.462236 0.877051 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.081] If point is visible? -3.607360, -1.399293, 0.772309 mu:0.245118 unit_bearing:-0.211372 -0.361301 0.908176 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.335798, -1.133505, 1.844064 mu:0.245118 unit_bearing:0.063324 -0.328653 0.942325 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.315855, -1.128146, 1.886260 mu:0.245118 unit_bearing:0.074809 -0.328610 0.941498 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.229810, -1.181990, 2.010678 mu:0.245118 unit_bearing:0.109125 -0.345426 0.932080 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.357702, -1.063378, 1.844179 mu:0.245118 unit_bearing:0.063381 -0.311595 0.948099 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.366333, -1.103813, 1.801748 mu:0.245118 unit_bearing:0.051858 -0.320165 0.945941 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.649396, -0.699147, 1.353866 mu:0.245118 unit_bearing:-0.063450 -0.208335 0.975997 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.282371, -0.339817, 2.235730 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.819365, -0.476154, 0.833141 mu:0.245118 unit_bearing:-0.190435 -0.138527 0.971877 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.810848, -0.470614, 0.879754 mu:0.245118 unit_bearing:-0.178945 -0.138572 0.974052 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.801791, -0.465081, 0.926207 mu:0.245118 unit_bearing:-0.167444 -0.138613 0.976089 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.815430, -0.435228, 0.877043 mu:0.245118 unit_bearing:-0.178976 -0.129882 0.975243 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.806366, -0.429684, 0.923502 mu:0.245118 unit_bearing:-0.167473 -0.129921 0.977279 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.709419, 0.439871, 1.287436 mu:0.245118 unit_bearing:-0.052046 0.070762 0.996134 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.694527, 0.445366, 1.332008 mu:0.245118 unit_bearing:-0.040461 0.070768 0.996672 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.353644, 0.844927, 1.965796 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.706903, 0.475119, 1.282156 mu:0.245118 unit_bearing:-0.052041 0.079496 0.995476 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.900802, 0.291550, -0.178097 mu:0.245118 unit_bearing:-0.405861 0.078456 0.910561 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.499217, 0.844654, 1.666205 mu:0.245118 unit_bearing:0.063738 0.157927 0.985392 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.479217, 0.849800, 1.708740 mu:0.245118 unit_bearing:0.075299 0.157909 0.984578 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.458706, 0.854908, 1.751064 mu:0.245118 unit_bearing:0.086856 0.157887 0.983630 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.348511, 0.879847, 1.959397 mu:0.245118 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.434965, 1.093495, 1.661138 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.033228, 1.336037, 2.232029 mu:0.245118 unit_bearing:0.246892 0.260574 0.933352 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.081] If point is visible? -3.005050, 1.340244, 2.270591 mu:0.245118 unit_bearing:0.258244 0.260445 0.930311 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.081] If point is visible? -3.594405, 1.173368, 1.153893 mu:0.245118 unit_bearing:-0.051818 0.253204 0.966024 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.495104, 1.543688, 1.020538 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.479532, 1.827484, -0.156887 mu:0.245118 unit_bearing:-0.321203 0.451501 0.832452 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -3.478575, 1.834734, -0.109572 mu:0.245118 unit_bearing:-0.310170 0.451851 0.836436 T_cur_ref: x=0.160635 y=0.000000 z=0.073796 +[21:41:16.081] If point is visible? -282306403631.935913, 86747929517.596451, 128684093110.271347 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -280647222850.426697, 87143929261.529510, 132002941353.614517 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -281216601215.890076, 84406097252.916595, 132568995522.767380 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -294138483453.113892, 93526154565.838562, 92288220216.996201 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -279774908921.617249, 118835767106.996033, -106704102174.005753 mu:0.000000 unit_bearing:-0.576196 0.406498 0.709054 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -280678536792.642029, 122728936066.962402, -99693890798.693222 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -282306403631.935913, 86747929517.596451, 128684093110.271347 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -280647222850.426697, 87143929261.529510, 132002941353.614517 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -281216601215.890076, 84406097252.916595, 132568995522.767380 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -293446671424.224365, 96248237526.227692, 91689870923.292221 mu:0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -294138483453.113892, 93526154565.838562, 92288220216.996201 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -280678536792.642029, 122728936066.962402, -99693890798.693222 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.151426 y=0.000000 z=0.070169 +[21:41:16.081] If point is visible? -3.436909, 0.571805, 0.955737 mu:0.267923 unit_bearing:-0.109833 0.123034 0.986306 T_cur_ref: x=0.142735 y=0.000000 z=0.066855 +[21:41:16.081] If point is visible? -1.779318, 1.190263, 3.036688 mu:0.267923 unit_bearing:0.585689 0.219552 0.780234 T_cur_ref: x=0.142735 y=0.000000 z=0.066855 +[21:41:16.081] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:16.081] If point is visible? -2.717878, 1.231453, 2.123877 mu:0.267923 unit_bearing:0.269577 0.260310 0.927128 T_cur_ref: x=0.142735 y=0.000000 z=0.066855 +[21:41:16.081] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:16.081] If point is visible? -1.762597, 1.892109, 2.659258 mu:0.267923 unit_bearing:0.515125 0.418515 0.747992 T_cur_ref: x=0.142735 y=0.000000 z=0.066855 +[21:41:16.081] If point is visible? -3.433725, 2.441835, 2.035252 mu:0.210413 unit_bearing:0.153515 0.459408 0.874858 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -3.690293, 2.304587, 1.688886 mu:0.210413 unit_bearing:0.062837 0.439627 0.895980 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.023952, -2.281507, 0.351410 mu:0.210413 unit_bearing:-0.331002 -0.483856 0.810136 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -3.058215, -2.055784, 2.920756 mu:0.210413 unit_bearing:0.247913 -0.502601 0.828210 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:16.081] If point is visible? -3.690942, -1.645761, 2.352569 mu:0.210413 unit_bearing:0.097296 -0.402400 0.910279 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:16.081] If point is visible? -3.701400, -1.637231, 2.341151 mu:0.210413 unit_bearing:0.094457 -0.400326 0.911492 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:16.081] If point is visible? -3.746547, -1.592948, 2.295596 mu:0.210413 unit_bearing:0.083098 -0.389909 0.917096 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:16.081] If point is visible? -3.880888, -1.460960, 2.142983 mu:0.210413 unit_bearing:0.046008 -0.358431 0.932422 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -3.821276, -1.324206, 2.339569 mu:0.210413 unit_bearing:0.091995 -0.334912 0.937748 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.365649, -1.524573, 0.131414 mu:0.210413 unit_bearing:-0.382861 -0.320134 0.866564 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -3.909318, -1.235961, 2.231892 mu:0.210413 unit_bearing:0.066248 -0.313721 0.947201 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -3.951343, -1.202736, 2.170919 mu:0.210413 unit_bearing:0.051898 -0.305219 0.950867 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.318091, -1.033407, 1.362523 mu:0.210413 unit_bearing:-0.129573 -0.249125 0.959764 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.314572, -1.031851, 1.375754 mu:0.210413 unit_bearing:-0.126699 -0.249140 0.960144 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.311014, -1.030296, 1.388972 mu:0.210413 unit_bearing:-0.123824 -0.249154 0.960515 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.307406, -0.994802, 1.427628 mu:0.210413 unit_bearing:-0.115226 -0.242733 0.963226 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.303691, -0.993245, 1.440795 mu:0.210413 unit_bearing:-0.112348 -0.242745 0.963563 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.302325, -0.981407, 1.453626 mu:0.210413 unit_bearing:-0.109479 -0.240602 0.964430 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.304690, -0.971125, 1.453296 mu:0.210413 unit_bearing:-0.109488 -0.238446 0.964964 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.291032, -0.898469, 1.542862 mu:0.210413 unit_bearing:-0.089370 -0.225569 0.970119 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.294566, -0.922178, 1.517471 mu:0.210413 unit_bearing:-0.095120 -0.229869 0.968562 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.254681, -0.807624, 1.695692 mu:0.210413 unit_bearing:-0.054785 -0.210515 0.976054 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.563736, -0.694743, -0.090735 mu:0.210413 unit_bearing:-0.421927 -0.141132 0.895578 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -3.869074, -0.341920, 2.600570 mu:0.210413 unit_bearing:0.161896 -0.136459 0.977327 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -3.847051, -0.337480, 2.635589 mu:0.210413 unit_bearing:0.170527 -0.136430 0.975862 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.562246, -0.704910, -0.089977 mu:0.210413 unit_bearing:-0.421902 -0.143274 0.895249 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -3.866714, -0.067690, 2.626302 mu:0.210413 unit_bearing:0.173561 -0.079848 0.981581 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] If point is visible? -4.380194, -0.181427, 1.535089 mu:0.210413 unit_bearing:-0.080990 -0.075619 0.993842 T_cur_ref: x=0.135235 y=0.000000 z=0.063748 +[21:41:16.081] init seeds +[21:41:16.081] DepthFilter: Initialized 2 new seeds +[21:41:16.084] DepthFilter: Initialized 2 new seeds +[21:41:16.699] add new frame +[21:41:16.699] update seed +[21:41:16.699] If point is visible? -157001954095.420013, 1091437484.317157, 30705986818.943481 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.187194 y=0.000000 z=0.085236 +[21:41:16.699] If point is visible? -124198397207.053177, 49953641192.578041, 87595972024.470810 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.187194 y=0.000000 z=0.085236 +[21:41:16.699] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:16.699] If point is visible? -157001954095.420013, 1091437484.317157, 30705986818.943481 mu:0.000000 unit_bearing:-0.167678 -0.016620 0.985702 T_cur_ref: x=0.187194 y=0.000000 z=0.085236 +[21:41:16.699] If point is visible? -124198397207.053177, 49953641192.578041, 87595972024.470810 mu:0.000000 unit_bearing:0.269778 0.243193 0.931707 T_cur_ref: x=0.187194 y=0.000000 z=0.085236 +[21:41:16.699] Z inverse min: 0.418291, Z inverse max: 0.000000 +[21:41:16.699] If point is visible? -1.930438, 0.915194, 1.718688 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.179550 y=0.000000 z=0.082357 +[21:41:16.699] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:16.699] If point is visible? -2.318969, 1.100063, 0.799626 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.179550 y=0.000000 z=0.082357 +[21:41:16.699] If point is visible? -1.930438, 0.915194, 1.718688 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.179550 y=0.000000 z=0.082357 +[21:41:16.699] add key frame +[21:41:16.699] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:16.699] remove key frame +[21:41:16.699] init seeds +[21:41:16.700] update seed +[21:41:16.700] If point is visible? -1.930438, 0.915194, 1.718688 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.179550 y=0.000000 z=0.082357 +[21:41:16.700] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:16.700] If point is visible? -2.318969, 1.100063, 0.799626 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.179550 y=0.000000 z=0.082357 +[21:41:16.700] If point is visible? -1.930438, 0.915194, 1.718688 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.179550 y=0.000000 z=0.082357 +[21:41:16.700] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:16.700] If point is visible? -2.318969, 1.100063, 0.799626 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.179550 y=0.000000 z=0.082357 +[21:41:16.700] If point is visible? -0.264134, 0.135071, 0.283657 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.170866 y=0.000000 z=0.079061 +[21:41:16.700] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:16.700] If point is visible? -0.259685, 0.132040, 0.294746 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.170866 y=0.000000 z=0.079061 +[21:41:16.700] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:16.700] If point is visible? -0.264134, 0.135071, 0.283657 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.170866 y=0.000000 z=0.079061 +[21:41:16.700] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:16.700] If point is visible? -0.259685, 0.132040, 0.294746 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.170866 y=0.000000 z=0.079061 +[21:41:16.700] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:16.700] If point is visible? -3.426023, 1.093495, 1.665891 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.486163, 1.543688, 1.025291 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.117551, -1.498388, 1.974163 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.700] If point is visible? -3.055490, -1.378939, 2.162103 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.700] If point is visible? -3.046093, -1.386216, 2.171776 mu:0.245118 unit_bearing:0.154294 -0.399783 0.903530 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.700] If point is visible? -3.316950, -1.130826, 1.869943 mu:0.245118 unit_bearing:0.069067 -0.328632 0.941929 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.649581, -0.925085, 1.174898 mu:0.245118 unit_bearing:-0.112281 -0.257815 0.959648 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.646627, -0.923744, 1.186253 mu:0.245118 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.653776, -0.946715, 1.141295 mu:0.245118 unit_bearing:-0.120885 -0.262074 0.957447 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.650924, -0.945376, 1.152682 mu:0.245118 unit_bearing:-0.118011 -0.262088 0.957801 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.643158, -0.883125, 1.230445 mu:0.245118 unit_bearing:-0.097930 -0.249266 0.963471 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.635577, -0.841120, 1.285631 mu:0.245118 unit_bearing:-0.083559 -0.240695 0.966997 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.632287, -0.839774, 1.296882 mu:0.245118 unit_bearing:-0.080677 -0.240704 0.967240 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.636772, -0.851289, 1.274686 mu:0.245118 unit_bearing:-0.086433 -0.242842 0.966208 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.633516, -0.849944, 1.285947 mu:0.245118 unit_bearing:-0.083552 -0.242851 0.966459 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.630226, -0.848599, 1.297197 mu:0.245118 unit_bearing:-0.080670 -0.242860 0.966701 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.609517, -0.773329, 1.406758 mu:0.245118 unit_bearing:-0.051867 -0.227820 0.972321 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.605863, -0.771983, 1.417886 mu:0.245118 unit_bearing:-0.048981 -0.227825 0.972469 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.609690, -0.754306, 1.417164 mu:0.245118 unit_bearing:-0.048988 -0.223503 0.973471 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.606003, -0.752960, 1.428281 mu:0.245118 unit_bearing:-0.046102 -0.223508 0.973611 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.232574, -0.477498, 2.278798 mu:0.245118 unit_bearing:0.187562 -0.181897 0.965264 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.700] If point is visible? -3.265962, -0.347382, 2.251134 mu:0.245118 unit_bearing:0.181975 -0.149415 0.971885 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.700] If point is visible? -3.259705, -0.346096, 2.261201 mu:0.245118 unit_bearing:0.184847 -0.149403 0.971345 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.700] If point is visible? -3.296698, -0.308263, 2.207784 mu:0.245118 unit_bearing:0.170520 -0.138603 0.975557 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.240387, -0.296724, 2.298421 mu:0.245118 unit_bearing:0.196374 -0.138503 0.970698 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.700] If point is visible? -3.239540, -0.251202, 2.305329 mu:0.245118 unit_bearing:0.199287 -0.127634 0.971594 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.700] If point is visible? -3.325569, -0.223549, 2.170846 mu:0.245118 unit_bearing:0.161956 -0.116889 0.979851 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.336221, -0.180537, 2.157133 mu:0.245118 unit_bearing:0.159105 -0.106015 0.981553 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.333610, -0.143819, 2.164388 mu:0.245118 unit_bearing:0.162006 -0.097299 0.981981 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.712859, -0.213062, 1.313468 mu:0.245118 unit_bearing:-0.066509 -0.088726 0.993833 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.323863, -0.114690, 2.182463 mu:0.245118 unit_bearing:0.167780 -0.090752 0.981638 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.317765, -0.113416, 2.192623 mu:0.245118 unit_bearing:0.170659 -0.090745 0.981143 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.248603, -0.099488, 2.303381 mu:0.245118 unit_bearing:0.202280 -0.090665 0.975122 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.700] If point is visible? -3.717072, -0.205562, 1.301427 mu:0.245118 unit_bearing:-0.069406 -0.086541 0.993828 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.262211, -0.093157, 2.282609 mu:0.245118 unit_bearing:0.196543 -0.088505 0.976493 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.700] If point is visible? -3.754710, -0.157247, 1.182619 mu:0.245118 unit_bearing:-0.098349 -0.071238 0.992599 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.751557, -0.155866, 1.193961 mu:0.245118 unit_bearing:-0.095458 -0.071241 0.992881 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.726028, -0.181698, 1.276453 mu:0.245118 unit_bearing:-0.075199 -0.079990 0.993955 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.738007, -0.159219, 1.240083 mu:0.245118 unit_bearing:-0.083885 -0.073434 0.993766 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.737382, -0.168085, 1.240938 mu:0.245118 unit_bearing:-0.083883 -0.075617 0.993602 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.262941, -0.084306, 2.281829 mu:0.245118 unit_bearing:0.196548 -0.086328 0.976686 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.700] If point is visible? -3.722415, -0.071177, 1.299640 mu:0.245118 unit_bearing:-0.066533 -0.053794 0.996333 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.726337, -0.063685, 1.287485 mu:0.245118 unit_bearing:-0.069429 -0.051608 0.996251 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.893879, -0.143112, 0.412577 mu:0.245118 unit_bearing:-0.285080 -0.044796 0.957456 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.700] If point is visible? -3.897384, -0.101969, 0.383766 mu:0.245118 unit_bearing:-0.290785 -0.033926 0.956187 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.896502, -0.100515, 0.395759 mu:0.245118 unit_bearing:-0.287943 -0.033930 0.957046 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.899659, -0.050599, 0.365758 mu:0.245118 unit_bearing:-0.293642 -0.020890 0.955687 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.898812, -0.049137, 0.377759 mu:0.245118 unit_bearing:-0.290801 -0.020893 0.956555 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.897929, -0.047676, 0.389751 mu:0.245118 unit_bearing:-0.287959 -0.020895 0.957415 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.542374, 0.138704, 1.765531 mu:0.245118 unit_bearing:0.060954 -0.016649 0.998002 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.900408, 0.002205, 0.359525 mu:0.245118 unit_bearing:-0.293651 -0.007857 0.955880 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.899560, 0.003674, 0.371526 mu:0.245118 unit_bearing:-0.290810 -0.007858 0.956749 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.898678, 0.005142, 0.383518 mu:0.245118 unit_bearing:-0.287967 -0.007859 0.957608 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.393013, 0.227961, 2.053318 mu:0.245118 unit_bearing:0.141929 -0.003530 0.989871 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.387201, 0.229227, 2.063621 mu:0.245118 unit_bearing:0.144815 -0.003530 0.989452 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.547689, 0.234769, 1.743044 mu:0.245118 unit_bearing:0.058059 0.007395 0.998286 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.542797, 0.236082, 1.753743 mu:0.245118 unit_bearing:0.060955 0.007395 0.998113 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.902979, 0.168676, -0.093399 mu:0.245118 unit_bearing:-0.392107 0.046174 0.918760 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.830784, 0.326267, 0.809568 mu:0.245118 unit_bearing:-0.176279 0.057541 0.982657 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.892612, 0.276038, 0.335750 mu:0.245118 unit_bearing:-0.290729 0.059474 0.954955 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.892848, 0.233086, -0.214876 mu:0.245118 unit_bearing:-0.417012 0.065473 0.906540 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.413784, 0.495275, 1.964803 mu:0.245118 unit_bearing:0.127455 0.064149 0.989768 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.408131, 0.496534, 1.975175 mu:0.245118 unit_bearing:0.130342 0.064146 0.989392 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.902941, 0.223106, -0.013900 mu:0.245118 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.898635, 0.226610, -0.126448 mu:0.245118 unit_bearing:-0.397616 0.061256 0.915505 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.902489, 0.197936, -0.072543 mu:0.245118 unit_bearing:-0.386511 0.052669 0.920780 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.901679, 0.227201, -0.051771 mu:0.245118 unit_bearing:-0.380906 0.059169 0.922719 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.898078, 0.235322, -0.127691 mu:0.245118 unit_bearing:-0.397606 0.063413 0.915362 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.877173, 0.345105, -0.306739 mu:0.245118 unit_bearing:-0.433375 0.095470 0.896142 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.876298, 0.353768, -0.308066 mu:0.245118 unit_bearing:-0.433359 0.097618 0.895919 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.874149, 0.507635, 0.263785 mu:0.245118 unit_bearing:-0.298994 0.117969 0.946935 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.876171, 0.490187, 0.266602 mu:0.245118 unit_bearing:-0.299019 0.113640 0.947456 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.875170, 0.498912, 0.265196 mu:0.245118 unit_bearing:-0.299006 0.115805 0.947198 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.506344, 0.764617, 1.674384 mu:0.245118 unit_bearing:0.060872 0.138353 0.988511 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.501423, 0.765913, 1.685056 mu:0.245118 unit_bearing:0.063765 0.138349 0.988329 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.336640, 0.821161, 1.995804 mu:0.245118 unit_bearing:0.150361 0.142508 0.978306 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.500258, 0.774670, 1.683518 mu:0.245118 unit_bearing:0.063762 0.140526 0.988022 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.499075, 0.783426, 1.681972 mu:0.245118 unit_bearing:0.063759 0.142702 0.987710 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.323807, 0.908445, 1.979792 mu:0.245118 unit_bearing:0.150286 0.164222 0.974908 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.326521, 0.891007, 1.983053 mu:0.245118 unit_bearing:0.150302 0.159882 0.975627 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.320613, 0.892221, 1.993292 mu:0.245118 unit_bearing:0.153180 0.159871 0.975180 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.314674, 0.893432, 2.003517 mu:0.245118 unit_bearing:0.156058 0.159860 0.974726 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.319265, 0.900940, 1.991665 mu:0.245118 unit_bearing:0.153172 0.162041 0.974824 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.313326, 0.902151, 2.001889 mu:0.245118 unit_bearing:0.156050 0.162030 0.974369 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.303133, 0.495831, -2.004276 mu:0.245118 unit_bearing:-0.764307 0.182850 0.618385 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.701] If point is visible? -3.309929, 0.497811, -1.992428 mu:0.245118 unit_bearing:-0.762158 0.182978 0.620995 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.701] If point is visible? -3.316679, 0.499790, -1.980565 mu:0.245118 unit_bearing:-0.760001 0.183105 0.623595 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.701] If point is visible? -3.531311, 1.263245, 1.241032 mu:0.245118 unit_bearing:-0.025843 0.272610 0.961778 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.528978, 1.271838, 1.239085 mu:0.245118 unit_bearing:-0.025840 0.274758 0.961166 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.101385, 1.566253, 1.947073 mu:0.245118 unit_bearing:0.180738 0.325238 0.928199 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.701] If point is visible? -3.095125, 1.567360, 1.957067 mu:0.245118 unit_bearing:0.183589 0.325208 0.927650 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.701] If point is visible? -3.059606, 1.637038, 1.959030 mu:0.245118 unit_bearing:0.189098 0.342102 0.920439 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.701] If point is visible? -3.480035, 1.819419, -0.038827 mu:0.245118 unit_bearing:-0.296522 0.446154 0.844406 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -2.831147, 2.142204, 1.825073 mu:0.245118 unit_bearing:0.192830 0.469006 0.861888 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.401326, 1.972222, 0.026371 mu:0.245118 unit_bearing:-0.270538 0.481382 0.833715 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.411035, 1.949965, -0.064925 mu:0.245118 unit_bearing:-0.292748 0.478694 0.827738 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -2.822826, 2.158296, 1.819529 mu:0.245118 unit_bearing:0.192750 0.473086 0.859673 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -2.826996, 2.150254, 1.822305 mu:0.245118 unit_bearing:0.192790 0.471047 0.860783 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -2.820579, 2.151236, 1.832081 mu:0.245118 unit_bearing:0.195602 0.470994 0.860177 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.233638, -1.394958, 1.843753 mu:0.245118 unit_bearing:0.063071 -0.392111 0.917753 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.216912, -1.409598, 1.864174 mu:0.245118 unit_bearing:0.068770 -0.396283 0.915549 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.079016, -1.545911, 2.002226 mu:0.245118 unit_bearing:0.108438 -0.433570 0.894571 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.701] If point is visible? -3.637634, -1.169764, 0.962022 mu:0.245118 unit_bearing:-0.166406 -0.310984 0.935734 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.615231, -0.746813, 1.405662 mu:0.245118 unit_bearing:-0.051879 -0.221337 0.973817 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.656018, -0.937913, 1.141033 mu:0.245118 unit_bearing:-0.120896 -0.259924 0.958031 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.288213, -0.324684, 2.219109 mu:0.245118 unit_bearing:0.173379 -0.142936 0.974427 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.275858, -0.322112, 2.239324 mu:0.245118 unit_bearing:0.179128 -0.142914 0.973390 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.273429, -0.339817, 2.240483 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.300761, -0.091891, 2.221454 mu:0.245118 unit_bearing:0.179302 -0.086370 0.979995 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.745637, -0.089675, 1.221696 mu:0.245118 unit_bearing:-0.086792 -0.055966 0.994653 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.299284, -0.109601, 2.223012 mu:0.245118 unit_bearing:0.179291 -0.090725 0.979604 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.746492, -0.181083, 1.207860 mu:0.245118 unit_bearing:-0.092559 -0.077791 0.992664 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.733421, -0.175577, 1.253073 mu:0.245118 unit_bearing:-0.080988 -0.077802 0.993674 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.285254, -0.124772, 2.244722 mu:0.245118 unit_bearing:0.185032 -0.095064 0.978124 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.751133, -0.110164, 1.200878 mu:0.245118 unit_bearing:-0.092575 -0.060328 0.993876 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.851740, 0.139858, 0.751731 mu:0.245118 unit_bearing:-0.196455 0.013917 0.980414 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.793348, 0.582454, 0.852950 mu:0.245118 unit_bearing:-0.155992 0.118572 0.980616 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.788342, 0.585351, 0.876025 mu:0.245118 unit_bearing:-0.150231 0.118588 0.981513 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.347159, 0.827454, 1.973706 mu:0.245118 unit_bearing:0.144593 0.144699 0.978854 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.335439, 0.829899, 1.994236 mu:0.245118 unit_bearing:0.150354 0.144681 0.977988 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.795325, 0.564918, 0.855817 mu:0.245118 unit_bearing:-0.156004 0.114220 0.981130 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.790318, 0.567812, 0.878894 mu:0.245118 unit_bearing:-0.150242 0.114235 0.982027 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.344702, 0.844927, 1.970550 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.332983, 0.847370, 1.991077 mu:0.245118 unit_bearing:0.150340 0.149026 0.977338 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.330453, 0.864831, 1.987890 mu:0.245118 unit_bearing:0.150325 0.153369 0.976668 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.005789, 1.355230, 2.252055 mu:0.245118 unit_bearing:0.252521 0.264787 0.930656 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.701] If point is visible? -3.633244, -0.734522, 1.360251 mu:0.245118 unit_bearing:-0.063432 -0.216990 0.974111 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.687627, -0.953983, 1.003547 mu:0.245118 unit_bearing:-0.155348 -0.259727 0.953105 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.677630, -0.948629, 1.049545 mu:0.245118 unit_bearing:-0.143873 -0.259798 0.954885 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.002007, -1.660218, 2.035194 mu:0.245118 unit_bearing:0.119503 -0.462365 0.878600 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.701] If point is visible? -2.979537, -1.654710, 2.075733 mu:0.245118 unit_bearing:0.130838 -0.462236 0.877051 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.701] If point is visible? -3.598418, -1.399293, 0.777062 mu:0.245118 unit_bearing:-0.211372 -0.361301 0.908176 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.701] If point is visible? -3.326856, -1.133505, 1.848817 mu:0.245118 unit_bearing:0.063324 -0.328653 0.942325 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.306913, -1.128146, 1.891014 mu:0.245118 unit_bearing:0.074809 -0.328610 0.941498 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.220868, -1.181990, 2.015431 mu:0.245118 unit_bearing:0.109125 -0.345426 0.932080 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.348760, -1.063378, 1.848932 mu:0.245118 unit_bearing:0.063381 -0.311595 0.948099 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.357391, -1.103813, 1.806501 mu:0.245118 unit_bearing:0.051858 -0.320165 0.945941 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.640455, -0.699147, 1.358619 mu:0.245118 unit_bearing:-0.063450 -0.208335 0.975997 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.273429, -0.339817, 2.240483 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.810423, -0.476154, 0.837894 mu:0.245118 unit_bearing:-0.190435 -0.138527 0.971877 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.801907, -0.470614, 0.884507 mu:0.245118 unit_bearing:-0.178945 -0.138572 0.974052 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.792849, -0.465081, 0.930961 mu:0.245118 unit_bearing:-0.167444 -0.138613 0.976089 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.806489, -0.435228, 0.881796 mu:0.245118 unit_bearing:-0.178976 -0.129882 0.975243 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.797424, -0.429684, 0.928255 mu:0.245118 unit_bearing:-0.167473 -0.129921 0.977279 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.700477, 0.439871, 1.292189 mu:0.245118 unit_bearing:-0.052046 0.070762 0.996134 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.685586, 0.445366, 1.336761 mu:0.245118 unit_bearing:-0.040461 0.070768 0.996672 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.344702, 0.844927, 1.970550 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.697961, 0.475119, 1.286910 mu:0.245118 unit_bearing:-0.052041 0.079496 0.995476 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.891861, 0.291550, -0.173344 mu:0.245118 unit_bearing:-0.405861 0.078456 0.910561 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.490276, 0.844654, 1.670958 mu:0.245118 unit_bearing:0.063738 0.157927 0.985392 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.470275, 0.849800, 1.713493 mu:0.245118 unit_bearing:0.075299 0.157909 0.984578 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.449764, 0.854908, 1.755817 mu:0.245118 unit_bearing:0.086856 0.157887 0.983630 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.339569, 0.879847, 1.964150 mu:0.245118 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.426023, 1.093495, 1.665891 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.024286, 1.336037, 2.236782 mu:0.245118 unit_bearing:0.246892 0.260574 0.933352 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.702] If point is visible? -2.996108, 1.340244, 2.275345 mu:0.245118 unit_bearing:0.258244 0.260445 0.930311 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:16.702] If point is visible? -3.585463, 1.173368, 1.158646 mu:0.245118 unit_bearing:-0.051818 0.253204 0.966024 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.486163, 1.543688, 1.025291 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.470590, 1.827484, -0.152134 mu:0.245118 unit_bearing:-0.321203 0.451501 0.832452 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -3.469634, 1.834734, -0.104819 mu:0.245118 unit_bearing:-0.310170 0.451851 0.836436 T_cur_ref: x=0.169576 y=0.000000 z=0.078549 +[21:41:16.702] If point is visible? -282306403631.927002, 86747929517.596451, 128684093110.276093 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -280647222850.417786, 87143929261.529510, 132002941353.619263 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -281216601215.881165, 84406097252.916595, 132568995522.772125 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -294138483453.104980, 93526154565.838562, 92288220217.000946 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -279774908921.608337, 118835767106.996033, -106704102174.001007 mu:0.000000 unit_bearing:-0.576196 0.406498 0.709054 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -280678536792.633118, 122728936066.962402, -99693890798.688477 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -282306403631.927002, 86747929517.596451, 128684093110.276093 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -280647222850.417786, 87143929261.529510, 132002941353.619263 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -281216601215.881165, 84406097252.916595, 132568995522.772125 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -293446671424.215454, 96248237526.227692, 91689870923.296967 mu:0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -294138483453.104980, 93526154565.838562, 92288220217.000946 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -280678536792.633118, 122728936066.962402, -99693890798.688477 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.160368 y=0.000000 z=0.074922 +[21:41:16.702] If point is visible? -3.427967, 0.571805, 0.960491 mu:0.267923 unit_bearing:-0.109833 0.123034 0.986306 T_cur_ref: x=0.151677 y=0.000000 z=0.071608 +[21:41:16.702] If point is visible? -1.770376, 1.190263, 3.041442 mu:0.267923 unit_bearing:0.585689 0.219552 0.780234 T_cur_ref: x=0.151677 y=0.000000 z=0.071608 +[21:41:16.702] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:16.702] If point is visible? -2.708937, 1.231453, 2.128630 mu:0.267923 unit_bearing:0.269577 0.260310 0.927128 T_cur_ref: x=0.151677 y=0.000000 z=0.071608 +[21:41:16.702] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:16.702] If point is visible? -1.753656, 1.892109, 2.664012 mu:0.267923 unit_bearing:0.515125 0.418515 0.747992 T_cur_ref: x=0.151677 y=0.000000 z=0.071608 +[21:41:16.702] If point is visible? -3.424783, 2.441835, 2.040006 mu:0.210413 unit_bearing:0.153515 0.459408 0.874858 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -3.681352, 2.304587, 1.693639 mu:0.210413 unit_bearing:0.062837 0.439627 0.895980 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.015010, -2.281507, 0.356163 mu:0.210413 unit_bearing:-0.331002 -0.483856 0.810136 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -3.049273, -2.055784, 2.925509 mu:0.210413 unit_bearing:0.247913 -0.502601 0.828210 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:16.702] If point is visible? -3.682001, -1.645761, 2.357322 mu:0.210413 unit_bearing:0.097296 -0.402400 0.910279 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:16.702] If point is visible? -3.692459, -1.637231, 2.345905 mu:0.210413 unit_bearing:0.094457 -0.400326 0.911492 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:16.702] If point is visible? -3.737606, -1.592948, 2.300349 mu:0.210413 unit_bearing:0.083098 -0.389909 0.917096 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:16.702] If point is visible? -3.871946, -1.460960, 2.147736 mu:0.210413 unit_bearing:0.046008 -0.358431 0.932422 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -3.812334, -1.324206, 2.344323 mu:0.210413 unit_bearing:0.091995 -0.334912 0.937748 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.356708, -1.524573, 0.136167 mu:0.210413 unit_bearing:-0.382861 -0.320134 0.866564 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -3.900377, -1.235961, 2.236646 mu:0.210413 unit_bearing:0.066248 -0.313721 0.947201 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -3.942401, -1.202736, 2.175672 mu:0.210413 unit_bearing:0.051898 -0.305219 0.950867 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.309150, -1.033407, 1.367276 mu:0.210413 unit_bearing:-0.129573 -0.249125 0.959764 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.305631, -1.031851, 1.380507 mu:0.210413 unit_bearing:-0.126699 -0.249140 0.960144 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.302073, -1.030296, 1.393725 mu:0.210413 unit_bearing:-0.123824 -0.249154 0.960515 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.298464, -0.994802, 1.432382 mu:0.210413 unit_bearing:-0.115226 -0.242733 0.963226 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.294750, -0.993245, 1.445548 mu:0.210413 unit_bearing:-0.112348 -0.242745 0.963563 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.293383, -0.981407, 1.458379 mu:0.210413 unit_bearing:-0.109479 -0.240602 0.964430 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.295748, -0.971125, 1.458050 mu:0.210413 unit_bearing:-0.109488 -0.238446 0.964964 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.282090, -0.898469, 1.547615 mu:0.210413 unit_bearing:-0.089370 -0.225569 0.970119 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.285624, -0.922178, 1.522224 mu:0.210413 unit_bearing:-0.095120 -0.229869 0.968562 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.245739, -0.807624, 1.700445 mu:0.210413 unit_bearing:-0.054785 -0.210515 0.976054 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -4.554794, -0.694743, -0.085981 mu:0.210413 unit_bearing:-0.421927 -0.141132 0.895578 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -3.860132, -0.341920, 2.605323 mu:0.210413 unit_bearing:0.161896 -0.136459 0.977327 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] If point is visible? -3.838110, -0.337480, 2.640342 mu:0.210413 unit_bearing:0.170527 -0.136430 0.975862 T_cur_ref: x=0.144177 y=0.000000 z=0.068501 +[21:41:16.702] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:16.702] init seeds +[21:41:16.702] DepthFilter: Initialized 0 new seeds +[21:41:16.704] DepthFilter: Initialized 0 new seeds +[21:41:17.326] add new frame +[21:41:17.326] update seed +[21:41:17.326] If point is visible? -1.918819, 0.915194, 1.724880 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.191169 y=0.000000 z=0.088549 +[21:41:17.326] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:17.326] If point is visible? -2.307350, 1.100063, 0.805818 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.191169 y=0.000000 z=0.088549 +[21:41:17.326] If point is visible? -1.918819, 0.915194, 1.724880 mu:0.354280 unit_bearing:0.314828 0.251168 0.915313 T_cur_ref: x=0.191169 y=0.000000 z=0.088549 +[21:41:17.326] Z inverse min: 0.689347, Z inverse max: 0.019213 +[21:41:17.326] If point is visible? -2.307350, 1.100063, 0.805818 mu:0.354280 unit_bearing:-0.028601 0.355857 0.934103 T_cur_ref: x=0.191169 y=0.000000 z=0.088549 +[21:41:17.326] If point is visible? -0.252514, 0.135071, 0.289849 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.182485 y=0.000000 z=0.085253 +[21:41:17.326] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.326] If point is visible? -0.248066, 0.132040, 0.300938 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.182485 y=0.000000 z=0.085253 +[21:41:17.326] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.326] If point is visible? -0.252514, 0.135071, 0.289849 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.182485 y=0.000000 z=0.085253 +[21:41:17.326] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.326] If point is visible? -0.248066, 0.132040, 0.300938 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.182485 y=0.000000 z=0.085253 +[21:41:17.326] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.326] If point is visible? -3.414404, 1.093495, 1.672083 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.326] If point is visible? -3.474543, 1.543688, 1.031483 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.326] If point is visible? -3.105931, -1.498388, 1.980355 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.326] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.326] add key frame +[21:41:17.326] remove key frame +[21:41:17.326] init seeds +[21:41:17.326] update seed +[21:41:17.326] If point is visible? -0.252514, 0.135071, 0.289849 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.182485 y=0.000000 z=0.085253 +[21:41:17.326] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.326] If point is visible? -0.248066, 0.132040, 0.300938 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.182485 y=0.000000 z=0.085253 +[21:41:17.326] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.326] If point is visible? -0.252514, 0.135071, 0.289849 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.182485 y=0.000000 z=0.085253 +[21:41:17.326] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.326] If point is visible? -0.248066, 0.132040, 0.300938 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.182485 y=0.000000 z=0.085253 +[21:41:17.326] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.326] If point is visible? -3.414404, 1.093495, 1.672083 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.326] If point is visible? -3.474543, 1.543688, 1.031483 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.105931, -1.498388, 1.980355 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.043871, -1.378939, 2.168295 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.034474, -1.386216, 2.177968 mu:0.245118 unit_bearing:0.154294 -0.399783 0.903530 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.305330, -1.130826, 1.876135 mu:0.245118 unit_bearing:0.069067 -0.328632 0.941929 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.637961, -0.925085, 1.181090 mu:0.245118 unit_bearing:-0.112281 -0.257815 0.959648 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.635008, -0.923744, 1.192445 mu:0.245118 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.642157, -0.946715, 1.147487 mu:0.245118 unit_bearing:-0.120885 -0.262074 0.957447 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.639305, -0.945376, 1.158874 mu:0.245118 unit_bearing:-0.118011 -0.262088 0.957801 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.631539, -0.883125, 1.236637 mu:0.245118 unit_bearing:-0.097930 -0.249266 0.963471 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.623958, -0.841120, 1.291823 mu:0.245118 unit_bearing:-0.083559 -0.240695 0.966997 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.620668, -0.839774, 1.303074 mu:0.245118 unit_bearing:-0.080677 -0.240704 0.967240 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.625153, -0.851289, 1.280878 mu:0.245118 unit_bearing:-0.086433 -0.242842 0.966208 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.621896, -0.849944, 1.292139 mu:0.245118 unit_bearing:-0.083552 -0.242851 0.966459 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.618607, -0.848599, 1.303389 mu:0.245118 unit_bearing:-0.080670 -0.242860 0.966701 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.597898, -0.773329, 1.412950 mu:0.245118 unit_bearing:-0.051867 -0.227820 0.972321 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.594244, -0.771983, 1.424078 mu:0.245118 unit_bearing:-0.048981 -0.227825 0.972469 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.598071, -0.754306, 1.423356 mu:0.245118 unit_bearing:-0.048988 -0.223503 0.973471 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.594383, -0.752960, 1.434473 mu:0.245118 unit_bearing:-0.046102 -0.223508 0.973611 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.220954, -0.477498, 2.284990 mu:0.245118 unit_bearing:0.187562 -0.181897 0.965264 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.254343, -0.347382, 2.257326 mu:0.245118 unit_bearing:0.181975 -0.149415 0.971885 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.248086, -0.346096, 2.267393 mu:0.245118 unit_bearing:0.184847 -0.149403 0.971345 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.285078, -0.308263, 2.213976 mu:0.245118 unit_bearing:0.170520 -0.138603 0.975557 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.228768, -0.296724, 2.304613 mu:0.245118 unit_bearing:0.196374 -0.138503 0.970698 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.227921, -0.251202, 2.311521 mu:0.245118 unit_bearing:0.199287 -0.127634 0.971594 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.313950, -0.223549, 2.177038 mu:0.245118 unit_bearing:0.161956 -0.116889 0.979851 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.324602, -0.180537, 2.163325 mu:0.245118 unit_bearing:0.159105 -0.106015 0.981553 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.321991, -0.143819, 2.170580 mu:0.245118 unit_bearing:0.162006 -0.097299 0.981981 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.701239, -0.213062, 1.319660 mu:0.245118 unit_bearing:-0.066509 -0.088726 0.993833 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.312243, -0.114690, 2.188655 mu:0.245118 unit_bearing:0.167780 -0.090752 0.981638 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.306146, -0.113416, 2.198815 mu:0.245118 unit_bearing:0.170659 -0.090745 0.981143 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.236984, -0.099488, 2.309573 mu:0.245118 unit_bearing:0.202280 -0.090665 0.975122 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.705453, -0.205562, 1.307619 mu:0.245118 unit_bearing:-0.069406 -0.086541 0.993828 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.250592, -0.093157, 2.288801 mu:0.245118 unit_bearing:0.196543 -0.088505 0.976493 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.743091, -0.157247, 1.188811 mu:0.245118 unit_bearing:-0.098349 -0.071238 0.992599 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.739937, -0.155866, 1.200153 mu:0.245118 unit_bearing:-0.095458 -0.071241 0.992881 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.714409, -0.181698, 1.282645 mu:0.245118 unit_bearing:-0.075199 -0.079990 0.993955 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.726388, -0.159219, 1.246275 mu:0.245118 unit_bearing:-0.083885 -0.073434 0.993766 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.725763, -0.168085, 1.247130 mu:0.245118 unit_bearing:-0.083883 -0.075617 0.993602 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.251322, -0.084306, 2.288021 mu:0.245118 unit_bearing:0.196548 -0.086328 0.976686 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.710795, -0.071177, 1.305832 mu:0.245118 unit_bearing:-0.066533 -0.053794 0.996333 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.714718, -0.063685, 1.293677 mu:0.245118 unit_bearing:-0.069429 -0.051608 0.996251 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.882259, -0.143112, 0.418769 mu:0.245118 unit_bearing:-0.285080 -0.044796 0.957456 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.885765, -0.101969, 0.389958 mu:0.245118 unit_bearing:-0.290785 -0.033926 0.956187 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.884883, -0.100515, 0.401951 mu:0.245118 unit_bearing:-0.287943 -0.033930 0.957046 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.888039, -0.050599, 0.371950 mu:0.245118 unit_bearing:-0.293642 -0.020890 0.955687 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.887192, -0.049137, 0.383950 mu:0.245118 unit_bearing:-0.290801 -0.020893 0.956555 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.886310, -0.047676, 0.395943 mu:0.245118 unit_bearing:-0.287959 -0.020895 0.957415 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.530755, 0.138704, 1.771723 mu:0.245118 unit_bearing:0.060954 -0.016649 0.998002 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.888788, 0.002205, 0.365717 mu:0.245118 unit_bearing:-0.293651 -0.007857 0.955880 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.887941, 0.003674, 0.377718 mu:0.245118 unit_bearing:-0.290810 -0.007858 0.956749 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.887058, 0.005142, 0.389710 mu:0.245118 unit_bearing:-0.287967 -0.007859 0.957608 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.381394, 0.227961, 2.059510 mu:0.245118 unit_bearing:0.141929 -0.003530 0.989871 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.375582, 0.229227, 2.069813 mu:0.245118 unit_bearing:0.144815 -0.003530 0.989452 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.536070, 0.234769, 1.749236 mu:0.245118 unit_bearing:0.058059 0.007395 0.998286 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.531178, 0.236082, 1.759935 mu:0.245118 unit_bearing:0.060955 0.007395 0.998113 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.891359, 0.168676, -0.087207 mu:0.245118 unit_bearing:-0.392107 0.046174 0.918760 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.819165, 0.326267, 0.815760 mu:0.245118 unit_bearing:-0.176279 0.057541 0.982657 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.880993, 0.276038, 0.341942 mu:0.245118 unit_bearing:-0.290729 0.059474 0.954955 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.881229, 0.233086, -0.208684 mu:0.245118 unit_bearing:-0.417012 0.065473 0.906540 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.402165, 0.495275, 1.970995 mu:0.245118 unit_bearing:0.127455 0.064149 0.989768 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.396511, 0.496534, 1.981367 mu:0.245118 unit_bearing:0.130342 0.064146 0.989392 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.891322, 0.223106, -0.007708 mu:0.245118 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.887016, 0.226610, -0.120256 mu:0.245118 unit_bearing:-0.397616 0.061256 0.915505 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.890869, 0.197936, -0.066351 mu:0.245118 unit_bearing:-0.386511 0.052669 0.920780 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.890059, 0.227201, -0.045579 mu:0.245118 unit_bearing:-0.380906 0.059169 0.922719 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.886459, 0.235322, -0.121499 mu:0.245118 unit_bearing:-0.397606 0.063413 0.915362 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.865553, 0.345105, -0.300547 mu:0.245118 unit_bearing:-0.433375 0.095470 0.896142 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.864679, 0.353768, -0.301874 mu:0.245118 unit_bearing:-0.433359 0.097618 0.895919 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.862530, 0.507635, 0.269977 mu:0.245118 unit_bearing:-0.298994 0.117969 0.946935 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.864552, 0.490187, 0.272794 mu:0.245118 unit_bearing:-0.299019 0.113640 0.947456 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.863551, 0.498912, 0.271388 mu:0.245118 unit_bearing:-0.299006 0.115805 0.947198 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.494725, 0.764617, 1.680576 mu:0.245118 unit_bearing:0.060872 0.138353 0.988511 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.489804, 0.765913, 1.691248 mu:0.245118 unit_bearing:0.063765 0.138349 0.988329 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.325021, 0.821161, 2.001996 mu:0.245118 unit_bearing:0.150361 0.142508 0.978306 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.488639, 0.774670, 1.689710 mu:0.245118 unit_bearing:0.063762 0.140526 0.988022 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.487456, 0.783426, 1.688164 mu:0.245118 unit_bearing:0.063759 0.142702 0.987710 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.312187, 0.908445, 1.985984 mu:0.245118 unit_bearing:0.150286 0.164222 0.974908 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.314901, 0.891007, 1.989245 mu:0.245118 unit_bearing:0.150302 0.159882 0.975627 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.308994, 0.892221, 1.999484 mu:0.245118 unit_bearing:0.153180 0.159871 0.975180 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.303055, 0.893432, 2.009709 mu:0.245118 unit_bearing:0.156058 0.159860 0.974726 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.307646, 0.900940, 1.997857 mu:0.245118 unit_bearing:0.153172 0.162041 0.974824 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.301707, 0.902151, 2.008081 mu:0.245118 unit_bearing:0.156050 0.162030 0.974369 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] If point is visible? -3.291514, 0.495831, -1.998084 mu:0.245118 unit_bearing:-0.764307 0.182850 0.618385 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.327] If point is visible? -3.298310, 0.497811, -1.986236 mu:0.245118 unit_bearing:-0.762158 0.182978 0.620995 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.327] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.305060, 0.499790, -1.974373 mu:0.245118 unit_bearing:-0.760001 0.183105 0.623595 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.519692, 1.263245, 1.247224 mu:0.245118 unit_bearing:-0.025843 0.272610 0.961778 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.517359, 1.271838, 1.245277 mu:0.245118 unit_bearing:-0.025840 0.274758 0.961166 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.089766, 1.566253, 1.953265 mu:0.245118 unit_bearing:0.180738 0.325238 0.928199 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.083506, 1.567360, 1.963259 mu:0.245118 unit_bearing:0.183589 0.325208 0.927650 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.047987, 1.637038, 1.965222 mu:0.245118 unit_bearing:0.189098 0.342102 0.920439 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.468415, 1.819419, -0.032636 mu:0.245118 unit_bearing:-0.296522 0.446154 0.844406 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -2.819528, 2.142204, 1.831265 mu:0.245118 unit_bearing:0.192830 0.469006 0.861888 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.389706, 1.972222, 0.032563 mu:0.245118 unit_bearing:-0.270538 0.481382 0.833715 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.399415, 1.949965, -0.058733 mu:0.245118 unit_bearing:-0.292748 0.478694 0.827738 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -2.811207, 2.158296, 1.825721 mu:0.245118 unit_bearing:0.192750 0.473086 0.859673 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -2.815377, 2.150254, 1.828497 mu:0.245118 unit_bearing:0.192790 0.471047 0.860783 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -2.808960, 2.151236, 1.838273 mu:0.245118 unit_bearing:0.195602 0.470994 0.860177 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.222019, -1.394958, 1.849945 mu:0.245118 unit_bearing:0.063071 -0.392111 0.917753 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.205292, -1.409598, 1.870366 mu:0.245118 unit_bearing:0.068770 -0.396283 0.915549 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.067396, -1.545911, 2.008418 mu:0.245118 unit_bearing:0.108438 -0.433570 0.894571 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.626014, -1.169764, 0.968214 mu:0.245118 unit_bearing:-0.166406 -0.310984 0.935734 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.603612, -0.746813, 1.411854 mu:0.245118 unit_bearing:-0.051879 -0.221337 0.973817 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.644398, -0.937913, 1.147225 mu:0.245118 unit_bearing:-0.120896 -0.259924 0.958031 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.276594, -0.324684, 2.225301 mu:0.245118 unit_bearing:0.173379 -0.142936 0.974427 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.264239, -0.322112, 2.245516 mu:0.245118 unit_bearing:0.179128 -0.142914 0.973390 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.261810, -0.339817, 2.246675 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.289141, -0.091891, 2.227646 mu:0.245118 unit_bearing:0.179302 -0.086370 0.979995 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.734018, -0.089675, 1.227888 mu:0.245118 unit_bearing:-0.086792 -0.055966 0.994653 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.287664, -0.109601, 2.229204 mu:0.245118 unit_bearing:0.179291 -0.090725 0.979604 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.734872, -0.181083, 1.214052 mu:0.245118 unit_bearing:-0.092559 -0.077791 0.992664 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.721802, -0.175577, 1.259265 mu:0.245118 unit_bearing:-0.080988 -0.077802 0.993674 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.273635, -0.124772, 2.250914 mu:0.245118 unit_bearing:0.185032 -0.095064 0.978124 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.739514, -0.110164, 1.207070 mu:0.245118 unit_bearing:-0.092575 -0.060328 0.993876 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.840121, 0.139858, 0.757923 mu:0.245118 unit_bearing:-0.196455 0.013917 0.980414 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.781729, 0.582454, 0.859142 mu:0.245118 unit_bearing:-0.155992 0.118572 0.980616 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.776723, 0.585351, 0.882217 mu:0.245118 unit_bearing:-0.150231 0.118588 0.981513 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.335539, 0.827454, 1.979897 mu:0.245118 unit_bearing:0.144593 0.144699 0.978854 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.323820, 0.829899, 2.000427 mu:0.245118 unit_bearing:0.150354 0.144681 0.977988 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.783706, 0.564918, 0.862009 mu:0.245118 unit_bearing:-0.156004 0.114220 0.981130 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.778698, 0.567812, 0.885085 mu:0.245118 unit_bearing:-0.150242 0.114235 0.982027 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.333083, 0.844927, 1.976741 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.321364, 0.847370, 1.997269 mu:0.245118 unit_bearing:0.150340 0.149026 0.977338 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.318834, 0.864831, 1.994082 mu:0.245118 unit_bearing:0.150325 0.153369 0.976668 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -2.994170, 1.355230, 2.258247 mu:0.245118 unit_bearing:0.252521 0.264787 0.930656 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.621624, -0.734522, 1.366443 mu:0.245118 unit_bearing:-0.063432 -0.216990 0.974111 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.676008, -0.953983, 1.009739 mu:0.245118 unit_bearing:-0.155348 -0.259727 0.953105 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.666010, -0.948629, 1.055737 mu:0.245118 unit_bearing:-0.143873 -0.259798 0.954885 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -2.990388, -1.660218, 2.041386 mu:0.245118 unit_bearing:0.119503 -0.462365 0.878600 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -2.967918, -1.654710, 2.081925 mu:0.245118 unit_bearing:0.130838 -0.462236 0.877051 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.586799, -1.399293, 0.783254 mu:0.245118 unit_bearing:-0.211372 -0.361301 0.908176 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.315237, -1.133505, 1.855009 mu:0.245118 unit_bearing:0.063324 -0.328653 0.942325 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.295294, -1.128146, 1.897206 mu:0.245118 unit_bearing:0.074809 -0.328610 0.941498 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.209249, -1.181990, 2.021623 mu:0.245118 unit_bearing:0.109125 -0.345426 0.932080 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.337141, -1.063378, 1.855124 mu:0.245118 unit_bearing:0.063381 -0.311595 0.948099 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.345772, -1.103813, 1.812693 mu:0.245118 unit_bearing:0.051858 -0.320165 0.945941 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.628835, -0.699147, 1.364811 mu:0.245118 unit_bearing:-0.063450 -0.208335 0.975997 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.261810, -0.339817, 2.246675 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.798804, -0.476154, 0.844086 mu:0.245118 unit_bearing:-0.190435 -0.138527 0.971877 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.790287, -0.470614, 0.890699 mu:0.245118 unit_bearing:-0.178945 -0.138572 0.974052 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.781230, -0.465081, 0.937153 mu:0.245118 unit_bearing:-0.167444 -0.138613 0.976089 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.794869, -0.435228, 0.887988 mu:0.245118 unit_bearing:-0.178976 -0.129882 0.975243 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.785805, -0.429684, 0.934447 mu:0.245118 unit_bearing:-0.167473 -0.129921 0.977279 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.688858, 0.439871, 1.298381 mu:0.245118 unit_bearing:-0.052046 0.070762 0.996134 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.673966, 0.445366, 1.342953 mu:0.245118 unit_bearing:-0.040461 0.070768 0.996672 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.333083, 0.844927, 1.976741 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.686342, 0.475119, 1.293102 mu:0.245118 unit_bearing:-0.052041 0.079496 0.995476 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.880241, 0.291550, -0.167152 mu:0.245118 unit_bearing:-0.405861 0.078456 0.910561 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.478656, 0.844654, 1.677150 mu:0.245118 unit_bearing:0.063738 0.157927 0.985392 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.458656, 0.849800, 1.719685 mu:0.245118 unit_bearing:0.075299 0.157909 0.984578 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.438145, 0.854908, 1.762009 mu:0.245118 unit_bearing:0.086856 0.157887 0.983630 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.327950, 0.879847, 1.970342 mu:0.245118 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.414404, 1.093495, 1.672083 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.012667, 1.336037, 2.242974 mu:0.245118 unit_bearing:0.246892 0.260574 0.933352 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -2.984489, 1.340244, 2.281537 mu:0.245118 unit_bearing:0.258244 0.260445 0.930311 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.328] If point is visible? -3.573844, 1.173368, 1.164838 mu:0.245118 unit_bearing:-0.051818 0.253204 0.966024 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.474543, 1.543688, 1.031483 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.458971, 1.827484, -0.145942 mu:0.245118 unit_bearing:-0.321203 0.451501 0.832452 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -3.458014, 1.834734, -0.098627 mu:0.245118 unit_bearing:-0.310170 0.451851 0.836436 T_cur_ref: x=0.181196 y=0.000000 z=0.084741 +[21:41:17.328] If point is visible? -282306403631.915344, 86747929517.596451, 128684093110.282288 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.328] If point is visible? -280647222850.406128, 87143929261.529510, 132002941353.625458 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.329] If point is visible? -281216601215.869507, 84406097252.916595, 132568995522.778320 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.329] If point is visible? -294138483453.093323, 93526154565.838562, 92288220217.007141 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.329] If point is visible? -279774908921.596680, 118835767106.996033, -106704102173.994812 mu:0.000000 unit_bearing:-0.576196 0.406498 0.709054 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.329] If point is visible? -280678536792.621460, 122728936066.962402, -99693890798.682281 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.329] If point is visible? -282306403631.915344, 86747929517.596451, 128684093110.282288 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.329] If point is visible? -280647222850.406128, 87143929261.529510, 132002941353.625458 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.329] If point is visible? -281216601215.869507, 84406097252.916595, 132568995522.778320 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.329] If point is visible? -293446671424.203796, 96248237526.227692, 91689870923.303162 mu:0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.329] If point is visible? -294138483453.093323, 93526154565.838562, 92288220217.007141 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.329] If point is visible? -280678536792.621460, 122728936066.962402, -99693890798.682281 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.171987 y=0.000000 z=0.081114 +[21:41:17.329] If point is visible? -3.416348, 0.571805, 0.966683 mu:0.267923 unit_bearing:-0.109833 0.123034 0.986306 T_cur_ref: x=0.163296 y=0.000000 z=0.077800 +[21:41:17.329] If point is visible? -1.758757, 1.190263, 3.047634 mu:0.267923 unit_bearing:0.585689 0.219552 0.780234 T_cur_ref: x=0.163296 y=0.000000 z=0.077800 +[21:41:17.329] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:17.329] If point is visible? -2.697317, 1.231453, 2.134822 mu:0.267923 unit_bearing:0.269577 0.260310 0.927128 T_cur_ref: x=0.163296 y=0.000000 z=0.077800 +[21:41:17.329] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:17.329] If point is visible? -1.742036, 1.892109, 2.670203 mu:0.267923 unit_bearing:0.515125 0.418515 0.747992 T_cur_ref: x=0.163296 y=0.000000 z=0.077800 +[21:41:17.329] If point is visible? -3.413164, 2.441835, 2.046197 mu:0.210413 unit_bearing:0.153515 0.459408 0.874858 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -3.669732, 2.304587, 1.699831 mu:0.210413 unit_bearing:0.062837 0.439627 0.895980 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.003391, -2.281507, 0.362355 mu:0.210413 unit_bearing:-0.331002 -0.483856 0.810136 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -3.037654, -2.055784, 2.931701 mu:0.210413 unit_bearing:0.247913 -0.502601 0.828210 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:17.329] If point is visible? -3.670381, -1.645761, 2.363514 mu:0.210413 unit_bearing:0.097296 -0.402400 0.910279 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:17.329] If point is visible? -3.680839, -1.637231, 2.352096 mu:0.210413 unit_bearing:0.094457 -0.400326 0.911492 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:17.329] If point is visible? -3.725986, -1.592948, 2.306541 mu:0.210413 unit_bearing:0.083098 -0.389909 0.917096 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:17.329] If point is visible? -3.860327, -1.460960, 2.153928 mu:0.210413 unit_bearing:0.046008 -0.358431 0.932422 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -3.800715, -1.324206, 2.350514 mu:0.210413 unit_bearing:0.091995 -0.334912 0.937748 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.345088, -1.524573, 0.142359 mu:0.210413 unit_bearing:-0.382861 -0.320134 0.866564 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -3.888757, -1.235961, 2.242838 mu:0.210413 unit_bearing:0.066248 -0.313721 0.947201 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -3.930782, -1.202736, 2.181864 mu:0.210413 unit_bearing:0.051898 -0.305219 0.950867 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.297530, -1.033407, 1.373468 mu:0.210413 unit_bearing:-0.129573 -0.249125 0.959764 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.294011, -1.031851, 1.386699 mu:0.210413 unit_bearing:-0.126699 -0.249140 0.960144 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.290453, -1.030296, 1.399917 mu:0.210413 unit_bearing:-0.123824 -0.249154 0.960515 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.286845, -0.994802, 1.438574 mu:0.210413 unit_bearing:-0.115226 -0.242733 0.963226 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.283130, -0.993245, 1.451740 mu:0.210413 unit_bearing:-0.112348 -0.242745 0.963563 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.281764, -0.981407, 1.464571 mu:0.210413 unit_bearing:-0.109479 -0.240602 0.964430 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.284129, -0.971125, 1.464242 mu:0.210413 unit_bearing:-0.109488 -0.238446 0.964964 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.270471, -0.898469, 1.553807 mu:0.210413 unit_bearing:-0.089370 -0.225569 0.970119 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.274005, -0.922178, 1.528416 mu:0.210413 unit_bearing:-0.095120 -0.229869 0.968562 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.234120, -0.807624, 1.706637 mu:0.210413 unit_bearing:-0.054785 -0.210515 0.976054 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.543175, -0.694743, -0.079789 mu:0.210413 unit_bearing:-0.421927 -0.141132 0.895578 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -3.848513, -0.341920, 2.611515 mu:0.210413 unit_bearing:0.161896 -0.136459 0.977327 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -3.826490, -0.337480, 2.646534 mu:0.210413 unit_bearing:0.170527 -0.136430 0.975862 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:17.329] If point is visible? -4.541685, -0.704910, -0.079032 mu:0.210413 unit_bearing:-0.421902 -0.143274 0.895249 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -3.846153, -0.067690, 2.637247 mu:0.210413 unit_bearing:0.173561 -0.079848 0.981581 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.359633, -0.181427, 1.546034 mu:0.210413 unit_bearing:-0.080990 -0.075619 0.993842 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.355426, -0.179837, 1.559076 mu:0.210413 unit_bearing:-0.078096 -0.075622 0.994074 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.351182, -0.178249, 1.572104 mu:0.210413 unit_bearing:-0.075203 -0.075624 0.994297 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -3.854324, -0.058831, 2.624662 mu:0.210413 unit_bearing:0.170687 -0.077675 0.982259 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.375430, -0.134556, 1.501840 mu:0.210413 unit_bearing:-0.089679 -0.064697 0.993867 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -3.870492, -0.041114, 2.599407 mu:0.210413 unit_bearing:0.164936 -0.073327 0.983575 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -3.863151, -0.039654, 2.611098 mu:0.210413 unit_bearing:0.167816 -0.073322 0.983088 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.574717, -0.129339, 0.513306 mu:0.210413 unit_bearing:-0.296457 -0.038259 0.954279 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.569391, -0.122586, 0.569102 mu:0.210413 unit_bearing:-0.285092 -0.038279 0.957735 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.580211, -0.170250, 0.432628 mu:0.210413 unit_bearing:-0.313453 -0.044734 0.948549 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.355075, -0.032045, 1.570647 mu:0.210413 unit_bearing:-0.072327 -0.045053 0.996363 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.582568, -0.163387, 0.403444 mu:0.210413 unit_bearing:-0.319117 -0.042553 0.946760 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.580651, -0.159999, 0.431527 mu:0.210413 unit_bearing:-0.313458 -0.042565 0.948648 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] If point is visible? -4.571325, -0.146485, 0.543452 mu:0.210413 unit_bearing:-0.290769 -0.042613 0.955844 T_cur_ref: x=0.155796 y=0.000000 z=0.074693 +[21:41:17.329] init seeds +[21:41:17.329] DepthFilter: Initialized 5 new seeds +[21:41:17.331] DepthFilter: Initialized 6 new seeds +[21:41:17.966] add new frame +[21:41:17.966] update seed +[21:41:17.966] If point is visible? -0.244254, 0.135071, 0.294552 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.190745 y=0.000000 z=0.089955 +[21:41:17.966] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.966] If point is visible? -0.239806, 0.132040, 0.305640 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.190745 y=0.000000 z=0.089955 +[21:41:17.966] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.966] If point is visible? -0.244254, 0.135071, 0.294552 mu:2.002693 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.190745 y=0.000000 z=0.089955 +[21:41:17.966] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.966] If point is visible? -0.239806, 0.132040, 0.305640 mu:2.002693 unit_bearing:0.121319 0.209823 0.970183 T_cur_ref: x=0.190745 y=0.000000 z=0.089955 +[21:41:17.966] Z inverse min: 2.002935, Z inverse max: 2.002450 +[21:41:17.966] If point is visible? -3.406144, 1.093495, 1.676785 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.466283, 1.543688, 1.036185 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.097671, -1.498388, 1.985057 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.966] If point is visible? -3.035611, -1.378939, 2.172998 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.966] add key frame +[21:41:17.966] remove key frame +[21:41:17.966] init seeds +[21:41:17.966] update seed +[21:41:17.966] If point is visible? -3.406144, 1.093495, 1.676785 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.466283, 1.543688, 1.036185 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.097671, -1.498388, 1.985057 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.966] If point is visible? -3.035611, -1.378939, 2.172998 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.966] If point is visible? -3.026214, -1.386216, 2.182670 mu:0.245118 unit_bearing:0.154294 -0.399783 0.903530 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.966] If point is visible? -3.297070, -1.130826, 1.880837 mu:0.245118 unit_bearing:0.069067 -0.328632 0.941929 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.629701, -0.925085, 1.185792 mu:0.245118 unit_bearing:-0.112281 -0.257815 0.959648 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.626748, -0.923744, 1.197148 mu:0.245118 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.633897, -0.946715, 1.152189 mu:0.245118 unit_bearing:-0.120885 -0.262074 0.957447 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.631045, -0.945376, 1.163576 mu:0.245118 unit_bearing:-0.118011 -0.262088 0.957801 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.623279, -0.883125, 1.241340 mu:0.245118 unit_bearing:-0.097930 -0.249266 0.963471 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.615698, -0.841120, 1.296525 mu:0.245118 unit_bearing:-0.083559 -0.240695 0.966997 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.612408, -0.839774, 1.307776 mu:0.245118 unit_bearing:-0.080677 -0.240704 0.967240 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.616892, -0.851289, 1.285580 mu:0.245118 unit_bearing:-0.086433 -0.242842 0.966208 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.613636, -0.849944, 1.296841 mu:0.245118 unit_bearing:-0.083552 -0.242851 0.966459 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.610347, -0.848599, 1.308091 mu:0.245118 unit_bearing:-0.080670 -0.242860 0.966701 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.589638, -0.773329, 1.417652 mu:0.245118 unit_bearing:-0.051867 -0.227820 0.972321 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.585983, -0.771983, 1.428780 mu:0.245118 unit_bearing:-0.048981 -0.227825 0.972469 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.589811, -0.754306, 1.428058 mu:0.245118 unit_bearing:-0.048988 -0.223503 0.973471 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.586123, -0.752960, 1.439176 mu:0.245118 unit_bearing:-0.046102 -0.223508 0.973611 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] If point is visible? -3.212694, -0.477498, 2.289692 mu:0.245118 unit_bearing:0.187562 -0.181897 0.965264 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.966] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.966] If point is visible? -3.246083, -0.347382, 2.262028 mu:0.245118 unit_bearing:0.181975 -0.149415 0.971885 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.239826, -0.346096, 2.272095 mu:0.245118 unit_bearing:0.184847 -0.149403 0.971345 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.276818, -0.308263, 2.218679 mu:0.245118 unit_bearing:0.170520 -0.138603 0.975557 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.220507, -0.296724, 2.309315 mu:0.245118 unit_bearing:0.196374 -0.138503 0.970698 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.219661, -0.251202, 2.316223 mu:0.245118 unit_bearing:0.199287 -0.127634 0.971594 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.305690, -0.223549, 2.181741 mu:0.245118 unit_bearing:0.161956 -0.116889 0.979851 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.316342, -0.180537, 2.168028 mu:0.245118 unit_bearing:0.159105 -0.106015 0.981553 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.313731, -0.143819, 2.175282 mu:0.245118 unit_bearing:0.162006 -0.097299 0.981981 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.692979, -0.213062, 1.324363 mu:0.245118 unit_bearing:-0.066509 -0.088726 0.993833 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.303983, -0.114690, 2.193357 mu:0.245118 unit_bearing:0.167780 -0.090752 0.981638 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.297886, -0.113416, 2.203517 mu:0.245118 unit_bearing:0.170659 -0.090745 0.981143 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.228724, -0.099488, 2.314275 mu:0.245118 unit_bearing:0.202280 -0.090665 0.975122 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.697193, -0.205562, 1.312321 mu:0.245118 unit_bearing:-0.069406 -0.086541 0.993828 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.242332, -0.093157, 2.293503 mu:0.245118 unit_bearing:0.196543 -0.088505 0.976493 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.734831, -0.157247, 1.193513 mu:0.245118 unit_bearing:-0.098349 -0.071238 0.992599 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.731677, -0.155866, 1.204856 mu:0.245118 unit_bearing:-0.095458 -0.071241 0.992881 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.706149, -0.181698, 1.287347 mu:0.245118 unit_bearing:-0.075199 -0.079990 0.993955 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.718128, -0.159219, 1.250977 mu:0.245118 unit_bearing:-0.083885 -0.073434 0.993766 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.717502, -0.168085, 1.251832 mu:0.245118 unit_bearing:-0.083883 -0.075617 0.993602 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.243061, -0.084306, 2.292723 mu:0.245118 unit_bearing:0.196548 -0.086328 0.976686 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.702535, -0.071177, 1.310534 mu:0.245118 unit_bearing:-0.066533 -0.053794 0.996333 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.706458, -0.063685, 1.298380 mu:0.245118 unit_bearing:-0.069429 -0.051608 0.996251 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.873999, -0.143112, 0.423471 mu:0.245118 unit_bearing:-0.285080 -0.044796 0.957456 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.877505, -0.101969, 0.394660 mu:0.245118 unit_bearing:-0.290785 -0.033926 0.956187 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.876623, -0.100515, 0.406653 mu:0.245118 unit_bearing:-0.287943 -0.033930 0.957046 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.879779, -0.050599, 0.376652 mu:0.245118 unit_bearing:-0.293642 -0.020890 0.955687 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.878932, -0.049137, 0.388653 mu:0.245118 unit_bearing:-0.290801 -0.020893 0.956555 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.878050, -0.047676, 0.400645 mu:0.245118 unit_bearing:-0.287959 -0.020895 0.957415 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.522495, 0.138704, 1.776426 mu:0.245118 unit_bearing:0.060954 -0.016649 0.998002 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.880528, 0.002205, 0.370419 mu:0.245118 unit_bearing:-0.293651 -0.007857 0.955880 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.879681, 0.003674, 0.382420 mu:0.245118 unit_bearing:-0.290810 -0.007858 0.956749 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.878798, 0.005142, 0.394412 mu:0.245118 unit_bearing:-0.287967 -0.007859 0.957608 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.373134, 0.227961, 2.064213 mu:0.245118 unit_bearing:0.141929 -0.003530 0.989871 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.367322, 0.229227, 2.074515 mu:0.245118 unit_bearing:0.144815 -0.003530 0.989452 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.527810, 0.234769, 1.753938 mu:0.245118 unit_bearing:0.058059 0.007395 0.998286 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.522918, 0.236082, 1.764637 mu:0.245118 unit_bearing:0.060955 0.007395 0.998113 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.883099, 0.168676, -0.082504 mu:0.245118 unit_bearing:-0.392107 0.046174 0.918760 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.810905, 0.326267, 0.820462 mu:0.245118 unit_bearing:-0.176279 0.057541 0.982657 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.872732, 0.276038, 0.346644 mu:0.245118 unit_bearing:-0.290729 0.059474 0.954955 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.872969, 0.233086, -0.203982 mu:0.245118 unit_bearing:-0.417012 0.065473 0.906540 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.393904, 0.495275, 1.975698 mu:0.245118 unit_bearing:0.127455 0.064149 0.989768 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.388251, 0.496534, 1.986069 mu:0.245118 unit_bearing:0.130342 0.064146 0.989392 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.883062, 0.223106, -0.003006 mu:0.245118 unit_bearing:-0.372529 0.057041 0.926266 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.878756, 0.226610, -0.115553 mu:0.245118 unit_bearing:-0.397616 0.061256 0.915505 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.882609, 0.197936, -0.061649 mu:0.245118 unit_bearing:-0.386511 0.052669 0.920780 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.881799, 0.227201, -0.040877 mu:0.245118 unit_bearing:-0.380906 0.059169 0.922719 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.878198, 0.235322, -0.116797 mu:0.245118 unit_bearing:-0.397606 0.063413 0.915362 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.857293, 0.345105, -0.295844 mu:0.245118 unit_bearing:-0.433375 0.095470 0.896142 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.856419, 0.353768, -0.297172 mu:0.245118 unit_bearing:-0.433359 0.097618 0.895919 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.854270, 0.507635, 0.274679 mu:0.245118 unit_bearing:-0.298994 0.117969 0.946935 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.856292, 0.490187, 0.277496 mu:0.245118 unit_bearing:-0.299019 0.113640 0.947456 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.855291, 0.498912, 0.276090 mu:0.245118 unit_bearing:-0.299006 0.115805 0.947198 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.486465, 0.764617, 1.685279 mu:0.245118 unit_bearing:0.060872 0.138353 0.988511 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.481544, 0.765913, 1.695950 mu:0.245118 unit_bearing:0.063765 0.138349 0.988329 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.316761, 0.821161, 2.006698 mu:0.245118 unit_bearing:0.150361 0.142508 0.978306 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.480379, 0.774670, 1.694412 mu:0.245118 unit_bearing:0.063762 0.140526 0.988022 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.479195, 0.783426, 1.692867 mu:0.245118 unit_bearing:0.063759 0.142702 0.987710 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.303927, 0.908445, 1.990687 mu:0.245118 unit_bearing:0.150286 0.164222 0.974908 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.306641, 0.891007, 1.993948 mu:0.245118 unit_bearing:0.150302 0.159882 0.975627 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.300734, 0.892221, 2.004187 mu:0.245118 unit_bearing:0.153180 0.159871 0.975180 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.294795, 0.893432, 2.014411 mu:0.245118 unit_bearing:0.156058 0.159860 0.974726 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.299386, 0.900940, 2.002559 mu:0.245118 unit_bearing:0.153172 0.162041 0.974824 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.293447, 0.902151, 2.012783 mu:0.245118 unit_bearing:0.156050 0.162030 0.974369 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.283254, 0.495831, -1.993382 mu:0.245118 unit_bearing:-0.764307 0.182850 0.618385 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.290050, 0.497811, -1.981533 mu:0.245118 unit_bearing:-0.762158 0.182978 0.620995 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.296800, 0.499790, -1.969671 mu:0.245118 unit_bearing:-0.760001 0.183105 0.623595 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.511432, 1.263245, 1.251926 mu:0.245118 unit_bearing:-0.025843 0.272610 0.961778 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.509099, 1.271838, 1.249979 mu:0.245118 unit_bearing:-0.025840 0.274758 0.961166 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.081506, 1.566253, 1.957968 mu:0.245118 unit_bearing:0.180738 0.325238 0.928199 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.075245, 1.567360, 1.967962 mu:0.245118 unit_bearing:0.183589 0.325208 0.927650 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.039727, 1.637038, 1.969924 mu:0.245118 unit_bearing:0.189098 0.342102 0.920439 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.967] If point is visible? -3.460155, 1.819419, -0.027933 mu:0.245118 unit_bearing:-0.296522 0.446154 0.844406 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -2.811268, 2.142204, 1.835967 mu:0.245118 unit_bearing:0.192830 0.469006 0.861888 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.381446, 1.972222, 0.037265 mu:0.245118 unit_bearing:-0.270538 0.481382 0.833715 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.391155, 1.949965, -0.054031 mu:0.245118 unit_bearing:-0.292748 0.478694 0.827738 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -2.802947, 2.158296, 1.830423 mu:0.245118 unit_bearing:0.192750 0.473086 0.859673 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -2.807117, 2.150254, 1.833199 mu:0.245118 unit_bearing:0.192790 0.471047 0.860783 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -2.800700, 2.151236, 1.842976 mu:0.245118 unit_bearing:0.195602 0.470994 0.860177 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.213759, -1.394958, 1.854647 mu:0.245118 unit_bearing:0.063071 -0.392111 0.917753 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.197032, -1.409598, 1.875068 mu:0.245118 unit_bearing:0.068770 -0.396283 0.915549 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] If point is visible? -3.059136, -1.545911, 2.013120 mu:0.245118 unit_bearing:0.108438 -0.433570 0.894571 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.967] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -3.617754, -1.169764, 0.972916 mu:0.245118 unit_bearing:-0.166406 -0.310984 0.935734 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.595352, -0.746813, 1.416556 mu:0.245118 unit_bearing:-0.051879 -0.221337 0.973817 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.636138, -0.937913, 1.151927 mu:0.245118 unit_bearing:-0.120896 -0.259924 0.958031 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.268334, -0.324684, 2.230003 mu:0.245118 unit_bearing:0.173379 -0.142936 0.974427 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.255979, -0.322112, 2.250218 mu:0.245118 unit_bearing:0.179128 -0.142914 0.973390 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -3.253550, -0.339817, 2.251377 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -3.280881, -0.091891, 2.232348 mu:0.245118 unit_bearing:0.179302 -0.086370 0.979995 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.725758, -0.089675, 1.232590 mu:0.245118 unit_bearing:-0.086792 -0.055966 0.994653 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.279404, -0.109601, 2.233906 mu:0.245118 unit_bearing:0.179291 -0.090725 0.979604 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.726612, -0.181083, 1.218754 mu:0.245118 unit_bearing:-0.092559 -0.077791 0.992664 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.713542, -0.175577, 1.263967 mu:0.245118 unit_bearing:-0.080988 -0.077802 0.993674 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.265375, -0.124772, 2.255616 mu:0.245118 unit_bearing:0.185032 -0.095064 0.978124 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -3.731254, -0.110164, 1.211772 mu:0.245118 unit_bearing:-0.092575 -0.060328 0.993876 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.831861, 0.139858, 0.762625 mu:0.245118 unit_bearing:-0.196455 0.013917 0.980414 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.773469, 0.582454, 0.863845 mu:0.245118 unit_bearing:-0.155992 0.118572 0.980616 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.768463, 0.585351, 0.886920 mu:0.245118 unit_bearing:-0.150231 0.118588 0.981513 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.327279, 0.827454, 1.984600 mu:0.245118 unit_bearing:0.144593 0.144699 0.978854 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.315560, 0.829899, 2.005130 mu:0.245118 unit_bearing:0.150354 0.144681 0.977988 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.775446, 0.564918, 0.866711 mu:0.245118 unit_bearing:-0.156004 0.114220 0.981130 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.770438, 0.567812, 0.889788 mu:0.245118 unit_bearing:-0.150242 0.114235 0.982027 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.324823, 0.844927, 1.981444 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.313104, 0.847370, 2.001971 mu:0.245118 unit_bearing:0.150340 0.149026 0.977338 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.310574, 0.864831, 1.998784 mu:0.245118 unit_bearing:0.150325 0.153369 0.976668 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -2.985910, 1.355230, 2.262949 mu:0.245118 unit_bearing:0.252521 0.264787 0.930656 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -3.613364, -0.734522, 1.371145 mu:0.245118 unit_bearing:-0.063432 -0.216990 0.974111 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.667748, -0.953983, 1.014441 mu:0.245118 unit_bearing:-0.155348 -0.259727 0.953105 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.657750, -0.948629, 1.060439 mu:0.245118 unit_bearing:-0.143873 -0.259798 0.954885 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -2.982128, -1.660218, 2.046088 mu:0.245118 unit_bearing:0.119503 -0.462365 0.878600 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -2.959658, -1.654710, 2.086627 mu:0.245118 unit_bearing:0.130838 -0.462236 0.877051 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -3.578539, -1.399293, 0.787956 mu:0.245118 unit_bearing:-0.211372 -0.361301 0.908176 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.306977, -1.133505, 1.859711 mu:0.245118 unit_bearing:0.063324 -0.328653 0.942325 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.287034, -1.128146, 1.901908 mu:0.245118 unit_bearing:0.074809 -0.328610 0.941498 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.200989, -1.181990, 2.026325 mu:0.245118 unit_bearing:0.109125 -0.345426 0.932080 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -3.328881, -1.063378, 1.859827 mu:0.245118 unit_bearing:0.063381 -0.311595 0.948099 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.337512, -1.103813, 1.817395 mu:0.245118 unit_bearing:0.051858 -0.320165 0.945941 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.620575, -0.699147, 1.369513 mu:0.245118 unit_bearing:-0.063450 -0.208335 0.975997 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.253550, -0.339817, 2.251377 mu:0.245118 unit_bearing:0.179111 -0.147256 0.972746 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -3.790544, -0.476154, 0.848788 mu:0.245118 unit_bearing:-0.190435 -0.138527 0.971877 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.782027, -0.470614, 0.895401 mu:0.245118 unit_bearing:-0.178945 -0.138572 0.974052 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.772970, -0.465081, 0.941855 mu:0.245118 unit_bearing:-0.167444 -0.138613 0.976089 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.786609, -0.435228, 0.892690 mu:0.245118 unit_bearing:-0.178976 -0.129882 0.975243 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.777545, -0.429684, 0.939149 mu:0.245118 unit_bearing:-0.167473 -0.129921 0.977279 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.680598, 0.439871, 1.303084 mu:0.245118 unit_bearing:-0.052046 0.070762 0.996134 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.665706, 0.445366, 1.347656 mu:0.245118 unit_bearing:-0.040461 0.070768 0.996672 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.324823, 0.844927, 1.981444 mu:0.245118 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.678082, 0.475119, 1.297804 mu:0.245118 unit_bearing:-0.052041 0.079496 0.995476 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.871981, 0.291550, -0.162450 mu:0.245118 unit_bearing:-0.405861 0.078456 0.910561 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.470396, 0.844654, 1.681852 mu:0.245118 unit_bearing:0.063738 0.157927 0.985392 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.450396, 0.849800, 1.724388 mu:0.245118 unit_bearing:0.075299 0.157909 0.984578 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.429885, 0.854908, 1.766711 mu:0.245118 unit_bearing:0.086856 0.157887 0.983630 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.319690, 0.879847, 1.975044 mu:0.245118 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.406144, 1.093495, 1.676785 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.004407, 1.336037, 2.247676 mu:0.245118 unit_bearing:0.246892 0.260574 0.933352 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -2.976229, 1.340244, 2.286239 mu:0.245118 unit_bearing:0.258244 0.260445 0.930311 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -3.565584, 1.173368, 1.169540 mu:0.245118 unit_bearing:-0.051818 0.253204 0.966024 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.466283, 1.543688, 1.036185 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.450711, 1.827484, -0.141240 mu:0.245118 unit_bearing:-0.321203 0.451501 0.832452 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -3.449754, 1.834734, -0.093924 mu:0.245118 unit_bearing:-0.310170 0.451851 0.836436 T_cur_ref: x=0.189456 y=0.000000 z=0.089444 +[21:41:17.968] If point is visible? -282306403631.907104, 86747929517.596451, 128684093110.286987 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -280647222850.397888, 87143929261.529510, 132002941353.630157 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -281216601215.861267, 84406097252.916595, 132568995522.783020 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -294138483453.085083, 93526154565.838562, 92288220217.011841 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -279774908921.588440, 118835767106.996033, -106704102173.990112 mu:0.000000 unit_bearing:-0.576196 0.406498 0.709054 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -280678536792.613220, 122728936066.962402, -99693890798.677582 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -282306403631.907104, 86747929517.596451, 128684093110.286987 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -280647222850.397888, 87143929261.529510, 132002941353.630157 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -281216601215.861267, 84406097252.916595, 132568995522.783020 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -293446671424.195557, 96248237526.227692, 91689870923.307861 mu:0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -294138483453.085083, 93526154565.838562, 92288220217.011841 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -280678536792.613220, 122728936066.962402, -99693890798.677582 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.180247 y=0.000000 z=0.085816 +[21:41:17.968] If point is visible? -3.408088, 0.571805, 0.971385 mu:0.267923 unit_bearing:-0.109833 0.123034 0.986306 T_cur_ref: x=0.171556 y=0.000000 z=0.082503 +[21:41:17.968] If point is visible? -1.750497, 1.190263, 3.052336 mu:0.267923 unit_bearing:0.585689 0.219552 0.780234 T_cur_ref: x=0.171556 y=0.000000 z=0.082503 +[21:41:17.968] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -2.689057, 1.231453, 2.139524 mu:0.267923 unit_bearing:0.269577 0.260310 0.927128 T_cur_ref: x=0.171556 y=0.000000 z=0.082503 +[21:41:17.968] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:17.968] If point is visible? -1.733776, 1.892109, 2.674906 mu:0.267923 unit_bearing:0.515125 0.418515 0.747992 T_cur_ref: x=0.171556 y=0.000000 z=0.082503 +[21:41:17.968] If point is visible? -3.404904, 2.441835, 2.050900 mu:0.210413 unit_bearing:0.153515 0.459408 0.874858 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.968] If point is visible? -3.661472, 2.304587, 1.704533 mu:0.210413 unit_bearing:0.062837 0.439627 0.895980 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.968] If point is visible? -3.995131, -2.281507, 0.367058 mu:0.210413 unit_bearing:-0.331002 -0.483856 0.810136 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.968] If point is visible? -3.029394, -2.055784, 2.936403 mu:0.210413 unit_bearing:0.247913 -0.502601 0.828210 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.968] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:17.969] If point is visible? -3.662121, -1.645761, 2.368216 mu:0.210413 unit_bearing:0.097296 -0.402400 0.910279 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:17.969] If point is visible? -3.672579, -1.637231, 2.356799 mu:0.210413 unit_bearing:0.094457 -0.400326 0.911492 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:17.969] If point is visible? -3.717726, -1.592948, 2.311243 mu:0.210413 unit_bearing:0.083098 -0.389909 0.917096 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:17.969] If point is visible? -3.852067, -1.460960, 2.158630 mu:0.210413 unit_bearing:0.046008 -0.358431 0.932422 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -3.792455, -1.324206, 2.355217 mu:0.210413 unit_bearing:0.091995 -0.334912 0.937748 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.336828, -1.524573, 0.147061 mu:0.210413 unit_bearing:-0.382861 -0.320134 0.866564 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -3.880497, -1.235961, 2.247540 mu:0.210413 unit_bearing:0.066248 -0.313721 0.947201 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -3.922522, -1.202736, 2.186566 mu:0.210413 unit_bearing:0.051898 -0.305219 0.950867 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.289270, -1.033407, 1.378170 mu:0.210413 unit_bearing:-0.129573 -0.249125 0.959764 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.285751, -1.031851, 1.391401 mu:0.210413 unit_bearing:-0.126699 -0.249140 0.960144 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.282193, -1.030296, 1.404619 mu:0.210413 unit_bearing:-0.123824 -0.249154 0.960515 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.278585, -0.994802, 1.443276 mu:0.210413 unit_bearing:-0.115226 -0.242733 0.963226 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.274870, -0.993245, 1.456442 mu:0.210413 unit_bearing:-0.112348 -0.242745 0.963563 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.273504, -0.981407, 1.469274 mu:0.210413 unit_bearing:-0.109479 -0.240602 0.964430 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.275869, -0.971125, 1.468944 mu:0.210413 unit_bearing:-0.109488 -0.238446 0.964964 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.262211, -0.898469, 1.558509 mu:0.210413 unit_bearing:-0.089370 -0.225569 0.970119 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.265745, -0.922178, 1.533119 mu:0.210413 unit_bearing:-0.095120 -0.229869 0.968562 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.225860, -0.807624, 1.711340 mu:0.210413 unit_bearing:-0.054785 -0.210515 0.976054 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.534915, -0.694743, -0.075087 mu:0.210413 unit_bearing:-0.421927 -0.141132 0.895578 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -3.840253, -0.341920, 2.616217 mu:0.210413 unit_bearing:0.161896 -0.136459 0.977327 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -3.818230, -0.337480, 2.651236 mu:0.210413 unit_bearing:0.170527 -0.136430 0.975862 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:17.969] If point is visible? -4.533425, -0.704910, -0.074330 mu:0.210413 unit_bearing:-0.421902 -0.143274 0.895249 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -3.837893, -0.067690, 2.641949 mu:0.210413 unit_bearing:0.173561 -0.079848 0.981581 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.351373, -0.181427, 1.550737 mu:0.210413 unit_bearing:-0.080990 -0.075619 0.993842 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.347166, -0.179837, 1.563779 mu:0.210413 unit_bearing:-0.078096 -0.075622 0.994074 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.342922, -0.178249, 1.576807 mu:0.210413 unit_bearing:-0.075203 -0.075624 0.994297 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -3.846064, -0.058831, 2.629364 mu:0.210413 unit_bearing:0.170687 -0.077675 0.982259 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.367170, -0.134556, 1.506543 mu:0.210413 unit_bearing:-0.089679 -0.064697 0.993867 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -3.862232, -0.041114, 2.604109 mu:0.210413 unit_bearing:0.164936 -0.073327 0.983575 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -3.854891, -0.039654, 2.615800 mu:0.210413 unit_bearing:0.167816 -0.073322 0.983088 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.566457, -0.129339, 0.518008 mu:0.210413 unit_bearing:-0.296457 -0.038259 0.954279 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.561131, -0.122586, 0.573805 mu:0.210413 unit_bearing:-0.285092 -0.038279 0.957735 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.571951, -0.170250, 0.437330 mu:0.210413 unit_bearing:-0.313453 -0.044734 0.948549 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.346815, -0.032045, 1.575349 mu:0.210413 unit_bearing:-0.072327 -0.045053 0.996363 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.574307, -0.163387, 0.408146 mu:0.210413 unit_bearing:-0.319117 -0.042553 0.946760 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.572391, -0.159999, 0.436229 mu:0.210413 unit_bearing:-0.313458 -0.042565 0.948648 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.563065, -0.146485, 0.548154 mu:0.210413 unit_bearing:-0.290769 -0.042613 0.955844 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.558887, -0.141432, 0.589954 mu:0.210413 unit_bearing:-0.282240 -0.042629 0.958396 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] If point is visible? -4.560737, -0.132850, 0.574922 mu:0.210413 unit_bearing:-0.285088 -0.040452 0.957647 T_cur_ref: x=0.164056 y=0.000000 z=0.079396 +[21:41:17.969] init seeds +[21:41:17.969] DepthFilter: Initialized 5 new seeds +[21:41:17.971] DepthFilter: Initialized 5 new seeds +[21:41:18.591] add new frame +[21:41:18.591] update seed +[21:41:18.591] If point is visible? -3.397864, 1.093495, 1.681655 mu:0.245118 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.458004, 1.543688, 1.041055 mu:0.245118 unit_bearing:-0.063057 0.347284 0.935638 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.089392, -1.498388, 1.989927 mu:0.245118 unit_bearing:0.100004 -0.421170 0.901451 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:18.591] If point is visible? -3.027331, -1.378939, 2.177867 mu:0.245118 unit_bearing:0.151474 -0.397724 0.904915 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:18.591] If point is visible? -3.017934, -1.386216, 2.187540 mu:0.245118 unit_bearing:0.154294 -0.399783 0.903530 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:18.591] If point is visible? -3.288791, -1.130826, 1.885707 mu:0.245118 unit_bearing:0.069067 -0.328632 0.941929 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.621422, -0.925085, 1.190662 mu:0.245118 unit_bearing:-0.112281 -0.257815 0.959648 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.618468, -0.923744, 1.202017 mu:0.245118 unit_bearing:-0.109405 -0.257828 0.959977 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.625617, -0.946715, 1.157059 mu:0.245118 unit_bearing:-0.120885 -0.262074 0.957447 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.622765, -0.945376, 1.168446 mu:0.245118 unit_bearing:-0.118011 -0.262088 0.957801 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.615000, -0.883125, 1.246209 mu:0.245118 unit_bearing:-0.097930 -0.249266 0.963471 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.607418, -0.841120, 1.301395 mu:0.245118 unit_bearing:-0.083559 -0.240695 0.966997 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.604128, -0.839774, 1.312646 mu:0.245118 unit_bearing:-0.080677 -0.240704 0.967240 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.608613, -0.851289, 1.290450 mu:0.245118 unit_bearing:-0.086433 -0.242842 0.966208 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.605357, -0.849944, 1.301711 mu:0.245118 unit_bearing:-0.083552 -0.242851 0.966459 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.602067, -0.848599, 1.312961 mu:0.245118 unit_bearing:-0.080670 -0.242860 0.966701 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.581358, -0.773329, 1.422522 mu:0.245118 unit_bearing:-0.051867 -0.227820 0.972321 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.577704, -0.771983, 1.433650 mu:0.245118 unit_bearing:-0.048981 -0.227825 0.972469 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.581531, -0.754306, 1.432928 mu:0.245118 unit_bearing:-0.048988 -0.223503 0.973471 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] If point is visible? -3.577844, -0.752960, 1.444045 mu:0.245118 unit_bearing:-0.046102 -0.223508 0.973611 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] add key frame +[21:41:18.591] If point is visible? -3.204415, -0.477498, 2.294562 mu:0.245118 unit_bearing:0.187562 -0.181897 0.965264 T_cur_ref: x=0.197735 y=0.000000 z=0.094313 +[21:41:18.591] Z inverse min: 0.634287, Z inverse max: 0.000000 +[21:41:18.591] remove key frame +[21:41:18.591] init seeds +[21:41:18.592] update seed +[21:41:18.592] If point is visible? -282306403631.898804, 86747929517.596451, 128684093110.291855 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -280647222850.389587, 87143929261.529510, 132002941353.635025 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -281216601215.852966, 84406097252.916595, 132568995522.787888 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -294138483453.076782, 93526154565.838562, 92288220217.016708 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -279774908921.580139, 118835767106.996033, -106704102173.985245 mu:0.000000 unit_bearing:-0.576196 0.406498 0.709054 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -280678536792.604919, 122728936066.962402, -99693890798.672714 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -282306403631.898804, 86747929517.596451, 128684093110.291855 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -280647222850.389587, 87143929261.529510, 132002941353.635025 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -281216601215.852966, 84406097252.916595, 132568995522.787888 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -293446671424.187256, 96248237526.227692, 91689870923.312729 mu:0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -294138483453.076782, 93526154565.838562, 92288220217.016708 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -280678536792.604919, 122728936066.962402, -99693890798.672714 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.188527 y=0.000000 z=0.090686 +[21:41:18.592] If point is visible? -3.399808, 0.571805, 0.976255 mu:0.267923 unit_bearing:-0.109833 0.123034 0.986306 T_cur_ref: x=0.179836 y=0.000000 z=0.087372 +[21:41:18.592] If point is visible? -1.742217, 1.190263, 3.057206 mu:0.267923 unit_bearing:0.585689 0.219552 0.780234 T_cur_ref: x=0.179836 y=0.000000 z=0.087372 +[21:41:18.592] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:18.592] If point is visible? -2.680778, 1.231453, 2.144394 mu:0.267923 unit_bearing:0.269577 0.260310 0.927128 T_cur_ref: x=0.179836 y=0.000000 z=0.087372 +[21:41:18.592] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:18.592] If point is visible? -1.725497, 1.892109, 2.679776 mu:0.267923 unit_bearing:0.515125 0.418515 0.747992 T_cur_ref: x=0.179836 y=0.000000 z=0.087372 +[21:41:18.592] If point is visible? -3.396624, 2.441835, 2.055769 mu:0.210413 unit_bearing:0.153515 0.459408 0.874858 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.653193, 2.304587, 1.709403 mu:0.210413 unit_bearing:0.062837 0.439627 0.895980 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.986851, -2.281507, 0.371927 mu:0.210413 unit_bearing:-0.331002 -0.483856 0.810136 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.021114, -2.055784, 2.941273 mu:0.210413 unit_bearing:0.247913 -0.502601 0.828210 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.592] If point is visible? -3.653842, -1.645761, 2.373086 mu:0.210413 unit_bearing:0.097296 -0.402400 0.910279 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.592] If point is visible? -3.664300, -1.637231, 2.361669 mu:0.210413 unit_bearing:0.094457 -0.400326 0.911492 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.592] If point is visible? -3.709447, -1.592948, 2.316113 mu:0.210413 unit_bearing:0.083098 -0.389909 0.917096 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.592] If point is visible? -3.843787, -1.460960, 2.163500 mu:0.210413 unit_bearing:0.046008 -0.358431 0.932422 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.784175, -1.324206, 2.360087 mu:0.210413 unit_bearing:0.091995 -0.334912 0.937748 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.328549, -1.524573, 0.151931 mu:0.210413 unit_bearing:-0.382861 -0.320134 0.866564 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.872218, -1.235961, 2.252410 mu:0.210413 unit_bearing:0.066248 -0.313721 0.947201 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.914242, -1.202736, 2.191436 mu:0.210413 unit_bearing:0.051898 -0.305219 0.950867 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.280991, -1.033407, 1.383040 mu:0.210413 unit_bearing:-0.129573 -0.249125 0.959764 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.277472, -1.031851, 1.396271 mu:0.210413 unit_bearing:-0.126699 -0.249140 0.960144 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.273914, -1.030296, 1.409489 mu:0.210413 unit_bearing:-0.123824 -0.249154 0.960515 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.270305, -0.994802, 1.448146 mu:0.210413 unit_bearing:-0.115226 -0.242733 0.963226 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.266591, -0.993245, 1.461312 mu:0.210413 unit_bearing:-0.112348 -0.242745 0.963563 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.265224, -0.981407, 1.474143 mu:0.210413 unit_bearing:-0.109479 -0.240602 0.964430 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.267589, -0.971125, 1.473814 mu:0.210413 unit_bearing:-0.109488 -0.238446 0.964964 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.253931, -0.898469, 1.563379 mu:0.210413 unit_bearing:-0.089370 -0.225569 0.970119 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.257466, -0.922178, 1.537988 mu:0.210413 unit_bearing:-0.095120 -0.229869 0.968562 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.217580, -0.807624, 1.716209 mu:0.210413 unit_bearing:-0.054785 -0.210515 0.976054 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.526635, -0.694743, -0.070217 mu:0.210413 unit_bearing:-0.421927 -0.141132 0.895578 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.831973, -0.341920, 2.621087 mu:0.210413 unit_bearing:0.161896 -0.136459 0.977327 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.809951, -0.337480, 2.656106 mu:0.210413 unit_bearing:0.170527 -0.136430 0.975862 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.592] If point is visible? -4.525146, -0.704910, -0.069460 mu:0.210413 unit_bearing:-0.421902 -0.143274 0.895249 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.829613, -0.067690, 2.646819 mu:0.210413 unit_bearing:0.173561 -0.079848 0.981581 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.592] If point is visible? -4.343094, -0.181427, 1.555606 mu:0.210413 unit_bearing:-0.080990 -0.075619 0.993842 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.338887, -0.179837, 1.568648 mu:0.210413 unit_bearing:-0.078096 -0.075622 0.994074 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.334642, -0.178249, 1.581676 mu:0.210413 unit_bearing:-0.075203 -0.075624 0.994297 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.837784, -0.058831, 2.634234 mu:0.210413 unit_bearing:0.170687 -0.077675 0.982259 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.358890, -0.134556, 1.511412 mu:0.210413 unit_bearing:-0.089679 -0.064697 0.993867 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.853952, -0.041114, 2.608979 mu:0.210413 unit_bearing:0.164936 -0.073327 0.983575 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -3.846612, -0.039654, 2.620670 mu:0.210413 unit_bearing:0.167816 -0.073322 0.983088 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.558177, -0.129339, 0.522878 mu:0.210413 unit_bearing:-0.296457 -0.038259 0.954279 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.552851, -0.122586, 0.578675 mu:0.210413 unit_bearing:-0.285092 -0.038279 0.957735 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.563671, -0.170250, 0.442200 mu:0.210413 unit_bearing:-0.313453 -0.044734 0.948549 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.338535, -0.032045, 1.580219 mu:0.210413 unit_bearing:-0.072327 -0.045053 0.996363 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.566028, -0.163387, 0.413016 mu:0.210413 unit_bearing:-0.319117 -0.042553 0.946760 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.564111, -0.159999, 0.441099 mu:0.210413 unit_bearing:-0.313458 -0.042565 0.948648 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.554785, -0.146485, 0.553024 mu:0.210413 unit_bearing:-0.290769 -0.042613 0.955844 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.550607, -0.141432, 0.594823 mu:0.210413 unit_bearing:-0.282240 -0.042629 0.958396 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.552457, -0.132850, 0.579792 mu:0.210413 unit_bearing:-0.285088 -0.040452 0.957647 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.592] If point is visible? -4.343245, -0.023311, 1.566105 mu:0.210413 unit_bearing:-0.075223 -0.042867 0.996245 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.344032, -0.002661, 1.563886 mu:0.210413 unit_bearing:-0.075225 -0.038498 0.996423 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.556617, -0.042189, 0.555523 mu:0.210413 unit_bearing:-0.287959 -0.020895 0.957415 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.555223, -0.040492, 0.569456 mu:0.210413 unit_bearing:-0.285115 -0.020898 0.958265 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.556816, -0.031932, 0.554336 mu:0.210413 unit_bearing:-0.287961 -0.018723 0.957459 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.555421, -0.030233, 0.568268 mu:0.210413 unit_bearing:-0.285117 -0.018725 0.958310 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.105494, 0.204661, 2.144642 mu:0.210413 unit_bearing:0.060955 -0.010092 0.998090 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.579988, -0.047794, 0.084176 mu:0.210413 unit_bearing:-0.381018 -0.009979 0.924514 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.554163, -0.018276, 0.580995 mu:0.210413 unit_bearing:-0.282275 -0.016554 0.959191 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.998314, 0.281652, 2.345508 mu:0.210413 unit_bearing:0.110153 0.000837 0.993914 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.558904, 0.027887, 0.533105 mu:0.210413 unit_bearing:-0.290810 -0.005685 0.956764 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.557550, 0.029595, 0.547047 mu:0.210413 unit_bearing:-0.287968 -0.005686 0.957623 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.556155, 0.031302, 0.560979 mu:0.210413 unit_bearing:-0.285125 -0.005687 0.958474 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.557482, 0.019343, 0.548281 mu:0.210413 unit_bearing:-0.287967 -0.007859 0.957608 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.556087, 0.021049, 0.562214 mu:0.210413 unit_bearing:-0.285124 -0.007860 0.958458 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.123500, 0.220741, 2.105138 mu:0.210413 unit_bearing:0.052265 -0.005720 0.998617 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.557392, 0.009090, 0.549508 mu:0.210413 unit_bearing:-0.287967 -0.010032 0.957588 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.555998, 0.010794, 0.563440 mu:0.210413 unit_bearing:-0.285123 -0.010033 0.958438 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.944092, 0.272809, 2.443811 mu:0.210413 unit_bearing:0.133269 -0.003531 0.991074 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.430887, 0.250388, 1.239476 mu:0.210413 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.576586, 0.109452, -0.066161 mu:0.210413 unit_bearing:-0.406060 0.026716 0.913456 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.491041, 0.248027, 0.966458 mu:0.210413 unit_bearing:-0.196445 0.029177 0.980081 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.572582, 0.222988, -0.067043 mu:0.210413 unit_bearing:-0.403217 0.050450 0.913713 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.953538, 0.496255, 2.390292 mu:0.210413 unit_bearing:0.127474 0.044507 0.990843 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.567280, 0.252666, -0.158760 mu:0.210413 unit_bearing:-0.419808 0.059000 0.905693 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.570520, 0.251622, -0.085652 mu:0.210413 unit_bearing:-0.405968 0.056907 0.912114 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.565460, 0.318655, 0.280774 mu:0.210413 unit_bearing:-0.333184 0.061510 0.940853 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.569045, 0.283869, -0.075706 mu:0.210413 unit_bearing:-0.403164 0.063387 0.912930 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.570634, 0.300177, 0.052713 mu:0.210413 unit_bearing:-0.378095 0.063499 0.923586 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.569097, 0.314563, 0.166293 mu:0.210413 unit_bearing:-0.355689 0.063591 0.932439 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.570850, 0.297215, 0.111042 mu:0.210413 unit_bearing:-0.366914 0.061385 0.928227 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.569160, 0.324108, 0.078201 mu:0.210413 unit_bearing:-0.372486 0.067844 0.925555 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.935079, 0.591556, 2.400742 mu:0.210413 unit_bearing:0.133229 0.064142 0.989007 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.568452, 0.334267, 0.076711 mu:0.210413 unit_bearing:-0.372476 0.070004 0.925398 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.393011, 0.528937, 1.294510 mu:0.210413 unit_bearing:-0.118571 0.079431 0.989763 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.366213, 0.540380, 1.386734 mu:0.210413 unit_bearing:-0.098341 0.079456 0.991976 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.557622, 0.372280, -0.191001 mu:0.210413 unit_bearing:-0.422427 0.084807 0.902421 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.545379, 0.493442, -0.209923 mu:0.210413 unit_bearing:-0.422230 0.110596 0.899717 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.547645, 0.473269, -0.206698 mu:0.210413 unit_bearing:-0.422267 0.106301 0.900217 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.532103, 0.550773, 0.473834 mu:0.210413 unit_bearing:-0.287715 0.105036 0.951939 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.531036, 0.560948, 0.472198 mu:0.210413 unit_bearing:-0.287705 0.107203 0.951700 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.543104, 0.590433, 0.137893 mu:0.210413 unit_bearing:-0.352554 0.121934 0.927814 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.419940, 0.720442, 1.073622 mu:0.210413 unit_bearing:-0.158853 0.125090 0.979346 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.526832, 0.626742, 0.418746 mu:0.210413 unit_bearing:-0.296134 0.122315 0.947282 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.083149, 0.927337, 1.986307 mu:0.210413 unit_bearing:0.049295 0.144895 0.988218 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.077275, 0.928839, 1.998665 mu:0.210413 unit_bearing:0.052187 0.144892 0.988070 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.071365, 0.930339, 2.011008 mu:0.210413 unit_bearing:0.055080 0.144889 0.987914 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.048742, 0.926118, 2.062060 mu:0.210413 unit_bearing:0.066651 0.142698 0.987520 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.042647, 0.927605, 2.074324 mu:0.210413 unit_bearing:0.069542 0.142694 0.987321 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.882577, 0.982764, 2.359945 mu:0.210413 unit_bearing:0.138824 0.146890 0.979363 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.875566, 0.984176, 2.371786 mu:0.210413 unit_bearing:0.141706 0.146881 0.978951 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.868518, 0.985584, 2.383610 mu:0.210413 unit_bearing:0.144587 0.146872 0.978531 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.069956, 0.940531, 2.009161 mu:0.210413 unit_bearing:0.055077 0.147065 0.987592 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.881150, 0.992938, 2.358070 mu:0.210413 unit_bearing:0.138817 0.149063 0.979035 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.867091, 0.995756, 2.381735 mu:0.210413 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.858081, 1.056733, 2.370292 mu:0.210413 unit_bearing:0.144536 0.162073 0.976136 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.763124, 1.074681, 2.522314 mu:0.210413 unit_bearing:0.181920 0.161923 0.969890 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.593] If point is visible? -3.772203, 1.063175, 2.512667 mu:0.210413 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.593] calculated Z= 1.063359 +[21:41:18.593] update seeds 305 +[21:41:18.593] If point is visible? -3.947928, 1.145552, 2.157426 mu:0.210413 unit_bearing:0.098338 0.186080 0.977601 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.934898, 1.148436, 2.181546 mu:0.210413 unit_bearing:0.104107 0.186064 0.977007 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.928328, 1.149873, 2.193580 mu:0.210413 unit_bearing:0.106991 0.186056 0.976697 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.911955, 1.133900, 2.233615 mu:0.210413 unit_bearing:0.115655 0.181693 0.976530 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.816100, 1.221601, 2.361749 mu:0.210413 unit_bearing:0.150152 0.196723 0.968893 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.109528, 1.490553, 1.509312 mu:0.210413 unit_bearing:-0.031604 0.274751 0.960996 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.535422, 1.616675, 2.579412 mu:0.210413 unit_bearing:0.224008 0.273651 0.935380 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.593] If point is visible? -3.607642, 1.821572, 2.315969 mu:0.210413 unit_bearing:0.172202 0.323198 0.930532 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.593] If point is visible? -3.600191, 1.822856, 2.327499 mu:0.210413 unit_bearing:0.175055 0.323170 0.930009 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.593] If point is visible? -3.592703, 1.824135, 2.339010 mu:0.210413 unit_bearing:0.177908 0.323142 0.929477 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.593] If point is visible? -4.269299, 1.672957, -0.160605 mu:0.210413 unit_bearing:-0.362656 0.355667 0.861384 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.175884, 1.918283, 0.077779 mu:0.210413 unit_bearing:-0.303317 0.400789 0.864504 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.167526, 1.934356, 0.187835 mu:0.210413 unit_bearing:-0.281006 0.401323 0.871766 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.106017, 2.069420, 0.092122 mu:0.210413 unit_bearing:-0.291376 0.431985 0.853516 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.112529, 2.055847, 0.067426 mu:0.210413 unit_bearing:-0.296990 0.429784 0.852692 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.111579, 2.057893, 0.081162 mu:0.210413 unit_bearing:-0.294211 0.429859 0.853616 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.003037, -2.254929, 0.345839 mu:0.210413 unit_bearing:-0.336705 -0.477637 0.811476 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.568715, -1.747043, 2.437826 mu:0.210413 unit_bearing:0.114205 -0.425212 0.897860 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.593] If point is visible? -3.590511, -1.730100, 2.415488 mu:0.210413 unit_bearing:0.108550 -0.421101 0.900495 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.593] If point is visible? -3.780852, -1.334403, 2.359905 mu:0.210413 unit_bearing:0.091983 -0.337037 0.936987 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.934354, -1.374540, 2.041968 mu:0.210413 unit_bearing:0.017340 -0.337266 0.941250 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.917237, -1.192496, 2.191446 mu:0.210413 unit_bearing:0.051904 -0.303080 0.951551 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.326611, -1.066988, 1.183300 mu:0.210413 unit_bearing:-0.172603 -0.251017 0.952470 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -3.926359, -1.165521, -2.020282 mu:0.210413 unit_bearing:-0.761841 -0.189446 0.619442 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.232975, -0.801993, 1.677032 mu:0.210413 unit_bearing:-0.063450 -0.208335 0.975997 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.224115, -0.798872, 1.702873 mu:0.210413 unit_bearing:-0.057676 -0.208346 0.976353 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.342350, -0.191759, 1.556577 mu:0.210413 unit_bearing:-0.080988 -0.077802 0.993674 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.367288, -0.053541, 1.489900 mu:0.210413 unit_bearing:-0.092584 -0.047226 0.994584 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.593] If point is visible? -4.560131, -0.110517, 0.506646 mu:0.210413 unit_bearing:-0.299303 -0.033912 0.953555 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.111375, 0.192830, 2.133534 mu:0.210413 unit_bearing:0.058058 -0.012278 0.998238 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.290303, 0.548798, 1.623920 mu:0.210413 unit_bearing:-0.046252 0.075132 0.996100 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.429749, 0.531235, 1.145144 mu:0.210413 unit_bearing:-0.150308 0.083742 0.985086 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.423126, 0.534564, 1.171847 mu:0.210413 unit_bearing:-0.144541 0.083752 0.985948 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.420357, 0.691509, 1.092157 mu:0.210413 unit_bearing:-0.155992 0.118572 0.980616 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.424289, 0.708553, 1.061945 mu:0.210413 unit_bearing:-0.161739 0.122907 0.979150 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.532769, 0.601047, 0.380229 mu:0.210413 unit_bearing:-0.304659 0.117936 0.945132 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.535109, 0.580733, 0.383561 mu:0.210413 unit_bearing:-0.304684 0.113608 0.945654 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.917132, 1.103479, 2.239596 mu:0.210413 unit_bearing:0.115676 0.175187 0.977716 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.417988, 0.711922, 1.088733 mu:0.210413 unit_bearing:-0.155980 0.122924 0.980082 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.913702, 1.123763, 2.235617 mu:0.210413 unit_bearing:0.115662 0.179525 0.976930 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.830305, 1.218830, 2.338190 mu:0.210413 unit_bearing:0.144399 0.196749 0.969762 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.013105, 1.293968, 1.926707 mu:0.210413 unit_bearing:0.052076 0.222992 0.973428 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.788675, 1.050291, 2.491368 mu:0.210413 unit_bearing:0.173321 0.157622 0.972170 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.594] If point is visible? -4.119680, 2.040197, 0.028911 mu:0.210413 unit_bearing:-0.305373 0.427503 0.850875 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.117989, 2.044309, 0.056433 mu:0.210413 unit_bearing:-0.299823 0.427656 0.852770 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.123923, 1.930201, -0.550828 mu:0.210413 unit_bearing:-0.420320 0.419397 0.804635 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.127022, 2.025311, 0.061916 mu:0.210413 unit_bearing:-0.299937 0.423548 0.854778 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.396624, 2.441835, 2.055769 mu:0.210413 unit_bearing:0.153515 0.459408 0.874858 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.434129, 2.469578, 1.950133 mu:0.210413 unit_bearing:0.130767 0.467911 0.874047 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.656154, 2.320834, 1.679024 mu:0.210413 unit_bearing:0.057117 0.443799 0.894304 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.644249, 2.323671, 1.703244 mu:0.210413 unit_bearing:0.062815 0.443770 0.893936 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.928994, -1.151512, 2.191391 mu:0.210413 unit_bearing:0.051925 -0.294520 0.954234 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.258228, -0.766996, 1.623317 mu:0.210413 unit_bearing:-0.075016 -0.199649 0.976992 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.240953, -0.760742, 1.675181 mu:0.210413 unit_bearing:-0.063467 -0.199672 0.977805 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.232975, -0.801993, 1.677032 mu:0.210413 unit_bearing:-0.063450 -0.208335 0.975997 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.332358, -1.070095, 1.156411 mu:0.210413 unit_bearing:-0.178331 -0.250976 0.951425 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.320706, -1.063881, 1.210139 mu:0.210413 unit_bearing:-0.166873 -0.251056 0.953480 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.616614, -1.736359, 2.368074 mu:0.210413 unit_bearing:0.097155 -0.421192 0.901753 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.594] If point is visible? -3.893445, -1.186330, 2.240399 mu:0.210413 unit_bearing:0.063409 -0.303048 0.950863 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.308426, -1.057665, 1.263664 mu:0.210413 unit_bearing:-0.155404 -0.251131 0.955397 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.295519, -1.051448, 1.316981 mu:0.210413 unit_bearing:-0.143924 -0.251199 0.957175 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.305326, -1.010380, 1.315744 mu:0.210413 unit_bearing:-0.143973 -0.242591 0.959386 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.379145, -0.249030, 1.429209 mu:0.210413 unit_bearing:-0.109894 -0.086497 0.990173 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.363607, -0.242639, 1.481840 mu:0.210413 unit_bearing:-0.098332 -0.086512 0.991386 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.443179, -0.452738, 1.122972 mu:0.210413 unit_bearing:-0.179005 -0.121187 0.976356 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.431354, -0.446297, 1.176843 mu:0.210413 unit_bearing:-0.167500 -0.121223 0.978391 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.558820, -0.066100, 0.529977 mu:0.210413 unit_bearing:-0.293637 -0.025234 0.955584 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.543641, 0.532909, 0.334134 mu:0.210413 unit_bearing:-0.316050 0.104888 0.942927 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.068504, 0.989953, 1.987455 mu:0.210413 unit_bearing:0.052172 0.157943 0.986069 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.044645, 0.995928, 2.036715 mu:0.210413 unit_bearing:0.063738 0.157927 0.985392 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.020197, 1.001856, 2.085718 mu:0.210413 unit_bearing:0.075299 0.157909 0.984578 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.294767, 0.607166, 1.588660 mu:0.210413 unit_bearing:-0.052036 0.088226 0.994740 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.518462, 1.561926, 2.638724 mu:0.210413 unit_bearing:0.235524 0.260696 0.936251 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.594] If point is visible? -3.969133, 1.285600, 2.029086 mu:0.210413 unit_bearing:0.075171 0.218620 0.972910 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -4.168129, 1.379189, 1.442595 mu:0.210413 unit_bearing:-0.051818 0.253204 0.966024 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.561192, 1.517092, 2.603405 mu:0.210413 unit_bearing:0.224222 0.252238 0.941329 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:18.594] If point is visible? -4.139204, 1.998074, 0.012251 mu:0.210413 unit_bearing:-0.311151 0.419133 0.852943 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -3.653193, 2.304587, 1.709403 mu:0.210413 unit_bearing:0.062837 0.439627 0.895980 T_cur_ref: x=0.172336 y=0.000000 z=0.084265 +[21:41:18.594] If point is visible? -2.260329, 1.863860, 2.530408 mu:0.255237 unit_bearing:0.394429 0.395978 0.829233 T_cur_ref: x=0.163481 y=0.000000 z=0.080638 +[21:41:18.594] Z inverse min: 0.767293, Z inverse max: 0.000000 +[21:41:18.594] If point is visible? -2.260329, 1.863860, 2.530408 mu:0.255237 unit_bearing:0.394429 0.395978 0.829233 T_cur_ref: x=0.163481 y=0.000000 z=0.080638 +[21:41:18.594] Z inverse min: 0.767293, Z inverse max: 0.000000 +[21:41:18.594] If point is visible? 0.424123, -0.088335, -0.019671 mu:-3.336850 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.374928, -0.116965, -0.089038 mu:-3.336850 unit_bearing:0.268742 0.319863 0.908551 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.425121, -0.104671, 0.152196 mu:-3.336850 unit_bearing:-0.537799 0.377245 0.753962 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.431476, -0.113638, 0.062269 mu:-3.336850 unit_bearing:-0.267658 0.370373 0.889485 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.396720, -0.131954, -0.040297 mu:-3.336850 unit_bearing:0.097389 0.389329 0.915936 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.360000, 0.125713, -0.101331 mu:-3.336850 unit_bearing:0.234383 -0.488880 0.840274 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.359473, 0.125609, -0.102009 mu:-3.336850 unit_bearing:0.237172 -0.488810 0.839532 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.352412, 0.124241, -0.110695 mu:-3.336850 unit_bearing:0.273304 -0.487814 0.829061 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.352337, 0.125581, -0.109881 mu:-3.336850 unit_bearing:0.270408 -0.491919 0.827584 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.351780, 0.125475, -0.110540 mu:-3.336850 unit_bearing:0.273178 -0.491836 0.826723 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.355254, 0.123428, -0.108199 mu:-3.336850 unit_bearing:0.262330 -0.484104 0.834761 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.417330, 0.140934, 0.046957 mu:-3.336850 unit_bearing:-0.298253 -0.478989 0.825600 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.418988, 0.137944, 0.047640 mu:-3.336850 unit_bearing:-0.301347 -0.468808 0.830306 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.387971, 0.104058, -0.079534 mu:-3.336850 unit_bearing:0.139981 -0.408294 0.902054 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.393053, 0.099659, -0.074659 mu:-3.336850 unit_bearing:0.120205 -0.391745 0.912188 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.387265, 0.104593, -0.080227 mu:-3.336850 unit_bearing:0.142802 -0.410350 0.900678 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.408510, 0.072128, -0.064840 mu:-3.336850 unit_bearing:0.080684 -0.296570 0.951597 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.409090, 0.071579, -0.064078 mu:-3.336850 unit_bearing:0.077817 -0.294440 0.952496 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.433523, 0.063656, -0.012107 mu:-3.336850 unit_bearing:-0.109452 -0.247066 0.962797 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.432259, 0.059630, -0.018605 mu:-3.336850 unit_bearing:-0.086454 -0.236372 0.967809 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.431996, 0.059531, -0.019425 mu:-3.336850 unit_bearing:-0.083572 -0.236381 0.968060 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.431767, 0.056641, -0.021795 mu:-3.336850 unit_bearing:-0.074947 -0.227770 0.970826 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.431626, 0.057290, -0.021818 mu:-3.336850 unit_bearing:-0.074942 -0.229930 0.970318 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.430941, 0.054949, -0.025012 mu:-3.336850 unit_bearing:-0.063419 -0.223476 0.972644 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.438633, 0.057351, 0.000670 mu:-3.336850 unit_bearing:-0.152707 -0.220986 0.963247 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.428328, 0.049223, -0.034537 mu:-3.336850 unit_bearing:-0.028793 -0.208384 0.977623 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.428017, 0.049125, -0.035340 mu:-3.336850 unit_bearing:-0.025904 -0.208387 0.977703 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.428144, 0.048475, -0.035313 mu:-3.336850 unit_bearing:-0.025906 -0.206221 0.978162 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.401603, 0.019826, -0.091488 mu:-3.336850 unit_bearing:0.190651 -0.134183 0.972444 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.430473, 0.025283, -0.037215 mu:-3.336850 unit_bearing:-0.014375 -0.130186 0.991385 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.403804, 0.002354, -0.089384 mu:-3.336850 unit_bearing:0.187953 -0.075461 0.979275 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.403319, 0.002264, -0.090110 mu:-3.336850 unit_bearing:0.190827 -0.075455 0.978719 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.402831, 0.002173, -0.090834 mu:-3.336850 unit_bearing:0.193701 -0.075449 0.978155 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.402876, 0.001522, -0.090775 mu:-3.336850 unit_bearing:0.193706 -0.073271 0.978320 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] If point is visible? 0.435826, 0.008864, -0.026071 mu:-3.336850 unit_bearing:-0.049150 -0.071275 0.996245 T_cur_ref: x=0.154565 y=0.000000 z=0.077004 +[21:41:18.594] init seeds +[21:41:18.594] DepthFilter: Initialized 5 new seeds +[21:41:18.597] DepthFilter: Initialized 5 new seeds +[21:41:19.202] add new frame +[21:41:19.202] update seed +[21:41:19.202] If point is visible? -282306403631.897400, 86747929517.596451, 128684093110.292664 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -280647222850.388184, 87143929261.529510, 132002941353.635834 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -281216601215.851562, 84406097252.916595, 132568995522.788696 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -294138483453.075378, 93526154565.838562, 92288220217.017517 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -279774908921.578735, 118835767106.996033, -106704102173.984436 mu:0.000000 unit_bearing:-0.576196 0.406498 0.709054 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -280678536792.603516, 122728936066.962402, -99693890798.671906 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -282306403631.897400, 86747929517.596451, 128684093110.292664 mu:0.000000 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -280647222850.388184, 87143929261.529510, 132002941353.635834 mu:0.000000 unit_bearing:0.098240 0.218553 0.970867 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -281216601215.851562, 84406097252.916595, 132568995522.788696 mu:0.000000 unit_bearing:0.098268 0.209904 0.972771 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -293446671424.185852, 96248237526.227692, 91689870923.313538 mu:0.000000 unit_bearing:-0.028738 0.261854 0.964680 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -294138483453.075378, 93526154565.838562, 92288220217.017517 mu:0.000000 unit_bearing:-0.028748 0.253241 0.966976 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -280678536792.603516, 122728936066.962402, -99693890798.671906 mu:0.000000 unit_bearing:-0.555662 0.415841 0.719942 T_cur_ref: x=0.189915 y=0.000000 z=0.091496 +[21:41:19.202] If point is visible? -3.398420, 0.571805, 0.977065 mu:0.267923 unit_bearing:-0.109833 0.123034 0.986306 T_cur_ref: x=0.181224 y=0.000000 z=0.088182 +[21:41:19.202] If point is visible? -1.740829, 1.190263, 3.058016 mu:0.267923 unit_bearing:0.585689 0.219552 0.780234 T_cur_ref: x=0.181224 y=0.000000 z=0.088182 +[21:41:19.202] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:19.202] add key frame +[21:41:19.202] remove key frame +[21:41:19.202] init seeds +[21:41:19.202] update seed +[21:41:19.202] init seeds +[21:41:19.205] DepthFilter: Initialized 5 new seeds +[21:41:19.207] DepthFilter: Initialized 155 new seeds +[21:41:19.850] add new frame +[21:41:19.850] update seed +[21:41:19.850] If point is visible? -3.388698, 0.571805, 0.982749 mu:0.267923 unit_bearing:-0.109833 0.123034 0.986306 T_cur_ref: x=0.190946 y=0.000000 z=0.093867 +[21:41:19.850] If point is visible? -1.731107, 1.190263, 3.063700 mu:0.267923 unit_bearing:0.585689 0.219552 0.780234 T_cur_ref: x=0.190946 y=0.000000 z=0.093867 +[21:41:19.850] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:19.850] If point is visible? -2.669668, 1.231453, 2.150888 mu:0.267923 unit_bearing:0.269577 0.260310 0.927128 T_cur_ref: x=0.190946 y=0.000000 z=0.093867 +[21:41:19.850] Z inverse min: 0.778869, Z inverse max: 0.000000 +[21:41:19.850] If point is visible? -1.714387, 1.892109, 2.686270 mu:0.267923 unit_bearing:0.515125 0.418515 0.747992 T_cur_ref: x=0.190946 y=0.000000 z=0.093867 +[21:41:19.850] If point is visible? -3.385515, 2.441835, 2.062264 mu:0.210413 unit_bearing:0.153515 0.459408 0.874858 T_cur_ref: x=0.183446 y=0.000000 z=0.090760 +[21:41:19.850] If point is visible? -3.642083, 2.304587, 1.715897 mu:0.210413 unit_bearing:0.062837 0.439627 0.895980 T_cur_ref: x=0.183446 y=0.000000 z=0.090760 +[21:41:19.850] If point is visible? -3.975742, -2.281507, 0.378422 mu:0.210413 unit_bearing:-0.331002 -0.483856 0.810136 T_cur_ref: x=0.183446 y=0.000000 z=0.090760 +[21:41:19.850] If point is visible? -3.010004, -2.055784, 2.947767 mu:0.210413 unit_bearing:0.247913 -0.502601 0.828210 T_cur_ref: x=0.183446 y=0.000000 z=0.090760 +[21:41:19.850] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:19.850] If point is visible? -3.642732, -1.645761, 2.379580 mu:0.210413 unit_bearing:0.097296 -0.402400 0.910279 T_cur_ref: x=0.183446 y=0.000000 z=0.090760 +[21:41:19.850] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:19.850] add key frame +[21:41:19.850] remove key frame +[21:41:19.850] init seeds +[21:41:19.850] update seed +[21:41:19.850] init seeds +[21:41:19.853] DepthFilter: Initialized 1 new seeds +[21:41:19.855] DepthFilter: Initialized 187 new seeds +[21:41:22.381] add new frame +[21:41:22.381] update seed +[21:41:22.381] If point is visible? -3.316261, 2.441835, 2.105960 mu:0.210413 unit_bearing:0.153515 0.459408 0.874858 T_cur_ref: x=0.252699 y=0.000000 z=0.134456 +[21:41:22.381] If point is visible? -3.572829, 2.304587, 1.759594 mu:0.210413 unit_bearing:0.062837 0.439627 0.895980 T_cur_ref: x=0.252699 y=0.000000 z=0.134456 +[21:41:22.381] If point is visible? -3.906488, -2.281507, 0.422118 mu:0.210413 unit_bearing:-0.331002 -0.483856 0.810136 T_cur_ref: x=0.252699 y=0.000000 z=0.134456 +[21:41:22.381] If point is visible? -2.940751, -2.055784, 2.991464 mu:0.210413 unit_bearing:0.247913 -0.502601 0.828210 T_cur_ref: x=0.252699 y=0.000000 z=0.134456 +[21:41:22.381] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:22.381] If point is visible? -3.573478, -1.645761, 2.423277 mu:0.210413 unit_bearing:0.097296 -0.402400 0.910279 T_cur_ref: x=0.252699 y=0.000000 z=0.134456 +[21:41:22.381] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:22.381] If point is visible? -3.583936, -1.637231, 2.411859 mu:0.210413 unit_bearing:0.094457 -0.400326 0.911492 T_cur_ref: x=0.252699 y=0.000000 z=0.134456 +[21:41:22.381] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:22.381] If point is visible? -3.629083, -1.592948, 2.366304 mu:0.210413 unit_bearing:0.083098 -0.389909 0.917096 T_cur_ref: x=0.252699 y=0.000000 z=0.134456 +[21:41:22.381] Z inverse min: 0.707667, Z inverse max: 0.000000 +[21:41:22.381] add key frame +[21:41:22.381] remove key frame +[21:41:22.381] init seeds +[21:41:22.381] update seed +[21:41:22.381] If point is visible? -2.179966, 1.863860, 2.580599 mu:0.255237 unit_bearing:0.394429 0.395978 0.829233 T_cur_ref: x=0.243844 y=0.000000 z=0.130829 +[21:41:22.381] Z inverse min: 0.767293, Z inverse max: 0.000000 +[21:41:22.381] If point is visible? -2.179966, 1.863860, 2.580599 mu:0.255237 unit_bearing:0.394429 0.395978 0.829233 T_cur_ref: x=0.243844 y=0.000000 z=0.130829 +[21:41:22.381] Z inverse min: 0.767293, Z inverse max: 0.000000 +[21:41:22.381] If point is visible? 0.504486, -0.088335, 0.030520 mu:-3.336850 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.455291, -0.116965, -0.038847 mu:-3.336850 unit_bearing:0.268742 0.319863 0.908551 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.505485, -0.104671, 0.202387 mu:-3.336850 unit_bearing:-0.537799 0.377245 0.753962 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.511840, -0.113638, 0.112459 mu:-3.336850 unit_bearing:-0.267658 0.370373 0.889485 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.477083, -0.131954, 0.009894 mu:-3.336850 unit_bearing:0.097389 0.389329 0.915936 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.440363, 0.125713, -0.051140 mu:-3.336850 unit_bearing:0.234383 -0.488880 0.840274 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.439837, 0.125609, -0.051818 mu:-3.336850 unit_bearing:0.237172 -0.488810 0.839532 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.432776, 0.124241, -0.060505 mu:-3.336850 unit_bearing:0.273304 -0.487814 0.829061 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.432701, 0.125581, -0.059691 mu:-3.336850 unit_bearing:0.270408 -0.491919 0.827584 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.432143, 0.125475, -0.060349 mu:-3.336850 unit_bearing:0.273178 -0.491836 0.826723 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.435617, 0.123428, -0.058008 mu:-3.336850 unit_bearing:0.262330 -0.484104 0.834761 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.497693, 0.140934, 0.097148 mu:-3.336850 unit_bearing:-0.298253 -0.478989 0.825600 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.499352, 0.137944, 0.097830 mu:-3.336850 unit_bearing:-0.301347 -0.468808 0.830306 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.468334, 0.104058, -0.029344 mu:-3.336850 unit_bearing:0.139981 -0.408294 0.902054 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.473417, 0.099659, -0.024469 mu:-3.336850 unit_bearing:0.120205 -0.391745 0.912188 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.467628, 0.104593, -0.030036 mu:-3.336850 unit_bearing:0.142802 -0.410350 0.900678 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.488874, 0.072128, -0.014649 mu:-3.336850 unit_bearing:0.080684 -0.296570 0.951597 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.489453, 0.071579, -0.013887 mu:-3.336850 unit_bearing:0.077817 -0.294440 0.952496 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.513886, 0.063656, 0.038083 mu:-3.336850 unit_bearing:-0.109452 -0.247066 0.962797 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.512622, 0.059630, 0.031586 mu:-3.336850 unit_bearing:-0.086454 -0.236372 0.967809 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.512359, 0.059531, 0.030766 mu:-3.336850 unit_bearing:-0.083572 -0.236381 0.968060 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.512131, 0.056641, 0.028395 mu:-3.336850 unit_bearing:-0.074947 -0.227770 0.970826 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.511989, 0.057290, 0.028373 mu:-3.336850 unit_bearing:-0.074942 -0.229930 0.970318 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.511305, 0.054949, 0.025179 mu:-3.336850 unit_bearing:-0.063419 -0.223476 0.972644 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.518996, 0.057351, 0.050861 mu:-3.336850 unit_bearing:-0.152707 -0.220986 0.963247 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.508691, 0.049223, 0.015653 mu:-3.336850 unit_bearing:-0.028793 -0.208384 0.977623 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.508381, 0.049125, 0.014851 mu:-3.336850 unit_bearing:-0.025904 -0.208387 0.977703 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.508508, 0.048475, 0.014878 mu:-3.336850 unit_bearing:-0.025906 -0.206221 0.978162 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.481966, 0.019826, -0.041298 mu:-3.336850 unit_bearing:0.190651 -0.134183 0.972444 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.381] If point is visible? 0.510837, 0.025283, 0.012976 mu:-3.336850 unit_bearing:-0.014375 -0.130186 0.991385 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.484167, 0.002354, -0.039193 mu:-3.336850 unit_bearing:0.187953 -0.075461 0.979275 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.483682, 0.002264, -0.039919 mu:-3.336850 unit_bearing:0.190827 -0.075455 0.978719 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.483195, 0.002173, -0.040643 mu:-3.336850 unit_bearing:0.193701 -0.075449 0.978155 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.483240, 0.001522, -0.040584 mu:-3.336850 unit_bearing:0.193706 -0.073271 0.978320 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.516189, 0.008864, 0.024120 mu:-3.336850 unit_bearing:-0.049150 -0.071275 0.996245 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.515804, 0.010069, 0.023186 mu:-3.336850 unit_bearing:-0.046251 -0.075643 0.996062 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.515506, 0.009969, 0.022375 mu:-3.336850 unit_bearing:-0.043355 -0.075644 0.996192 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.515552, 0.009318, 0.022437 mu:-3.336850 unit_bearing:-0.043356 -0.073461 0.996355 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.517185, 0.007208, 0.026748 mu:-3.336850 unit_bearing:-0.057841 -0.064719 0.996226 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.517224, 0.006556, 0.026812 mu:-3.336850 unit_bearing:-0.057842 -0.062535 0.996365 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.517261, 0.005904, 0.026877 mu:-3.336850 unit_bearing:-0.057843 -0.060351 0.996500 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.531167, 0.006064, 0.082293 mu:-3.336850 unit_bearing:-0.245170 -0.038343 0.968722 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.515746, 0.000097, 0.022543 mu:-3.336850 unit_bearing:-0.040470 -0.042879 0.998260 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.516096, -0.001106, 0.023492 mu:-3.336850 unit_bearing:-0.043368 -0.038508 0.998317 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.516072, -0.000455, 0.023422 mu:-3.336850 unit_bearing:-0.043368 -0.040693 0.998230 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.516118, -0.001757, 0.023563 mu:-3.336850 unit_bearing:-0.043369 -0.036322 0.998399 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.531632, -0.004738, 0.085303 mu:-3.336850 unit_bearing:-0.250914 -0.001343 0.968008 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.531485, -0.001607, 0.084045 mu:-3.336850 unit_bearing:-0.248054 -0.012225 0.968669 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.531357, -0.001713, 0.083176 mu:-3.336850 unit_bearing:-0.245195 -0.012227 0.969397 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.531364, -0.002361, 0.083253 mu:-3.336850 unit_bearing:-0.245196 -0.010050 0.969422 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.533443, -0.000220, 0.100752 mu:-3.336850 unit_bearing:-0.302165 -0.010025 0.953203 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.490140, -0.018744, -0.028774 mu:-3.336850 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.533120, -0.001943, 0.097385 mu:-3.336850 unit_bearing:-0.290810 -0.005685 0.956764 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.531632, -0.005386, 0.085383 mu:-3.336850 unit_bearing:-0.250914 0.000834 0.968009 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.500883, -0.015131, -0.010100 mu:-3.336850 unit_bearing:0.084118 -0.005719 0.996439 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.501279, -0.014386, -0.009410 mu:-3.336850 unit_bearing:0.081223 -0.007904 0.996665 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.500879, -0.014481, -0.010178 mu:-3.336850 unit_bearing:0.084118 -0.007904 0.996424 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.531507, -0.005492, 0.084514 mu:-3.336850 unit_bearing:-0.248056 0.000834 0.968745 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.533120, -0.015818, 0.101862 mu:-3.336850 unit_bearing:-0.299288 0.042088 0.953234 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.534286, -0.013986, 0.126945 mu:-3.336850 unit_bearing:-0.378157 0.046218 0.924587 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.534268, -0.014211, 0.125151 mu:-3.336850 unit_bearing:-0.372565 0.046236 0.926854 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.534248, -0.014740, 0.126137 mu:-3.336850 unit_bearing:-0.375355 0.048388 0.925617 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.533555, -0.018685, 0.110356 mu:-3.336850 unit_bearing:-0.324737 0.055038 0.944202 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.534006, -0.019000, 0.128571 mu:-3.336850 unit_bearing:-0.380888 0.063487 0.922439 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.533957, -0.019568, 0.124088 mu:-3.336850 unit_bearing:-0.366906 0.063546 0.928085 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.533697, -0.020584, 0.116055 mu:-3.336850 unit_bearing:-0.341630 0.063645 0.937677 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.534091, -0.017116, 0.122825 mu:-3.336850 unit_bearing:-0.364136 0.054910 0.929726 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.533965, -0.019640, 0.128664 mu:-3.336850 unit_bearing:-0.380879 0.065646 0.922292 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.533897, -0.020323, 0.123287 mu:-3.336850 unit_bearing:-0.364095 0.065719 0.929040 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.533723, -0.023070, 0.127343 mu:-3.336850 unit_bearing:-0.375241 0.076468 0.923768 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.533701, -0.023299, 0.125550 mu:-3.336850 unit_bearing:-0.369648 0.076497 0.926018 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.525046, -0.029801, 0.058245 mu:-3.336850 unit_bearing:-0.150331 0.070662 0.986107 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.524834, -0.029906, 0.057404 mu:-3.336850 unit_bearing:-0.147447 0.070666 0.986542 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.530748, -0.026813, 0.087417 mu:-3.336850 unit_bearing:-0.247956 0.072629 0.966045 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.519011, -0.036158, 0.038876 mu:-3.336850 unit_bearing:-0.080982 0.083838 0.993183 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.532616, -0.034221, 0.131834 mu:-3.336850 unit_bearing:-0.383366 0.115228 0.916381 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.522076, -0.044191, 0.053682 mu:-3.336850 unit_bearing:-0.127167 0.116466 0.985020 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.531744, -0.038681, 0.112543 mu:-3.336850 unit_bearing:-0.321595 0.122154 0.938965 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.531723, -0.039206, 0.113535 mu:-3.336850 unit_bearing:-0.324402 0.124295 0.937717 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.529629, -0.041914, 0.092476 mu:-3.336850 unit_bearing:-0.256316 0.124701 0.958515 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.529550, -0.042556, 0.092584 mu:-3.336850 unit_bearing:-0.256305 0.126869 0.958234 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.498774, -0.059579, -0.001825 mu:-3.336850 unit_bearing:0.078212 0.144857 0.986357 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.498235, -0.057836, -0.003707 mu:-3.336850 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.497833, -0.057929, -0.004472 mu:-3.336850 unit_bearing:0.086893 0.138314 0.986569 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.484997, -0.061812, -0.025957 mu:-3.336850 unit_bearing:0.170506 0.142439 0.975007 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.498064, -0.059122, -0.003475 mu:-3.336850 unit_bearing:0.083996 0.142671 0.986200 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.478148, -0.066763, -0.034661 mu:-3.336850 unit_bearing:0.207766 0.155296 0.965772 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.485765, -0.071619, -0.020326 mu:-3.336850 unit_bearing:0.155989 0.177209 0.971733 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.486784, -0.070806, -0.018975 mu:-3.336850 unit_bearing:0.150244 0.175065 0.973026 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.486004, -0.072809, -0.019334 mu:-3.336850 unit_bearing:0.153094 0.181555 0.971391 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.468147, -0.112778, -0.023473 mu:-3.336850 unit_bearing:0.203667 0.312247 0.927913 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.467648, -0.112855, -0.024184 mu:-3.336850 unit_bearing:0.206513 0.312215 0.927294 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.467951, -0.116347, -0.021043 mu:-3.336850 unit_bearing:0.197831 0.325055 0.924772 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.467457, -0.116424, -0.021757 mu:-3.336850 unit_bearing:0.200676 0.325023 0.924169 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.467454, -0.113477, -0.024019 mu:-3.336850 unit_bearing:0.206489 0.314341 0.926581 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.515417, -0.105510, 0.129302 mu:-3.336850 unit_bearing:-0.326793 0.350304 0.877778 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.515374, -0.105637, 0.128425 mu:-3.336850 unit_bearing:-0.324009 0.350367 0.878784 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.509627, -0.119795, 0.126752 mu:-3.336850 unit_bearing:-0.306205 0.396579 0.865427 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.433076, -0.151303, -0.039104 mu:-3.336850 unit_bearing:0.310927 0.433486 0.845821 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.447938, -0.160749, -0.009177 mu:-3.336850 unit_bearing:0.203903 0.476939 0.854958 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.447743, -0.160229, -0.010090 mu:-3.336850 unit_bearing:0.206752 0.474847 0.855438 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.479525, 0.095532, -0.017223 mu:-3.336850 unit_bearing:0.091765 -0.375130 0.922419 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.469662, 0.104354, -0.027145 mu:-3.336850 unit_bearing:0.131445 -0.408382 0.903298 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.512541, 0.087730, 0.056164 mu:-3.336850 unit_bearing:-0.172040 -0.319446 0.931857 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.489056, 0.071482, -0.014650 mu:-3.336850 unit_bearing:0.080692 -0.294429 0.952260 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.516921, 0.063537, 0.048115 mu:-3.336850 unit_bearing:-0.143973 -0.242591 0.959386 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.516491, 0.063341, 0.046441 mu:-3.336850 unit_bearing:-0.138228 -0.242622 0.960223 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.509559, 0.048118, 0.017316 mu:-3.336850 unit_bearing:-0.034575 -0.204047 0.978350 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.508944, 0.047922, 0.015708 mu:-3.336850 unit_bearing:-0.028797 -0.204053 0.978536 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.509192, 0.046620, 0.015765 mu:-3.336850 unit_bearing:-0.028801 -0.199720 0.979430 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.514455, 0.011628, 0.019770 mu:-3.336850 unit_bearing:-0.034663 -0.082198 0.996013 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.518028, 0.002196, 0.028907 mu:-3.336850 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.524235, 0.026256, 0.053556 mu:-3.336850 unit_bearing:-0.155997 -0.116906 0.980815 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.523819, 0.026054, 0.051871 mu:-3.336850 unit_bearing:-0.150235 -0.116921 0.981712 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.516346, 0.010919, 0.024748 mu:-3.336850 unit_bearing:-0.052042 -0.077823 0.995608 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.522456, -0.018295, 0.044710 mu:-3.336850 unit_bearing:-0.109947 0.027049 0.993569 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.521962, -0.018499, 0.043051 mu:-3.336850 unit_bearing:-0.104164 0.027052 0.994192 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.513413, -0.021508, 0.018593 mu:-3.336850 unit_bearing:-0.017290 0.027072 0.999484 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.532834, -0.032309, 0.131524 mu:-3.336850 unit_bearing:-0.383415 0.108766 0.917149 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.511993, -0.037264, 0.019226 mu:-3.336850 unit_bearing:-0.011489 0.079510 0.996768 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.530201, -0.039657, 0.094765 mu:-3.336850 unit_bearing:-0.264898 0.118154 0.957010 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.521855, -0.046123, 0.054007 mu:-3.336850 unit_bearing:-0.127153 0.122998 0.984227 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.521391, -0.046332, 0.052340 mu:-3.336850 unit_bearing:-0.121381 0.123010 0.984954 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.522003, -0.044836, 0.053790 mu:-3.336850 unit_bearing:-0.127163 0.118644 0.984761 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.521539, -0.045044, 0.052123 mu:-3.336850 unit_bearing:-0.121391 0.118656 0.985487 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.521682, -0.043755, 0.051907 mu:-3.336850 unit_bearing:-0.121400 0.114301 0.986001 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.479238, -0.065955, -0.033346 mu:-3.336850 unit_bearing:0.202045 0.153156 0.967327 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.487898, -0.069352, -0.017744 mu:-3.336850 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.481234, -0.076771, -0.025286 mu:-3.336850 unit_bearing:0.178900 0.192255 0.964900 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.493812, -0.081595, 0.000182 mu:-3.336850 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.493001, -0.081776, -0.001342 mu:-3.336850 unit_bearing:0.092475 0.218571 0.971429 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.493576, -0.066993, 0.262928 mu:-3.336850 unit_bearing:-0.721751 0.277077 0.634274 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.333456, -0.119196, -0.129506 mu:-3.336850 unit_bearing:0.703097 0.290385 0.649100 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.515605, -0.105024, 0.128269 mu:-3.336850 unit_bearing:-0.324057 0.348274 0.879598 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.515511, -0.105277, 0.126516 mu:-3.336850 unit_bearing:-0.318483 0.348398 0.881582 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.515407, -0.105528, 0.124765 mu:-3.336850 unit_bearing:-0.312903 0.348519 0.883530 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.509658, -0.118764, 0.112059 mu:-3.336850 unit_bearing:-0.261710 0.387190 0.884077 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.503329, -0.114447, 0.195555 mu:-3.336850 unit_bearing:-0.510478 0.406847 0.757554 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.433412, -0.152967, -0.037170 mu:-3.336850 unit_bearing:0.305208 0.439782 0.844654 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.436254, -0.158288, -0.028443 mu:-3.336850 unit_bearing:0.276876 0.460956 0.843125 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.320001, -0.159355, -0.111927 mu:-3.336850 unit_bearing:0.681696 0.430541 0.591545 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.448244, -0.160160, -0.009391 mu:-3.336850 unit_bearing:0.203946 0.474904 0.856080 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.382] If point is visible? 0.320569, -0.158285, -0.112434 mu:-3.336850 unit_bearing:0.682118 0.426788 0.593774 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.489847, 0.071676, -0.013124 mu:-3.336850 unit_bearing:0.074941 -0.294451 0.952724 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.488256, 0.071288, -0.016171 mu:-3.336850 unit_bearing:0.086442 -0.294407 0.951763 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.486627, 0.070901, -0.019199 mu:-3.336850 unit_bearing:0.097938 -0.294356 0.950664 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.511594, 0.047405, 0.022221 mu:-3.336850 unit_bearing:-0.051914 -0.199692 0.978482 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.510412, 0.047012, 0.018986 mu:-3.336850 unit_bearing:-0.040359 -0.199708 0.979024 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.510891, 0.044409, 0.019107 mu:-3.336850 unit_bearing:-0.040369 -0.191037 0.980752 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.517516, 0.060945, 0.048199 mu:-3.336850 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.516644, 0.060552, 0.044853 mu:-3.336850 unit_bearing:-0.132523 -0.234031 0.963155 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.514783, 0.059766, 0.038202 mu:-3.336850 unit_bearing:-0.109506 -0.234133 0.966018 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.469144, 0.105623, -0.027070 mu:-3.336850 unit_bearing:0.131402 -0.412555 0.901406 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.512907, 0.087921, 0.057854 mu:-3.336850 unit_bearing:-0.177747 -0.319391 0.930804 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.516050, 0.063144, 0.044770 mu:-3.336850 unit_bearing:-0.132480 -0.242651 0.961025 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.515140, 0.062752, 0.041438 mu:-3.336850 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.518406, 0.014322, 0.031038 mu:-3.336850 unit_bearing:-0.075193 -0.086536 0.993407 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.523778, 0.030160, 0.053256 mu:-3.336850 unit_bearing:-0.155960 -0.129957 0.979177 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.522937, 0.029757, 0.049890 mu:-3.336850 unit_bearing:-0.144437 -0.129990 0.980939 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.522057, 0.029354, 0.046536 mu:-3.336850 unit_bearing:-0.132905 -0.130021 0.982563 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.517495, 0.011316, 0.028005 mu:-3.336850 unit_bearing:-0.063623 -0.077816 0.994936 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.523247, 0.027153, 0.050087 mu:-3.336850 unit_bearing:-0.144460 -0.121288 0.982049 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.522367, 0.026750, 0.046733 mu:-3.336850 unit_bearing:-0.132926 -0.121317 0.983673 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.523416, -0.017885, 0.048038 mu:-3.336850 unit_bearing:-0.121507 0.027044 0.992222 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.497397, -0.061141, -0.003888 mu:-3.336850 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.495765, -0.061508, -0.006938 mu:-3.336850 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.494097, -0.061873, -0.009970 mu:-3.336850 unit_bearing:0.109976 0.149142 0.982681 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.521469, -0.036427, 0.047333 mu:-3.336850 unit_bearing:-0.109891 0.088167 0.990025 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.512434, -0.039654, 0.021229 mu:-3.336850 unit_bearing:-0.017281 0.088241 0.995949 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.531243, -0.035138, 0.099378 mu:-3.336850 unit_bearing:-0.282033 0.105064 0.953635 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.521243, -0.039010, 0.047741 mu:-3.336850 unit_bearing:-0.109879 0.096889 0.989211 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.520994, -0.041591, 0.048157 mu:-3.336850 unit_bearing:-0.109865 0.105608 0.988320 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.512638, -0.037067, 0.020827 mu:-3.336850 unit_bearing:-0.017283 0.079509 0.996684 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.488497, -0.065511, -0.018482 mu:-3.336850 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.504486, -0.088335, 0.030520 mu:-3.336850 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.509854, -0.118519, 0.113783 mu:-3.336850 unit_bearing:-0.267324 0.387077 0.882445 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.455291, -0.116965, -0.038847 mu:-3.336850 unit_bearing:0.268742 0.319863 0.908551 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.477083, -0.131954, 0.009894 mu:-3.336850 unit_bearing:0.097389 0.389329 0.915936 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.505485, -0.104671, 0.202387 mu:-3.336850 unit_bearing:-0.537799 0.377245 0.753962 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.511840, -0.113638, 0.112459 mu:-3.336850 unit_bearing:-0.267658 0.370373 0.889485 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.432798, -0.151895, -0.038895 mu:-3.336850 unit_bearing:0.310866 0.435532 0.844792 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.502416, -0.115306, 0.197659 mu:-3.336850 unit_bearing:-0.515415 0.410545 0.752196 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.503066, -0.115928, 0.194080 mu:-3.336850 unit_bearing:-0.505072 0.411151 0.758852 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.437425, -0.155934, -0.029299 mu:-3.336850 unit_bearing:0.277105 0.452810 0.847453 T_cur_ref: x=0.234929 y=0.000000 z=0.127195 +[21:41:22.383] If point is visible? 0.042428, 0.057011, 0.235826 mu:4.485363 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.226306 y=0.000000 z=0.123380 +[21:41:22.383] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:22.383] If point is visible? 0.131646, 0.116159, 0.288462 mu:4.485363 unit_bearing:0.565008 0.426894 0.706065 T_cur_ref: x=0.226306 y=0.000000 z=0.123380 +[21:41:22.383] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:22.383] If point is visible? 0.168451, 0.104513, 0.311623 mu:4.485363 unit_bearing:0.719220 0.362384 0.592790 T_cur_ref: x=0.226306 y=0.000000 z=0.123380 +[21:41:22.383] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:22.383] If point is visible? 0.042428, 0.057011, 0.235826 mu:4.485363 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.226306 y=0.000000 z=0.123380 +[21:41:22.383] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:22.383] If point is visible? 0.131646, 0.116159, 0.288462 mu:4.485363 unit_bearing:0.565008 0.426894 0.706065 T_cur_ref: x=0.226306 y=0.000000 z=0.123380 +[21:41:22.383] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:22.383] If point is visible? 0.168451, 0.104513, 0.311623 mu:4.485363 unit_bearing:0.719220 0.362384 0.592790 T_cur_ref: x=0.226306 y=0.000000 z=0.123380 +[21:41:22.383] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:22.383] If point is visible? -3.245593, 1.196060, -0.201781 mu:0.271898 unit_bearing:-0.412604 0.333431 0.847692 T_cur_ref: x=0.217460 y=0.000000 z=0.119559 +[21:41:22.383] If point is visible? -2.957339, 1.486619, 1.231841 mu:0.271898 unit_bearing:-0.017112 0.364339 0.931109 T_cur_ref: x=0.217460 y=0.000000 z=0.119559 +[21:41:22.383] If point is visible? -2.795785, 1.527706, 1.573184 mu:0.271898 unit_bearing:0.086106 0.364117 0.927364 T_cur_ref: x=0.217460 y=0.000000 z=0.119559 +[21:41:22.383] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:22.383] If point is visible? -2.775519, 1.531991, 1.610075 mu:0.271898 unit_bearing:0.097556 0.364051 0.926256 T_cur_ref: x=0.217460 y=0.000000 z=0.119559 +[21:41:22.383] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:22.383] If point is visible? -2.481314, 1.552093, 2.077665 mu:0.271898 unit_bearing:0.245621 0.353982 0.902423 T_cur_ref: x=0.217460 y=0.000000 z=0.119559 +[21:41:22.383] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:22.383] If point is visible? -2.784500, 1.557922, 1.564435 mu:0.271898 unit_bearing:0.086059 0.372561 0.924009 T_cur_ref: x=0.217460 y=0.000000 z=0.119559 +[21:41:22.383] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:22.383] If point is visible? -2.784500, 1.557922, 1.564435 mu:0.271898 unit_bearing:0.086059 0.372561 0.924009 T_cur_ref: x=0.217460 y=0.000000 z=0.119559 +[21:41:22.383] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:22.383] If point is visible? -2.957339, 1.486619, 1.231841 mu:0.271898 unit_bearing:-0.017112 0.364339 0.931109 T_cur_ref: x=0.217460 y=0.000000 z=0.119559 +[21:41:22.383] If point is visible? -2.481314, 1.552093, 2.077665 mu:0.271898 unit_bearing:0.245621 0.353982 0.902423 T_cur_ref: x=0.217460 y=0.000000 z=0.119559 +[21:41:22.383] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:22.383] If point is visible? -3.245593, 1.196060, -0.201781 mu:0.271898 unit_bearing:-0.412604 0.333431 0.847692 T_cur_ref: x=0.217460 y=0.000000 z=0.119559 +[21:41:22.383] If point is visible? -4.158444, 1.797585, -0.910738 mu:0.206929 unit_bearing:-0.505947 0.395085 0.766763 T_cur_ref: x=0.208349 y=0.000000 z=0.115675 +[21:41:22.383] If point is visible? -4.249515, 1.859909, 0.263676 mu:0.206929 unit_bearing:-0.289910 0.378268 0.879127 T_cur_ref: x=0.208349 y=0.000000 z=0.115675 +[21:41:22.383] If point is visible? -4.158444, 1.797585, -0.910738 mu:0.206929 unit_bearing:-0.505947 0.395085 0.766763 T_cur_ref: x=0.208349 y=0.000000 z=0.115675 +[21:41:22.383] If point is visible? -4.249515, 1.859909, 0.263676 mu:0.206929 unit_bearing:-0.289910 0.378268 0.879127 T_cur_ref: x=0.208349 y=0.000000 z=0.115675 +[21:41:22.383] If point is visible? -47.106287, 8.776561, 24.730007 mu:0.018503 unit_bearing:0.063801 0.105669 0.992353 T_cur_ref: x=0.197686 y=0.000000 z=0.110674 +[21:41:22.383] If point is visible? -50.310089, 19.179379, -1.275515 mu:0.018503 unit_bearing:-0.373671 0.355362 0.856789 T_cur_ref: x=0.197686 y=0.000000 z=0.110674 +[21:41:22.383] If point is visible? -39.937169, 26.269427, 25.008788 mu:0.018503 unit_bearing:0.159639 0.426303 0.890383 T_cur_ref: x=0.197686 y=0.000000 z=0.110674 +[21:41:22.383] If point is visible? -46.723755, 20.966543, 16.831556 mu:0.018503 unit_bearing:-0.040099 0.347353 0.936877 T_cur_ref: x=0.197686 y=0.000000 z=0.110674 +[21:41:22.383] If point is visible? -43.445330, 25.792403, 18.841517 mu:0.018503 unit_bearing:0.028645 0.431449 0.901682 T_cur_ref: x=0.197686 y=0.000000 z=0.110674 +[21:41:22.383] If point is visible? -47.106287, 8.776561, 24.730007 mu:0.018503 unit_bearing:0.063801 0.105669 0.992353 T_cur_ref: x=0.197686 y=0.000000 z=0.110674 +[21:41:22.383] If point is visible? -50.310089, 19.179379, -1.275515 mu:0.018503 unit_bearing:-0.373671 0.355362 0.856789 T_cur_ref: x=0.197686 y=0.000000 z=0.110674 +[21:41:22.383] If point is visible? -39.937169, 26.269427, 25.008788 mu:0.018503 unit_bearing:0.159639 0.426303 0.890383 T_cur_ref: x=0.197686 y=0.000000 z=0.110674 +[21:41:22.383] If point is visible? -46.723755, 20.966543, 16.831556 mu:0.018503 unit_bearing:-0.040099 0.347353 0.936877 T_cur_ref: x=0.197686 y=0.000000 z=0.110674 +[21:41:22.383] If point is visible? -43.445330, 25.792403, 18.841517 mu:0.018503 unit_bearing:0.028645 0.431449 0.901682 T_cur_ref: x=0.197686 y=0.000000 z=0.110674 +[21:41:22.383] If point is visible? -6.065796, 2.750560, 4.517165 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.189167 y=0.000000 z=0.106653 +[21:41:22.383] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:22.383] If point is visible? -6.037213, 2.754755, 4.554829 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.189167 y=0.000000 z=0.106653 +[21:41:22.383] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:22.383] If point is visible? -6.008384, 2.758919, 4.592350 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.189167 y=0.000000 z=0.106653 +[21:41:22.383] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:22.383] If point is visible? -6.065796, 2.750560, 4.517165 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.189167 y=0.000000 z=0.106653 +[21:41:22.383] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:22.383] If point is visible? -6.037213, 2.754755, 4.554829 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.189167 y=0.000000 z=0.106653 +[21:41:22.383] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:22.383] If point is visible? -6.008384, 2.758919, 4.592350 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.189167 y=0.000000 z=0.106653 +[21:41:22.383] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:22.384] If point is visible? -67044911758.977043, 41253019789.580070, 25792947704.912880 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.180498 y=0.000000 z=0.102638 +[21:41:22.384] If point is visible? -73436292495.066772, 24078526135.032658, 29823539521.306732 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.180498 y=0.000000 z=0.102638 +[21:41:22.384] If point is visible? -73436292495.066772, 24078526135.032658, 29823539521.306732 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.180498 y=0.000000 z=0.102638 +[21:41:22.384] If point is visible? -67044911758.977043, 41253019789.580070, 25792947704.912880 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.180498 y=0.000000 z=0.102638 +[21:41:22.384] If point is visible? -7.011703, 4.978891, 4.336284 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.171774 y=0.000000 z=0.098446 +[21:41:22.384] If point is visible? -5.587170, 4.464259, 6.521524 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.171774 y=0.000000 z=0.098446 +[21:41:22.384] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:22.384] If point is visible? -5.587170, 4.464259, 6.521524 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.171774 y=0.000000 z=0.098446 +[21:41:22.384] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:22.384] If point is visible? -7.011703, 4.978891, 4.336284 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.171774 y=0.000000 z=0.098446 +[21:41:22.384] If point is visible? -3.227936, 2.672243, 4.113688 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.163218 y=0.000000 z=0.094359 +[21:41:22.384] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:22.384] If point is visible? -5.397816, 1.961276, 0.249633 mu:0.169526 unit_bearing:-0.346778 0.326801 0.879174 T_cur_ref: x=0.163218 y=0.000000 z=0.094359 +[21:41:22.384] If point is visible? -4.932405, -2.690964, 1.354976 mu:0.169526 unit_bearing:-0.231654 -0.478833 0.846792 T_cur_ref: x=0.163218 y=0.000000 z=0.094359 +[21:41:22.384] If point is visible? -3.945391, -2.091361, 3.774218 mu:0.169526 unit_bearing:0.218939 -0.427923 0.876896 T_cur_ref: x=0.163218 y=0.000000 z=0.094359 +[21:41:22.384] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:22.384] If point is visible? -4.025514, -1.798276, 3.838227 mu:0.169526 unit_bearing:0.228254 -0.379931 0.896411 T_cur_ref: x=0.163218 y=0.000000 z=0.094359 +[21:41:22.384] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:22.384] If point is visible? -4.040975, -1.787607, 3.825986 mu:0.169526 unit_bearing:0.225464 -0.377883 0.897982 T_cur_ref: x=0.163218 y=0.000000 z=0.094359 +[21:41:22.384] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:22.384] init seeds +[21:41:22.384] DepthFilter: Initialized 2 new seeds +[21:41:22.386] DepthFilter: Initialized 2 new seeds +[21:41:26.921] add new frame +[21:41:26.921] update seed +[21:41:26.921] If point is visible? -2.133691, 1.863860, 2.614104 mu:0.255237 unit_bearing:0.394429 0.395978 0.829233 T_cur_ref: x=0.290119 y=0.000000 z=0.164334 +[21:41:26.921] Z inverse min: 0.767293, Z inverse max: 0.000000 +[21:41:26.921] If point is visible? -2.133691, 1.863860, 2.614104 mu:0.255237 unit_bearing:0.394429 0.395978 0.829233 T_cur_ref: x=0.290119 y=0.000000 z=0.164334 +[21:41:26.921] Z inverse min: 0.767293, Z inverse max: 0.000000 +[21:41:26.921] If point is visible? 0.550761, -0.088335, 0.064025 mu:-3.336850 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.501566, -0.116965, -0.005342 mu:-3.336850 unit_bearing:0.268742 0.319863 0.908551 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.551759, -0.104671, 0.235892 mu:-3.336850 unit_bearing:-0.537799 0.377245 0.753962 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.558114, -0.113638, 0.145964 mu:-3.336850 unit_bearing:-0.267658 0.370373 0.889485 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.523358, -0.131954, 0.043399 mu:-3.336850 unit_bearing:0.097389 0.389329 0.915936 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.486638, 0.125713, -0.017635 mu:-3.336850 unit_bearing:0.234383 -0.488880 0.840274 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.486111, 0.125609, -0.018313 mu:-3.336850 unit_bearing:0.237172 -0.488810 0.839532 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.479050, 0.124241, -0.026999 mu:-3.336850 unit_bearing:0.273304 -0.487814 0.829061 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.478975, 0.125581, -0.026185 mu:-3.336850 unit_bearing:0.270408 -0.491919 0.827584 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.478418, 0.125475, -0.026844 mu:-3.336850 unit_bearing:0.273178 -0.491836 0.826723 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.481892, 0.123428, -0.024503 mu:-3.336850 unit_bearing:0.262330 -0.484104 0.834761 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.543968, 0.140934, 0.130653 mu:-3.336850 unit_bearing:-0.298253 -0.478989 0.825600 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.545626, 0.137944, 0.131336 mu:-3.336850 unit_bearing:-0.301347 -0.468808 0.830306 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] If point is visible? 0.514609, 0.104058, 0.004162 mu:-3.336850 unit_bearing:0.139981 -0.408294 0.902054 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] add key frame +[21:41:26.921] If point is visible? 0.519691, 0.099659, 0.009036 mu:-3.336850 unit_bearing:0.120205 -0.391745 0.912188 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.921] init seeds +[21:41:26.921] remove key frame +[21:41:26.921] update seed +[21:41:26.922] If point is visible? 0.550761, -0.088335, 0.064025 mu:-3.336850 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.501566, -0.116965, -0.005342 mu:-3.336850 unit_bearing:0.268742 0.319863 0.908551 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.551759, -0.104671, 0.235892 mu:-3.336850 unit_bearing:-0.537799 0.377245 0.753962 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.558114, -0.113638, 0.145964 mu:-3.336850 unit_bearing:-0.267658 0.370373 0.889485 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.523358, -0.131954, 0.043399 mu:-3.336850 unit_bearing:0.097389 0.389329 0.915936 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.486638, 0.125713, -0.017635 mu:-3.336850 unit_bearing:0.234383 -0.488880 0.840274 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.486111, 0.125609, -0.018313 mu:-3.336850 unit_bearing:0.237172 -0.488810 0.839532 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.479050, 0.124241, -0.026999 mu:-3.336850 unit_bearing:0.273304 -0.487814 0.829061 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.478975, 0.125581, -0.026185 mu:-3.336850 unit_bearing:0.270408 -0.491919 0.827584 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.478418, 0.125475, -0.026844 mu:-3.336850 unit_bearing:0.273178 -0.491836 0.826723 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.481892, 0.123428, -0.024503 mu:-3.336850 unit_bearing:0.262330 -0.484104 0.834761 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.543968, 0.140934, 0.130653 mu:-3.336850 unit_bearing:-0.298253 -0.478989 0.825600 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.545626, 0.137944, 0.131336 mu:-3.336850 unit_bearing:-0.301347 -0.468808 0.830306 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.514609, 0.104058, 0.004162 mu:-3.336850 unit_bearing:0.139981 -0.408294 0.902054 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.519691, 0.099659, 0.009036 mu:-3.336850 unit_bearing:0.120205 -0.391745 0.912188 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.513903, 0.104593, 0.003469 mu:-3.336850 unit_bearing:0.142802 -0.410350 0.900678 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.535148, 0.072128, 0.018856 mu:-3.336850 unit_bearing:0.080684 -0.296570 0.951597 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.535728, 0.071579, 0.019618 mu:-3.336850 unit_bearing:0.077817 -0.294440 0.952496 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.560161, 0.063656, 0.071589 mu:-3.336850 unit_bearing:-0.109452 -0.247066 0.962797 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.558897, 0.059630, 0.065091 mu:-3.336850 unit_bearing:-0.086454 -0.236372 0.967809 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.558634, 0.059531, 0.064271 mu:-3.336850 unit_bearing:-0.083572 -0.236381 0.968060 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.558405, 0.056641, 0.061901 mu:-3.336850 unit_bearing:-0.074947 -0.227770 0.970826 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.558264, 0.057290, 0.061878 mu:-3.336850 unit_bearing:-0.074942 -0.229930 0.970318 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.557579, 0.054949, 0.058684 mu:-3.336850 unit_bearing:-0.063419 -0.223476 0.972644 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.565271, 0.057351, 0.084366 mu:-3.336850 unit_bearing:-0.152707 -0.220986 0.963247 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.554966, 0.049223, 0.049158 mu:-3.336850 unit_bearing:-0.028793 -0.208384 0.977623 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.554655, 0.049125, 0.048356 mu:-3.336850 unit_bearing:-0.025904 -0.208387 0.977703 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.554782, 0.048475, 0.048383 mu:-3.336850 unit_bearing:-0.025906 -0.206221 0.978162 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.528241, 0.019826, -0.007792 mu:-3.336850 unit_bearing:0.190651 -0.134183 0.972444 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.557111, 0.025283, 0.046481 mu:-3.336850 unit_bearing:-0.014375 -0.130186 0.991385 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.530442, 0.002354, -0.005688 mu:-3.336850 unit_bearing:0.187953 -0.075461 0.979275 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.529957, 0.002264, -0.006414 mu:-3.336850 unit_bearing:0.190827 -0.075455 0.978719 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.529469, 0.002173, -0.007138 mu:-3.336850 unit_bearing:0.193701 -0.075449 0.978155 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.529514, 0.001522, -0.007079 mu:-3.336850 unit_bearing:0.193706 -0.073271 0.978320 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.562464, 0.008864, 0.057625 mu:-3.336850 unit_bearing:-0.049150 -0.071275 0.996245 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.562079, 0.010069, 0.056691 mu:-3.336850 unit_bearing:-0.046251 -0.075643 0.996062 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.561781, 0.009969, 0.055881 mu:-3.336850 unit_bearing:-0.043355 -0.075644 0.996192 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.561826, 0.009318, 0.055942 mu:-3.336850 unit_bearing:-0.043356 -0.073461 0.996355 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.563460, 0.007208, 0.060253 mu:-3.336850 unit_bearing:-0.057841 -0.064719 0.996226 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.563499, 0.006556, 0.060317 mu:-3.336850 unit_bearing:-0.057842 -0.062535 0.996365 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.563536, 0.005904, 0.060382 mu:-3.336850 unit_bearing:-0.057843 -0.060351 0.996500 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.577442, 0.006064, 0.115798 mu:-3.336850 unit_bearing:-0.245170 -0.038343 0.968722 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.562021, 0.000097, 0.056048 mu:-3.336850 unit_bearing:-0.040470 -0.042879 0.998260 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.562370, -0.001106, 0.056997 mu:-3.336850 unit_bearing:-0.043368 -0.038508 0.998317 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.562346, -0.000455, 0.056927 mu:-3.336850 unit_bearing:-0.043368 -0.040693 0.998230 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.562393, -0.001757, 0.057068 mu:-3.336850 unit_bearing:-0.043369 -0.036322 0.998399 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.577907, -0.004738, 0.118808 mu:-3.336850 unit_bearing:-0.250914 -0.001343 0.968008 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.577760, -0.001607, 0.117550 mu:-3.336850 unit_bearing:-0.248054 -0.012225 0.968669 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.577632, -0.001713, 0.116682 mu:-3.336850 unit_bearing:-0.245195 -0.012227 0.969397 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.577639, -0.002361, 0.116759 mu:-3.336850 unit_bearing:-0.245196 -0.010050 0.969422 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.579718, -0.000220, 0.134257 mu:-3.336850 unit_bearing:-0.302165 -0.010025 0.953203 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.536415, -0.018744, 0.004731 mu:-3.336850 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.579394, -0.001943, 0.130890 mu:-3.336850 unit_bearing:-0.290810 -0.005685 0.956764 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.577907, -0.005386, 0.118888 mu:-3.336850 unit_bearing:-0.250914 0.000834 0.968009 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.547158, -0.015131, 0.023406 mu:-3.336850 unit_bearing:0.084118 -0.005719 0.996439 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.547553, -0.014386, 0.024095 mu:-3.336850 unit_bearing:0.081223 -0.007904 0.996665 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.547153, -0.014481, 0.023327 mu:-3.336850 unit_bearing:0.084118 -0.007904 0.996424 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.577781, -0.005492, 0.118019 mu:-3.336850 unit_bearing:-0.248056 0.000834 0.968745 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.579395, -0.015818, 0.135367 mu:-3.336850 unit_bearing:-0.299288 0.042088 0.953234 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.580560, -0.013986, 0.160450 mu:-3.336850 unit_bearing:-0.378157 0.046218 0.924587 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.580543, -0.014211, 0.158656 mu:-3.336850 unit_bearing:-0.372565 0.046236 0.926854 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.580522, -0.014740, 0.159642 mu:-3.336850 unit_bearing:-0.375355 0.048388 0.925617 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.579829, -0.018685, 0.143861 mu:-3.336850 unit_bearing:-0.324737 0.055038 0.944202 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.580281, -0.019000, 0.162076 mu:-3.336850 unit_bearing:-0.380888 0.063487 0.922439 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.580231, -0.019568, 0.157593 mu:-3.336850 unit_bearing:-0.366906 0.063546 0.928085 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.579972, -0.020584, 0.149560 mu:-3.336850 unit_bearing:-0.341630 0.063645 0.937677 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.580366, -0.017116, 0.156330 mu:-3.336850 unit_bearing:-0.364136 0.054910 0.929726 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.580239, -0.019640, 0.162169 mu:-3.336850 unit_bearing:-0.380879 0.065646 0.922292 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.580172, -0.020323, 0.156792 mu:-3.336850 unit_bearing:-0.364095 0.065719 0.929040 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.579998, -0.023070, 0.160848 mu:-3.336850 unit_bearing:-0.375241 0.076468 0.923768 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.579975, -0.023299, 0.159056 mu:-3.336850 unit_bearing:-0.369648 0.076497 0.926018 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.571321, -0.029801, 0.091750 mu:-3.336850 unit_bearing:-0.150331 0.070662 0.986107 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.571109, -0.029906, 0.090909 mu:-3.336850 unit_bearing:-0.147447 0.070666 0.986542 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.577023, -0.026813, 0.120922 mu:-3.336850 unit_bearing:-0.247956 0.072629 0.966045 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.565285, -0.036158, 0.072381 mu:-3.336850 unit_bearing:-0.080982 0.083838 0.993183 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.578891, -0.034221, 0.165339 mu:-3.336850 unit_bearing:-0.383366 0.115228 0.916381 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.568350, -0.044191, 0.087187 mu:-3.336850 unit_bearing:-0.127167 0.116466 0.985020 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.578019, -0.038681, 0.146048 mu:-3.336850 unit_bearing:-0.321595 0.122154 0.938965 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.577997, -0.039206, 0.147040 mu:-3.336850 unit_bearing:-0.324402 0.124295 0.937717 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.575903, -0.041914, 0.125981 mu:-3.336850 unit_bearing:-0.256316 0.124701 0.958515 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.575824, -0.042556, 0.126089 mu:-3.336850 unit_bearing:-0.256305 0.126869 0.958234 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.545049, -0.059579, 0.031680 mu:-3.336850 unit_bearing:0.078212 0.144857 0.986357 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.544509, -0.057836, 0.029798 mu:-3.336850 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.544107, -0.057929, 0.029033 mu:-3.336850 unit_bearing:0.086893 0.138314 0.986569 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.531272, -0.061812, 0.007549 mu:-3.336850 unit_bearing:0.170506 0.142439 0.975007 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.544339, -0.059122, 0.030030 mu:-3.336850 unit_bearing:0.083996 0.142671 0.986200 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.524423, -0.066763, -0.001156 mu:-3.336850 unit_bearing:0.207766 0.155296 0.965772 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.532039, -0.071619, 0.013179 mu:-3.336850 unit_bearing:0.155989 0.177209 0.971733 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.533059, -0.070806, 0.014530 mu:-3.336850 unit_bearing:0.150244 0.175065 0.973026 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.532278, -0.072809, 0.014172 mu:-3.336850 unit_bearing:0.153094 0.181555 0.971391 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.514422, -0.112778, 0.010033 mu:-3.336850 unit_bearing:0.203667 0.312247 0.927913 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.513923, -0.112855, 0.009321 mu:-3.336850 unit_bearing:0.206513 0.312215 0.927294 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.514226, -0.116347, 0.012462 mu:-3.336850 unit_bearing:0.197831 0.325055 0.924772 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.513731, -0.116424, 0.011749 mu:-3.336850 unit_bearing:0.200676 0.325023 0.924169 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.513728, -0.113477, 0.009487 mu:-3.336850 unit_bearing:0.206489 0.314341 0.926581 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.561691, -0.105510, 0.162808 mu:-3.336850 unit_bearing:-0.326793 0.350304 0.877778 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.561649, -0.105637, 0.161930 mu:-3.336850 unit_bearing:-0.324009 0.350367 0.878784 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.555902, -0.119795, 0.160257 mu:-3.336850 unit_bearing:-0.306205 0.396579 0.865427 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.479350, -0.151303, -0.005599 mu:-3.336850 unit_bearing:0.310927 0.433486 0.845821 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.494213, -0.160749, 0.024329 mu:-3.336850 unit_bearing:0.203903 0.476939 0.854958 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.494017, -0.160229, 0.023415 mu:-3.336850 unit_bearing:0.206752 0.474847 0.855438 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.525800, 0.095532, 0.016282 mu:-3.336850 unit_bearing:0.091765 -0.375130 0.922419 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.515937, 0.104354, 0.006360 mu:-3.336850 unit_bearing:0.131445 -0.408382 0.903298 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.558815, 0.087730, 0.089669 mu:-3.336850 unit_bearing:-0.172040 -0.319446 0.931857 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.535331, 0.071482, 0.018856 mu:-3.336850 unit_bearing:0.080692 -0.294429 0.952260 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.563196, 0.063537, 0.081621 mu:-3.336850 unit_bearing:-0.143973 -0.242591 0.959386 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.562765, 0.063341, 0.079946 mu:-3.336850 unit_bearing:-0.138228 -0.242622 0.960223 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.555833, 0.048118, 0.050821 mu:-3.336850 unit_bearing:-0.034575 -0.204047 0.978350 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.555219, 0.047922, 0.049213 mu:-3.336850 unit_bearing:-0.028797 -0.204053 0.978536 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.922] If point is visible? 0.555467, 0.046620, 0.049270 mu:-3.336850 unit_bearing:-0.028801 -0.199720 0.979430 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.560730, 0.011628, 0.053275 mu:-3.336850 unit_bearing:-0.034663 -0.082198 0.996013 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.564302, 0.002196, 0.062412 mu:-3.336850 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.570510, 0.026256, 0.087061 mu:-3.336850 unit_bearing:-0.155997 -0.116906 0.980815 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.570094, 0.026054, 0.085376 mu:-3.336850 unit_bearing:-0.150235 -0.116921 0.981712 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.562621, 0.010919, 0.058253 mu:-3.336850 unit_bearing:-0.052042 -0.077823 0.995608 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.568731, -0.018295, 0.078215 mu:-3.336850 unit_bearing:-0.109947 0.027049 0.993569 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.568236, -0.018499, 0.076556 mu:-3.336850 unit_bearing:-0.104164 0.027052 0.994192 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.559688, -0.021508, 0.052099 mu:-3.336850 unit_bearing:-0.017290 0.027072 0.999484 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.579109, -0.032309, 0.165029 mu:-3.336850 unit_bearing:-0.383415 0.108766 0.917149 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.558268, -0.037264, 0.052732 mu:-3.336850 unit_bearing:-0.011489 0.079510 0.996768 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.576476, -0.039657, 0.128270 mu:-3.336850 unit_bearing:-0.264898 0.118154 0.957010 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.568129, -0.046123, 0.087513 mu:-3.336850 unit_bearing:-0.127153 0.122998 0.984227 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.567665, -0.046332, 0.085845 mu:-3.336850 unit_bearing:-0.121381 0.123010 0.984954 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.568278, -0.044836, 0.087295 mu:-3.336850 unit_bearing:-0.127163 0.118644 0.984761 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.567814, -0.045044, 0.085628 mu:-3.336850 unit_bearing:-0.121391 0.118656 0.985487 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.567957, -0.043755, 0.085413 mu:-3.336850 unit_bearing:-0.121400 0.114301 0.986001 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.525512, -0.065955, 0.000159 mu:-3.336850 unit_bearing:0.202045 0.153156 0.967327 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.534173, -0.069352, 0.015762 mu:-3.336850 unit_bearing:0.144504 0.170751 0.974660 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.527509, -0.076771, 0.008219 mu:-3.336850 unit_bearing:0.178900 0.192255 0.964900 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.540086, -0.081595, 0.033687 mu:-3.336850 unit_bearing:0.086708 0.218589 0.971957 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.539276, -0.081776, 0.032164 mu:-3.336850 unit_bearing:0.092475 0.218571 0.971429 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.539851, -0.066993, 0.296434 mu:-3.336850 unit_bearing:-0.721751 0.277077 0.634274 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.379731, -0.119196, -0.096000 mu:-3.336850 unit_bearing:0.703097 0.290385 0.649100 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.561879, -0.105024, 0.161774 mu:-3.336850 unit_bearing:-0.324057 0.348274 0.879598 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.561786, -0.105277, 0.160021 mu:-3.336850 unit_bearing:-0.318483 0.348398 0.881582 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.561682, -0.105528, 0.158270 mu:-3.336850 unit_bearing:-0.312903 0.348519 0.883530 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.555933, -0.118764, 0.145564 mu:-3.336850 unit_bearing:-0.261710 0.387190 0.884077 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.549604, -0.114447, 0.229061 mu:-3.336850 unit_bearing:-0.510478 0.406847 0.757554 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.479687, -0.152967, -0.003665 mu:-3.336850 unit_bearing:0.305208 0.439782 0.844654 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.482529, -0.158288, 0.005062 mu:-3.336850 unit_bearing:0.276876 0.460956 0.843125 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.366276, -0.159355, -0.078421 mu:-3.336850 unit_bearing:0.681696 0.430541 0.591545 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.494518, -0.160160, 0.024114 mu:-3.336850 unit_bearing:0.203946 0.474904 0.856080 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.366844, -0.158285, -0.078929 mu:-3.336850 unit_bearing:0.682118 0.426788 0.593774 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.536122, 0.071676, 0.020381 mu:-3.336850 unit_bearing:0.074941 -0.294451 0.952724 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.534531, 0.071288, 0.017335 mu:-3.336850 unit_bearing:0.086442 -0.294407 0.951763 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.532902, 0.070901, 0.014306 mu:-3.336850 unit_bearing:0.097938 -0.294356 0.950664 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.557868, 0.047405, 0.055726 mu:-3.336850 unit_bearing:-0.051914 -0.199692 0.978482 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.556686, 0.047012, 0.052491 mu:-3.336850 unit_bearing:-0.040359 -0.199708 0.979024 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.557166, 0.044409, 0.052612 mu:-3.336850 unit_bearing:-0.040369 -0.191037 0.980752 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.563791, 0.060945, 0.081704 mu:-3.336850 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.562919, 0.060552, 0.078358 mu:-3.336850 unit_bearing:-0.132523 -0.234031 0.963155 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.561058, 0.059766, 0.071707 mu:-3.336850 unit_bearing:-0.109506 -0.234133 0.966018 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.515418, 0.105623, 0.006436 mu:-3.336850 unit_bearing:0.131402 -0.412555 0.901406 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.559182, 0.087921, 0.091359 mu:-3.336850 unit_bearing:-0.177747 -0.319391 0.930804 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.562325, 0.063144, 0.078275 mu:-3.336850 unit_bearing:-0.132480 -0.242651 0.961025 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.561415, 0.062752, 0.074944 mu:-3.336850 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.564680, 0.014322, 0.064543 mu:-3.336850 unit_bearing:-0.075193 -0.086536 0.993407 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.570052, 0.030160, 0.086761 mu:-3.336850 unit_bearing:-0.155960 -0.129957 0.979177 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.569212, 0.029757, 0.083395 mu:-3.336850 unit_bearing:-0.144437 -0.129990 0.980939 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.568332, 0.029354, 0.080042 mu:-3.336850 unit_bearing:-0.132905 -0.130021 0.982563 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.563769, 0.011316, 0.061510 mu:-3.336850 unit_bearing:-0.063623 -0.077816 0.994936 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.569522, 0.027153, 0.083592 mu:-3.336850 unit_bearing:-0.144460 -0.121288 0.982049 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.568641, 0.026750, 0.080238 mu:-3.336850 unit_bearing:-0.132926 -0.121317 0.983673 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.569690, -0.017885, 0.081544 mu:-3.336850 unit_bearing:-0.121507 0.027044 0.992222 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.543671, -0.061141, 0.029617 mu:-3.336850 unit_bearing:0.086873 0.149191 0.984985 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.542040, -0.061508, 0.026568 mu:-3.336850 unit_bearing:0.098428 0.149168 0.983901 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.540371, -0.061873, 0.023535 mu:-3.336850 unit_bearing:0.109976 0.149142 0.982681 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.567744, -0.036427, 0.080838 mu:-3.336850 unit_bearing:-0.109891 0.088167 0.990025 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.558709, -0.039654, 0.054735 mu:-3.336850 unit_bearing:-0.017281 0.088241 0.995949 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.577517, -0.035138, 0.132883 mu:-3.336850 unit_bearing:-0.282033 0.105064 0.953635 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.567517, -0.039010, 0.081246 mu:-3.336850 unit_bearing:-0.109879 0.096889 0.989211 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.567269, -0.041591, 0.081663 mu:-3.336850 unit_bearing:-0.109865 0.105608 0.988320 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.558912, -0.037067, 0.054332 mu:-3.336850 unit_bearing:-0.017283 0.079509 0.996684 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.534772, -0.065511, 0.015023 mu:-3.336850 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.550761, -0.088335, 0.064025 mu:-3.336850 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.556128, -0.118519, 0.147288 mu:-3.336850 unit_bearing:-0.267324 0.387077 0.882445 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.501566, -0.116965, -0.005342 mu:-3.336850 unit_bearing:0.268742 0.319863 0.908551 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.523358, -0.131954, 0.043399 mu:-3.336850 unit_bearing:0.097389 0.389329 0.915936 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.551759, -0.104671, 0.235892 mu:-3.336850 unit_bearing:-0.537799 0.377245 0.753962 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.558114, -0.113638, 0.145964 mu:-3.336850 unit_bearing:-0.267658 0.370373 0.889485 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.479073, -0.151895, -0.005390 mu:-3.336850 unit_bearing:0.310866 0.435532 0.844792 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.548691, -0.115306, 0.231164 mu:-3.336850 unit_bearing:-0.515415 0.410545 0.752196 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.549340, -0.115928, 0.227585 mu:-3.336850 unit_bearing:-0.505072 0.411151 0.758852 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.483700, -0.155934, 0.004207 mu:-3.336850 unit_bearing:0.277105 0.452810 0.847453 T_cur_ref: x=0.281203 y=0.000000 z=0.160700 +[21:41:26.923] If point is visible? 0.088703, 0.057011, 0.269332 mu:4.485363 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.272581 y=0.000000 z=0.156885 +[21:41:26.923] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:26.923] If point is visible? 0.177921, 0.116159, 0.321967 mu:4.485363 unit_bearing:0.565008 0.426894 0.706065 T_cur_ref: x=0.272581 y=0.000000 z=0.156885 +[21:41:26.923] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:26.923] If point is visible? 0.214726, 0.104513, 0.345128 mu:4.485363 unit_bearing:0.719220 0.362384 0.592790 T_cur_ref: x=0.272581 y=0.000000 z=0.156885 +[21:41:26.923] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:26.923] If point is visible? 0.088703, 0.057011, 0.269332 mu:4.485363 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.272581 y=0.000000 z=0.156885 +[21:41:26.923] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:26.923] If point is visible? 0.177921, 0.116159, 0.321967 mu:4.485363 unit_bearing:0.565008 0.426894 0.706065 T_cur_ref: x=0.272581 y=0.000000 z=0.156885 +[21:41:26.923] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:26.923] If point is visible? 0.214726, 0.104513, 0.345128 mu:4.485363 unit_bearing:0.719220 0.362384 0.592790 T_cur_ref: x=0.272581 y=0.000000 z=0.156885 +[21:41:26.923] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:26.923] If point is visible? -3.199319, 1.196060, -0.168276 mu:0.271898 unit_bearing:-0.412604 0.333431 0.847692 T_cur_ref: x=0.263735 y=0.000000 z=0.153064 +[21:41:26.923] If point is visible? -2.911065, 1.486619, 1.265346 mu:0.271898 unit_bearing:-0.017112 0.364339 0.931109 T_cur_ref: x=0.263735 y=0.000000 z=0.153064 +[21:41:26.923] If point is visible? -2.749510, 1.527706, 1.606689 mu:0.271898 unit_bearing:0.086106 0.364117 0.927364 T_cur_ref: x=0.263735 y=0.000000 z=0.153064 +[21:41:26.923] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:26.923] If point is visible? -2.729244, 1.531991, 1.643580 mu:0.271898 unit_bearing:0.097556 0.364051 0.926256 T_cur_ref: x=0.263735 y=0.000000 z=0.153064 +[21:41:26.923] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:26.923] If point is visible? -2.435040, 1.552093, 2.111170 mu:0.271898 unit_bearing:0.245621 0.353982 0.902423 T_cur_ref: x=0.263735 y=0.000000 z=0.153064 +[21:41:26.923] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:26.923] If point is visible? -2.738226, 1.557922, 1.597941 mu:0.271898 unit_bearing:0.086059 0.372561 0.924009 T_cur_ref: x=0.263735 y=0.000000 z=0.153064 +[21:41:26.923] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:26.923] If point is visible? -2.738226, 1.557922, 1.597941 mu:0.271898 unit_bearing:0.086059 0.372561 0.924009 T_cur_ref: x=0.263735 y=0.000000 z=0.153064 +[21:41:26.923] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:26.923] If point is visible? -2.911065, 1.486619, 1.265346 mu:0.271898 unit_bearing:-0.017112 0.364339 0.931109 T_cur_ref: x=0.263735 y=0.000000 z=0.153064 +[21:41:26.923] If point is visible? -2.435040, 1.552093, 2.111170 mu:0.271898 unit_bearing:0.245621 0.353982 0.902423 T_cur_ref: x=0.263735 y=0.000000 z=0.153064 +[21:41:26.924] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -3.199319, 1.196060, -0.168276 mu:0.271898 unit_bearing:-0.412604 0.333431 0.847692 T_cur_ref: x=0.263735 y=0.000000 z=0.153064 +[21:41:26.924] If point is visible? -4.112169, 1.797585, -0.877233 mu:0.206929 unit_bearing:-0.505947 0.395085 0.766763 T_cur_ref: x=0.254624 y=0.000000 z=0.149180 +[21:41:26.924] If point is visible? -4.203240, 1.859909, 0.297181 mu:0.206929 unit_bearing:-0.289910 0.378268 0.879127 T_cur_ref: x=0.254624 y=0.000000 z=0.149180 +[21:41:26.924] If point is visible? -4.112169, 1.797585, -0.877233 mu:0.206929 unit_bearing:-0.505947 0.395085 0.766763 T_cur_ref: x=0.254624 y=0.000000 z=0.149180 +[21:41:26.924] If point is visible? -4.203240, 1.859909, 0.297181 mu:0.206929 unit_bearing:-0.289910 0.378268 0.879127 T_cur_ref: x=0.254624 y=0.000000 z=0.149180 +[21:41:26.924] If point is visible? -47.060012, 8.776561, 24.763512 mu:0.018503 unit_bearing:0.063801 0.105669 0.992353 T_cur_ref: x=0.243960 y=0.000000 z=0.144179 +[21:41:26.924] If point is visible? -50.263815, 19.179379, -1.242010 mu:0.018503 unit_bearing:-0.373671 0.355362 0.856789 T_cur_ref: x=0.243960 y=0.000000 z=0.144179 +[21:41:26.924] If point is visible? -39.890894, 26.269427, 25.042293 mu:0.018503 unit_bearing:0.159639 0.426303 0.890383 T_cur_ref: x=0.243960 y=0.000000 z=0.144179 +[21:41:26.924] If point is visible? -46.677481, 20.966543, 16.865061 mu:0.018503 unit_bearing:-0.040099 0.347353 0.936877 T_cur_ref: x=0.243960 y=0.000000 z=0.144179 +[21:41:26.924] If point is visible? -43.399056, 25.792403, 18.875022 mu:0.018503 unit_bearing:0.028645 0.431449 0.901682 T_cur_ref: x=0.243960 y=0.000000 z=0.144179 +[21:41:26.924] If point is visible? -47.060012, 8.776561, 24.763512 mu:0.018503 unit_bearing:0.063801 0.105669 0.992353 T_cur_ref: x=0.243960 y=0.000000 z=0.144179 +[21:41:26.924] If point is visible? -50.263815, 19.179379, -1.242010 mu:0.018503 unit_bearing:-0.373671 0.355362 0.856789 T_cur_ref: x=0.243960 y=0.000000 z=0.144179 +[21:41:26.924] If point is visible? -39.890894, 26.269427, 25.042293 mu:0.018503 unit_bearing:0.159639 0.426303 0.890383 T_cur_ref: x=0.243960 y=0.000000 z=0.144179 +[21:41:26.924] If point is visible? -46.677481, 20.966543, 16.865061 mu:0.018503 unit_bearing:-0.040099 0.347353 0.936877 T_cur_ref: x=0.243960 y=0.000000 z=0.144179 +[21:41:26.924] If point is visible? -43.399056, 25.792403, 18.875022 mu:0.018503 unit_bearing:0.028645 0.431449 0.901682 T_cur_ref: x=0.243960 y=0.000000 z=0.144179 +[21:41:26.924] If point is visible? -6.019521, 2.750560, 4.550670 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.235442 y=0.000000 z=0.140158 +[21:41:26.924] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -5.990939, 2.754755, 4.588335 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.235442 y=0.000000 z=0.140158 +[21:41:26.924] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -5.962110, 2.758919, 4.625856 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.235442 y=0.000000 z=0.140158 +[21:41:26.924] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -6.019521, 2.750560, 4.550670 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.235442 y=0.000000 z=0.140158 +[21:41:26.924] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -5.990939, 2.754755, 4.588335 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.235442 y=0.000000 z=0.140158 +[21:41:26.924] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -5.962110, 2.758919, 4.625856 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.235442 y=0.000000 z=0.140158 +[21:41:26.924] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -67044911758.930763, 41253019789.580070, 25792947704.946384 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.226772 y=0.000000 z=0.136143 +[21:41:26.924] If point is visible? -73436292495.020493, 24078526135.032658, 29823539521.340237 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.226772 y=0.000000 z=0.136143 +[21:41:26.924] If point is visible? -73436292495.020493, 24078526135.032658, 29823539521.340237 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.226772 y=0.000000 z=0.136143 +[21:41:26.924] If point is visible? -67044911758.930763, 41253019789.580070, 25792947704.946384 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.226772 y=0.000000 z=0.136143 +[21:41:26.924] If point is visible? -6.965428, 4.978891, 4.369789 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218049 y=0.000000 z=0.131952 +[21:41:26.924] If point is visible? -5.540895, 4.464259, 6.555029 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218049 y=0.000000 z=0.131952 +[21:41:26.924] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -5.540895, 4.464259, 6.555029 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218049 y=0.000000 z=0.131952 +[21:41:26.924] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -6.965428, 4.978891, 4.369789 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218049 y=0.000000 z=0.131952 +[21:41:26.924] If point is visible? -3.181661, 2.672243, 4.147193 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.209493 y=0.000000 z=0.127864 +[21:41:26.924] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -5.351542, 1.961276, 0.283138 mu:0.169526 unit_bearing:-0.346778 0.326801 0.879174 T_cur_ref: x=0.209493 y=0.000000 z=0.127864 +[21:41:26.924] If point is visible? -4.886130, -2.690964, 1.388481 mu:0.169526 unit_bearing:-0.231654 -0.478833 0.846792 T_cur_ref: x=0.209493 y=0.000000 z=0.127864 +[21:41:26.924] If point is visible? -3.899116, -2.091361, 3.807723 mu:0.169526 unit_bearing:0.218939 -0.427923 0.876896 T_cur_ref: x=0.209493 y=0.000000 z=0.127864 +[21:41:26.924] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -3.979239, -1.798276, 3.871732 mu:0.169526 unit_bearing:0.228254 -0.379931 0.896411 T_cur_ref: x=0.209493 y=0.000000 z=0.127864 +[21:41:26.924] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -3.994700, -1.787607, 3.859491 mu:0.169526 unit_bearing:0.225464 -0.377883 0.897982 T_cur_ref: x=0.209493 y=0.000000 z=0.127864 +[21:41:26.924] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:26.924] If point is visible? -3.983810, -1.785724, 3.872623 mu:0.169526 unit_bearing:0.228289 -0.377837 0.897287 T_cur_ref: x=0.209493 y=0.000000 z=0.127864 +[21:41:26.924] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:26.924] init seeds +[21:41:26.924] DepthFilter: Initialized 1 new seeds +[21:41:26.926] DepthFilter: Initialized 1 new seeds +[21:41:27.545] add new frame +[21:41:27.545] update seed +[21:41:27.545] If point is visible? 0.550761, -0.088335, 0.064009 mu:-3.336850 unit_bearing:-0.017209 0.253251 0.967248 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.501566, -0.116965, -0.005358 mu:-3.336850 unit_bearing:0.268742 0.319863 0.908551 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.551760, -0.104671, 0.235876 mu:-3.336850 unit_bearing:-0.537799 0.377245 0.753962 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.558115, -0.113638, 0.145949 mu:-3.336850 unit_bearing:-0.267658 0.370373 0.889485 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.523358, -0.131954, 0.043383 mu:-3.336850 unit_bearing:0.097389 0.389329 0.915936 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.486638, 0.125713, -0.017650 mu:-3.336850 unit_bearing:0.234383 -0.488880 0.840274 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.486112, 0.125609, -0.018329 mu:-3.336850 unit_bearing:0.237172 -0.488810 0.839532 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.479051, 0.124241, -0.027015 mu:-3.336850 unit_bearing:0.273304 -0.487814 0.829061 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.478976, 0.125581, -0.026201 mu:-3.336850 unit_bearing:0.270408 -0.491919 0.827584 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.478418, 0.125475, -0.026860 mu:-3.336850 unit_bearing:0.273178 -0.491836 0.826723 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.481892, 0.123428, -0.024519 mu:-3.336850 unit_bearing:0.262330 -0.484104 0.834761 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.543968, 0.140934, 0.130637 mu:-3.336850 unit_bearing:-0.298253 -0.478989 0.825600 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.545627, 0.137944, 0.131320 mu:-3.336850 unit_bearing:-0.301347 -0.468808 0.830306 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.514609, 0.104058, 0.004146 mu:-3.336850 unit_bearing:0.139981 -0.408294 0.902054 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.519692, 0.099659, 0.009021 mu:-3.336850 unit_bearing:0.120205 -0.391745 0.912188 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.513903, 0.104593, 0.003453 mu:-3.336850 unit_bearing:0.142802 -0.410350 0.900678 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.535149, 0.072128, 0.018840 mu:-3.336850 unit_bearing:0.080684 -0.296570 0.951597 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.535728, 0.071579, 0.019602 mu:-3.336850 unit_bearing:0.077817 -0.294440 0.952496 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] If point is visible? 0.560161, 0.063656, 0.071573 mu:-3.336850 unit_bearing:-0.109452 -0.247066 0.962797 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] add key frame +[21:41:27.545] If point is visible? 0.558897, 0.059630, 0.065075 mu:-3.336850 unit_bearing:-0.086454 -0.236372 0.967809 T_cur_ref: x=0.281204 y=0.000000 z=0.160684 +[21:41:27.545] remove key frame +[21:41:27.545] init seeds +[21:41:27.546] update seed +[21:41:27.546] If point is visible? 0.088703, 0.057011, 0.269316 mu:4.485363 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.272581 y=0.000000 z=0.156869 +[21:41:27.546] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:27.546] If point is visible? 0.177921, 0.116159, 0.321951 mu:4.485363 unit_bearing:0.565008 0.426894 0.706065 T_cur_ref: x=0.272581 y=0.000000 z=0.156869 +[21:41:27.546] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:27.546] If point is visible? 0.214726, 0.104513, 0.345112 mu:4.485363 unit_bearing:0.719220 0.362384 0.592790 T_cur_ref: x=0.272581 y=0.000000 z=0.156869 +[21:41:27.546] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:27.546] If point is visible? 0.088703, 0.057011, 0.269316 mu:4.485363 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.272581 y=0.000000 z=0.156869 +[21:41:27.546] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:27.546] If point is visible? 0.177921, 0.116159, 0.321951 mu:4.485363 unit_bearing:0.565008 0.426894 0.706065 T_cur_ref: x=0.272581 y=0.000000 z=0.156869 +[21:41:27.546] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:27.546] If point is visible? 0.214726, 0.104513, 0.345112 mu:4.485363 unit_bearing:0.719220 0.362384 0.592790 T_cur_ref: x=0.272581 y=0.000000 z=0.156869 +[21:41:27.546] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:27.546] If point is visible? -3.199318, 1.196060, -0.168292 mu:0.271898 unit_bearing:-0.412604 0.333431 0.847692 T_cur_ref: x=0.263735 y=0.000000 z=0.153048 +[21:41:27.546] If point is visible? -2.911064, 1.486619, 1.265330 mu:0.271898 unit_bearing:-0.017112 0.364339 0.931109 T_cur_ref: x=0.263735 y=0.000000 z=0.153048 +[21:41:27.546] If point is visible? -2.749510, 1.527706, 1.606673 mu:0.271898 unit_bearing:0.086106 0.364117 0.927364 T_cur_ref: x=0.263735 y=0.000000 z=0.153048 +[21:41:27.546] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -2.729244, 1.531991, 1.643564 mu:0.271898 unit_bearing:0.097556 0.364051 0.926256 T_cur_ref: x=0.263735 y=0.000000 z=0.153048 +[21:41:27.546] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -2.435039, 1.552093, 2.111155 mu:0.271898 unit_bearing:0.245621 0.353982 0.902423 T_cur_ref: x=0.263735 y=0.000000 z=0.153048 +[21:41:27.546] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -2.738225, 1.557922, 1.597925 mu:0.271898 unit_bearing:0.086059 0.372561 0.924009 T_cur_ref: x=0.263735 y=0.000000 z=0.153048 +[21:41:27.546] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -2.738225, 1.557922, 1.597925 mu:0.271898 unit_bearing:0.086059 0.372561 0.924009 T_cur_ref: x=0.263735 y=0.000000 z=0.153048 +[21:41:27.546] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -2.911064, 1.486619, 1.265330 mu:0.271898 unit_bearing:-0.017112 0.364339 0.931109 T_cur_ref: x=0.263735 y=0.000000 z=0.153048 +[21:41:27.546] If point is visible? -2.435039, 1.552093, 2.111155 mu:0.271898 unit_bearing:0.245621 0.353982 0.902423 T_cur_ref: x=0.263735 y=0.000000 z=0.153048 +[21:41:27.546] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -3.199318, 1.196060, -0.168292 mu:0.271898 unit_bearing:-0.412604 0.333431 0.847692 T_cur_ref: x=0.263735 y=0.000000 z=0.153048 +[21:41:27.546] If point is visible? -4.112169, 1.797585, -0.877249 mu:0.206929 unit_bearing:-0.505947 0.395085 0.766763 T_cur_ref: x=0.254624 y=0.000000 z=0.149164 +[21:41:27.546] If point is visible? -4.203240, 1.859909, 0.297165 mu:0.206929 unit_bearing:-0.289910 0.378268 0.879127 T_cur_ref: x=0.254624 y=0.000000 z=0.149164 +[21:41:27.546] If point is visible? -4.112169, 1.797585, -0.877249 mu:0.206929 unit_bearing:-0.505947 0.395085 0.766763 T_cur_ref: x=0.254624 y=0.000000 z=0.149164 +[21:41:27.546] If point is visible? -4.203240, 1.859909, 0.297165 mu:0.206929 unit_bearing:-0.289910 0.378268 0.879127 T_cur_ref: x=0.254624 y=0.000000 z=0.149164 +[21:41:27.546] If point is visible? -47.060012, 8.776561, 24.763496 mu:0.018503 unit_bearing:0.063801 0.105669 0.992353 T_cur_ref: x=0.243961 y=0.000000 z=0.144163 +[21:41:27.546] If point is visible? -50.263814, 19.179379, -1.242026 mu:0.018503 unit_bearing:-0.373671 0.355362 0.856789 T_cur_ref: x=0.243961 y=0.000000 z=0.144163 +[21:41:27.546] If point is visible? -39.890894, 26.269427, 25.042277 mu:0.018503 unit_bearing:0.159639 0.426303 0.890383 T_cur_ref: x=0.243961 y=0.000000 z=0.144163 +[21:41:27.546] If point is visible? -46.677480, 20.966543, 16.865045 mu:0.018503 unit_bearing:-0.040099 0.347353 0.936877 T_cur_ref: x=0.243961 y=0.000000 z=0.144163 +[21:41:27.546] If point is visible? -43.399055, 25.792403, 18.875007 mu:0.018503 unit_bearing:0.028645 0.431449 0.901682 T_cur_ref: x=0.243961 y=0.000000 z=0.144163 +[21:41:27.546] If point is visible? -47.060012, 8.776561, 24.763496 mu:0.018503 unit_bearing:0.063801 0.105669 0.992353 T_cur_ref: x=0.243961 y=0.000000 z=0.144163 +[21:41:27.546] If point is visible? -50.263814, 19.179379, -1.242026 mu:0.018503 unit_bearing:-0.373671 0.355362 0.856789 T_cur_ref: x=0.243961 y=0.000000 z=0.144163 +[21:41:27.546] If point is visible? -39.890894, 26.269427, 25.042277 mu:0.018503 unit_bearing:0.159639 0.426303 0.890383 T_cur_ref: x=0.243961 y=0.000000 z=0.144163 +[21:41:27.546] If point is visible? -46.677480, 20.966543, 16.865045 mu:0.018503 unit_bearing:-0.040099 0.347353 0.936877 T_cur_ref: x=0.243961 y=0.000000 z=0.144163 +[21:41:27.546] If point is visible? -43.399055, 25.792403, 18.875007 mu:0.018503 unit_bearing:0.028645 0.431449 0.901682 T_cur_ref: x=0.243961 y=0.000000 z=0.144163 +[21:41:27.546] If point is visible? -6.019521, 2.750560, 4.550654 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.235442 y=0.000000 z=0.140142 +[21:41:27.546] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -5.990938, 2.754755, 4.588319 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.235442 y=0.000000 z=0.140142 +[21:41:27.546] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -5.962109, 2.758919, 4.625840 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.235442 y=0.000000 z=0.140142 +[21:41:27.546] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -6.019521, 2.750560, 4.550654 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.235442 y=0.000000 z=0.140142 +[21:41:27.546] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -5.990938, 2.754755, 4.588319 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.235442 y=0.000000 z=0.140142 +[21:41:27.546] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -5.962109, 2.758919, 4.625840 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.235442 y=0.000000 z=0.140142 +[21:41:27.546] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -67044911758.930763, 41253019789.580070, 25792947704.946369 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.226773 y=0.000000 z=0.136128 +[21:41:27.546] If point is visible? -73436292495.020493, 24078526135.032658, 29823539521.340221 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.226773 y=0.000000 z=0.136128 +[21:41:27.546] If point is visible? -73436292495.020493, 24078526135.032658, 29823539521.340221 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.226773 y=0.000000 z=0.136128 +[21:41:27.546] If point is visible? -67044911758.930763, 41253019789.580070, 25792947704.946369 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.226773 y=0.000000 z=0.136128 +[21:41:27.546] If point is visible? -6.965428, 4.978891, 4.369774 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218049 y=0.000000 z=0.131936 +[21:41:27.546] If point is visible? -5.540895, 4.464259, 6.555013 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218049 y=0.000000 z=0.131936 +[21:41:27.546] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -5.540895, 4.464259, 6.555013 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218049 y=0.000000 z=0.131936 +[21:41:27.546] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -6.965428, 4.978891, 4.369774 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218049 y=0.000000 z=0.131936 +[21:41:27.546] If point is visible? -3.181661, 2.672243, 4.147177 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.546] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -5.351541, 1.961276, 0.283122 mu:0.169526 unit_bearing:-0.346778 0.326801 0.879174 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.546] If point is visible? -4.886130, -2.690964, 1.388466 mu:0.169526 unit_bearing:-0.231654 -0.478833 0.846792 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.546] If point is visible? -3.899116, -2.091361, 3.807707 mu:0.169526 unit_bearing:0.218939 -0.427923 0.876896 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.546] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -3.979239, -1.798276, 3.871716 mu:0.169526 unit_bearing:0.228254 -0.379931 0.896411 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.546] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.546] If point is visible? -3.994700, -1.787607, 3.859475 mu:0.169526 unit_bearing:0.225464 -0.377883 0.897982 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.546] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -3.983810, -1.785724, 3.872607 mu:0.169526 unit_bearing:0.228289 -0.377837 0.897287 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -3.895084, -1.770645, 3.976625 mu:0.169526 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.451817, -1.509927, 3.412376 mu:0.169526 unit_bearing:0.129330 -0.321923 0.937891 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.587310, -1.375816, 3.273262 mu:0.169526 unit_bearing:0.100800 -0.296482 0.949704 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -5.437733, -1.389229, 1.115118 mu:0.169526 unit_bearing:-0.289244 -0.254152 0.922900 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -4.631399, -1.089477, 3.317616 mu:0.169526 unit_bearing:0.109643 -0.249219 0.962221 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.681624, -1.032872, 3.259295 mu:0.169526 unit_bearing:0.098171 -0.238489 0.966170 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -5.203143, -0.894494, 2.295581 mu:0.169526 unit_bearing:-0.083685 -0.195295 0.977168 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.197080, -0.892588, 2.311440 mu:0.169526 unit_bearing:-0.080799 -0.195302 0.977409 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.185434, -0.848413, 2.357372 mu:0.169526 unit_bearing:-0.072152 -0.188818 0.979358 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.179184, -0.846510, 2.373153 mu:0.169526 unit_bearing:-0.069264 -0.188824 0.979565 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.164572, -0.815155, 2.419302 mu:0.169526 unit_bearing:-0.060605 -0.184501 0.980962 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.147062, -0.756243, 2.479704 mu:0.169526 unit_bearing:-0.049058 -0.175837 0.983196 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.269959, -0.930250, 2.104223 mu:0.169526 unit_bearing:-0.118285 -0.197358 0.973169 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.264452, -0.928333, 2.120318 mu:0.169526 unit_bearing:-0.115403 -0.197368 0.973513 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.080349, -0.630867, 2.660712 mu:0.169526 unit_bearing:-0.014366 -0.158480 0.987258 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.073183, -0.628985, 2.676088 mu:0.169526 unit_bearing:-0.011473 -0.158481 0.987295 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -4.544052, -0.006737, 3.620638 mu:0.169526 unit_bearing:0.182206 -0.073295 0.980525 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.556635, 0.029952, 3.603326 mu:0.169526 unit_bearing:0.179341 -0.066764 0.981519 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.533001, -0.017813, 3.635590 mu:0.169526 unit_bearing:0.185078 -0.075467 0.979822 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.555847, 0.017145, 3.604493 mu:0.169526 unit_bearing:0.179338 -0.068943 0.981369 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.545704, 0.018877, 3.618345 mu:0.169526 unit_bearing:0.182214 -0.068937 0.980839 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -5.186282, 0.076635, 2.510190 mu:0.169526 unit_bearing:-0.031779 -0.036325 0.998835 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -4.553485, 0.172498, 3.603492 mu:0.169526 unit_bearing:0.182254 -0.042782 0.982320 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.543298, 0.174217, 3.617324 mu:0.169526 unit_bearing:0.185130 -0.042779 0.981782 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.543782, 0.187011, 3.616003 mu:0.169526 unit_bearing:0.185133 -0.040598 0.981875 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -5.208233, 0.122181, 2.457899 mu:0.169526 unit_bearing:-0.040473 -0.027580 0.998800 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.215271, 0.133082, 2.440862 mu:0.169526 unit_bearing:-0.043371 -0.025394 0.998736 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.208542, 0.134996, 2.456472 mu:0.169526 unit_bearing:-0.040473 -0.025395 0.998858 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.215555, 0.145896, 2.439424 mu:0.169526 unit_bearing:-0.043371 -0.023208 0.998789 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.208825, 0.147810, 2.455034 mu:0.169526 unit_bearing:-0.040473 -0.023209 0.998911 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.175932, 0.285425, 2.517732 mu:0.169526 unit_bearing:-0.025985 -0.001349 0.999661 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.223512, 0.233638, 2.413387 mu:0.169526 unit_bearing:-0.046270 -0.007907 0.998898 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.216827, 0.235557, 2.429018 mu:0.169526 unit_bearing:-0.043372 -0.007907 0.999028 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.210097, 0.237473, 2.444629 mu:0.169526 unit_bearing:-0.040475 -0.007907 0.999149 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.566358, 0.112591, 1.320610 mu:0.169526 unit_bearing:-0.239476 -0.005698 0.970885 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.223406, 0.220834, 2.414910 mu:0.169526 unit_bearing:-0.046270 -0.010093 0.998878 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.216722, 0.222752, 2.430541 mu:0.169526 unit_bearing:-0.043372 -0.010093 0.999008 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.569782, 0.097769, 1.305236 mu:0.169526 unit_bearing:-0.242337 -0.007874 0.970160 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.524518, 0.122482, 1.506952 mu:0.169526 unit_bearing:-0.207947 -0.007883 0.978108 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -4.656919, 0.513195, 3.421856 mu:0.169526 unit_bearing:0.153466 0.018297 0.987985 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.714007, 0.528330, 3.333443 mu:0.169526 unit_bearing:0.136151 0.022670 0.990429 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.704523, 0.530069, 3.347676 mu:0.169526 unit_bearing:0.139038 0.022669 0.990028 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.547] If point is visible? -4.868971, 0.472722, 3.091216 mu:0.169526 unit_bearing:0.087010 0.018318 0.996039 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.529630, 0.360621, 1.442470 mu:0.169526 unit_bearing:-0.213670 0.033519 0.976331 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.525642, 0.362694, 1.459198 mu:0.169526 unit_bearing:-0.210801 0.033522 0.976954 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -5.521606, 0.364763, 1.475908 mu:0.169526 unit_bearing:-0.207931 0.033525 0.977569 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] If point is visible? -4.655542, 0.576999, 3.413320 mu:0.169526 unit_bearing:0.153460 0.029209 0.987723 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.547] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -4.606364, 0.585558, 3.483509 mu:0.169526 unit_bearing:0.167871 0.029199 0.985376 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -5.519794, 0.415693, 1.468849 mu:0.169526 unit_bearing:-0.207920 0.042240 0.977233 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.527298, 0.424267, 1.433620 mu:0.169526 unit_bearing:-0.213657 0.044411 0.975899 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.523311, 0.426345, 1.450347 mu:0.169526 unit_bearing:-0.210787 0.044415 0.976522 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.519276, 0.428420, 1.467056 mu:0.169526 unit_bearing:-0.207917 0.044419 0.977137 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.627769, 0.466139, 0.838415 mu:0.169526 unit_bearing:-0.310570 0.063753 0.948410 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -4.840653, 0.756980, 3.080614 mu:0.169526 unit_bearing:0.092771 0.066367 0.993473 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -4.597705, 0.789320, 3.454053 mu:0.169526 unit_bearing:0.167831 0.064093 0.983730 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] calculated Z= 1.047773 +[21:41:27.548] update seeds 305 +[21:41:27.548] If point is visible? -5.626974, 0.478793, 0.836525 mu:0.169526 unit_bearing:-0.310562 0.065922 0.948264 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.616473, 0.535935, 0.880646 mu:0.169526 unit_bearing:-0.302032 0.074625 0.950372 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.592581, 0.555440, 1.035173 mu:0.169526 unit_bearing:-0.276466 0.074714 0.958115 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.381598, 0.674514, 1.882997 mu:0.169526 unit_bearing:-0.130125 0.077234 0.988485 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.627051, 0.537646, 0.792309 mu:0.169526 unit_bearing:-0.316183 0.076738 0.945590 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.597319, 0.563784, 0.998994 mu:0.169526 unit_bearing:-0.282149 0.076866 0.956286 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.627308, 0.583767, 0.749767 mu:0.169526 unit_bearing:-0.321799 0.085377 0.942951 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.623068, 0.588176, 0.784425 mu:0.169526 unit_bearing:-0.316146 0.085403 0.944859 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.591736, 0.662796, 0.965859 mu:0.169526 unit_bearing:-0.284924 0.094210 0.953909 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.480211, 0.910361, 1.390516 mu:0.169526 unit_bearing:-0.207695 0.127093 0.969902 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.483211, 0.885091, 1.394951 mu:0.169526 unit_bearing:-0.207712 0.122749 0.970458 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.173855, 0.964291, 2.338170 mu:0.169526 unit_bearing:-0.040436 0.116589 0.992357 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.601980, 0.812797, 0.729475 mu:0.169526 unit_bearing:-0.318757 0.124334 0.939646 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.297775, 1.035105, 1.970229 mu:0.169526 unit_bearing:-0.104031 0.136106 0.985217 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.593283, 0.929330, 0.637703 mu:0.169526 unit_bearing:-0.329879 0.145838 0.932690 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.591368, 0.931600, 0.655061 mu:0.169526 unit_bearing:-0.327062 0.145861 0.933678 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.470012, 1.067893, 1.310492 mu:0.169526 unit_bearing:-0.216159 0.155253 0.963936 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -4.506527, 1.376263, 3.392948 mu:0.169526 unit_bearing:0.176167 0.164116 0.970583 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -4.799595, 1.311146, 2.953756 mu:0.169526 unit_bearing:0.086848 0.162233 0.982923 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -4.790866, 1.312903, 2.968361 mu:0.169526 unit_bearing:0.089736 0.162227 0.982665 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -5.468126, 1.080478, 1.308113 mu:0.169526 unit_bearing:-0.216147 0.157420 0.963587 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] If point is visible? -4.518486, 1.362056, 3.381590 mu:0.169526 unit_bearing:0.173303 0.161960 0.971460 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -4.533712, 1.506226, 3.294725 mu:0.169526 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -4.484462, 1.453262, 3.391379 mu:0.169526 unit_bearing:0.178978 0.177105 0.967781 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -4.476378, 1.442324, 3.407808 mu:0.169526 unit_bearing:0.181859 0.174925 0.967641 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -4.613902, 1.528932, 3.159851 mu:0.169526 unit_bearing:0.135775 0.194621 0.971436 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -4.604423, 1.530604, 3.174040 mu:0.169526 unit_bearing:0.138654 0.194609 0.971032 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -4.594899, 1.532272, 3.188204 mu:0.169526 unit_bearing:0.141531 0.194597 0.970619 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -4.556361, 1.538899, 3.244616 mu:0.169526 unit_bearing:0.153037 0.194546 0.968882 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -4.602131, 1.543136, 3.171337 mu:0.169526 unit_bearing:0.138645 0.196773 0.970597 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] If point is visible? -4.592607, 1.544803, 3.185500 mu:0.169526 unit_bearing:0.141522 0.196761 0.970184 T_cur_ref: x=0.209493 y=0.000000 z=0.127848 +[21:41:27.548] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:27.548] init seeds +[21:41:27.548] DepthFilter: Initialized 1 new seeds +[21:41:27.551] DepthFilter: Initialized 1 new seeds +[21:41:28.838] add new frame +[21:41:28.838] update seed +[21:41:28.838] If point is visible? 0.088698, 0.057011, 0.269311 mu:4.485363 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.272576 y=0.000000 z=0.156865 +[21:41:28.838] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:28.838] If point is visible? 0.177916, 0.116159, 0.321947 mu:4.485363 unit_bearing:0.565008 0.426894 0.706065 T_cur_ref: x=0.272576 y=0.000000 z=0.156865 +[21:41:28.838] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:28.838] If point is visible? 0.214721, 0.104513, 0.345108 mu:4.485363 unit_bearing:0.719220 0.362384 0.592790 T_cur_ref: x=0.272576 y=0.000000 z=0.156865 +[21:41:28.838] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:28.838] If point is visible? 0.088698, 0.057011, 0.269311 mu:4.485363 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.272576 y=0.000000 z=0.156865 +[21:41:28.838] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:28.838] If point is visible? 0.177916, 0.116159, 0.321947 mu:4.485363 unit_bearing:0.565008 0.426894 0.706065 T_cur_ref: x=0.272576 y=0.000000 z=0.156865 +[21:41:28.838] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:28.838] If point is visible? 0.214721, 0.104513, 0.345108 mu:4.485363 unit_bearing:0.719220 0.362384 0.592790 T_cur_ref: x=0.272576 y=0.000000 z=0.156865 +[21:41:28.838] Z inverse min: 4.485610, Z inverse max: 4.485116 +[21:41:28.838] If point is visible? -3.199323, 1.196060, -0.168296 mu:0.271898 unit_bearing:-0.412604 0.333431 0.847692 T_cur_ref: x=0.263730 y=0.000000 z=0.153044 +[21:41:28.838] If point is visible? -2.911069, 1.486619, 1.265326 mu:0.271898 unit_bearing:-0.017112 0.364339 0.931109 T_cur_ref: x=0.263730 y=0.000000 z=0.153044 +[21:41:28.838] If point is visible? -2.749515, 1.527706, 1.606669 mu:0.271898 unit_bearing:0.086106 0.364117 0.927364 T_cur_ref: x=0.263730 y=0.000000 z=0.153044 +[21:41:28.839] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:28.839] If point is visible? -2.729249, 1.531991, 1.643560 mu:0.271898 unit_bearing:0.097556 0.364051 0.926256 T_cur_ref: x=0.263730 y=0.000000 z=0.153044 +[21:41:28.839] add key frame +[21:41:28.839] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:28.839] remove key frame +[21:41:28.839] init seeds +[21:41:28.839] update seed +[21:41:28.839] init seeds +[21:41:28.842] DepthFilter: Initialized 4 new seeds +[21:41:28.845] DepthFilter: Initialized 199 new seeds +[21:41:29.478] add new frame +[21:41:29.478] update seed +[21:41:29.478] If point is visible? -3.199324, 1.196060, -0.168297 mu:0.271898 unit_bearing:-0.412604 0.333431 0.847692 T_cur_ref: x=0.263729 y=0.000000 z=0.153042 +[21:41:29.478] If point is visible? -2.911070, 1.486619, 1.265325 mu:0.271898 unit_bearing:-0.017112 0.364339 0.931109 T_cur_ref: x=0.263729 y=0.000000 z=0.153042 +[21:41:29.478] If point is visible? -2.749516, 1.527706, 1.606668 mu:0.271898 unit_bearing:0.086106 0.364117 0.927364 T_cur_ref: x=0.263729 y=0.000000 z=0.153042 +[21:41:29.478] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:29.478] If point is visible? -2.729250, 1.531991, 1.643558 mu:0.271898 unit_bearing:0.097556 0.364051 0.926256 T_cur_ref: x=0.263729 y=0.000000 z=0.153042 +[21:41:29.478] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:29.478] If point is visible? -2.435046, 1.552093, 2.111149 mu:0.271898 unit_bearing:0.245621 0.353982 0.902423 T_cur_ref: x=0.263729 y=0.000000 z=0.153042 +[21:41:29.478] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:29.478] If point is visible? -2.738232, 1.557922, 1.597919 mu:0.271898 unit_bearing:0.086059 0.372561 0.924009 T_cur_ref: x=0.263729 y=0.000000 z=0.153042 +[21:41:29.478] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:29.478] If point is visible? -2.738232, 1.557922, 1.597919 mu:0.271898 unit_bearing:0.086059 0.372561 0.924009 T_cur_ref: x=0.263729 y=0.000000 z=0.153042 +[21:41:29.478] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:29.478] If point is visible? -2.911070, 1.486619, 1.265325 mu:0.271898 unit_bearing:-0.017112 0.364339 0.931109 T_cur_ref: x=0.263729 y=0.000000 z=0.153042 +[21:41:29.478] If point is visible? -2.435046, 1.552093, 2.111149 mu:0.271898 unit_bearing:0.245621 0.353982 0.902423 T_cur_ref: x=0.263729 y=0.000000 z=0.153042 +[21:41:29.478] Z inverse min: 0.866232, Z inverse max: 0.000000 +[21:41:29.478] If point is visible? -3.199324, 1.196060, -0.168297 mu:0.271898 unit_bearing:-0.412604 0.333431 0.847692 T_cur_ref: x=0.263729 y=0.000000 z=0.153042 +[21:41:29.478] If point is visible? -4.112175, 1.797585, -0.877254 mu:0.206929 unit_bearing:-0.505947 0.395085 0.766763 T_cur_ref: x=0.254618 y=0.000000 z=0.149159 +[21:41:29.478] If point is visible? -4.203246, 1.859909, 0.297160 mu:0.206929 unit_bearing:-0.289910 0.378268 0.879127 T_cur_ref: x=0.254618 y=0.000000 z=0.149159 +[21:41:29.478] If point is visible? -4.112175, 1.797585, -0.877254 mu:0.206929 unit_bearing:-0.505947 0.395085 0.766763 T_cur_ref: x=0.254618 y=0.000000 z=0.149159 +[21:41:29.478] If point is visible? -4.203246, 1.859909, 0.297160 mu:0.206929 unit_bearing:-0.289910 0.378268 0.879127 T_cur_ref: x=0.254618 y=0.000000 z=0.149159 +[21:41:29.478] If point is visible? -47.060018, 8.776561, 24.763491 mu:0.018503 unit_bearing:0.063801 0.105669 0.992353 T_cur_ref: x=0.243955 y=0.000000 z=0.144157 +[21:41:29.478] If point is visible? -50.263821, 19.179379, -1.242031 mu:0.018503 unit_bearing:-0.373671 0.355362 0.856789 T_cur_ref: x=0.243955 y=0.000000 z=0.144157 +[21:41:29.478] add key frame +[21:41:29.478] If point is visible? -39.890900, 26.269427, 25.042272 mu:0.018503 unit_bearing:0.159639 0.426303 0.890383 T_cur_ref: x=0.243955 y=0.000000 z=0.144157 +[21:41:29.478] init seeds +[21:41:29.478] update seed +[21:41:29.478] init seeds +[21:41:29.478] remove key frame +[21:41:29.481] DepthFilter: Initialized 3 new seeds +[21:41:29.484] DepthFilter: Initialized 180 new seeds +[21:41:30.146] add new frame +[21:41:30.147] update seed +[21:41:30.147] If point is visible? -4.112176, 1.797585, -0.877255 mu:0.206929 unit_bearing:-0.505947 0.395085 0.766763 T_cur_ref: x=0.254616 y=0.000000 z=0.149158 +[21:41:30.147] If point is visible? -4.203248, 1.859909, 0.297159 mu:0.206929 unit_bearing:-0.289910 0.378268 0.879127 T_cur_ref: x=0.254616 y=0.000000 z=0.149158 +[21:41:30.147] If point is visible? -4.112176, 1.797585, -0.877255 mu:0.206929 unit_bearing:-0.505947 0.395085 0.766763 T_cur_ref: x=0.254616 y=0.000000 z=0.149158 +[21:41:30.147] If point is visible? -4.203248, 1.859909, 0.297159 mu:0.206929 unit_bearing:-0.289910 0.378268 0.879127 T_cur_ref: x=0.254616 y=0.000000 z=0.149158 +[21:41:30.147] If point is visible? -47.060020, 8.776561, 24.763490 mu:0.018503 unit_bearing:0.063801 0.105669 0.992353 T_cur_ref: x=0.243953 y=0.000000 z=0.144156 +[21:41:30.147] If point is visible? -50.263822, 19.179379, -1.242033 mu:0.018503 unit_bearing:-0.373671 0.355362 0.856789 T_cur_ref: x=0.243953 y=0.000000 z=0.144156 +[21:41:30.147] If point is visible? -39.890901, 26.269427, 25.042271 mu:0.018503 unit_bearing:0.159639 0.426303 0.890383 T_cur_ref: x=0.243953 y=0.000000 z=0.144156 +[21:41:30.147] If point is visible? -46.677488, 20.966543, 16.865039 mu:0.018503 unit_bearing:-0.040099 0.347353 0.936877 T_cur_ref: x=0.243953 y=0.000000 z=0.144156 +[21:41:30.147] If point is visible? -43.399063, 25.792403, 18.875000 mu:0.018503 unit_bearing:0.028645 0.431449 0.901682 T_cur_ref: x=0.243953 y=0.000000 z=0.144156 +[21:41:30.147] If point is visible? -47.060020, 8.776561, 24.763490 mu:0.018503 unit_bearing:0.063801 0.105669 0.992353 T_cur_ref: x=0.243953 y=0.000000 z=0.144156 +[21:41:30.147] If point is visible? -50.263822, 19.179379, -1.242033 mu:0.018503 unit_bearing:-0.373671 0.355362 0.856789 T_cur_ref: x=0.243953 y=0.000000 z=0.144156 +[21:41:30.147] If point is visible? -39.890901, 26.269427, 25.042271 mu:0.018503 unit_bearing:0.159639 0.426303 0.890383 T_cur_ref: x=0.243953 y=0.000000 z=0.144156 +[21:41:30.147] If point is visible? -46.677488, 20.966543, 16.865039 mu:0.018503 unit_bearing:-0.040099 0.347353 0.936877 T_cur_ref: x=0.243953 y=0.000000 z=0.144156 +[21:41:30.147] If point is visible? -43.399063, 25.792403, 18.875000 mu:0.018503 unit_bearing:0.028645 0.431449 0.901682 T_cur_ref: x=0.243953 y=0.000000 z=0.144156 +[21:41:30.147] If point is visible? -6.019529, 2.750560, 4.550648 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.235434 y=0.000000 z=0.140135 +[21:41:30.147] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:30.147] If point is visible? -5.990946, 2.754755, 4.588312 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.235434 y=0.000000 z=0.140135 +[21:41:30.147] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:30.147] If point is visible? -5.962117, 2.758919, 4.625833 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.235434 y=0.000000 z=0.140135 +[21:41:30.147] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:30.147] If point is visible? -6.019529, 2.750560, 4.550648 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.235434 y=0.000000 z=0.140135 +[21:41:30.147] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:30.147] If point is visible? -5.990946, 2.754755, 4.588312 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.235434 y=0.000000 z=0.140135 +[21:41:30.147] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:30.147] If point is visible? -5.962117, 2.758919, 4.625833 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.235434 y=0.000000 z=0.140135 +[21:41:30.147] add key frame +[21:41:30.147] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:30.147] remove key frame +[21:41:30.147] init seeds +[21:41:30.147] update seed +[21:41:30.147] init seeds +[21:41:30.150] DepthFilter: Initialized 3 new seeds +[21:41:30.152] DepthFilter: Initialized 197 new seeds +[21:41:31.664] add new frame +[21:41:31.665] update seed +[21:41:31.665] If point is visible? -47.060025, 8.776561, 24.763486 mu:0.018503 unit_bearing:0.063801 0.105669 0.992353 T_cur_ref: x=0.243947 y=0.000000 z=0.144152 +[21:41:31.665] If point is visible? -50.263828, 19.179379, -1.242037 mu:0.018503 unit_bearing:-0.373671 0.355362 0.856789 T_cur_ref: x=0.243947 y=0.000000 z=0.144152 +[21:41:31.665] If point is visible? -39.890907, 26.269427, 25.042267 mu:0.018503 unit_bearing:0.159639 0.426303 0.890383 T_cur_ref: x=0.243947 y=0.000000 z=0.144152 +[21:41:31.665] If point is visible? -46.677494, 20.966543, 16.865034 mu:0.018503 unit_bearing:-0.040099 0.347353 0.936877 T_cur_ref: x=0.243947 y=0.000000 z=0.144152 +[21:41:31.665] If point is visible? -43.399069, 25.792403, 18.874996 mu:0.018503 unit_bearing:0.028645 0.431449 0.901682 T_cur_ref: x=0.243947 y=0.000000 z=0.144152 +[21:41:31.665] If point is visible? -47.060025, 8.776561, 24.763486 mu:0.018503 unit_bearing:0.063801 0.105669 0.992353 T_cur_ref: x=0.243947 y=0.000000 z=0.144152 +[21:41:31.665] If point is visible? -50.263828, 19.179379, -1.242037 mu:0.018503 unit_bearing:-0.373671 0.355362 0.856789 T_cur_ref: x=0.243947 y=0.000000 z=0.144152 +[21:41:31.665] If point is visible? -39.890907, 26.269427, 25.042267 mu:0.018503 unit_bearing:0.159639 0.426303 0.890383 T_cur_ref: x=0.243947 y=0.000000 z=0.144152 +[21:41:31.665] If point is visible? -46.677494, 20.966543, 16.865034 mu:0.018503 unit_bearing:-0.040099 0.347353 0.936877 T_cur_ref: x=0.243947 y=0.000000 z=0.144152 +[21:41:31.665] If point is visible? -43.399069, 25.792403, 18.874996 mu:0.018503 unit_bearing:0.028645 0.431449 0.901682 T_cur_ref: x=0.243947 y=0.000000 z=0.144152 +[21:41:31.665] If point is visible? -6.019534, 2.750560, 4.550644 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.235428 y=0.000000 z=0.140131 +[21:41:31.665] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -5.990952, 2.754755, 4.588308 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.235428 y=0.000000 z=0.140131 +[21:41:31.665] add key frame +[21:41:31.665] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:31.665] remove key frame +[21:41:31.665] init seeds +[21:41:31.665] update seed +[21:41:31.665] If point is visible? -6.019534, 2.750560, 4.550644 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.235428 y=0.000000 z=0.140131 +[21:41:31.665] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -5.990952, 2.754755, 4.588308 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.235428 y=0.000000 z=0.140131 +[21:41:31.665] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -5.962123, 2.758919, 4.625829 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.235428 y=0.000000 z=0.140131 +[21:41:31.665] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -6.019534, 2.750560, 4.550644 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.235428 y=0.000000 z=0.140131 +[21:41:31.665] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -5.990952, 2.754755, 4.588308 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.235428 y=0.000000 z=0.140131 +[21:41:31.665] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -5.962123, 2.758919, 4.625829 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.235428 y=0.000000 z=0.140131 +[21:41:31.665] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -67044911758.930779, 41253019789.580070, 25792947704.946358 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.226759 y=0.000000 z=0.136117 +[21:41:31.665] If point is visible? -73436292495.020508, 24078526135.032658, 29823539521.340210 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.226759 y=0.000000 z=0.136117 +[21:41:31.665] If point is visible? -73436292495.020508, 24078526135.032658, 29823539521.340210 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.226759 y=0.000000 z=0.136117 +[21:41:31.665] If point is visible? -67044911758.930779, 41253019789.580070, 25792947704.946358 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.226759 y=0.000000 z=0.136117 +[21:41:31.665] If point is visible? -6.965442, 4.978891, 4.369763 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218036 y=0.000000 z=0.131925 +[21:41:31.665] If point is visible? -5.540908, 4.464259, 6.555002 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218036 y=0.000000 z=0.131925 +[21:41:31.665] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -5.540908, 4.464259, 6.555002 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218036 y=0.000000 z=0.131925 +[21:41:31.665] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -6.965442, 4.978891, 4.369763 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218036 y=0.000000 z=0.131925 +[21:41:31.665] If point is visible? -3.181675, 2.672243, 4.147167 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -5.351555, 1.961276, 0.283111 mu:0.169526 unit_bearing:-0.346778 0.326801 0.879174 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -4.886143, -2.690964, 1.388455 mu:0.169526 unit_bearing:-0.231654 -0.478833 0.846792 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -3.899129, -2.091361, 3.807696 mu:0.169526 unit_bearing:0.218939 -0.427923 0.876896 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -3.979252, -1.798276, 3.871705 mu:0.169526 unit_bearing:0.228254 -0.379931 0.896411 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -3.994713, -1.787607, 3.859464 mu:0.169526 unit_bearing:0.225464 -0.377883 0.897982 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -3.983823, -1.785724, 3.872596 mu:0.169526 unit_bearing:0.228289 -0.377837 0.897287 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -3.895097, -1.770645, 3.976614 mu:0.169526 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -4.451831, -1.509927, 3.412365 mu:0.169526 unit_bearing:0.129330 -0.321923 0.937891 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -4.587323, -1.375816, 3.273251 mu:0.169526 unit_bearing:0.100800 -0.296482 0.949704 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -5.437746, -1.389229, 1.115107 mu:0.169526 unit_bearing:-0.289244 -0.254152 0.922900 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -4.631412, -1.089477, 3.317606 mu:0.169526 unit_bearing:0.109643 -0.249219 0.962221 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -4.681638, -1.032872, 3.259285 mu:0.169526 unit_bearing:0.098171 -0.238489 0.966170 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -5.203157, -0.894494, 2.295570 mu:0.169526 unit_bearing:-0.083685 -0.195295 0.977168 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -5.197093, -0.892588, 2.311429 mu:0.169526 unit_bearing:-0.080799 -0.195302 0.977409 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -5.185447, -0.848413, 2.357361 mu:0.169526 unit_bearing:-0.072152 -0.188818 0.979358 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -5.179198, -0.846510, 2.373142 mu:0.169526 unit_bearing:-0.069264 -0.188824 0.979565 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -5.164586, -0.815155, 2.419291 mu:0.169526 unit_bearing:-0.060605 -0.184501 0.980962 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -5.147076, -0.756243, 2.479693 mu:0.169526 unit_bearing:-0.049058 -0.175837 0.983196 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -5.269972, -0.930250, 2.104212 mu:0.169526 unit_bearing:-0.118285 -0.197358 0.973169 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -5.264466, -0.928333, 2.120307 mu:0.169526 unit_bearing:-0.115403 -0.197368 0.973513 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -5.080362, -0.630867, 2.660701 mu:0.169526 unit_bearing:-0.014366 -0.158480 0.987258 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -5.073197, -0.628985, 2.676078 mu:0.169526 unit_bearing:-0.011473 -0.158481 0.987295 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -4.544065, -0.006737, 3.620628 mu:0.169526 unit_bearing:0.182206 -0.073295 0.980525 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -4.556648, 0.029952, 3.603315 mu:0.169526 unit_bearing:0.179341 -0.066764 0.981519 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -4.533014, -0.017813, 3.635579 mu:0.169526 unit_bearing:0.185078 -0.075467 0.979822 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -4.555860, 0.017145, 3.604482 mu:0.169526 unit_bearing:0.179338 -0.068943 0.981369 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -4.545717, 0.018877, 3.618334 mu:0.169526 unit_bearing:0.182214 -0.068937 0.980839 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -5.186296, 0.076635, 2.510179 mu:0.169526 unit_bearing:-0.031779 -0.036325 0.998835 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -4.553499, 0.172498, 3.603481 mu:0.169526 unit_bearing:0.182254 -0.042782 0.982320 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -4.543312, 0.174217, 3.617313 mu:0.169526 unit_bearing:0.185130 -0.042779 0.981782 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -4.543795, 0.187011, 3.615992 mu:0.169526 unit_bearing:0.185133 -0.040598 0.981875 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.665] If point is visible? -5.208246, 0.122181, 2.457888 mu:0.169526 unit_bearing:-0.040473 -0.027580 0.998800 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.665] If point is visible? -5.215285, 0.133082, 2.440852 mu:0.169526 unit_bearing:-0.043371 -0.025394 0.998736 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.208555, 0.134996, 2.456461 mu:0.169526 unit_bearing:-0.040473 -0.025395 0.998858 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.215569, 0.145896, 2.439413 mu:0.169526 unit_bearing:-0.043371 -0.023208 0.998789 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.208839, 0.147810, 2.455023 mu:0.169526 unit_bearing:-0.040473 -0.023209 0.998911 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.175945, 0.285425, 2.517722 mu:0.169526 unit_bearing:-0.025985 -0.001349 0.999661 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.223525, 0.233638, 2.413377 mu:0.169526 unit_bearing:-0.046270 -0.007907 0.998898 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.216840, 0.235557, 2.429007 mu:0.169526 unit_bearing:-0.043372 -0.007907 0.999028 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.210110, 0.237473, 2.444618 mu:0.169526 unit_bearing:-0.040475 -0.007907 0.999149 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.566372, 0.112591, 1.320599 mu:0.169526 unit_bearing:-0.239476 -0.005698 0.970885 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.223420, 0.220834, 2.414899 mu:0.169526 unit_bearing:-0.046270 -0.010093 0.998878 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.216735, 0.222752, 2.430530 mu:0.169526 unit_bearing:-0.043372 -0.010093 0.999008 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.569795, 0.097769, 1.305225 mu:0.169526 unit_bearing:-0.242337 -0.007874 0.970160 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.524532, 0.122482, 1.506942 mu:0.169526 unit_bearing:-0.207947 -0.007883 0.978108 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -4.656932, 0.513195, 3.421845 mu:0.169526 unit_bearing:0.153466 0.018297 0.987985 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.714020, 0.528330, 3.333432 mu:0.169526 unit_bearing:0.136151 0.022670 0.990429 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.704536, 0.530069, 3.347665 mu:0.169526 unit_bearing:0.139038 0.022669 0.990028 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.868985, 0.472722, 3.091205 mu:0.169526 unit_bearing:0.087010 0.018318 0.996039 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.529644, 0.360621, 1.442459 mu:0.169526 unit_bearing:-0.213670 0.033519 0.976331 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.525656, 0.362694, 1.459187 mu:0.169526 unit_bearing:-0.210801 0.033522 0.976954 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.521620, 0.364763, 1.475898 mu:0.169526 unit_bearing:-0.207931 0.033525 0.977569 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -4.655555, 0.576999, 3.413309 mu:0.169526 unit_bearing:0.153460 0.029209 0.987723 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.606378, 0.585558, 3.483498 mu:0.169526 unit_bearing:0.167871 0.029199 0.985376 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -5.519808, 0.415693, 1.468838 mu:0.169526 unit_bearing:-0.207920 0.042240 0.977233 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.527312, 0.424267, 1.433609 mu:0.169526 unit_bearing:-0.213657 0.044411 0.975899 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.523325, 0.426345, 1.450336 mu:0.169526 unit_bearing:-0.210787 0.044415 0.976522 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.519290, 0.428420, 1.467045 mu:0.169526 unit_bearing:-0.207917 0.044419 0.977137 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.627782, 0.466139, 0.838404 mu:0.169526 unit_bearing:-0.310570 0.063753 0.948410 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -4.840666, 0.756980, 3.080603 mu:0.169526 unit_bearing:0.092771 0.066367 0.993473 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -1.293926, 0.246852, 1.168076 mu:0.542066 unit_bearing:0.167831 0.064093 0.983730 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 1.107461, Z inverse max: 0.000000 +[21:41:31.666] calculated Z= 1.047411 +[21:41:31.666] update seeds 305 +[21:41:31.666] If point is visible? -5.626988, 0.478793, 0.836514 mu:0.169526 unit_bearing:-0.310562 0.065922 0.948264 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.616487, 0.535935, 0.880635 mu:0.169526 unit_bearing:-0.302032 0.074625 0.950372 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.592595, 0.555440, 1.035162 mu:0.169526 unit_bearing:-0.276466 0.074714 0.958115 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.381612, 0.674514, 1.882986 mu:0.169526 unit_bearing:-0.130125 0.077234 0.988485 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.627064, 0.537646, 0.792298 mu:0.169526 unit_bearing:-0.316183 0.076738 0.945590 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.597333, 0.563784, 0.998983 mu:0.169526 unit_bearing:-0.282149 0.076866 0.956286 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.627322, 0.583767, 0.749756 mu:0.169526 unit_bearing:-0.321799 0.085377 0.942951 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.623082, 0.588176, 0.784414 mu:0.169526 unit_bearing:-0.316146 0.085403 0.944859 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.591749, 0.662796, 0.965848 mu:0.169526 unit_bearing:-0.284924 0.094210 0.953909 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.480224, 0.910361, 1.390505 mu:0.169526 unit_bearing:-0.207695 0.127093 0.969902 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.483225, 0.885091, 1.394940 mu:0.169526 unit_bearing:-0.207712 0.122749 0.970458 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.173869, 0.964291, 2.338159 mu:0.169526 unit_bearing:-0.040436 0.116589 0.992357 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.601994, 0.812797, 0.729465 mu:0.169526 unit_bearing:-0.318757 0.124334 0.939646 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.297789, 1.035105, 1.970218 mu:0.169526 unit_bearing:-0.104031 0.136106 0.985217 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.593297, 0.929330, 0.637692 mu:0.169526 unit_bearing:-0.329879 0.145838 0.932690 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.591381, 0.931600, 0.655050 mu:0.169526 unit_bearing:-0.327062 0.145861 0.933678 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.470025, 1.067893, 1.310481 mu:0.169526 unit_bearing:-0.216159 0.155253 0.963936 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -4.506540, 1.376263, 3.392937 mu:0.169526 unit_bearing:0.176167 0.164116 0.970583 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.799608, 1.311146, 2.953745 mu:0.169526 unit_bearing:0.086848 0.162233 0.982923 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -4.790880, 1.312903, 2.968350 mu:0.169526 unit_bearing:0.089736 0.162227 0.982665 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.468140, 1.080478, 1.308102 mu:0.169526 unit_bearing:-0.216147 0.157420 0.963587 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -4.518499, 1.362056, 3.381579 mu:0.169526 unit_bearing:0.173303 0.161960 0.971460 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.533725, 1.506226, 3.294714 mu:0.169526 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.484475, 1.453262, 3.391368 mu:0.169526 unit_bearing:0.178978 0.177105 0.967781 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.476391, 1.442324, 3.407797 mu:0.169526 unit_bearing:0.181859 0.174925 0.967641 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.613916, 1.528932, 3.159840 mu:0.169526 unit_bearing:0.135775 0.194621 0.971436 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.604436, 1.530604, 3.174029 mu:0.169526 unit_bearing:0.138654 0.194609 0.971032 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.594912, 1.532272, 3.188193 mu:0.169526 unit_bearing:0.141531 0.194597 0.970619 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.556375, 1.538899, 3.244605 mu:0.169526 unit_bearing:0.153037 0.194546 0.968882 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.602144, 1.543136, 3.171326 mu:0.169526 unit_bearing:0.138645 0.196773 0.970597 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.592621, 1.544803, 3.185489 mu:0.169526 unit_bearing:0.141522 0.196761 0.970184 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -2.025643, 2.612697, 4.920943 mu:0.169526 unit_bearing:0.612660 0.340593 0.713193 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] calculated Z= 0.988345 +[21:41:31.666] update seeds 305 +[21:41:31.666] If point is visible? -5.030672, 1.890628, -1.811790 mu:0.169526 unit_bearing:-0.642586 0.358194 0.677333 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.204026, 2.308975, 0.525852 mu:0.169526 unit_bearing:-0.292660 0.380291 0.877342 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.242225, 2.167771, -0.484948 mu:0.169526 unit_bearing:-0.451508 0.377415 0.808516 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.214488, 2.249478, -0.434518 mu:0.169526 unit_bearing:-0.440301 0.390121 0.808666 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.215114, 2.252301, -0.416902 mu:0.169526 unit_bearing:-0.437621 0.390232 0.810066 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.204641, 2.275720, -0.423720 mu:0.169526 unit_bearing:-0.437453 0.394313 0.808178 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -3.712237, 3.224129, 3.131327 mu:0.169526 unit_bearing:0.229015 0.480448 0.846594 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -3.909879, -2.093282, 3.794562 mu:0.169526 unit_bearing:0.216123 -0.427975 0.877569 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -3.867275, -1.845802, 3.970870 mu:0.169526 unit_bearing:0.250613 -0.389976 0.886065 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -3.863306, -1.791936, 4.000459 mu:0.169526 unit_bearing:0.256399 -0.381524 0.888087 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.542551, -1.138693, 3.431986 mu:0.169526 unit_bearing:0.132588 -0.259863 0.956500 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -4.567363, -1.116811, 3.403555 mu:0.169526 unit_bearing:0.126866 -0.255594 0.958424 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.666] If point is visible? -5.250951, -0.937312, 2.152920 mu:0.169526 unit_bearing:-0.109632 -0.199553 0.973735 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.239614, -0.933487, 2.184972 mu:0.169526 unit_bearing:-0.103866 -0.199571 0.974363 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.089329, -0.619913, 2.644611 mu:0.169526 unit_bearing:-0.017261 -0.156305 0.987558 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.277771, -0.919360, 2.087601 mu:0.169526 unit_bearing:-0.121174 -0.195182 0.973253 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.476558, -0.831593, -1.203795 mu:0.169526 unit_bearing:-0.633661 -0.112414 0.765400 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.479625, -0.806998, -1.205828 mu:0.169526 unit_bearing:-0.633735 -0.108234 0.765941 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.483903, -0.688024, -1.253407 mu:0.169526 unit_bearing:-0.639053 -0.087232 0.764200 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.374157, -0.256546, 2.012780 mu:0.169526 unit_bearing:-0.127230 -0.082110 0.988469 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.363313, -0.252626, 2.045121 mu:0.169526 unit_bearing:-0.121455 -0.082119 0.989194 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.147710, -0.003643, 2.596910 mu:0.169526 unit_bearing:-0.017287 -0.051624 0.998517 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.208555, 0.134996, 2.456461 mu:0.169526 unit_bearing:-0.040473 -0.025395 0.998858 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.236759, 0.229794, 2.382054 mu:0.169526 unit_bearing:-0.052064 -0.007906 0.998612 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.223525, 0.233638, 2.413377 mu:0.169526 unit_bearing:-0.046270 -0.007907 0.998898 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.299077, 0.666212, 2.129784 mu:0.169526 unit_bearing:-0.086781 0.070738 0.993713 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.666] If point is visible? -5.300687, 0.640740, 2.133663 mu:0.169526 unit_bearing:-0.086784 0.066372 0.994014 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] If point is visible? -5.286503, 0.941779, 2.052168 mu:0.169526 unit_bearing:-0.092506 0.118709 0.988611 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] If point is visible? -5.486968, 1.023688, 1.267295 mu:0.169526 unit_bearing:-0.224777 0.148707 0.962996 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] If point is visible? -5.309165, 1.031095, 1.938146 mu:0.169526 unit_bearing:-0.109806 0.136093 0.984592 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] If point is visible? -5.297789, 1.035105, 1.970218 mu:0.169526 unit_bearing:-0.104031 0.136106 0.985217 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] If point is visible? -4.510728, 1.412345, 3.371407 mu:0.169526 unit_bearing:0.173265 0.170632 0.969981 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.667] If point is visible? -4.572795, 1.499641, 3.238584 mu:0.169526 unit_bearing:0.150190 0.188065 0.970605 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.667] If point is visible? -5.270934, 1.701438, -1.238177 mu:0.169526 unit_bearing:-0.576627 0.314510 0.754046 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] If point is visible? -4.147215, 2.068070, 3.524618 mu:0.169526 unit_bearing:0.235338 0.277801 0.931366 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.667] If point is visible? -4.807196, 1.374879, -2.653977 mu:0.169526 unit_bearing:-0.763675 0.288813 0.577397 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] If point is visible? -4.058351, 2.431210, 3.394434 mu:0.169526 unit_bearing:0.228848 0.341593 0.911560 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.667] If point is visible? -4.036432, 2.433967, 3.420838 mu:0.169526 unit_bearing:0.234511 0.341512 0.910151 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.667] If point is visible? -4.496586, 2.409368, 2.743886 mu:0.169526 unit_bearing:0.097634 0.351358 0.931136 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.667] If point is visible? -5.208587, 2.217545, 0.850931 mu:0.169526 unit_bearing:-0.245356 0.358190 0.900833 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] If point is visible? -5.251374, 2.141428, -0.496003 mu:0.169526 unit_bearing:-0.454347 0.373210 0.808878 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] If point is visible? -5.192052, 2.328272, 0.573286 mu:0.169526 unit_bearing:-0.284224 0.382558 0.879128 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] If point is visible? -1.974316, 2.612661, 4.944564 mu:0.169526 unit_bearing:0.620000 0.340099 0.707059 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:31.667] If point is visible? -5.239380, 2.159256, -0.538015 mu:0.169526 unit_bearing:-0.459513 0.377078 0.804151 T_cur_ref: x=0.209479 y=0.000000 z=0.127837 +[21:41:31.667] init seeds +[21:41:31.667] DepthFilter: Initialized 2 new seeds +[21:41:31.668] DepthFilter: Initialized 2 new seeds +[21:41:32.008] add new frame +[21:41:32.009] update seed +[21:41:32.009] If point is visible? -6.019536, 2.750560, 4.550642 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.235427 y=0.000000 z=0.140129 +[21:41:32.009] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:32.009] If point is visible? -5.990953, 2.754755, 4.588306 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.235427 y=0.000000 z=0.140129 +[21:41:32.009] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:32.009] If point is visible? -5.962124, 2.758919, 4.625827 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.235427 y=0.000000 z=0.140129 +[21:41:32.009] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:32.009] If point is visible? -6.019536, 2.750560, 4.550642 mu:0.122959 unit_bearing:0.201247 0.269593 0.941711 T_cur_ref: x=0.235427 y=0.000000 z=0.140129 +[21:41:32.009] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:32.009] If point is visible? -5.990953, 2.754755, 4.588306 mu:0.122959 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=0.235427 y=0.000000 z=0.140129 +[21:41:32.009] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:32.009] If point is visible? -5.962124, 2.758919, 4.625827 mu:0.122959 unit_bearing:0.212657 0.269487 0.939231 T_cur_ref: x=0.235427 y=0.000000 z=0.140129 +[21:41:32.009] Z inverse min: 0.699190, Z inverse max: 0.000000 +[21:41:32.009] If point is visible? -67044911758.930779, 41253019789.580070, 25792947704.946358 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.226758 y=0.000000 z=0.136115 +[21:41:32.009] If point is visible? -73436292495.020508, 24078526135.032658, 29823539521.340210 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.226758 y=0.000000 z=0.136115 +[21:41:32.009] If point is visible? -73436292495.020508, 24078526135.032658, 29823539521.340210 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.226758 y=0.000000 z=0.136115 +[21:41:32.009] If point is visible? -67044911758.930779, 41253019789.580070, 25792947704.946358 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.226758 y=0.000000 z=0.136115 +[21:41:32.009] If point is visible? -6.965443, 4.978891, 4.369761 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218034 y=0.000000 z=0.131923 +[21:41:32.009] If point is visible? -5.540910, 4.464259, 6.555000 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218034 y=0.000000 z=0.131923 +[21:41:32.009] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:32.009] If point is visible? -5.540910, 4.464259, 6.555000 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218034 y=0.000000 z=0.131923 +[21:41:32.009] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:32.009] If point is visible? -6.965443, 4.978891, 4.369761 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218034 y=0.000000 z=0.131923 +[21:41:32.009] If point is visible? -3.181676, 2.672243, 4.147165 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.209478 y=0.000000 z=0.127836 +[21:41:32.009] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:32.009] add key frame +[21:41:32.009] init seeds +[21:41:32.009] remove key frame +[21:41:32.009] update seed +[21:41:32.009] init seeds +[21:41:32.011] DepthFilter: Initialized 0 new seeds +[21:41:32.013] DepthFilter: Initialized 188 new seeds +[21:41:33.801] add new frame +[21:41:33.801] update seed +[21:41:33.801] If point is visible? -67044911758.930786, 41253019789.580070, 25792947704.946346 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.226753 y=0.000000 z=0.136106 +[21:41:33.801] If point is visible? -73436292495.020523, 24078526135.032658, 29823539521.340199 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.226753 y=0.000000 z=0.136106 +[21:41:33.801] If point is visible? -73436292495.020523, 24078526135.032658, 29823539521.340199 mu:0.000000 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.226753 y=0.000000 z=0.136106 +[21:41:33.801] If point is visible? -67044911758.930786, 41253019789.580070, 25792947704.946346 mu:0.000000 unit_bearing:-0.005598 0.456339 0.889788 T_cur_ref: x=0.226753 y=0.000000 z=0.136106 +[21:41:33.801] If point is visible? -6.965448, 4.978891, 4.369752 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218029 y=0.000000 z=0.131914 +[21:41:33.801] If point is visible? -5.540915, 4.464259, 6.554991 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218029 y=0.000000 z=0.131914 +[21:41:33.801] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:33.801] If point is visible? -5.540915, 4.464259, 6.554991 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218029 y=0.000000 z=0.131914 +[21:41:33.801] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:33.801] If point is visible? -6.965448, 4.978891, 4.369752 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218029 y=0.000000 z=0.131914 +[21:41:33.801] If point is visible? -3.181681, 2.672243, 4.147155 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.801] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.801] If point is visible? -5.351561, 1.961276, 0.283100 mu:0.169526 unit_bearing:-0.346778 0.326801 0.879174 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.801] If point is visible? -4.886150, -2.690964, 1.388444 mu:0.169526 unit_bearing:-0.231654 -0.478833 0.846792 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.801] If point is visible? -3.899136, -2.091361, 3.807685 mu:0.169526 unit_bearing:0.218939 -0.427923 0.876896 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.801] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.801] add key frame +[21:41:33.801] remove key frame +[21:41:33.801] init seeds +[21:41:33.801] update seed +[21:41:33.801] If point is visible? -6.965448, 4.978891, 4.369752 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218029 y=0.000000 z=0.131914 +[21:41:33.801] If point is visible? -5.540915, 4.464259, 6.554991 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218029 y=0.000000 z=0.131914 +[21:41:33.801] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:33.801] If point is visible? -5.540915, 4.464259, 6.554991 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218029 y=0.000000 z=0.131914 +[21:41:33.801] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:33.801] If point is visible? -6.965448, 4.978891, 4.369752 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218029 y=0.000000 z=0.131914 +[21:41:33.801] If point is visible? -3.181681, 2.672243, 4.147155 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.801] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.801] If point is visible? -5.351561, 1.961276, 0.283100 mu:0.169526 unit_bearing:-0.346778 0.326801 0.879174 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.801] If point is visible? -4.886150, -2.690964, 1.388444 mu:0.169526 unit_bearing:-0.231654 -0.478833 0.846792 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.801] If point is visible? -3.899136, -2.091361, 3.807685 mu:0.169526 unit_bearing:0.218939 -0.427923 0.876896 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.801] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.801] If point is visible? -3.979259, -1.798276, 3.871694 mu:0.169526 unit_bearing:0.228254 -0.379931 0.896411 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.801] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.801] If point is visible? -3.994720, -1.787607, 3.859453 mu:0.169526 unit_bearing:0.225464 -0.377883 0.897982 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.801] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -3.983830, -1.785724, 3.872585 mu:0.169526 unit_bearing:0.228289 -0.377837 0.897287 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -3.895104, -1.770645, 3.976603 mu:0.169526 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -4.451837, -1.509927, 3.412354 mu:0.169526 unit_bearing:0.129330 -0.321923 0.937891 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -4.587330, -1.375816, 3.273240 mu:0.169526 unit_bearing:0.100800 -0.296482 0.949704 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -5.437753, -1.389229, 1.115096 mu:0.169526 unit_bearing:-0.289244 -0.254152 0.922900 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -4.631419, -1.089477, 3.317595 mu:0.169526 unit_bearing:0.109643 -0.249219 0.962221 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -4.681645, -1.032872, 3.259273 mu:0.169526 unit_bearing:0.098171 -0.238489 0.966170 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -5.203164, -0.894494, 2.295559 mu:0.169526 unit_bearing:-0.083685 -0.195295 0.977168 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.197100, -0.892588, 2.311418 mu:0.169526 unit_bearing:-0.080799 -0.195302 0.977409 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.185454, -0.848413, 2.357350 mu:0.169526 unit_bearing:-0.072152 -0.188818 0.979358 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.179205, -0.846510, 2.373131 mu:0.169526 unit_bearing:-0.069264 -0.188824 0.979565 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.164593, -0.815155, 2.419280 mu:0.169526 unit_bearing:-0.060605 -0.184501 0.980962 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.147083, -0.756243, 2.479682 mu:0.169526 unit_bearing:-0.049058 -0.175837 0.983196 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.269979, -0.930250, 2.104201 mu:0.169526 unit_bearing:-0.118285 -0.197358 0.973169 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.264473, -0.928333, 2.120296 mu:0.169526 unit_bearing:-0.115403 -0.197368 0.973513 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.080369, -0.630867, 2.660690 mu:0.169526 unit_bearing:-0.014366 -0.158480 0.987258 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.073203, -0.628985, 2.676066 mu:0.169526 unit_bearing:-0.011473 -0.158481 0.987295 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -4.544072, -0.006737, 3.620616 mu:0.169526 unit_bearing:0.182206 -0.073295 0.980525 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -4.556655, 0.029952, 3.603304 mu:0.169526 unit_bearing:0.179341 -0.066764 0.981519 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -4.533021, -0.017813, 3.635568 mu:0.169526 unit_bearing:0.185078 -0.075467 0.979822 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -4.555867, 0.017145, 3.604471 mu:0.169526 unit_bearing:0.179338 -0.068943 0.981369 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -4.545724, 0.018877, 3.618323 mu:0.169526 unit_bearing:0.182214 -0.068937 0.980839 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -5.186302, 0.076635, 2.510168 mu:0.169526 unit_bearing:-0.031779 -0.036325 0.998835 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -4.553505, 0.172498, 3.603470 mu:0.169526 unit_bearing:0.182254 -0.042782 0.982320 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -4.543318, 0.174217, 3.617302 mu:0.169526 unit_bearing:0.185130 -0.042779 0.981782 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -4.543802, 0.187011, 3.615981 mu:0.169526 unit_bearing:0.185133 -0.040598 0.981875 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -5.208253, 0.122181, 2.457877 mu:0.169526 unit_bearing:-0.040473 -0.027580 0.998800 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.215292, 0.133082, 2.440840 mu:0.169526 unit_bearing:-0.043371 -0.025394 0.998736 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.208562, 0.134996, 2.456450 mu:0.169526 unit_bearing:-0.040473 -0.025395 0.998858 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.215575, 0.145896, 2.439402 mu:0.169526 unit_bearing:-0.043371 -0.023208 0.998789 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.208846, 0.147810, 2.455012 mu:0.169526 unit_bearing:-0.040473 -0.023209 0.998911 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.175952, 0.285425, 2.517711 mu:0.169526 unit_bearing:-0.025985 -0.001349 0.999661 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.223532, 0.233638, 2.413366 mu:0.169526 unit_bearing:-0.046270 -0.007907 0.998898 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.216847, 0.235557, 2.428996 mu:0.169526 unit_bearing:-0.043372 -0.007907 0.999028 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.210117, 0.237473, 2.444607 mu:0.169526 unit_bearing:-0.040475 -0.007907 0.999149 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.566379, 0.112591, 1.320588 mu:0.169526 unit_bearing:-0.239476 -0.005698 0.970885 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.223427, 0.220834, 2.414888 mu:0.169526 unit_bearing:-0.046270 -0.010093 0.998878 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.216742, 0.222752, 2.430519 mu:0.169526 unit_bearing:-0.043372 -0.010093 0.999008 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.569802, 0.097769, 1.305214 mu:0.169526 unit_bearing:-0.242337 -0.007874 0.970160 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -5.524539, 0.122482, 1.506930 mu:0.169526 unit_bearing:-0.207947 -0.007883 0.978108 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] If point is visible? -4.656939, 0.513195, 3.421834 mu:0.169526 unit_bearing:0.153466 0.018297 0.987985 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -4.714027, 0.528330, 3.333421 mu:0.169526 unit_bearing:0.136151 0.022670 0.990429 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.802] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.802] If point is visible? -4.704543, 0.530069, 3.347654 mu:0.169526 unit_bearing:0.139038 0.022669 0.990028 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.868992, 0.472722, 3.091194 mu:0.169526 unit_bearing:0.087010 0.018318 0.996039 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.529651, 0.360621, 1.442448 mu:0.169526 unit_bearing:-0.213670 0.033519 0.976331 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.525663, 0.362694, 1.459176 mu:0.169526 unit_bearing:-0.210801 0.033522 0.976954 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.521626, 0.364763, 1.475886 mu:0.169526 unit_bearing:-0.207931 0.033525 0.977569 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -4.655562, 0.576999, 3.413298 mu:0.169526 unit_bearing:0.153460 0.029209 0.987723 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.606384, 0.585558, 3.483487 mu:0.169526 unit_bearing:0.167871 0.029199 0.985376 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -5.519814, 0.415693, 1.468827 mu:0.169526 unit_bearing:-0.207920 0.042240 0.977233 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.527318, 0.424267, 1.433598 mu:0.169526 unit_bearing:-0.213657 0.044411 0.975899 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.523331, 0.426345, 1.450325 mu:0.169526 unit_bearing:-0.210787 0.044415 0.976522 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.519296, 0.428420, 1.467034 mu:0.169526 unit_bearing:-0.207917 0.044419 0.977137 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.627789, 0.466139, 0.838393 mu:0.169526 unit_bearing:-0.310570 0.063753 0.948410 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -4.840673, 0.756980, 3.080592 mu:0.169526 unit_bearing:0.092771 0.066367 0.993473 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -0.799079, 0.165599, 0.825665 mu:0.808036 unit_bearing:0.167831 0.064093 0.983730 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 1.198682, Z inverse max: 0.417390 +[21:41:33.803] calculated Z= 1.047880 +[21:41:33.803] update seeds 305 +[21:41:33.803] If point is visible? -5.626994, 0.478793, 0.836503 mu:0.169526 unit_bearing:-0.310562 0.065922 0.948264 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.616494, 0.535935, 0.880624 mu:0.169526 unit_bearing:-0.302032 0.074625 0.950372 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.592601, 0.555440, 1.035151 mu:0.169526 unit_bearing:-0.276466 0.074714 0.958115 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.381618, 0.674514, 1.882975 mu:0.169526 unit_bearing:-0.130125 0.077234 0.988485 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.627071, 0.537646, 0.792287 mu:0.169526 unit_bearing:-0.316183 0.076738 0.945590 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.597339, 0.563784, 0.998972 mu:0.169526 unit_bearing:-0.282149 0.076866 0.956286 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.627328, 0.583767, 0.749745 mu:0.169526 unit_bearing:-0.321799 0.085377 0.942951 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.623089, 0.588176, 0.784403 mu:0.169526 unit_bearing:-0.316146 0.085403 0.944859 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.591756, 0.662796, 0.965837 mu:0.169526 unit_bearing:-0.284924 0.094210 0.953909 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.480231, 0.910361, 1.390494 mu:0.169526 unit_bearing:-0.207695 0.127093 0.969902 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.483231, 0.885091, 1.394929 mu:0.169526 unit_bearing:-0.207712 0.122749 0.970458 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.173875, 0.964291, 2.338148 mu:0.169526 unit_bearing:-0.040436 0.116589 0.992357 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.602001, 0.812797, 0.729453 mu:0.169526 unit_bearing:-0.318757 0.124334 0.939646 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.297796, 1.035105, 1.970207 mu:0.169526 unit_bearing:-0.104031 0.136106 0.985217 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.593303, 0.929330, 0.637681 mu:0.169526 unit_bearing:-0.329879 0.145838 0.932690 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.591388, 0.931600, 0.655039 mu:0.169526 unit_bearing:-0.327062 0.145861 0.933678 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.470032, 1.067893, 1.310470 mu:0.169526 unit_bearing:-0.216159 0.155253 0.963936 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -4.506547, 1.376263, 3.392926 mu:0.169526 unit_bearing:0.176167 0.164116 0.970583 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.799615, 1.311146, 2.953734 mu:0.169526 unit_bearing:0.086848 0.162233 0.982923 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -4.790886, 1.312903, 2.968339 mu:0.169526 unit_bearing:0.089736 0.162227 0.982665 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.468146, 1.080478, 1.308091 mu:0.169526 unit_bearing:-0.216147 0.157420 0.963587 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -4.518506, 1.362056, 3.381568 mu:0.169526 unit_bearing:0.173303 0.161960 0.971460 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.533732, 1.506226, 3.294703 mu:0.169526 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.484482, 1.453262, 3.391357 mu:0.169526 unit_bearing:0.178978 0.177105 0.967781 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.476398, 1.442324, 3.407786 mu:0.169526 unit_bearing:0.181859 0.174925 0.967641 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.613923, 1.528932, 3.159829 mu:0.169526 unit_bearing:0.135775 0.194621 0.971436 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.604443, 1.530604, 3.174018 mu:0.169526 unit_bearing:0.138654 0.194609 0.971032 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.594919, 1.532272, 3.188182 mu:0.169526 unit_bearing:0.141531 0.194597 0.970619 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.556381, 1.538899, 3.244594 mu:0.169526 unit_bearing:0.153037 0.194546 0.968882 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.602151, 1.543136, 3.171315 mu:0.169526 unit_bearing:0.138645 0.196773 0.970597 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -4.592627, 1.544803, 3.185478 mu:0.169526 unit_bearing:0.141522 0.196761 0.970184 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.803] If point is visible? -0.494219, 0.822565, 1.636858 mu:0.538462 unit_bearing:0.612660 0.340593 0.713193 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] Z inverse min: 1.131930, Z inverse max: 0.000000 +[21:41:33.803] calculated Z= 0.988254 +[21:41:33.803] update seeds 305 +[21:41:33.803] If point is visible? -5.030678, 1.890628, -1.811801 mu:0.169526 unit_bearing:-0.642586 0.358194 0.677333 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.204032, 2.308975, 0.525841 mu:0.169526 unit_bearing:-0.292660 0.380291 0.877342 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.242232, 2.167771, -0.484959 mu:0.169526 unit_bearing:-0.451508 0.377415 0.808516 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.214495, 2.249478, -0.434529 mu:0.169526 unit_bearing:-0.440301 0.390121 0.808666 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.215121, 2.252301, -0.416913 mu:0.169526 unit_bearing:-0.437621 0.390232 0.810066 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -5.204647, 2.275720, -0.423731 mu:0.169526 unit_bearing:-0.437453 0.394313 0.808178 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.803] If point is visible? -3.712244, 3.224129, 3.131315 mu:0.169526 unit_bearing:0.229015 0.480448 0.846594 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -3.909885, -2.093282, 3.794551 mu:0.169526 unit_bearing:0.216123 -0.427975 0.877569 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -3.867282, -1.845802, 3.970859 mu:0.169526 unit_bearing:0.250613 -0.389976 0.886065 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -3.863312, -1.791936, 4.000448 mu:0.169526 unit_bearing:0.256399 -0.381524 0.888087 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -4.542558, -1.138693, 3.431975 mu:0.169526 unit_bearing:0.132588 -0.259863 0.956500 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -4.567370, -1.116811, 3.403544 mu:0.169526 unit_bearing:0.126866 -0.255594 0.958424 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -5.250958, -0.937312, 2.152909 mu:0.169526 unit_bearing:-0.109632 -0.199553 0.973735 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.239620, -0.933487, 2.184960 mu:0.169526 unit_bearing:-0.103866 -0.199571 0.974363 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.089336, -0.619913, 2.644600 mu:0.169526 unit_bearing:-0.017261 -0.156305 0.987558 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.277778, -0.919360, 2.087590 mu:0.169526 unit_bearing:-0.121174 -0.195182 0.973253 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.476565, -0.831593, -1.203806 mu:0.169526 unit_bearing:-0.633661 -0.112414 0.765400 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.479631, -0.806998, -1.205839 mu:0.169526 unit_bearing:-0.633735 -0.108234 0.765941 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.483910, -0.688024, -1.253418 mu:0.169526 unit_bearing:-0.639053 -0.087232 0.764200 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.374163, -0.256546, 2.012769 mu:0.169526 unit_bearing:-0.127230 -0.082110 0.988469 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.363320, -0.252626, 2.045109 mu:0.169526 unit_bearing:-0.121455 -0.082119 0.989194 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.147717, -0.003643, 2.596899 mu:0.169526 unit_bearing:-0.017287 -0.051624 0.998517 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.208562, 0.134996, 2.456450 mu:0.169526 unit_bearing:-0.040473 -0.025395 0.998858 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.236766, 0.229794, 2.382043 mu:0.169526 unit_bearing:-0.052064 -0.007906 0.998612 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.223532, 0.233638, 2.413366 mu:0.169526 unit_bearing:-0.046270 -0.007907 0.998898 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.299083, 0.666212, 2.129772 mu:0.169526 unit_bearing:-0.086781 0.070738 0.993713 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.300693, 0.640740, 2.133652 mu:0.169526 unit_bearing:-0.086784 0.066372 0.994014 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.286509, 0.941779, 2.052157 mu:0.169526 unit_bearing:-0.092506 0.118709 0.988611 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.486975, 1.023688, 1.267284 mu:0.169526 unit_bearing:-0.224777 0.148707 0.962996 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.309172, 1.031095, 1.938135 mu:0.169526 unit_bearing:-0.109806 0.136093 0.984592 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.297796, 1.035105, 1.970207 mu:0.169526 unit_bearing:-0.104031 0.136106 0.985217 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -4.510734, 1.412345, 3.371396 mu:0.169526 unit_bearing:0.173265 0.170632 0.969981 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -4.572801, 1.499641, 3.238573 mu:0.169526 unit_bearing:0.150190 0.188065 0.970605 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -5.270940, 1.701438, -1.238188 mu:0.169526 unit_bearing:-0.576627 0.314510 0.754046 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -4.147222, 2.068070, 3.524607 mu:0.169526 unit_bearing:0.235338 0.277801 0.931366 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -4.807203, 1.374879, -2.653988 mu:0.169526 unit_bearing:-0.763675 0.288813 0.577397 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -4.058358, 2.431210, 3.394423 mu:0.169526 unit_bearing:0.228848 0.341593 0.911560 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -4.036439, 2.433967, 3.420827 mu:0.169526 unit_bearing:0.234511 0.341512 0.910151 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -4.496592, 2.409368, 2.743875 mu:0.169526 unit_bearing:0.097634 0.351358 0.931136 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -5.208594, 2.217545, 0.850920 mu:0.169526 unit_bearing:-0.245356 0.358190 0.900833 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.251381, 2.141428, -0.496014 mu:0.169526 unit_bearing:-0.454347 0.373210 0.808878 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.192059, 2.328272, 0.573275 mu:0.169526 unit_bearing:-0.284224 0.382558 0.879128 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -1.974322, 2.612661, 4.944553 mu:0.169526 unit_bearing:0.620000 0.340099 0.707059 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -5.239387, 2.159256, -0.538026 mu:0.169526 unit_bearing:-0.459513 0.377078 0.804151 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.241341, 2.164939, -0.502640 mu:0.169526 unit_bearing:-0.454179 0.377303 0.807071 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -4.306931, 2.646112, 2.847385 mu:0.169526 unit_bearing:0.131634 0.389055 0.911761 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -5.250958, -0.937312, 2.152909 mu:0.169526 unit_bearing:-0.109632 -0.199553 0.973735 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -4.675976, -1.058461, 3.259578 mu:0.169526 unit_bearing:0.098155 -0.242801 0.965097 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -3.910173, -2.146834, 3.763131 mu:0.169526 unit_bearing:0.210335 -0.436337 0.874854 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -4.542558, -1.138693, 3.431975 mu:0.169526 unit_bearing:0.132588 -0.259863 0.956500 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -3.888341, -2.089438, 3.820790 mu:0.169526 unit_bearing:0.221754 -0.427871 0.876214 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -4.468065, -1.553577, 3.368637 mu:0.169526 unit_bearing:0.120694 -0.328364 0.936809 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -4.530076, -1.189763, 3.431909 mu:0.169526 unit_bearing:0.132540 -0.268455 0.954131 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -5.282376, -0.893742, 2.086560 mu:0.169526 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.237374, -0.878410, 2.214947 mu:0.169526 unit_bearing:-0.098124 -0.190923 0.976688 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.213761, -0.870767, 2.278668 mu:0.169526 unit_bearing:-0.086582 -0.190954 0.977773 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.175802, -0.011232, 2.535004 mu:0.169526 unit_bearing:-0.028878 -0.051622 0.998249 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.117368, -0.627466, 2.582794 mu:0.169526 unit_bearing:-0.028833 -0.156299 0.987289 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.361330, -0.278272, 2.047341 mu:0.169526 unit_bearing:-0.121449 -0.086480 0.988823 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.339091, -0.270458, 2.111790 mu:0.169526 unit_bearing:-0.109894 -0.086497 0.990173 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -5.124503, -0.576109, 2.579891 mu:0.169526 unit_bearing:-0.028839 -0.147597 0.988627 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] If point is visible? -4.612793, 1.370682, 3.236331 mu:0.169526 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -4.604813, 1.420984, 3.226095 mu:0.169526 unit_bearing:0.144488 0.175088 0.973893 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] If point is visible? -3.181681, 2.672243, 4.147155 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.209473 y=0.000000 z=0.127826 +[21:41:33.804] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:33.804] init seeds +[21:41:33.804] DepthFilter: Initialized 1 new seeds +[21:41:33.807] DepthFilter: Initialized 1 new seeds +[21:41:34.486] add new frame +[21:41:34.486] update seed +[21:41:34.486] If point is visible? -6.965450, 4.978891, 4.369751 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218027 y=0.000000 z=0.131913 +[21:41:34.486] If point is visible? -5.540917, 4.464259, 6.554990 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218027 y=0.000000 z=0.131913 +[21:41:34.486] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:34.486] If point is visible? -5.540917, 4.464259, 6.554990 mu:0.102950 unit_bearing:0.389678 0.375583 0.840885 T_cur_ref: x=0.218027 y=0.000000 z=0.131913 +[21:41:34.486] Z inverse min: 0.669909, Z inverse max: 0.000000 +[21:41:34.486] If point is visible? -6.965450, 4.978891, 4.369751 mu:0.102950 unit_bearing:0.130920 0.455587 0.880512 T_cur_ref: x=0.218027 y=0.000000 z=0.131913 +[21:41:34.486] If point is visible? -3.181683, 2.672243, 4.147155 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.486] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.486] If point is visible? -5.351563, 1.961276, 0.283099 mu:0.169526 unit_bearing:-0.346778 0.326801 0.879174 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.486] If point is visible? -4.886152, -2.690964, 1.388443 mu:0.169526 unit_bearing:-0.231654 -0.478833 0.846792 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.486] If point is visible? -3.899138, -2.091361, 3.807684 mu:0.169526 unit_bearing:0.218939 -0.427923 0.876896 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.486] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.486] If point is visible? -3.979261, -1.798276, 3.871693 mu:0.169526 unit_bearing:0.228254 -0.379931 0.896411 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] If point is visible? -3.994722, -1.787607, 3.859452 mu:0.169526 unit_bearing:0.225464 -0.377883 0.897982 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] add key frame +[21:41:34.487] If point is visible? -3.983832, -1.785724, 3.872585 mu:0.169526 unit_bearing:0.228289 -0.377837 0.897287 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] remove key frame +[21:41:34.487] init seeds +[21:41:34.487] update seed +[21:41:34.487] If point is visible? -3.181683, 2.672243, 4.147155 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] If point is visible? -5.351563, 1.961276, 0.283099 mu:0.169526 unit_bearing:-0.346778 0.326801 0.879174 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -4.886152, -2.690964, 1.388443 mu:0.169526 unit_bearing:-0.231654 -0.478833 0.846792 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -3.899138, -2.091361, 3.807684 mu:0.169526 unit_bearing:0.218939 -0.427923 0.876896 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] If point is visible? -3.979261, -1.798276, 3.871693 mu:0.169526 unit_bearing:0.228254 -0.379931 0.896411 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] If point is visible? -3.994722, -1.787607, 3.859452 mu:0.169526 unit_bearing:0.225464 -0.377883 0.897982 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] If point is visible? -3.983832, -1.785724, 3.872585 mu:0.169526 unit_bearing:0.228289 -0.377837 0.897287 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] If point is visible? -3.895106, -1.770645, 3.976602 mu:0.169526 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] If point is visible? -4.451839, -1.509927, 3.412353 mu:0.169526 unit_bearing:0.129330 -0.321923 0.937891 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] If point is visible? -4.587332, -1.375816, 3.273239 mu:0.169526 unit_bearing:0.100800 -0.296482 0.949704 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] If point is visible? -5.437755, -1.389229, 1.115095 mu:0.169526 unit_bearing:-0.289244 -0.254152 0.922900 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -4.631421, -1.089477, 3.317594 mu:0.169526 unit_bearing:0.109643 -0.249219 0.962221 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] If point is visible? -4.681646, -1.032872, 3.259273 mu:0.169526 unit_bearing:0.098171 -0.238489 0.966170 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.487] If point is visible? -5.203165, -0.894494, 2.295558 mu:0.169526 unit_bearing:-0.083685 -0.195295 0.977168 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -5.197102, -0.892588, 2.311417 mu:0.169526 unit_bearing:-0.080799 -0.195302 0.977409 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -5.185456, -0.848413, 2.357349 mu:0.169526 unit_bearing:-0.072152 -0.188818 0.979358 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -5.179206, -0.846510, 2.373130 mu:0.169526 unit_bearing:-0.069264 -0.188824 0.979565 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -5.164594, -0.815155, 2.419279 mu:0.169526 unit_bearing:-0.060605 -0.184501 0.980962 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -5.147085, -0.756243, 2.479681 mu:0.169526 unit_bearing:-0.049058 -0.175837 0.983196 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -5.269981, -0.930250, 2.104200 mu:0.169526 unit_bearing:-0.118285 -0.197358 0.973169 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -5.264474, -0.928333, 2.120295 mu:0.169526 unit_bearing:-0.115403 -0.197368 0.973513 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -5.080371, -0.630867, 2.660689 mu:0.169526 unit_bearing:-0.014366 -0.158480 0.987258 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.487] If point is visible? -5.073205, -0.628985, 2.676066 mu:0.169526 unit_bearing:-0.011473 -0.158481 0.987295 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -4.544074, -0.006737, 3.620616 mu:0.169526 unit_bearing:0.182206 -0.073295 0.980525 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -4.556657, 0.029952, 3.603303 mu:0.169526 unit_bearing:0.179341 -0.066764 0.981519 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -4.533023, -0.017813, 3.635567 mu:0.169526 unit_bearing:0.185078 -0.075467 0.979822 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -4.555869, 0.017145, 3.604470 mu:0.169526 unit_bearing:0.179338 -0.068943 0.981369 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -4.545726, 0.018877, 3.618322 mu:0.169526 unit_bearing:0.182214 -0.068937 0.980839 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -5.186304, 0.076635, 2.510168 mu:0.169526 unit_bearing:-0.031779 -0.036325 0.998835 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -4.553507, 0.172498, 3.603469 mu:0.169526 unit_bearing:0.182254 -0.042782 0.982320 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -4.543320, 0.174217, 3.617301 mu:0.169526 unit_bearing:0.185130 -0.042779 0.981782 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -4.543804, 0.187011, 3.615980 mu:0.169526 unit_bearing:0.185133 -0.040598 0.981875 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -5.208255, 0.122181, 2.457876 mu:0.169526 unit_bearing:-0.040473 -0.027580 0.998800 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.215294, 0.133082, 2.440840 mu:0.169526 unit_bearing:-0.043371 -0.025394 0.998736 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.208564, 0.134996, 2.456450 mu:0.169526 unit_bearing:-0.040473 -0.025395 0.998858 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.215577, 0.145896, 2.439401 mu:0.169526 unit_bearing:-0.043371 -0.023208 0.998789 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.208847, 0.147810, 2.455011 mu:0.169526 unit_bearing:-0.040473 -0.023209 0.998911 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.175954, 0.285425, 2.517710 mu:0.169526 unit_bearing:-0.025985 -0.001349 0.999661 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.223534, 0.233638, 2.413365 mu:0.169526 unit_bearing:-0.046270 -0.007907 0.998898 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.216849, 0.235557, 2.428996 mu:0.169526 unit_bearing:-0.043372 -0.007907 0.999028 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.210119, 0.237473, 2.444606 mu:0.169526 unit_bearing:-0.040475 -0.007907 0.999149 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.566380, 0.112591, 1.320587 mu:0.169526 unit_bearing:-0.239476 -0.005698 0.970885 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.223429, 0.220834, 2.414887 mu:0.169526 unit_bearing:-0.046270 -0.010093 0.998878 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.216744, 0.222752, 2.430518 mu:0.169526 unit_bearing:-0.043372 -0.010093 0.999008 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.569804, 0.097769, 1.305213 mu:0.169526 unit_bearing:-0.242337 -0.007874 0.970160 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.524540, 0.122482, 1.506930 mu:0.169526 unit_bearing:-0.207947 -0.007883 0.978108 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -4.656941, 0.513195, 3.421833 mu:0.169526 unit_bearing:0.153466 0.018297 0.987985 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -4.714029, 0.528330, 3.333420 mu:0.169526 unit_bearing:0.136151 0.022670 0.990429 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -4.704545, 0.530069, 3.347653 mu:0.169526 unit_bearing:0.139038 0.022669 0.990028 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -4.868993, 0.472722, 3.091194 mu:0.169526 unit_bearing:0.087010 0.018318 0.996039 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.529652, 0.360621, 1.442447 mu:0.169526 unit_bearing:-0.213670 0.033519 0.976331 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.525664, 0.362694, 1.459175 mu:0.169526 unit_bearing:-0.210801 0.033522 0.976954 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.521628, 0.364763, 1.475886 mu:0.169526 unit_bearing:-0.207931 0.033525 0.977569 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -4.655564, 0.576999, 3.413297 mu:0.169526 unit_bearing:0.153460 0.029209 0.987723 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -4.606386, 0.585558, 3.483486 mu:0.169526 unit_bearing:0.167871 0.029199 0.985376 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.488] If point is visible? -5.519816, 0.415693, 1.468827 mu:0.169526 unit_bearing:-0.207920 0.042240 0.977233 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.527320, 0.424267, 1.433598 mu:0.169526 unit_bearing:-0.213657 0.044411 0.975899 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.523333, 0.426345, 1.450324 mu:0.169526 unit_bearing:-0.210787 0.044415 0.976522 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.519298, 0.428420, 1.467033 mu:0.169526 unit_bearing:-0.207917 0.044419 0.977137 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.627791, 0.466139, 0.838393 mu:0.169526 unit_bearing:-0.310570 0.063753 0.948410 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -4.840675, 0.756980, 3.080592 mu:0.169526 unit_bearing:0.092771 0.066367 0.993473 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -0.676272, 0.145435, 0.740690 mu:0.920070 unit_bearing:0.167831 0.064093 0.983730 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] Z inverse min: 1.118914, Z inverse max: 0.721226 +[21:41:34.488] If point is visible? -5.626996, 0.478793, 0.836503 mu:0.169526 unit_bearing:-0.310562 0.065922 0.948264 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.616495, 0.535935, 0.880623 mu:0.169526 unit_bearing:-0.302032 0.074625 0.950372 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.592603, 0.555440, 1.035151 mu:0.169526 unit_bearing:-0.276466 0.074714 0.958115 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.381620, 0.674514, 1.882974 mu:0.169526 unit_bearing:-0.130125 0.077234 0.988485 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.627073, 0.537646, 0.792286 mu:0.169526 unit_bearing:-0.316183 0.076738 0.945590 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.597341, 0.563784, 0.998972 mu:0.169526 unit_bearing:-0.282149 0.076866 0.956286 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.627330, 0.583767, 0.749744 mu:0.169526 unit_bearing:-0.321799 0.085377 0.942951 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.623090, 0.588176, 0.784402 mu:0.169526 unit_bearing:-0.316146 0.085403 0.944859 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.591758, 0.662796, 0.965837 mu:0.169526 unit_bearing:-0.284924 0.094210 0.953909 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.480233, 0.910361, 1.390493 mu:0.169526 unit_bearing:-0.207695 0.127093 0.969902 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.483233, 0.885091, 1.394929 mu:0.169526 unit_bearing:-0.207712 0.122749 0.970458 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.173877, 0.964291, 2.338147 mu:0.169526 unit_bearing:-0.040436 0.116589 0.992357 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.602002, 0.812797, 0.729453 mu:0.169526 unit_bearing:-0.318757 0.124334 0.939646 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.297797, 1.035105, 1.970207 mu:0.169526 unit_bearing:-0.104031 0.136106 0.985217 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.593305, 0.929330, 0.637680 mu:0.169526 unit_bearing:-0.329879 0.145838 0.932690 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.591390, 0.931600, 0.655039 mu:0.169526 unit_bearing:-0.327062 0.145861 0.933678 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -5.470034, 1.067893, 1.310469 mu:0.169526 unit_bearing:-0.216159 0.155253 0.963936 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.488] If point is visible? -4.506549, 1.376263, 3.392925 mu:0.169526 unit_bearing:0.176167 0.164116 0.970583 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.799617, 1.311146, 2.953733 mu:0.169526 unit_bearing:0.086848 0.162233 0.982923 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -4.790888, 1.312903, 2.968338 mu:0.169526 unit_bearing:0.089736 0.162227 0.982665 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.468148, 1.080478, 1.308090 mu:0.169526 unit_bearing:-0.216147 0.157420 0.963587 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -4.518508, 1.362056, 3.381568 mu:0.169526 unit_bearing:0.173303 0.161960 0.971460 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.533734, 1.506226, 3.294702 mu:0.169526 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.484484, 1.453262, 3.391356 mu:0.169526 unit_bearing:0.178978 0.177105 0.967781 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.476400, 1.442324, 3.407785 mu:0.169526 unit_bearing:0.181859 0.174925 0.967641 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.613924, 1.528932, 3.159829 mu:0.169526 unit_bearing:0.135775 0.194621 0.971436 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.604445, 1.530604, 3.174017 mu:0.169526 unit_bearing:0.138654 0.194609 0.971032 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.594921, 1.532272, 3.188181 mu:0.169526 unit_bearing:0.141531 0.194597 0.970619 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.556383, 1.538899, 3.244593 mu:0.169526 unit_bearing:0.153037 0.194546 0.968882 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.602153, 1.543136, 3.171314 mu:0.169526 unit_bearing:0.138645 0.196773 0.970597 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.592629, 1.544803, 3.185477 mu:0.169526 unit_bearing:0.141522 0.196761 0.970184 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -0.246085, 0.532512, 1.104741 mu:0.831757 unit_bearing:0.612660 0.340593 0.713193 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 1.263905, Z inverse max: 0.399608 +[21:41:34.489] If point is visible? -5.030680, 1.890628, -1.811802 mu:0.169526 unit_bearing:-0.642586 0.358194 0.677333 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.204034, 2.308975, 0.525840 mu:0.169526 unit_bearing:-0.292660 0.380291 0.877342 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.242233, 2.167771, -0.484960 mu:0.169526 unit_bearing:-0.451508 0.377415 0.808516 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.214496, 2.249478, -0.434530 mu:0.169526 unit_bearing:-0.440301 0.390121 0.808666 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.215123, 2.252301, -0.416914 mu:0.169526 unit_bearing:-0.437621 0.390232 0.810066 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.204649, 2.275720, -0.423732 mu:0.169526 unit_bearing:-0.437453 0.394313 0.808178 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -3.712246, 3.224129, 3.131315 mu:0.169526 unit_bearing:0.229015 0.480448 0.846594 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -3.909887, -2.093282, 3.794551 mu:0.169526 unit_bearing:0.216123 -0.427975 0.877569 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -3.867283, -1.845802, 3.970859 mu:0.169526 unit_bearing:0.250613 -0.389976 0.886065 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -3.863314, -1.791936, 4.000448 mu:0.169526 unit_bearing:0.256399 -0.381524 0.888087 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.542560, -1.138693, 3.431974 mu:0.169526 unit_bearing:0.132588 -0.259863 0.956500 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.567371, -1.116811, 3.403543 mu:0.169526 unit_bearing:0.126866 -0.255594 0.958424 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -5.250960, -0.937312, 2.152908 mu:0.169526 unit_bearing:-0.109632 -0.199553 0.973735 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.239622, -0.933487, 2.184960 mu:0.169526 unit_bearing:-0.103866 -0.199571 0.974363 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.089338, -0.619913, 2.644599 mu:0.169526 unit_bearing:-0.017261 -0.156305 0.987558 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.277780, -0.919360, 2.087589 mu:0.169526 unit_bearing:-0.121174 -0.195182 0.973253 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.476567, -0.831593, -1.203807 mu:0.169526 unit_bearing:-0.633661 -0.112414 0.765400 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.479633, -0.806998, -1.205840 mu:0.169526 unit_bearing:-0.633735 -0.108234 0.765941 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.483911, -0.688024, -1.253419 mu:0.169526 unit_bearing:-0.639053 -0.087232 0.764200 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.374165, -0.256546, 2.012768 mu:0.169526 unit_bearing:-0.127230 -0.082110 0.988469 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.363322, -0.252626, 2.045109 mu:0.169526 unit_bearing:-0.121455 -0.082119 0.989194 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.147719, -0.003643, 2.596898 mu:0.169526 unit_bearing:-0.017287 -0.051624 0.998517 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.208564, 0.134996, 2.456450 mu:0.169526 unit_bearing:-0.040473 -0.025395 0.998858 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.236768, 0.229794, 2.382042 mu:0.169526 unit_bearing:-0.052064 -0.007906 0.998612 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.223534, 0.233638, 2.413365 mu:0.169526 unit_bearing:-0.046270 -0.007907 0.998898 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.299085, 0.666212, 2.129772 mu:0.169526 unit_bearing:-0.086781 0.070738 0.993713 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.300695, 0.640740, 2.133651 mu:0.169526 unit_bearing:-0.086784 0.066372 0.994014 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.286511, 0.941779, 2.052156 mu:0.169526 unit_bearing:-0.092506 0.118709 0.988611 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.486977, 1.023688, 1.267283 mu:0.169526 unit_bearing:-0.224777 0.148707 0.962996 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.309174, 1.031095, 1.938135 mu:0.169526 unit_bearing:-0.109806 0.136093 0.984592 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -5.297797, 1.035105, 1.970207 mu:0.169526 unit_bearing:-0.104031 0.136106 0.985217 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -4.510736, 1.412345, 3.371395 mu:0.169526 unit_bearing:0.173265 0.170632 0.969981 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.572803, 1.499641, 3.238573 mu:0.169526 unit_bearing:0.150190 0.188065 0.970605 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -5.270942, 1.701438, -1.238189 mu:0.169526 unit_bearing:-0.576627 0.314510 0.754046 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -4.147224, 2.068070, 3.524606 mu:0.169526 unit_bearing:0.235338 0.277801 0.931366 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.489] If point is visible? -4.807205, 1.374879, -2.653988 mu:0.169526 unit_bearing:-0.763675 0.288813 0.577397 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] If point is visible? -4.058360, 2.431210, 3.394423 mu:0.169526 unit_bearing:0.228848 0.341593 0.911560 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.489] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -4.036441, 2.433967, 3.420826 mu:0.169526 unit_bearing:0.234511 0.341512 0.910151 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -4.496594, 2.409368, 2.743875 mu:0.169526 unit_bearing:0.097634 0.351358 0.931136 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -5.208596, 2.217545, 0.850920 mu:0.169526 unit_bearing:-0.245356 0.358190 0.900833 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -5.251383, 2.141428, -0.496015 mu:0.169526 unit_bearing:-0.454347 0.373210 0.808878 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -5.192060, 2.328272, 0.573275 mu:0.169526 unit_bearing:-0.284224 0.382558 0.879128 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -1.974324, 2.612661, 4.944552 mu:0.169526 unit_bearing:0.620000 0.340099 0.707059 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -5.239388, 2.159256, -0.538027 mu:0.169526 unit_bearing:-0.459513 0.377078 0.804151 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -5.241342, 2.164939, -0.502641 mu:0.169526 unit_bearing:-0.454179 0.377303 0.807071 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -4.306933, 2.646112, 2.847385 mu:0.169526 unit_bearing:0.131634 0.389055 0.911761 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -5.250960, -0.937312, 2.152908 mu:0.169526 unit_bearing:-0.109632 -0.199553 0.973735 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -4.675977, -1.058461, 3.259577 mu:0.169526 unit_bearing:0.098155 -0.242801 0.965097 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -3.910175, -2.146834, 3.763130 mu:0.169526 unit_bearing:0.210335 -0.436337 0.874854 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -4.542560, -1.138693, 3.431974 mu:0.169526 unit_bearing:0.132588 -0.259863 0.956500 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -3.888343, -2.089438, 3.820789 mu:0.169526 unit_bearing:0.221754 -0.427871 0.876214 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -4.468067, -1.553577, 3.368637 mu:0.169526 unit_bearing:0.120694 -0.328364 0.936809 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -4.530077, -1.189763, 3.431908 mu:0.169526 unit_bearing:0.132540 -0.268455 0.954131 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -5.282378, -0.893742, 2.086559 mu:0.169526 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -5.237376, -0.878410, 2.214946 mu:0.169526 unit_bearing:-0.098124 -0.190923 0.976688 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -5.213762, -0.870767, 2.278668 mu:0.169526 unit_bearing:-0.086582 -0.190954 0.977773 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -5.175804, -0.011232, 2.535004 mu:0.169526 unit_bearing:-0.028878 -0.051622 0.998249 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -5.117370, -0.627466, 2.582793 mu:0.169526 unit_bearing:-0.028833 -0.156299 0.987289 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -5.361332, -0.278272, 2.047341 mu:0.169526 unit_bearing:-0.121449 -0.086480 0.988823 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -5.339093, -0.270458, 2.111789 mu:0.169526 unit_bearing:-0.109894 -0.086497 0.990173 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -5.124504, -0.576109, 2.579890 mu:0.169526 unit_bearing:-0.028839 -0.147597 0.988627 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] If point is visible? -4.612795, 1.370682, 3.236330 mu:0.169526 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -4.604815, 1.420984, 3.226094 mu:0.169526 unit_bearing:0.144488 0.175088 0.973893 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -3.181683, 2.672243, 4.147155 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] If point is visible? -4.216410, 1.963706, 3.496988 mu:0.169526 unit_bearing:0.224139 0.260811 0.939010 T_cur_ref: x=0.209471 y=0.000000 z=0.127826 +[21:41:34.490] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:34.490] init seeds +[21:41:34.490] DepthFilter: Initialized 0 new seeds +[21:41:34.492] DepthFilter: Initialized 0 new seeds +[21:41:35.181] add new frame +[21:41:35.181] update seed +[21:41:35.181] If point is visible? -3.181685, 2.672243, 4.147153 mu:0.169526 unit_bearing:0.411738 0.366599 0.834312 T_cur_ref: x=0.209469 y=0.000000 z=0.127824 +[21:41:35.181] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:35.181] If point is visible? -5.351565, 1.961276, 0.283098 mu:0.169526 unit_bearing:-0.346778 0.326801 0.879174 T_cur_ref: x=0.209469 y=0.000000 z=0.127824 +[21:41:35.181] If point is visible? -4.886153, -2.690964, 1.388441 mu:0.169526 unit_bearing:-0.231654 -0.478833 0.846792 T_cur_ref: x=0.209469 y=0.000000 z=0.127824 +[21:41:35.181] If point is visible? -3.899139, -2.091361, 3.807683 mu:0.169526 unit_bearing:0.218939 -0.427923 0.876896 T_cur_ref: x=0.209469 y=0.000000 z=0.127824 +[21:41:35.181] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:35.181] If point is visible? -3.979262, -1.798276, 3.871692 mu:0.169526 unit_bearing:0.228254 -0.379931 0.896411 T_cur_ref: x=0.209469 y=0.000000 z=0.127824 +[21:41:35.181] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:35.181] If point is visible? -3.994723, -1.787607, 3.859451 mu:0.169526 unit_bearing:0.225464 -0.377883 0.897982 T_cur_ref: x=0.209469 y=0.000000 z=0.127824 +[21:41:35.181] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:35.182] If point is visible? -3.983833, -1.785724, 3.872583 mu:0.169526 unit_bearing:0.228289 -0.377837 0.897287 T_cur_ref: x=0.209469 y=0.000000 z=0.127824 +[21:41:35.182] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:35.182] If point is visible? -3.895107, -1.770645, 3.976600 mu:0.169526 unit_bearing:0.250850 -0.377449 0.891407 T_cur_ref: x=0.209469 y=0.000000 z=0.127824 +[21:41:35.182] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:35.182] If point is visible? -4.451841, -1.509927, 3.412352 mu:0.169526 unit_bearing:0.129330 -0.321923 0.937891 T_cur_ref: x=0.209469 y=0.000000 z=0.127824 +[21:41:35.182] Z inverse min: 0.731988, Z inverse max: 0.000000 +[21:41:35.182] add key frame +[21:41:35.182] remove key frame +[21:41:35.182] init seeds +[21:41:35.182] update seed +[21:41:35.182] init seeds +[21:41:35.185] DepthFilter: Initialized 1 new seeds +[21:41:35.187] DepthFilter: Initialized 185 new seeds +[21:41:35.871] add new frame +[21:41:35.871] update seed +[21:41:35.871] If point is visible? 9223297463.601690, -3269344365.345273, 1447373527.060627 mu:-0.000000 unit_bearing:-0.518748 0.345870 0.781841 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] If point is visible? 4004186844.548496, 3818326197.700246, -8199975095.458602 mu:-0.000000 unit_bearing:0.505638 -0.484145 0.714097 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 3977909327.590632, 3814637801.912275, -8214468614.945080 mu:-0.000000 unit_bearing:0.508184 -0.483954 0.712417 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 7118039584.027229, 4411203131.730582, -5265692567.628839 mu:-0.000000 unit_bearing:0.093537 -0.507483 0.856570 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 4303320132.263604, 3604354184.577263, -8145108075.141214 mu:-0.000000 unit_bearing:0.489289 -0.462000 0.739698 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 7128446465.292904, 4390663815.230807, -5268779845.374895 mu:-0.000000 unit_bearing:0.093558 -0.505460 0.857763 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 7113079979.429745, 4387519106.327705, -5292115654.800776 mu:-0.000000 unit_bearing:0.096385 -0.505432 0.857466 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 4338561074.655032, 3587819846.542611, -8133704897.192500 mu:-0.000000 unit_bearing:0.486827 -0.460200 0.742439 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 4312791493.713824, 3584289575.846956, -8148951869.570864 mu:-0.000000 unit_bearing:0.489415 -0.460034 0.740838 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 4779602881.666729, 3325690750.066155, -7996742845.248884 mu:-0.000000 unit_bearing:0.457132 -0.432211 0.777318 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 7030277476.929294, 3222304521.740901, -6168036233.054450 mu:-0.000000 unit_bearing:0.191187 -0.399308 0.896661 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] add key frame +[21:41:35.871] If point is visible? 7030529737.462175, 2730149516.669719, -6400832292.207111 mu:-0.000000 unit_bearing:0.217357 -0.352795 0.910105 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] remove key frame +[21:41:35.871] init seeds +[21:41:35.871] update seed +[21:41:35.871] If point is visible? 9223297463.601690, -3269344365.345273, 1447373527.060627 mu:-0.000000 unit_bearing:-0.518748 0.345870 0.781841 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] If point is visible? 4004186844.548496, 3818326197.700246, -8199975095.458602 mu:-0.000000 unit_bearing:0.505638 -0.484145 0.714097 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 3977909327.590632, 3814637801.912275, -8214468614.945080 mu:-0.000000 unit_bearing:0.508184 -0.483954 0.712417 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 7118039584.027229, 4411203131.730582, -5265692567.628839 mu:-0.000000 unit_bearing:0.093537 -0.507483 0.856570 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 4303320132.263604, 3604354184.577263, -8145108075.141214 mu:-0.000000 unit_bearing:0.489289 -0.462000 0.739698 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 7128446465.292904, 4390663815.230807, -5268779845.374895 mu:-0.000000 unit_bearing:0.093558 -0.505460 0.857763 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 7113079979.429745, 4387519106.327705, -5292115654.800776 mu:-0.000000 unit_bearing:0.096385 -0.505432 0.857466 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.871] If point is visible? 4338561074.655032, 3587819846.542611, -8133704897.192500 mu:-0.000000 unit_bearing:0.486827 -0.460200 0.742439 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.871] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 4312791493.713824, 3584289575.846956, -8148951869.570864 mu:-0.000000 unit_bearing:0.489415 -0.460034 0.740838 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 4779602881.666729, 3325690750.066155, -7996742845.248884 mu:-0.000000 unit_bearing:0.457132 -0.432211 0.777318 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 7030277476.929294, 3222304521.740901, -6168036233.054450 mu:-0.000000 unit_bearing:0.191187 -0.399308 0.896661 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 7030529737.462175, 2730149516.669719, -6400832292.207111 mu:-0.000000 unit_bearing:0.217357 -0.352795 0.910105 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 7816121284.420289, 2420915690.604763, -5558788905.179107 mu:-0.000000 unit_bearing:0.109333 -0.311393 0.943971 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 7892451894.168756, 1941131892.633897, -5638610545.140271 mu:-0.000000 unit_bearing:0.118200 -0.264236 0.957188 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 7897591257.351639, 1919696959.582210, -5638752940.261793 mu:-0.000000 unit_bearing:0.118211 -0.262087 0.957777 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 7876355385.669749, 1938102586.077513, -5662111179.639235 mu:-0.000000 unit_bearing:0.121074 -0.264222 0.956832 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 8017687258.460780, 1830653477.270812, -5497100842.979077 mu:-0.000000 unit_bearing:0.101001 -0.251407 0.962597 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 9158562629.755064, 1548534981.749440, -3402276998.454014 mu:-0.000000 unit_bearing:-0.135564 -0.197292 0.970926 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9077854540.430490, 1476877453.582004, -3641992413.070601 mu:-0.000000 unit_bearing:-0.109653 -0.193056 0.975041 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9067643762.051847, 1473698357.271773, -3668619435.600341 mu:-0.000000 unit_bearing:-0.106770 -0.193065 0.975360 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9008651655.482334, 1297739757.252925, -3874633618.746857 mu:-0.000000 unit_bearing:-0.083725 -0.177947 0.980472 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9001205447.700043, 1273051360.172474, -3900046093.260034 mu:-0.000000 unit_bearing:-0.080842 -0.175783 0.981104 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 8971436050.056244, 1242031100.208048, -3977865351.257485 mu:-0.000000 unit_bearing:-0.072181 -0.173630 0.982162 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 8860572385.314367, 1010415826.512553, -4280424706.603443 mu:-0.000000 unit_bearing:-0.037514 -0.154117 0.987340 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9627387358.783045, 1015144150.160301, 2033620861.109161 mu:-0.000000 unit_bearing:-0.636700 -0.076803 0.767277 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 8891060447.715044, 397838930.885832, -4317810452.870173 mu:-0.000000 unit_bearing:-0.028866 -0.093113 0.995237 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 8003184651.304859, -47983277.510371, -5813729598.831828 mu:-0.000000 unit_bearing:0.150537 -0.066810 0.986344 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 8021292847.127718, -66584029.930973, -5788535776.318844 mu:-0.000000 unit_bearing:0.147656 -0.064633 0.986925 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 8022511611.006352, -88078499.177871, -5786559291.617000 mu:-0.000000 unit_bearing:0.147659 -0.062452 0.987065 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.872] If point is visible? 9043234973.838202, -130029103.213142, -4006958004.166404 mu:-0.000000 unit_bearing:-0.057852 -0.036319 0.997664 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9056110881.047966, -169827777.614826, -3976271248.671567 mu:-0.000000 unit_bearing:-0.060750 -0.031947 0.997642 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9080147965.801626, -206408963.765422, -3919314616.835910 mu:-0.000000 unit_bearing:-0.066543 -0.027575 0.997402 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9094396118.796442, -375037843.055848, -3873502892.425517 mu:-0.000000 unit_bearing:-0.069442 -0.010091 0.997535 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9091990632.768349, -224688643.049524, -3890750590.087368 mu:-0.000000 unit_bearing:-0.069439 -0.025389 0.997263 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9080660837.691324, -227896708.760438, -3916935108.968965 mu:-0.000000 unit_bearing:-0.066543 -0.025390 0.997460 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9025459738.110096, -415720104.471187, -4027526799.087439 mu:-0.000000 unit_bearing:-0.052064 -0.007906 0.998612 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9606131675.962717, -167265023.899690, -2355201783.984552 mu:-0.000000 unit_bearing:-0.230886 -0.012233 0.972904 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9105434632.317026, -350350242.378829, -3849809562.979491 mu:-0.000000 unit_bearing:-0.072337 -0.012276 0.997305 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9025680925.153048, -458657721.849380, -4022366932.341330 mu:-0.000000 unit_bearing:-0.052064 -0.003535 0.998637 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 8524727375.808637, -769693739.832501, -4958761289.021913 mu:-0.000000 unit_bearing:0.058058 0.016138 0.998183 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 8554429348.888692, -699324755.216642, -4917865615.094913 mu:-0.000000 unit_bearing:0.052265 0.009581 0.998587 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 8539985045.088734, -702344667.047546, -4942477739.438008 mu:-0.000000 unit_bearing:0.055162 0.009581 0.998431 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9602334311.202230, -594684876.388040, -2300922528.281362 mu:-0.000000 unit_bearing:-0.230872 0.031322 0.972480 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9595354220.542818, -598159935.288331, -2328969918.562162 mu:-0.000000 unit_bearing:-0.228007 0.031325 0.973155 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9588293626.378618, -601630744.591143, -2356986336.180541 mu:-0.000000 unit_bearing:-0.225142 0.031328 0.973822 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9601689523.617788, -616025913.414049, -2297996774.040409 mu:-0.000000 unit_bearing:-0.230869 0.033500 0.972408 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9594709766.663288, -619503093.796125, -2326043683.535197 mu:-0.000000 unit_bearing:-0.228005 0.033503 0.973083 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9587649503.530825, -622975993.960958, -2354059624.526493 mu:-0.000000 unit_bearing:-0.225140 0.033506 0.973750 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9605574418.830816, -697867619.622299, -2258016757.520878 mu:-0.000000 unit_bearing:-0.233721 0.042204 0.971387 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9598676862.134802, -701357675.284071, -2286092455.498897 mu:-0.000000 unit_bearing:-0.230858 0.042208 0.972072 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9591698664.194313, -704843336.623847, -2314137293.583171 mu:-0.000000 unit_bearing:-0.227994 0.042212 0.972747 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9597815294.602022, -722682286.286346, -2283066072.465419 mu:-0.000000 unit_bearing:-0.230854 0.044385 0.971975 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9590837542.461464, -726170067.011926, -2311110355.506721 mu:-0.000000 unit_bearing:-0.227990 0.044390 0.972651 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 8482019653.427600, -1182459673.929207, -4950742421.585578 mu:-0.000000 unit_bearing:0.063837 0.057653 0.996294 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9774825488.507566, -873543300.865557, -1241945078.686639 mu:-0.000000 unit_bearing:-0.330324 0.072349 0.941091 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9770760425.807899, -877223533.061599, -1270998970.196157 mu:-0.000000 unit_bearing:-0.327502 0.072360 0.942076 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9763569910.070683, -923262885.227327, -1293447742.913190 mu:-0.000000 unit_bearing:-0.324661 0.076703 0.942715 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9761983433.870726, -944438488.219000, -1290129523.159386 mu:-0.000000 unit_bearing:-0.324652 0.078869 0.942540 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9758677464.481358, -986776936.543493, -1283434544.280778 mu:-0.000000 unit_bearing:-0.324633 0.083199 0.942174 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9351323227.470030, -1387445625.265557, -2912124197.135283 mu:-0.000000 unit_bearing:-0.156031 0.103336 0.982332 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9344315022.821009, -1369589553.848087, -2942910126.981880 mu:-0.000000 unit_bearing:-0.153155 0.101165 0.983010 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9089865064.315430, -1598591558.547243, -3559715852.210469 mu:-0.000000 unit_bearing:-0.083836 0.116544 0.989641 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9249594808.655203, -1669421914.361214, -3083949603.139900 mu:-0.000000 unit_bearing:-0.132906 0.129512 0.982630 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9716311244.808033, -1537510525.715111, -1040228813.816523 mu:-0.000000 unit_bearing:-0.338357 0.141455 0.930325 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9712549359.845736, -1541315329.135238, -1069322587.663424 mu:-0.000000 unit_bearing:-0.335544 0.141478 0.931340 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9708701269.238752, -1545114358.974637, -1098389771.492275 mu:-0.000000 unit_bearing:-0.332729 0.141501 0.932346 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9504221598.209328, -1702722387.200130, -2150169084.445853 mu:-0.000000 unit_bearing:-0.227660 0.144357 0.962981 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9512858272.028059, -1776338760.701558, -2050089488.536814 mu:-0.000000 unit_bearing:-0.236187 0.152977 0.959590 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9506093591.172834, -1779945873.229212, -2078147283.447734 mu:-0.000000 unit_bearing:-0.233330 0.152993 0.960286 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9709619832.974640, -1562327268.112002, -1065427151.040051 mu:-0.000000 unit_bearing:-0.335526 0.143634 0.931016 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 9705773637.625410, -1566129793.338809, -1094492747.047057 mu:-0.000000 unit_bearing:-0.332712 0.143658 0.932022 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.872] If point is visible? 8436242629.525189, -2109671555.399904, -4715062569.112074 mu:-0.000000 unit_bearing:0.055069 0.153590 0.986599 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 8421739727.353391, -2112647199.326851, -4739592870.954951 mu:-0.000000 unit_bearing:0.057961 0.153587 0.986434 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9509137836.941431, -1758854110.060759, -2082174014.110151 mu:-0.000000 unit_bearing:-0.233342 0.150827 0.960626 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9706645440.779009, -1583333351.258965, -1061512408.570438 mu:-0.000000 unit_bearing:-0.335508 0.145790 0.930688 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9702801169.094122, -1587139377.287531, -1090576397.065034 mu:-0.000000 unit_bearing:-0.332694 0.145814 0.931693 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 8441578445.958507, -2170154503.865682, -4677916371.271872 mu:-0.000000 unit_bearing:0.052170 0.160117 0.985718 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 7943511404.675818, -2262068956.556466, -5443931429.193807 mu:-0.000000 unit_bearing:0.144543 0.159902 0.976493 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 8433254508.075645, -2130831948.094686, -4710890830.567391 mu:-0.000000 unit_bearing:0.055067 0.155765 0.986258 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 8418752039.355947, -2133806884.461825, -4735419842.651362 mu:-0.000000 unit_bearing:0.057958 0.155761 0.986093 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 7924235557.032139, -2388611533.726007, -5417909613.846748 mu:-0.000000 unit_bearing:0.144496 0.172920 0.974279 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 7907466182.709942, -2391355699.583647, -5441150181.124485 mu:-0.000000 unit_bearing:0.147375 0.172909 0.973850 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 7890623892.602788, -2394092287.162155, -5464347674.902228 mu:-0.000000 unit_bearing:0.150253 0.172897 0.973412 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 8430223796.543071, -2151986385.021872, -4706697371.342505 mu:-0.000000 unit_bearing:0.055064 0.157939 0.985912 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 8415721768.136491, -2154960609.951643, -4731225073.634016 mu:-0.000000 unit_bearing:0.057955 0.157936 0.985747 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 8265287980.060971, -2471002052.284769, -4840648951.401164 mu:-0.000000 unit_bearing:0.078128 0.188298 0.978999 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 8107480688.423879, -2520767817.363591, -5076140788.444459 mu:-0.000000 unit_bearing:0.106978 0.190390 0.975862 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 8091663408.233819, -2523598101.780323, -5099917128.234700 mu:-0.000000 unit_bearing:0.109862 0.190382 0.975544 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 8087957209.739676, -2544630064.281864, -5095343444.331664 mu:-0.000000 unit_bearing:0.109855 0.192548 0.975119 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 8072067030.173218, -2547451431.470067, -5119076466.610143 mu:-0.000000 unit_bearing:0.112738 0.192539 0.974792 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 7814811738.848777, -2732998256.111463, -5414070264.098958 mu:-0.000000 unit_bearing:0.152975 0.207522 0.966195 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 7300145912.861620, -3963769063.231945, -5371137986.524344 mu:-0.000000 unit_bearing:0.186370 0.331544 0.924849 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 6171146447.344216, -4259914619.433188, -6451573278.351301 mu:-0.000000 unit_bearing:0.338154 0.347947 0.874405 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 5201117421.338939, -4300953010.863156, -7232074361.665168 mu:-0.000000 unit_bearing:0.453029 0.342449 0.823100 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 5218940272.593598, -4319573399.582359, -7208097313.549212 mu:-0.000000 unit_bearing:0.450271 0.344613 0.823710 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 5194217910.089437, -4320703413.602158, -7225257166.292059 mu:-0.000000 unit_bearing:0.452955 0.344515 0.822278 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 9233781188.835493, -3543705334.254470, -179321689.895167 mu:-0.000000 unit_bearing:-0.370978 0.353358 0.858786 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 7015873553.331688, 3309492550.818877, -6138199747.927773 mu:-0.000000 unit_bearing:0.188232 -0.407689 0.893509 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 7032117303.618957, 3267473360.816051, -6142122016.879042 mu:-0.000000 unit_bearing:0.188293 -0.403521 0.895386 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 7002193817.877529, 2814786509.216510, -6395230836.340090 mu:-0.000000 unit_bearing:0.217236 -0.361218 0.906824 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 7016450799.987095, 2772481241.039600, -6398084459.048109 mu:-0.000000 unit_bearing:0.217297 -0.357008 0.908475 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 6581402312.240818, 2970024221.018408, -6761421339.957708 mu:-0.000000 unit_bearing:0.267636 -0.381306 0.884860 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 7803775847.901482, 2463602207.919505, -5557379371.877205 mu:-0.000000 unit_bearing:0.109309 -0.315659 0.942556 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 9175624543.151556, 1991137192.375471, -3113840993.271724 mu:-0.000000 unit_bearing:-0.166958 -0.238148 0.956771 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 7970492437.273821, 1821555791.751996, -5568294497.516560 mu:-0.000000 unit_bearing:0.109634 -0.251372 0.961661 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 8325103622.174383, 1489581385.102202, -5130937125.283319 mu:-0.000000 unit_bearing:0.057868 -0.212674 0.975408 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9179505371.497072, 1487280160.508489, -3373039825.718754 mu:-0.000000 unit_bearing:-0.138469 -0.190786 0.971816 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9160550926.062014, 1480886081.768344, -3426952283.137528 mu:-0.000000 unit_bearing:-0.132711 -0.190809 0.972615 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9114099204.107851, 1511103329.894928, -3535884787.584826 mu:-0.000000 unit_bearing:-0.121174 -0.195182 0.973253 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9332549612.874220, 418659154.899955, -3252838920.452262 mu:-0.000000 unit_bearing:-0.144544 -0.082082 0.986088 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9117005530.624939, -390068440.444062, -3818478175.042531 mu:-0.000000 unit_bearing:-0.075233 -0.007905 0.997135 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9619853833.727682, -160389381.931283, -2299001146.440317 mu:-0.000000 unit_bearing:-0.236612 -0.012230 0.971527 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9116614389.557081, -347130076.314233, -3823553529.008058 mu:-0.000000 unit_bearing:-0.075232 -0.012276 0.997090 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9591734871.487276, -850556383.307327, -2264485548.941169 mu:-0.000000 unit_bearing:-0.230831 0.057445 0.971297 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9252115690.542919, -1648210031.535942, -3087794965.329033 mu:-0.000000 unit_bearing:-0.132912 0.127336 0.982914 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9232780618.451233, -1654955340.748726, -3141592538.636691 mu:-0.000000 unit_bearing:-0.127143 0.127350 0.983675 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 7940405036.450577, -2283175251.260359, -5439650488.343693 mu:-0.000000 unit_bearing:0.144536 0.162073 0.976136 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 9532197659.017084, -1726930939.022544, -2001908121.959064 mu:-0.000000 unit_bearing:-0.241923 0.148613 0.958847 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9705773637.625410, -1566129793.338809, -1094492747.047057 mu:-0.000000 unit_bearing:-0.332712 0.143658 0.932022 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 9538075497.200882, -1684732101.605657, -2009853816.327340 mu:-0.000000 unit_bearing:-0.241947 0.144281 0.959502 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 7869331265.826234, -2703910885.294459, -5349318663.088429 mu:-0.000000 unit_bearing:0.144361 0.205401 0.967972 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 7974871128.157308, -3834428337.214135, -4421686174.128636 mu:-0.000000 unit_bearing:0.069061 0.330263 0.941359 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] If point is visible? 6206634310.070884, -4218049219.581638, -6445034532.693955 mu:-0.000000 unit_bearing:0.335475 0.343827 0.877063 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.873] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.873] If point is visible? 4660149055.240403, -4185199146.833920, -7656359297.268324 mu:-0.000000 unit_bearing:0.514592 0.325608 0.793205 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.874] If point is visible? 7832794128.504837, -4391722702.199360, -4148834372.915520 mu:-0.000000 unit_bearing:0.057360 0.389542 0.919221 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 7877037924.506948, -4345667638.596423, -4113412830.873699 mu:-0.000000 unit_bearing:0.051652 0.385358 0.921321 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 4995869582.672740, -4251336404.408779, -7404062715.444055 mu:-0.000000 unit_bearing:0.477307 0.335352 0.812230 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.874] If point is visible? 9243529187.265341, -3519316170.680397, -155886698.445781 mu:-0.000000 unit_bearing:-0.373788 0.351200 0.858453 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 7879378603.717332, -4711076263.778264, -3684273613.984421 mu:-0.000000 unit_bearing:0.017233 0.427309 0.903942 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 7221664303.409431, 2493868614.657022, -6283383071.837591 mu:-0.000000 unit_bearing:0.200646 -0.327640 0.923251 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.874] If point is visible? 9212230639.326622, 2144868645.112019, -2896042808.774166 mu:-0.000000 unit_bearing:-0.189778 -0.250890 0.949230 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 6966054579.135171, 3435340408.771152, -6125784740.103486 mu:-0.000000 unit_bearing:0.188041 -0.420163 0.887752 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.874] If point is visible? 8287555394.812310, 1526487272.183496, -5180635191.957657 mu:-0.000000 unit_bearing:0.063633 -0.216989 0.974098 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 9136409999.833174, 1382130243.455863, -3531068834.233407 mu:-0.000000 unit_bearing:-0.121219 -0.182182 0.975764 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 9096311006.978037, 1369369379.797554, -3637948923.911312 mu:-0.000000 unit_bearing:-0.109687 -0.182219 0.977121 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 9121710574.271822, 1468118353.444241, -3534366068.549416 mu:-0.000000 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 9081632909.795477, 1455378784.417881, -3641227141.028791 mu:-0.000000 unit_bearing:-0.109660 -0.190889 0.975467 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 8362188870.741395, 1452674146.855423, -5080969781.402457 mu:-0.000000 unit_bearing:0.052101 -0.208355 0.976665 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 7148365681.931169, 2481712782.102223, -6371396122.535419 mu:-0.000000 unit_bearing:0.212018 -0.327505 0.920755 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.874] If point is visible? 7032117303.618957, 3267473360.816051, -6142122016.879042 mu:-0.000000 unit_bearing:0.188293 -0.403521 0.895386 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.874] If point is visible? 8868384608.187897, 4263924772.099480, -1011641629.535158 mu:-0.000000 unit_bearing:-0.365407 -0.440296 0.820132 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 9199669919.263628, 2046637966.663303, -3005006691.700650 mu:-0.000000 unit_bearing:-0.178393 -0.242376 0.953640 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 8378036043.899401, 1366606236.942500, -5078741797.600724 mu:-0.000000 unit_bearing:0.052115 -0.199692 0.978472 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 8940035245.864874, 875383945.923262, -4142727550.386890 mu:-0.000000 unit_bearing:-0.051993 -0.138872 0.988945 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 7970492437.273821, 1821555791.751996, -5568294497.516560 mu:-0.000000 unit_bearing:0.109634 -0.251372 0.961661 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:35.874] If point is visible? 9329244922.025110, 461657902.938144, -3256498114.949689 mu:-0.000000 unit_bearing:-0.144537 -0.086441 0.985717 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 9291441344.169853, 448583938.409122, -3364611271.033169 mu:-0.000000 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 9592641125.839821, -1536305749.052769, -1863791749.046669 mu:-0.000000 unit_bearing:-0.259132 0.131188 0.956891 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 9227335823.803389, -1534272173.375273, -3217918783.916343 mu:-0.000000 unit_bearing:-0.121400 0.114301 0.986001 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 9686683029.226612, -1546745818.366971, -1276114443.283938 mu:-0.000000 unit_bearing:-0.315827 0.139475 0.938509 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 8314628586.700625, -2257197397.499104, -4860527767.680565 mu:-0.000000 unit_bearing:0.075284 0.166601 0.983146 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] If point is visible? 9750342159.828331, -1263893206.002914, -1089091611.324267 mu:-0.000000 unit_bearing:-0.338563 0.113399 0.934086 T_cur_ref: x=0.172162 y=0.000000 z=0.108555 +[21:41:35.874] init seeds +[21:41:35.874] DepthFilter: Initialized 2 new seeds +[21:41:35.876] DepthFilter: Initialized 2 new seeds +[21:41:36.575] add new frame +[21:41:36.575] update seed +[21:41:36.575] If point is visible? 9223297463.601688, -3269344365.345273, 1447373527.060626 mu:-0.000000 unit_bearing:-0.518748 0.345870 0.781841 T_cur_ref: x=0.172161 y=0.000000 z=0.108553 +[21:41:36.575] If point is visible? 4004186844.548494, 3818326197.700246, -8199975095.458604 mu:-0.000000 unit_bearing:0.505638 -0.484145 0.714097 T_cur_ref: x=0.172161 y=0.000000 z=0.108553 +[21:41:36.575] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? 3977909327.590631, 3814637801.912275, -8214468614.945082 mu:-0.000000 unit_bearing:0.508184 -0.483954 0.712417 T_cur_ref: x=0.172161 y=0.000000 z=0.108553 +[21:41:36.576] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? 7118039584.027228, 4411203131.730582, -5265692567.628840 mu:-0.000000 unit_bearing:0.093537 -0.507483 0.856570 T_cur_ref: x=0.172161 y=0.000000 z=0.108553 +[21:41:36.576] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? 4303320132.263603, 3604354184.577263, -8145108075.141216 mu:-0.000000 unit_bearing:0.489289 -0.462000 0.739698 T_cur_ref: x=0.172161 y=0.000000 z=0.108553 +[21:41:36.576] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? 7128446465.292903, 4390663815.230807, -5268779845.374897 mu:-0.000000 unit_bearing:0.093558 -0.505460 0.857763 T_cur_ref: x=0.172161 y=0.000000 z=0.108553 +[21:41:36.576] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? 7113079979.429744, 4387519106.327705, -5292115654.800778 mu:-0.000000 unit_bearing:0.096385 -0.505432 0.857466 T_cur_ref: x=0.172161 y=0.000000 z=0.108553 +[21:41:36.576] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? 4338561074.655031, 3587819846.542611, -8133704897.192502 mu:-0.000000 unit_bearing:0.486827 -0.460200 0.742439 T_cur_ref: x=0.172161 y=0.000000 z=0.108553 +[21:41:36.576] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? 4312791493.713823, 3584289575.846956, -8148951869.570866 mu:-0.000000 unit_bearing:0.489415 -0.460034 0.740838 T_cur_ref: x=0.172161 y=0.000000 z=0.108553 +[21:41:36.576] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:36.576] add key frame +[21:41:36.576] init seeds +[21:41:36.576] remove key frame +[21:41:36.576] update seed +[21:41:36.576] If point is visible? -2.914508, 5.090263, 7.703901 mu:0.103616 unit_bearing:0.603946 0.427535 0.672653 T_cur_ref: x=0.163713 y=0.000000 z=0.104170 +[21:41:36.576] If point is visible? -7.273955, 4.893881, 3.828837 mu:0.103616 unit_bearing:0.039974 0.456271 0.888942 T_cur_ref: x=0.163713 y=0.000000 z=0.104170 +[21:41:36.576] If point is visible? -7.273955, 4.893881, 3.828837 mu:0.103616 unit_bearing:0.039974 0.456271 0.888942 T_cur_ref: x=0.163713 y=0.000000 z=0.104170 +[21:41:36.576] If point is visible? -2.914508, 5.090263, 7.703901 mu:0.103616 unit_bearing:0.603946 0.427535 0.672653 T_cur_ref: x=0.163713 y=0.000000 z=0.104170 +[21:41:36.576] If point is visible? -2.427907, 1.151564, 2.194637 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143152 y=0.000000 z=0.093225 +[21:41:36.576] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -3.044699, 1.479663, 0.117228 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143152 y=0.000000 z=0.093225 +[21:41:36.576] If point is visible? -2.897489, 1.675363, 0.640976 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143152 y=0.000000 z=0.093225 +[21:41:36.576] If point is visible? -2.620985, 1.320209, 1.816293 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143152 y=0.000000 z=0.093225 +[21:41:36.576] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -1.702547, 1.467555, 2.699381 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143152 y=0.000000 z=0.093225 +[21:41:36.576] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -2.620985, 1.320209, 1.816293 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143152 y=0.000000 z=0.093225 +[21:41:36.576] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -1.702547, 1.467555, 2.699381 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143152 y=0.000000 z=0.093225 +[21:41:36.576] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -2.427907, 1.151564, 2.194637 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143152 y=0.000000 z=0.093225 +[21:41:36.576] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -2.947573, 1.624650, 0.493605 mu:0.284528 unit_bearing:-0.265989 0.444929 0.855154 T_cur_ref: x=0.143152 y=0.000000 z=0.093225 +[21:41:36.576] If point is visible? -3.044699, 1.479663, 0.117228 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143152 y=0.000000 z=0.093225 +[21:41:36.576] If point is visible? -2.897489, 1.675363, 0.640976 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143152 y=0.000000 z=0.093225 +[21:41:36.576] If point is visible? -7.066496, 4.230922, 1.913860 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134892 y=0.000000 z=0.088523 +[21:41:36.576] If point is visible? -6.023648, -1.607180, 5.796579 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134892 y=0.000000 z=0.088523 +[21:41:36.576] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -4.936816, 2.990063, 6.287704 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134892 y=0.000000 z=0.088523 +[21:41:36.576] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -7.220654, 4.042698, 1.714897 mu:0.116967 unit_bearing:-0.209951 0.446154 0.869981 T_cur_ref: x=0.134892 y=0.000000 z=0.088523 +[21:41:36.576] If point is visible? -6.777318, 3.892147, 3.276798 mu:0.116967 unit_bearing:-0.028502 0.406412 0.913245 T_cur_ref: x=0.134892 y=0.000000 z=0.088523 +[21:41:36.576] If point is visible? -7.066496, 4.230922, 1.913860 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134892 y=0.000000 z=0.088523 +[21:41:36.576] If point is visible? -6.023648, -1.607180, 5.796579 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134892 y=0.000000 z=0.088523 +[21:41:36.576] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -4.936816, 2.990063, 6.287704 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134892 y=0.000000 z=0.088523 +[21:41:36.576] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -6.777318, 3.892147, 3.276798 mu:0.116967 unit_bearing:-0.028502 0.406412 0.913245 T_cur_ref: x=0.134892 y=0.000000 z=0.088523 +[21:41:36.576] If point is visible? -7.220654, 4.042698, 1.714897 mu:0.116967 unit_bearing:-0.209951 0.446154 0.869981 T_cur_ref: x=0.134892 y=0.000000 z=0.088523 +[21:41:36.576] If point is visible? -12877865749.443172, -12757037213.136049, 33130280928.507305 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126612 y=0.000000 z=0.083653 +[21:41:36.576] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -32237672285.800476, 17849083316.866486, 8266779871.973225 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126612 y=0.000000 z=0.083653 +[21:41:36.576] If point is visible? -30239028577.487968, 14975903309.538097, 16956426801.244545 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126612 y=0.000000 z=0.083653 +[21:41:36.576] If point is visible? -28370820256.164314, 13196958165.185947, 21145538354.287739 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126612 y=0.000000 z=0.083653 +[21:41:36.576] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -27817677676.861023, 13273793977.645088, 21821552218.379425 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126612 y=0.000000 z=0.083653 +[21:41:36.576] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:36.576] If point is visible? -12877865749.443172, -12757037213.136049, 33130280928.507305 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126612 y=0.000000 z=0.083653 +[21:41:36.577] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -32237672285.800476, 17849083316.866486, 8266779871.973225 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126612 y=0.000000 z=0.083653 +[21:41:36.577] If point is visible? -28370820256.164314, 13196958165.185947, 21145538354.287739 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126612 y=0.000000 z=0.083653 +[21:41:36.577] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -27817677676.861023, 13273793977.645088, 21821552218.379425 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126612 y=0.000000 z=0.083653 +[21:41:36.577] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -30239028577.487968, 14975903309.538097, 16956426801.244545 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126612 y=0.000000 z=0.083653 +[21:41:36.577] If point is visible? -3.156320, 1.873797, 0.771902 mu:0.260339 unit_bearing:-0.220847 0.462323 0.858769 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -2.924761, 1.377507, 1.968184 mu:0.260339 unit_bearing:0.063430 0.296128 0.953040 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -3.264776, 1.745123, 0.548562 mu:0.260339 unit_bearing:-0.288484 0.436160 0.852374 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.255200, 1.751573, 0.591934 mu:0.260339 unit_bearing:-0.277352 0.436451 0.855913 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.509206, 1.099508, -0.497198 mu:0.260339 unit_bearing:-0.572126 0.302514 0.762337 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.160318, -1.826168, 0.873268 mu:0.260339 unit_bearing:-0.300379 -0.496956 0.814129 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -2.704995, -1.683513, 2.060238 mu:0.260339 unit_bearing:0.028467 -0.497754 0.866851 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -3.164418, -1.818296, 0.874361 mu:0.260339 unit_bearing:-0.300451 -0.494957 0.815320 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -2.677757, -1.660471, 2.117684 mu:0.260339 unit_bearing:0.045502 -0.493622 0.868485 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -2.661498, -1.639720, 2.156474 mu:0.260339 unit_bearing:0.056871 -0.489491 0.870152 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -2.653163, -1.629332, 2.175757 mu:0.260339 unit_bearing:0.062557 -0.487419 0.870925 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -2.617604, -1.543805, 2.284662 mu:0.260339 unit_bearing:0.093911 -0.468774 0.878312 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -3.260184, -1.648891, 0.840878 mu:0.260339 unit_bearing:-0.315740 -0.450121 0.835284 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -1.727084, -0.920996, 3.319379 mu:0.260339 unit_bearing:0.458449 -0.340670 0.820834 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -2.562179, -0.925983, 2.666419 mu:0.260339 unit_bearing:0.203565 -0.321242 0.924859 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -2.554662, -0.924849, 2.674621 mu:0.260339 unit_bearing:0.206410 -0.321209 0.924240 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -2.830982, -0.830744, 2.390473 mu:0.260339 unit_bearing:0.109460 -0.287877 0.951391 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -2.822234, -0.837920, 2.399053 mu:0.260339 unit_bearing:0.112321 -0.290004 0.950411 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -2.869026, -0.637887, 2.402760 mu:0.260339 unit_bearing:0.112566 -0.238433 0.964613 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -2.949058, -0.574096, 2.313010 mu:0.260339 unit_bearing:0.083823 -0.219102 0.972095 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -2.308119, -0.489326, 3.014370 mu:0.260339 unit_bearing:0.326494 -0.219450 0.919371 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -3.003721, -0.523588, 2.248484 mu:0.260339 unit_bearing:0.063659 -0.204004 0.976898 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -3.319318, -0.532230, 1.697249 mu:0.260339 unit_bearing:-0.101015 -0.188748 0.976816 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.314758, -0.531022, 1.707338 mu:0.260339 unit_bearing:-0.098130 -0.188756 0.977109 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.356197, -0.559845, 1.606237 mu:0.260339 unit_bearing:-0.126943 -0.192996 0.972953 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.351901, -0.558630, 1.616460 mu:0.260339 unit_bearing:-0.124063 -0.193007 0.973323 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.347575, -0.557417, 1.626668 mu:0.260339 unit_bearing:-0.121182 -0.193017 0.973683 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.293583, -0.481983, 1.766261 mu:0.260339 unit_bearing:-0.080838 -0.177954 0.980713 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.288818, -0.480780, 1.776246 mu:0.260339 unit_bearing:-0.077950 -0.177960 0.980946 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.290127, -0.472416, 1.775960 mu:0.260339 unit_bearing:-0.077954 -0.175789 0.981336 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.285333, -0.471214, 1.785930 mu:0.260339 unit_bearing:-0.075066 -0.175795 0.981561 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.349007, -0.549062, 1.626440 mu:0.260339 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.283077, -0.453281, 1.795286 mu:0.260339 unit_bearing:-0.072185 -0.171458 0.982543 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.269691, -0.441316, 1.824750 mu:0.260339 unit_bearing:-0.063520 -0.169301 0.983515 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.223235, -0.361238, 1.929941 mu:0.260339 unit_bearing:-0.031730 -0.151947 0.987879 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.693008, -0.251160, -0.252520 mu:0.260339 unit_bearing:-0.578372 -0.054259 0.813967 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.295293, 0.057005, 1.829628 mu:0.260339 unit_bearing:-0.052058 -0.040691 0.997815 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.311615, 0.095122, 1.795599 mu:0.260339 unit_bearing:-0.060750 -0.029762 0.997709 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.311825, 0.103468, 1.794694 mu:0.260339 unit_bearing:-0.060751 -0.027576 0.997772 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.331665, 0.106946, 1.754047 mu:0.260339 unit_bearing:-0.072334 -0.025388 0.997057 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.287728, 0.176257, 1.836449 mu:0.260339 unit_bearing:-0.046270 -0.010093 0.998878 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.524739, 0.073975, 1.277305 mu:0.260339 unit_bearing:-0.205071 -0.018782 0.978567 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -2.984293, 0.294662, 2.318581 mu:0.260339 unit_bearing:0.104370 0.005206 0.994525 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -3.256680, 0.241811, 1.888030 mu:0.260339 unit_bearing:-0.028884 0.005210 0.999569 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] If point is visible? -3.054712, 0.290750, 2.217770 mu:0.260339 unit_bearing:0.072538 0.007394 0.997338 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -3.097908, 0.257834, 2.156339 mu:0.260339 unit_bearing:0.052265 0.000837 0.998633 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.577] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.577] If point is visible? -3.091833, 0.258972, 2.165611 mu:0.260339 unit_bearing:0.055162 0.000837 0.998477 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -2.917305, 0.313886, 2.406404 mu:0.260339 unit_bearing:0.133268 0.007387 0.991052 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -2.910461, 0.314963, 2.415194 mu:0.260339 unit_bearing:0.136155 0.007387 0.990660 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.072416, 0.353961, 2.181474 mu:0.260339 unit_bearing:0.063849 0.024879 0.997649 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.084312, 0.368336, 2.160739 mu:0.260339 unit_bearing:0.058055 0.029251 0.997885 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.078182, 0.369468, 2.169977 mu:0.260339 unit_bearing:0.060952 0.029251 0.997712 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.530606, 0.262394, 1.231974 mu:0.260339 unit_bearing:-0.210803 0.031343 0.977026 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.527146, 0.263712, 1.242624 mu:0.260339 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.530363, 0.270684, 1.230824 mu:0.260339 unit_bearing:-0.210801 0.033522 0.976954 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.526903, 0.272004, 1.241474 mu:0.260339 unit_bearing:-0.207931 0.033525 0.977569 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.532963, 0.294226, 1.216661 mu:0.260339 unit_bearing:-0.213663 0.040054 0.976086 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.612078, 0.347173, 0.899230 mu:0.260339 unit_bearing:-0.293557 0.063807 0.953810 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.499971, 0.635252, 1.182326 mu:0.260339 unit_bearing:-0.207686 0.129264 0.969617 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.596681, 0.612476, 0.808612 mu:0.260339 unit_bearing:-0.304549 0.135236 0.942847 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.392471, 0.623997, 1.493834 mu:0.260339 unit_bearing:-0.124282 0.116473 0.985387 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.593217, 0.622085, 0.818131 mu:0.260339 unit_bearing:-0.301704 0.137417 0.943446 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.498988, 0.643465, 1.180787 mu:0.260339 unit_bearing:-0.207677 0.131435 0.969327 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.064987, 0.788099, 2.071786 mu:0.260339 unit_bearing:0.052192 0.140539 0.988698 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.058918, 0.789224, 2.081045 mu:0.260339 unit_bearing:0.055085 0.140536 0.988542 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.052821, 0.790346, 2.090287 mu:0.260339 unit_bearing:0.057977 0.140533 0.988377 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.497990, 0.651676, 1.179240 mu:0.260339 unit_bearing:-0.207668 0.133606 0.969032 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -2.856030, 0.830924, 2.357955 mu:0.260339 unit_bearing:0.144600 0.142526 0.979172 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -2.853925, 0.847338, 2.354656 mu:0.260339 unit_bearing:0.144587 0.146872 0.978531 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.505231, 0.695447, 1.127159 mu:0.260339 unit_bearing:-0.219066 0.146569 0.964639 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.498501, 0.698176, 1.148494 mu:0.260339 unit_bearing:-0.213339 0.146597 0.965917 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.504065, 0.680420, 1.141020 mu:0.260339 unit_bearing:-0.216224 0.142246 0.965926 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.500683, 0.681782, 1.151682 mu:0.260339 unit_bearing:-0.213360 0.142260 0.966561 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.056836, 0.805669, 2.077795 mu:0.260339 unit_bearing:0.055080 0.144889 0.987914 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.050739, 0.806791, 2.087036 mu:0.260339 unit_bearing:0.057972 0.144886 0.987749 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.589706, 0.631692, 0.827628 mu:0.260339 unit_bearing:-0.298857 0.139598 0.944032 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.587232, 0.633123, 0.838669 mu:0.260339 unit_bearing:-0.296024 0.139617 0.944921 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -2.846052, 0.904710, 2.342813 mu:0.260339 unit_bearing:0.144536 0.162073 0.976136 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -2.847225, 0.896521, 2.344533 mu:0.260339 unit_bearing:0.144543 0.159902 0.976493 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -2.833454, 1.026201, 2.307159 mu:0.260339 unit_bearing:0.141531 0.194597 0.970619 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -2.826532, 1.027223, 2.315867 mu:0.260339 unit_bearing:0.144409 0.194585 0.970197 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] calculated Z= 1.005665 +[21:41:36.578] update seeds 305 +[21:41:36.578] If point is visible? -2.832023, 1.034347, 2.305288 mu:0.260339 unit_bearing:0.141522 0.196761 0.970184 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -2.215858, 1.292128, 2.840412 mu:0.260339 unit_bearing:0.348513 0.246393 0.904339 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -2.206948, 1.292838, 2.847619 mu:0.260339 unit_bearing:0.351304 0.246348 0.903271 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -1.357235, 1.448954, 3.316617 mu:0.260339 unit_bearing:0.571058 0.271808 0.774605 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.428911, 1.332954, 0.670895 mu:0.260339 unit_bearing:-0.293765 0.325775 0.898650 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.431479, 1.325069, 0.673184 mu:0.260339 unit_bearing:-0.293803 0.323665 0.899400 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.429069, 1.326608, 0.684140 mu:0.260339 unit_bearing:-0.290995 0.323715 0.900295 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -3.089766, -1.568450, 1.482217 mu:0.260339 unit_bearing:-0.147796 -0.449683 0.880876 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -2.673918, -1.668504, 2.116397 mu:0.260339 unit_bearing:0.045493 -0.495657 0.867326 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.260184, -1.648891, 0.840878 mu:0.260339 unit_bearing:-0.315740 -0.450121 0.835284 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -1.195729, -1.266313, 3.460117 mu:0.260339 unit_bearing:0.549543 -0.434365 0.713674 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -3.182719, -1.787737, 0.867670 mu:0.260339 unit_bearing:-0.303488 -0.486848 0.819069 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] If point is visible? -1.167213, -1.279254, 3.466267 mu:0.260339 unit_bearing:0.554271 -0.437904 0.707830 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.578] If point is visible? -2.565596, -1.090874, 2.597584 mu:0.260339 unit_bearing:0.183178 -0.361666 0.914136 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.578] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.579] If point is visible? -2.570980, -1.074393, 2.598913 mu:0.260339 unit_bearing:0.183229 -0.357449 0.915782 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.579] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.579] If point is visible? -2.561753, -0.900020, 2.676019 mu:0.260339 unit_bearing:0.206483 -0.314838 0.926413 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.579] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.579] If point is visible? -1.934401, -0.801429, 3.224515 mu:0.260339 unit_bearing:0.413546 -0.306764 0.857249 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.579] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.579] If point is visible? -2.841975, -0.841355, 2.372449 mu:0.260339 unit_bearing:0.103704 -0.290048 0.951377 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.579] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.579] If point is visible? -2.858846, -0.653445, 2.411529 mu:0.260339 unit_bearing:0.115425 -0.242732 0.963202 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.579] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:36.579] If point is visible? -3.362509, -0.711415, 1.526468 mu:0.260339 unit_bearing:-0.149788 -0.229631 0.961682 T_cur_ref: x=0.125224 y=0.000000 z=0.082843 +[21:41:36.579] init seeds +[21:41:36.579] DepthFilter: Initialized 2 new seeds +[21:41:36.581] DepthFilter: Initialized 2 new seeds +[21:41:37.277] add new frame +[21:41:37.277] update seed +[21:41:37.277] If point is visible? -2.914509, 5.090263, 7.703899 mu:0.103616 unit_bearing:0.603946 0.427535 0.672653 T_cur_ref: x=0.163711 y=0.000000 z=0.104168 +[21:41:37.277] If point is visible? -7.273957, 4.893881, 3.828835 mu:0.103616 unit_bearing:0.039974 0.456271 0.888942 T_cur_ref: x=0.163711 y=0.000000 z=0.104168 +[21:41:37.277] If point is visible? -7.273957, 4.893881, 3.828835 mu:0.103616 unit_bearing:0.039974 0.456271 0.888942 T_cur_ref: x=0.163711 y=0.000000 z=0.104168 +[21:41:37.277] If point is visible? -2.914509, 5.090263, 7.703899 mu:0.103616 unit_bearing:0.603946 0.427535 0.672653 T_cur_ref: x=0.163711 y=0.000000 z=0.104168 +[21:41:37.277] If point is visible? -2.427908, 1.151564, 2.194635 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.277] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.277] If point is visible? -3.044700, 1.479663, 0.117227 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.277] If point is visible? -2.897491, 1.675363, 0.640975 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.277] If point is visible? -2.620987, 1.320209, 1.816291 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.277] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.277] If point is visible? -1.702549, 1.467555, 2.699379 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.277] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.277] If point is visible? -2.620987, 1.320209, 1.816291 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.277] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.277] If point is visible? -1.702549, 1.467555, 2.699379 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.277] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.277] If point is visible? -2.427908, 1.151564, 2.194635 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.277] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.277] If point is visible? -2.947575, 1.624650, 0.493603 mu:0.284528 unit_bearing:-0.265989 0.444929 0.855154 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.277] If point is visible? -3.044700, 1.479663, 0.117227 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.277] If point is visible? -2.897491, 1.675363, 0.640975 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.277] If point is visible? -7.066498, 4.230922, 1.913858 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.277] If point is visible? -6.023650, -1.607180, 5.796577 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.277] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.277] If point is visible? -4.936818, 2.990063, 6.287702 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.277] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.277] If point is visible? -7.220655, 4.042698, 1.714895 mu:0.116967 unit_bearing:-0.209951 0.446154 0.869981 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.277] If point is visible? -6.777320, 3.892147, 3.276796 mu:0.116967 unit_bearing:-0.028502 0.406412 0.913245 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.277] If point is visible? -7.066498, 4.230922, 1.913858 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] If point is visible? -6.023650, -1.607180, 5.796577 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.277] add key frame +[21:41:37.278] If point is visible? -4.936818, 2.990063, 6.287702 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.278] remove key frame +[21:41:37.278] init seeds +[21:41:37.278] update seed +[21:41:37.278] If point is visible? -2.427908, 1.151564, 2.194635 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.278] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -3.044700, 1.479663, 0.117227 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.278] If point is visible? -2.897491, 1.675363, 0.640975 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.278] If point is visible? -2.620987, 1.320209, 1.816291 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.278] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -1.702549, 1.467555, 2.699379 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.278] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -2.620987, 1.320209, 1.816291 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.278] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -1.702549, 1.467555, 2.699379 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.278] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -2.427908, 1.151564, 2.194635 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.278] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -2.947575, 1.624650, 0.493603 mu:0.284528 unit_bearing:-0.265989 0.444929 0.855154 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.278] If point is visible? -3.044700, 1.479663, 0.117227 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.278] If point is visible? -2.897491, 1.675363, 0.640975 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143150 y=0.000000 z=0.093223 +[21:41:37.278] If point is visible? -7.066498, 4.230922, 1.913858 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] If point is visible? -6.023650, -1.607180, 5.796577 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -4.936818, 2.990063, 6.287702 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -7.220655, 4.042698, 1.714895 mu:0.116967 unit_bearing:-0.209951 0.446154 0.869981 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] If point is visible? -6.777320, 3.892147, 3.276796 mu:0.116967 unit_bearing:-0.028502 0.406412 0.913245 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] If point is visible? -7.066498, 4.230922, 1.913858 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] If point is visible? -6.023650, -1.607180, 5.796577 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -4.936818, 2.990063, 6.287702 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -6.777320, 3.892147, 3.276796 mu:0.116967 unit_bearing:-0.028502 0.406412 0.913245 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] If point is visible? -7.220655, 4.042698, 1.714895 mu:0.116967 unit_bearing:-0.209951 0.446154 0.869981 T_cur_ref: x=0.134890 y=0.000000 z=0.088521 +[21:41:37.278] If point is visible? -12877865749.443174, -12757037213.136049, 33130280928.507305 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126611 y=0.000000 z=0.083651 +[21:41:37.278] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -32237672285.800480, 17849083316.866486, 8266779871.973223 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126611 y=0.000000 z=0.083651 +[21:41:37.278] If point is visible? -30239028577.487972, 14975903309.538097, 16956426801.244543 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126611 y=0.000000 z=0.083651 +[21:41:37.278] If point is visible? -28370820256.164318, 13196958165.185947, 21145538354.287739 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126611 y=0.000000 z=0.083651 +[21:41:37.278] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -27817677676.861027, 13273793977.645088, 21821552218.379425 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126611 y=0.000000 z=0.083651 +[21:41:37.278] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.278] If point is visible? -12877865749.443174, -12757037213.136049, 33130280928.507305 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126611 y=0.000000 z=0.083651 +[21:41:37.278] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -32237672285.800480, 17849083316.866486, 8266779871.973223 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126611 y=0.000000 z=0.083651 +[21:41:37.279] If point is visible? -28370820256.164318, 13196958165.185947, 21145538354.287739 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126611 y=0.000000 z=0.083651 +[21:41:37.279] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -27817677676.861027, 13273793977.645088, 21821552218.379425 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126611 y=0.000000 z=0.083651 +[21:41:37.279] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -30239028577.487972, 14975903309.538097, 16956426801.244543 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126611 y=0.000000 z=0.083651 +[21:41:37.279] If point is visible? -3.156321, 1.873797, 0.771900 mu:0.260339 unit_bearing:-0.220847 0.462323 0.858769 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] If point is visible? -2.924762, 1.377507, 1.968182 mu:0.260339 unit_bearing:0.063430 0.296128 0.953040 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -3.264777, 1.745123, 0.548560 mu:0.260339 unit_bearing:-0.288484 0.436160 0.852374 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] If point is visible? -3.255201, 1.751573, 0.591933 mu:0.260339 unit_bearing:-0.277352 0.436451 0.855913 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] If point is visible? -3.509207, 1.099508, -0.497199 mu:0.260339 unit_bearing:-0.572126 0.302514 0.762337 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] If point is visible? -3.160319, -1.826168, 0.873266 mu:0.260339 unit_bearing:-0.300379 -0.496956 0.814129 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] If point is visible? -2.704996, -1.683513, 2.060236 mu:0.260339 unit_bearing:0.028467 -0.497754 0.866851 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -3.164420, -1.818296, 0.874359 mu:0.260339 unit_bearing:-0.300451 -0.494957 0.815320 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] If point is visible? -2.677759, -1.660471, 2.117682 mu:0.260339 unit_bearing:0.045502 -0.493622 0.868485 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -2.661499, -1.639720, 2.156472 mu:0.260339 unit_bearing:0.056871 -0.489491 0.870152 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -2.653164, -1.629332, 2.175755 mu:0.260339 unit_bearing:0.062557 -0.487419 0.870925 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -2.617605, -1.543805, 2.284660 mu:0.260339 unit_bearing:0.093911 -0.468774 0.878312 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -3.260185, -1.648891, 0.840877 mu:0.260339 unit_bearing:-0.315740 -0.450121 0.835284 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] If point is visible? -1.727086, -0.920996, 3.319377 mu:0.260339 unit_bearing:0.458449 -0.340670 0.820834 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -2.562181, -0.925983, 2.666417 mu:0.260339 unit_bearing:0.203565 -0.321242 0.924859 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -2.554663, -0.924849, 2.674619 mu:0.260339 unit_bearing:0.206410 -0.321209 0.924240 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -2.830983, -0.830744, 2.390471 mu:0.260339 unit_bearing:0.109460 -0.287877 0.951391 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -2.822235, -0.837920, 2.399051 mu:0.260339 unit_bearing:0.112321 -0.290004 0.950411 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -2.869027, -0.637887, 2.402758 mu:0.260339 unit_bearing:0.112566 -0.238433 0.964613 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -2.949060, -0.574096, 2.313009 mu:0.260339 unit_bearing:0.083823 -0.219102 0.972095 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -2.308120, -0.489326, 3.014368 mu:0.260339 unit_bearing:0.326494 -0.219450 0.919371 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -3.003723, -0.523588, 2.248482 mu:0.260339 unit_bearing:0.063659 -0.204004 0.976898 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.279] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.279] If point is visible? -3.319320, -0.532230, 1.697247 mu:0.260339 unit_bearing:-0.101015 -0.188748 0.976816 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.314759, -0.531022, 1.707336 mu:0.260339 unit_bearing:-0.098130 -0.188756 0.977109 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.356198, -0.559845, 1.606235 mu:0.260339 unit_bearing:-0.126943 -0.192996 0.972953 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.351902, -0.558630, 1.616458 mu:0.260339 unit_bearing:-0.124063 -0.193007 0.973323 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.347577, -0.557417, 1.626667 mu:0.260339 unit_bearing:-0.121182 -0.193017 0.973683 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.293584, -0.481983, 1.766259 mu:0.260339 unit_bearing:-0.080838 -0.177954 0.980713 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.288819, -0.480780, 1.776244 mu:0.260339 unit_bearing:-0.077950 -0.177960 0.980946 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.290129, -0.472416, 1.775958 mu:0.260339 unit_bearing:-0.077954 -0.175789 0.981336 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.285334, -0.471214, 1.785928 mu:0.260339 unit_bearing:-0.075066 -0.175795 0.981561 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.349009, -0.549062, 1.626438 mu:0.260339 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.283079, -0.453281, 1.795285 mu:0.260339 unit_bearing:-0.072185 -0.171458 0.982543 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.269692, -0.441316, 1.824748 mu:0.260339 unit_bearing:-0.063520 -0.169301 0.983515 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.223237, -0.361238, 1.929939 mu:0.260339 unit_bearing:-0.031730 -0.151947 0.987879 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.693009, -0.251160, -0.252522 mu:0.260339 unit_bearing:-0.578372 -0.054259 0.813967 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.295295, 0.057005, 1.829626 mu:0.260339 unit_bearing:-0.052058 -0.040691 0.997815 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.311616, 0.095122, 1.795597 mu:0.260339 unit_bearing:-0.060750 -0.029762 0.997709 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.311826, 0.103468, 1.794692 mu:0.260339 unit_bearing:-0.060751 -0.027576 0.997772 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.331667, 0.106946, 1.754045 mu:0.260339 unit_bearing:-0.072334 -0.025388 0.997057 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.287730, 0.176257, 1.836447 mu:0.260339 unit_bearing:-0.046270 -0.010093 0.998878 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.524741, 0.073975, 1.277303 mu:0.260339 unit_bearing:-0.205071 -0.018782 0.978567 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -2.984294, 0.294662, 2.318579 mu:0.260339 unit_bearing:0.104370 0.005206 0.994525 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -3.256681, 0.241811, 1.888028 mu:0.260339 unit_bearing:-0.028884 0.005210 0.999569 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.054714, 0.290750, 2.217768 mu:0.260339 unit_bearing:0.072538 0.007394 0.997338 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -3.097909, 0.257834, 2.156337 mu:0.260339 unit_bearing:0.052265 0.000837 0.998633 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -3.091834, 0.258972, 2.165609 mu:0.260339 unit_bearing:0.055162 0.000837 0.998477 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -2.917307, 0.313886, 2.406402 mu:0.260339 unit_bearing:0.133268 0.007387 0.991052 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -2.910462, 0.314963, 2.415192 mu:0.260339 unit_bearing:0.136155 0.007387 0.990660 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -3.072418, 0.353961, 2.181472 mu:0.260339 unit_bearing:0.063849 0.024879 0.997649 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -3.084314, 0.368336, 2.160737 mu:0.260339 unit_bearing:0.058055 0.029251 0.997885 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -3.078183, 0.369468, 2.169975 mu:0.260339 unit_bearing:0.060952 0.029251 0.997712 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -3.530607, 0.262394, 1.231972 mu:0.260339 unit_bearing:-0.210803 0.031343 0.977026 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.527148, 0.263712, 1.242622 mu:0.260339 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.530364, 0.270684, 1.230822 mu:0.260339 unit_bearing:-0.210801 0.033522 0.976954 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.526905, 0.272004, 1.241472 mu:0.260339 unit_bearing:-0.207931 0.033525 0.977569 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.532965, 0.294226, 1.216659 mu:0.260339 unit_bearing:-0.213663 0.040054 0.976086 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.612080, 0.347173, 0.899228 mu:0.260339 unit_bearing:-0.293557 0.063807 0.953810 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.499972, 0.635252, 1.182324 mu:0.260339 unit_bearing:-0.207686 0.129264 0.969617 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.596682, 0.612476, 0.808610 mu:0.260339 unit_bearing:-0.304549 0.135236 0.942847 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.392472, 0.623997, 1.493832 mu:0.260339 unit_bearing:-0.124282 0.116473 0.985387 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.593219, 0.622085, 0.818129 mu:0.260339 unit_bearing:-0.301704 0.137417 0.943446 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.498990, 0.643465, 1.180786 mu:0.260339 unit_bearing:-0.207677 0.131435 0.969327 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -3.064989, 0.788099, 2.071785 mu:0.260339 unit_bearing:0.052192 0.140539 0.988698 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -3.058919, 0.789224, 2.081043 mu:0.260339 unit_bearing:0.055085 0.140536 0.988542 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -3.052822, 0.790346, 2.090285 mu:0.260339 unit_bearing:0.057977 0.140533 0.988377 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.280] If point is visible? -3.497991, 0.651676, 1.179238 mu:0.260339 unit_bearing:-0.207668 0.133606 0.969032 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.280] If point is visible? -2.856032, 0.830924, 2.357953 mu:0.260339 unit_bearing:0.144600 0.142526 0.979172 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.281] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.281] If point is visible? -2.853926, 0.847338, 2.354654 mu:0.260339 unit_bearing:0.144587 0.146872 0.978531 T_cur_ref: x=0.125223 y=0.000000 z=0.082841 +[21:41:37.281] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.281] init seeds +[21:41:37.281] DepthFilter: Initialized 2 new seeds +[21:41:37.283] DepthFilter: Initialized 2 new seeds +[21:41:37.993] add new frame +[21:41:37.993] update seed +[21:41:37.993] If point is visible? -2.427910, 1.151564, 2.194632 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -3.044703, 1.479663, 0.117224 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] If point is visible? -2.897493, 1.675363, 0.640972 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] If point is visible? -2.620989, 1.320209, 1.816289 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -1.702551, 1.467555, 2.699376 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -2.620989, 1.320209, 1.816289 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -1.702551, 1.467555, 2.699376 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -2.427910, 1.151564, 2.194632 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -2.947577, 1.624650, 0.493600 mu:0.284528 unit_bearing:-0.265989 0.444929 0.855154 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] If point is visible? -3.044703, 1.479663, 0.117224 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] If point is visible? -2.897493, 1.675363, 0.640972 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] If point is visible? -7.066500, 4.230922, 1.913855 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] If point is visible? -6.023652, -1.607180, 5.796574 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -4.936820, 2.990063, 6.287699 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.993] add key frame +[21:41:37.993] init seeds +[21:41:37.993] remove key frame +[21:41:37.993] update seed +[21:41:37.993] If point is visible? -2.427910, 1.151564, 2.194632 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -3.044703, 1.479663, 0.117224 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] If point is visible? -2.897493, 1.675363, 0.640972 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] If point is visible? -2.620989, 1.320209, 1.816289 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -1.702551, 1.467555, 2.699376 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -2.620989, 1.320209, 1.816289 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -1.702551, 1.467555, 2.699376 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -2.427910, 1.151564, 2.194632 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -2.947577, 1.624650, 0.493600 mu:0.284528 unit_bearing:-0.265989 0.444929 0.855154 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] If point is visible? -3.044703, 1.479663, 0.117224 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] If point is visible? -2.897493, 1.675363, 0.640972 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143148 y=0.000000 z=0.093220 +[21:41:37.993] If point is visible? -7.066500, 4.230922, 1.913855 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] If point is visible? -6.023652, -1.607180, 5.796574 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -4.936820, 2.990063, 6.287699 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -7.220657, 4.042698, 1.714892 mu:0.116967 unit_bearing:-0.209951 0.446154 0.869981 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] If point is visible? -6.777322, 3.892147, 3.276793 mu:0.116967 unit_bearing:-0.028502 0.406412 0.913245 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] If point is visible? -7.066500, 4.230922, 1.913855 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] If point is visible? -6.023652, -1.607180, 5.796574 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -4.936820, 2.990063, 6.287699 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:37.993] If point is visible? -6.777322, 3.892147, 3.276793 mu:0.116967 unit_bearing:-0.028502 0.406412 0.913245 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] If point is visible? -7.220657, 4.042698, 1.714892 mu:0.116967 unit_bearing:-0.209951 0.446154 0.869981 T_cur_ref: x=0.134888 y=0.000000 z=0.088518 +[21:41:37.993] If point is visible? -12877865749.443176, -12757037213.136049, 33130280928.507301 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126609 y=0.000000 z=0.083648 +[21:41:37.993] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -32237672285.800480, 17849083316.866486, 8266779871.973220 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126609 y=0.000000 z=0.083648 +[21:41:37.994] If point is visible? -30239028577.487972, 14975903309.538097, 16956426801.244541 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126609 y=0.000000 z=0.083648 +[21:41:37.994] If point is visible? -28370820256.164318, 13196958165.185947, 21145538354.287735 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126609 y=0.000000 z=0.083648 +[21:41:37.994] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -27817677676.861027, 13273793977.645088, 21821552218.379421 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126609 y=0.000000 z=0.083648 +[21:41:37.994] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -12877865749.443176, -12757037213.136049, 33130280928.507301 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126609 y=0.000000 z=0.083648 +[21:41:37.994] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -32237672285.800480, 17849083316.866486, 8266779871.973220 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126609 y=0.000000 z=0.083648 +[21:41:37.994] If point is visible? -28370820256.164318, 13196958165.185947, 21145538354.287735 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126609 y=0.000000 z=0.083648 +[21:41:37.994] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -27817677676.861027, 13273793977.645088, 21821552218.379421 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126609 y=0.000000 z=0.083648 +[21:41:37.994] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -30239028577.487972, 14975903309.538097, 16956426801.244541 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126609 y=0.000000 z=0.083648 +[21:41:37.994] If point is visible? -3.156323, 1.873797, 0.771897 mu:0.260339 unit_bearing:-0.220847 0.462323 0.858769 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -2.924765, 1.377507, 1.968179 mu:0.260339 unit_bearing:0.063430 0.296128 0.953040 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -3.264779, 1.745123, 0.548557 mu:0.260339 unit_bearing:-0.288484 0.436160 0.852374 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.255203, 1.751573, 0.591930 mu:0.260339 unit_bearing:-0.277352 0.436451 0.855913 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.509209, 1.099508, -0.497202 mu:0.260339 unit_bearing:-0.572126 0.302514 0.762337 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.160321, -1.826168, 0.873263 mu:0.260339 unit_bearing:-0.300379 -0.496956 0.814129 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -2.704998, -1.683513, 2.060233 mu:0.260339 unit_bearing:0.028467 -0.497754 0.866851 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -3.164422, -1.818296, 0.874356 mu:0.260339 unit_bearing:-0.300451 -0.494957 0.815320 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -2.677761, -1.660471, 2.117679 mu:0.260339 unit_bearing:0.045502 -0.493622 0.868485 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -2.661502, -1.639720, 2.156469 mu:0.260339 unit_bearing:0.056871 -0.489491 0.870152 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -2.653167, -1.629332, 2.175752 mu:0.260339 unit_bearing:0.062557 -0.487419 0.870925 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -2.617608, -1.543805, 2.284657 mu:0.260339 unit_bearing:0.093911 -0.468774 0.878312 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -3.260187, -1.648891, 0.840874 mu:0.260339 unit_bearing:-0.315740 -0.450121 0.835284 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -1.727088, -0.920996, 3.319375 mu:0.260339 unit_bearing:0.458449 -0.340670 0.820834 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -2.562183, -0.925983, 2.666414 mu:0.260339 unit_bearing:0.203565 -0.321242 0.924859 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -2.554665, -0.924849, 2.674616 mu:0.260339 unit_bearing:0.206410 -0.321209 0.924240 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -2.830985, -0.830744, 2.390469 mu:0.260339 unit_bearing:0.109460 -0.287877 0.951391 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -2.822237, -0.837920, 2.399048 mu:0.260339 unit_bearing:0.112321 -0.290004 0.950411 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -2.869030, -0.637887, 2.402755 mu:0.260339 unit_bearing:0.112566 -0.238433 0.964613 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -2.949062, -0.574096, 2.313006 mu:0.260339 unit_bearing:0.083823 -0.219102 0.972095 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -2.308123, -0.489326, 3.014365 mu:0.260339 unit_bearing:0.326494 -0.219450 0.919371 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -3.003725, -0.523588, 2.248480 mu:0.260339 unit_bearing:0.063659 -0.204004 0.976898 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.994] If point is visible? -3.319322, -0.532230, 1.697244 mu:0.260339 unit_bearing:-0.101015 -0.188748 0.976816 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.314762, -0.531022, 1.707333 mu:0.260339 unit_bearing:-0.098130 -0.188756 0.977109 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.356200, -0.559845, 1.606232 mu:0.260339 unit_bearing:-0.126943 -0.192996 0.972953 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.351904, -0.558630, 1.616455 mu:0.260339 unit_bearing:-0.124063 -0.193007 0.973323 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.347579, -0.557417, 1.626664 mu:0.260339 unit_bearing:-0.121182 -0.193017 0.973683 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.293587, -0.481983, 1.766256 mu:0.260339 unit_bearing:-0.080838 -0.177954 0.980713 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.288821, -0.480780, 1.776242 mu:0.260339 unit_bearing:-0.077950 -0.177960 0.980946 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.290131, -0.472416, 1.775955 mu:0.260339 unit_bearing:-0.077954 -0.175789 0.981336 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.285336, -0.471214, 1.785926 mu:0.260339 unit_bearing:-0.075066 -0.175795 0.981561 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.349011, -0.549062, 1.626435 mu:0.260339 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.283081, -0.453281, 1.795282 mu:0.260339 unit_bearing:-0.072185 -0.171458 0.982543 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.269694, -0.441316, 1.824745 mu:0.260339 unit_bearing:-0.063520 -0.169301 0.983515 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.223239, -0.361238, 1.929936 mu:0.260339 unit_bearing:-0.031730 -0.151947 0.987879 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.693012, -0.251160, -0.252525 mu:0.260339 unit_bearing:-0.578372 -0.054259 0.813967 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.994] If point is visible? -3.295297, 0.057005, 1.829623 mu:0.260339 unit_bearing:-0.052058 -0.040691 0.997815 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.311619, 0.095122, 1.795595 mu:0.260339 unit_bearing:-0.060750 -0.029762 0.997709 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.311829, 0.103468, 1.794689 mu:0.260339 unit_bearing:-0.060751 -0.027576 0.997772 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.331669, 0.106946, 1.754042 mu:0.260339 unit_bearing:-0.072334 -0.025388 0.997057 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.287732, 0.176257, 1.836444 mu:0.260339 unit_bearing:-0.046270 -0.010093 0.998878 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.524743, 0.073975, 1.277300 mu:0.260339 unit_bearing:-0.205071 -0.018782 0.978567 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -2.984296, 0.294662, 2.318577 mu:0.260339 unit_bearing:0.104370 0.005206 0.994525 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.256683, 0.241811, 1.888025 mu:0.260339 unit_bearing:-0.028884 0.005210 0.999569 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.054716, 0.290750, 2.217765 mu:0.260339 unit_bearing:0.072538 0.007394 0.997338 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.097912, 0.257834, 2.156335 mu:0.260339 unit_bearing:0.052265 0.000837 0.998633 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.091837, 0.258972, 2.165607 mu:0.260339 unit_bearing:0.055162 0.000837 0.998477 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -2.917309, 0.313886, 2.406399 mu:0.260339 unit_bearing:0.133268 0.007387 0.991052 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -2.910464, 0.314963, 2.415189 mu:0.260339 unit_bearing:0.136155 0.007387 0.990660 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.072420, 0.353961, 2.181469 mu:0.260339 unit_bearing:0.063849 0.024879 0.997649 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.084316, 0.368336, 2.160734 mu:0.260339 unit_bearing:0.058055 0.029251 0.997885 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.078186, 0.369468, 2.169973 mu:0.260339 unit_bearing:0.060952 0.029251 0.997712 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.530610, 0.262394, 1.231969 mu:0.260339 unit_bearing:-0.210803 0.031343 0.977026 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.527150, 0.263712, 1.242619 mu:0.260339 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.530366, 0.270684, 1.230820 mu:0.260339 unit_bearing:-0.210801 0.033522 0.976954 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.526907, 0.272004, 1.241470 mu:0.260339 unit_bearing:-0.207931 0.033525 0.977569 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.532967, 0.294226, 1.216656 mu:0.260339 unit_bearing:-0.213663 0.040054 0.976086 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.612082, 0.347173, 0.899226 mu:0.260339 unit_bearing:-0.293557 0.063807 0.953810 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.499974, 0.635252, 1.182321 mu:0.260339 unit_bearing:-0.207686 0.129264 0.969617 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.596685, 0.612476, 0.808607 mu:0.260339 unit_bearing:-0.304549 0.135236 0.942847 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.392475, 0.623997, 1.493829 mu:0.260339 unit_bearing:-0.124282 0.116473 0.985387 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.593221, 0.622085, 0.818126 mu:0.260339 unit_bearing:-0.301704 0.137417 0.943446 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.498992, 0.643465, 1.180783 mu:0.260339 unit_bearing:-0.207677 0.131435 0.969327 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.064991, 0.788099, 2.071782 mu:0.260339 unit_bearing:0.052192 0.140539 0.988698 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.058922, 0.789224, 2.081040 mu:0.260339 unit_bearing:0.055085 0.140536 0.988542 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.052824, 0.790346, 2.090282 mu:0.260339 unit_bearing:0.057977 0.140533 0.988377 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.497993, 0.651676, 1.179235 mu:0.260339 unit_bearing:-0.207668 0.133606 0.969032 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -2.856034, 0.830924, 2.357950 mu:0.260339 unit_bearing:0.144600 0.142526 0.979172 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -2.853929, 0.847338, 2.354651 mu:0.260339 unit_bearing:0.144587 0.146872 0.978531 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.505235, 0.695447, 1.127154 mu:0.260339 unit_bearing:-0.219066 0.146569 0.964639 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.498505, 0.698176, 1.148489 mu:0.260339 unit_bearing:-0.213339 0.146597 0.965917 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.504068, 0.680420, 1.141015 mu:0.260339 unit_bearing:-0.216224 0.142246 0.965926 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.500687, 0.681782, 1.151677 mu:0.260339 unit_bearing:-0.213360 0.142260 0.966561 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.056840, 0.805669, 2.077790 mu:0.260339 unit_bearing:0.055080 0.144889 0.987914 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.050743, 0.806791, 2.087031 mu:0.260339 unit_bearing:0.057972 0.144886 0.987749 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -3.589710, 0.631692, 0.827623 mu:0.260339 unit_bearing:-0.298857 0.139598 0.944032 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -3.587235, 0.633123, 0.838665 mu:0.260339 unit_bearing:-0.296024 0.139617 0.944921 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] If point is visible? -2.846056, 0.904710, 2.342808 mu:0.260339 unit_bearing:0.144536 0.162073 0.976136 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -2.847228, 0.896521, 2.344529 mu:0.260339 unit_bearing:0.144543 0.159902 0.976493 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -2.833457, 1.026201, 2.307155 mu:0.260339 unit_bearing:0.141531 0.194597 0.970619 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -1.391411, 0.527794, 1.230180 mu:0.506686 unit_bearing:0.144409 0.194585 0.970197 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.991254, Z inverse max: 0.022118 +[21:41:37.995] If point is visible? -2.832027, 1.034347, 2.305283 mu:0.260339 unit_bearing:0.141522 0.196761 0.970184 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.995] If point is visible? -2.215862, 1.292128, 2.840407 mu:0.260339 unit_bearing:0.348513 0.246393 0.904339 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.995] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -2.206952, 1.292838, 2.847615 mu:0.260339 unit_bearing:0.351304 0.246348 0.903271 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -1.357239, 1.448954, 3.316612 mu:0.260339 unit_bearing:0.571058 0.271808 0.774605 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -3.428914, 1.332954, 0.670891 mu:0.260339 unit_bearing:-0.293765 0.325775 0.898650 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -3.431482, 1.325069, 0.673180 mu:0.260339 unit_bearing:-0.293803 0.323665 0.899400 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -3.429072, 1.326608, 0.684136 mu:0.260339 unit_bearing:-0.290995 0.323715 0.900295 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -3.089770, -1.568450, 1.482212 mu:0.260339 unit_bearing:-0.147796 -0.449683 0.880876 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -2.673922, -1.668504, 2.116393 mu:0.260339 unit_bearing:0.045493 -0.495657 0.867326 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -3.260187, -1.648891, 0.840874 mu:0.260339 unit_bearing:-0.315740 -0.450121 0.835284 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -1.195732, -1.266313, 3.460112 mu:0.260339 unit_bearing:0.549543 -0.434365 0.713674 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -3.182723, -1.787737, 0.867666 mu:0.260339 unit_bearing:-0.303488 -0.486848 0.819069 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -1.167217, -1.279254, 3.466263 mu:0.260339 unit_bearing:0.554271 -0.437904 0.707830 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -2.565600, -1.090874, 2.597580 mu:0.260339 unit_bearing:0.183178 -0.361666 0.914136 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -2.570984, -1.074393, 2.598908 mu:0.260339 unit_bearing:0.183229 -0.357449 0.915782 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -2.561757, -0.900020, 2.676015 mu:0.260339 unit_bearing:0.206483 -0.314838 0.926413 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -1.934404, -0.801429, 3.224510 mu:0.260339 unit_bearing:0.413546 -0.306764 0.857249 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -2.841979, -0.841355, 2.372444 mu:0.260339 unit_bearing:0.103704 -0.290048 0.951377 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -2.858850, -0.653445, 2.411525 mu:0.260339 unit_bearing:0.115425 -0.242732 0.963202 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -3.362512, -0.711415, 1.526464 mu:0.260339 unit_bearing:-0.149788 -0.229631 0.961682 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -2.862387, -0.636752, 2.411613 mu:0.260339 unit_bearing:0.115444 -0.238421 0.964276 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -3.349011, -0.549062, 1.626435 mu:0.260339 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -3.340271, -0.546637, 1.646808 mu:0.260339 unit_bearing:-0.115425 -0.190870 0.974805 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -3.331414, -0.544215, 1.667121 mu:0.260339 unit_bearing:-0.109660 -0.190889 0.975467 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -3.036834, -0.477997, 2.210602 mu:0.260339 unit_bearing:0.052128 -0.191022 0.980201 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -3.021846, -0.492427, 2.229448 mu:0.260339 unit_bearing:0.057899 -0.195348 0.979023 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:37.996] If point is visible? -3.415683, -0.152773, 1.563753 mu:0.260339 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -3.407138, -0.150290, 1.584273 mu:0.260339 unit_bearing:-0.127224 -0.086471 0.988098 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] If point is visible? -3.398475, -0.147812, 1.604733 mu:0.260339 unit_bearing:-0.121449 -0.086480 0.988823 T_cur_ref: x=0.125221 y=0.000000 z=0.082838 +[21:41:37.996] init seeds +[21:41:37.996] DepthFilter: Initialized 3 new seeds +[21:41:37.998] DepthFilter: Initialized 6 new seeds +[21:41:40.825] add new frame +[21:41:40.825] update seed +[21:41:40.825] If point is visible? -2.427919, 1.151564, 2.194616 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143139 y=0.000000 z=0.093204 +[21:41:40.825] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:40.825] If point is visible? -3.044712, 1.479663, 0.117208 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143139 y=0.000000 z=0.093204 +[21:41:40.825] If point is visible? -2.897502, 1.675363, 0.640956 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143139 y=0.000000 z=0.093204 +[21:41:40.825] If point is visible? -2.620998, 1.320209, 1.816273 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143139 y=0.000000 z=0.093204 +[21:41:40.825] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:40.825] If point is visible? -1.702560, 1.467555, 2.699361 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143139 y=0.000000 z=0.093204 +[21:41:40.825] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:40.825] If point is visible? -2.620998, 1.320209, 1.816273 mu:0.284528 unit_bearing:0.097846 0.313089 0.944670 T_cur_ref: x=0.143139 y=0.000000 z=0.093204 +[21:41:40.825] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:40.825] If point is visible? -1.702560, 1.467555, 2.699361 mu:0.284528 unit_bearing:0.445589 0.324079 0.834520 T_cur_ref: x=0.143139 y=0.000000 z=0.093204 +[21:41:40.825] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:40.825] If point is visible? -2.427919, 1.151564, 2.194616 mu:0.284528 unit_bearing:0.212816 0.252343 0.943945 T_cur_ref: x=0.143139 y=0.000000 z=0.093204 +[21:41:40.825] Z inverse min: 0.860951, Z inverse max: 0.000000 +[21:41:40.825] If point is visible? -2.947586, 1.624650, 0.493584 mu:0.284528 unit_bearing:-0.265989 0.444929 0.855154 T_cur_ref: x=0.143139 y=0.000000 z=0.093204 +[21:41:40.825] If point is visible? -3.044712, 1.479663, 0.117208 mu:0.284528 unit_bearing:-0.377163 0.417035 0.826940 T_cur_ref: x=0.143139 y=0.000000 z=0.093204 +[21:41:40.825] add key frame +[21:41:40.825] If point is visible? -2.897502, 1.675363, 0.640956 mu:0.284528 unit_bearing:-0.221024 0.454141 0.863078 T_cur_ref: x=0.143139 y=0.000000 z=0.093204 +[21:41:40.825] init seeds +[21:41:40.826] remove key frame +[21:41:40.826] update seed +[21:41:40.826] If point is visible? -7.066509, 4.230922, 1.913840 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134879 y=0.000000 z=0.088502 +[21:41:40.826] If point is visible? -6.023661, -1.607180, 5.796559 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134879 y=0.000000 z=0.088502 +[21:41:40.826] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -4.936829, 2.990063, 6.287683 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134879 y=0.000000 z=0.088502 +[21:41:40.826] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -7.220666, 4.042698, 1.714877 mu:0.116967 unit_bearing:-0.209951 0.446154 0.869981 T_cur_ref: x=0.134879 y=0.000000 z=0.088502 +[21:41:40.826] If point is visible? -6.777331, 3.892147, 3.276777 mu:0.116967 unit_bearing:-0.028502 0.406412 0.913245 T_cur_ref: x=0.134879 y=0.000000 z=0.088502 +[21:41:40.826] If point is visible? -7.066509, 4.230922, 1.913840 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134879 y=0.000000 z=0.088502 +[21:41:40.826] If point is visible? -6.023661, -1.607180, 5.796559 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134879 y=0.000000 z=0.088502 +[21:41:40.826] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -4.936829, 2.990063, 6.287683 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134879 y=0.000000 z=0.088502 +[21:41:40.826] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -6.777331, 3.892147, 3.276777 mu:0.116967 unit_bearing:-0.028502 0.406412 0.913245 T_cur_ref: x=0.134879 y=0.000000 z=0.088502 +[21:41:40.826] If point is visible? -7.220666, 4.042698, 1.714877 mu:0.116967 unit_bearing:-0.209951 0.446154 0.869981 T_cur_ref: x=0.134879 y=0.000000 z=0.088502 +[21:41:40.826] If point is visible? -12877865749.443184, -12757037213.136049, 33130280928.507286 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126600 y=0.000000 z=0.083632 +[21:41:40.826] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -32237672285.800491, 17849083316.866486, 8266779871.973205 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126600 y=0.000000 z=0.083632 +[21:41:40.826] If point is visible? -30239028577.487984, 14975903309.538097, 16956426801.244524 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126600 y=0.000000 z=0.083632 +[21:41:40.826] If point is visible? -28370820256.164330, 13196958165.185947, 21145538354.287720 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126600 y=0.000000 z=0.083632 +[21:41:40.826] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -27817677676.861038, 13273793977.645088, 21821552218.379406 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126600 y=0.000000 z=0.083632 +[21:41:40.826] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -12877865749.443184, -12757037213.136049, 33130280928.507286 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126600 y=0.000000 z=0.083632 +[21:41:40.826] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -32237672285.800491, 17849083316.866486, 8266779871.973205 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126600 y=0.000000 z=0.083632 +[21:41:40.826] If point is visible? -28370820256.164330, 13196958165.185947, 21145538354.287720 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126600 y=0.000000 z=0.083632 +[21:41:40.826] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -27817677676.861038, 13273793977.645088, 21821552218.379406 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126600 y=0.000000 z=0.083632 +[21:41:40.826] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -30239028577.487984, 14975903309.538097, 16956426801.244524 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126600 y=0.000000 z=0.083632 +[21:41:40.826] If point is visible? -3.156332, 1.873797, 0.771881 mu:0.260339 unit_bearing:-0.220847 0.462323 0.858769 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] If point is visible? -2.924774, 1.377507, 1.968163 mu:0.260339 unit_bearing:0.063430 0.296128 0.953040 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -3.264788, 1.745123, 0.548541 mu:0.260339 unit_bearing:-0.288484 0.436160 0.852374 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] If point is visible? -3.255212, 1.751573, 0.591914 mu:0.260339 unit_bearing:-0.277352 0.436451 0.855913 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] If point is visible? -3.509218, 1.099508, -0.497218 mu:0.260339 unit_bearing:-0.572126 0.302514 0.762337 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] If point is visible? -3.160330, -1.826168, 0.873247 mu:0.260339 unit_bearing:-0.300379 -0.496956 0.814129 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] If point is visible? -2.705007, -1.683513, 2.060217 mu:0.260339 unit_bearing:0.028467 -0.497754 0.866851 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -3.164431, -1.818296, 0.874340 mu:0.260339 unit_bearing:-0.300451 -0.494957 0.815320 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] If point is visible? -2.677770, -1.660471, 2.117663 mu:0.260339 unit_bearing:0.045502 -0.493622 0.868485 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -2.661511, -1.639720, 2.156453 mu:0.260339 unit_bearing:0.056871 -0.489491 0.870152 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -2.653176, -1.629332, 2.175736 mu:0.260339 unit_bearing:0.062557 -0.487419 0.870925 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -2.617617, -1.543805, 2.284641 mu:0.260339 unit_bearing:0.093911 -0.468774 0.878312 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -3.260196, -1.648891, 0.840858 mu:0.260339 unit_bearing:-0.315740 -0.450121 0.835284 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] If point is visible? -1.727097, -0.920996, 3.319359 mu:0.260339 unit_bearing:0.458449 -0.340670 0.820834 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -2.562192, -0.925983, 2.666398 mu:0.260339 unit_bearing:0.203565 -0.321242 0.924859 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -2.554674, -0.924849, 2.674600 mu:0.260339 unit_bearing:0.206410 -0.321209 0.924240 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -2.830994, -0.830744, 2.390453 mu:0.260339 unit_bearing:0.109460 -0.287877 0.951391 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -2.822246, -0.837920, 2.399032 mu:0.260339 unit_bearing:0.112321 -0.290004 0.950411 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.826] If point is visible? -2.869039, -0.637887, 2.402739 mu:0.260339 unit_bearing:0.112566 -0.238433 0.964613 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.826] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -2.949071, -0.574096, 2.312990 mu:0.260339 unit_bearing:0.083823 -0.219102 0.972095 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -2.308132, -0.489326, 3.014349 mu:0.260339 unit_bearing:0.326494 -0.219450 0.919371 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.003734, -0.523588, 2.248464 mu:0.260339 unit_bearing:0.063659 -0.204004 0.976898 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.319331, -0.532230, 1.697228 mu:0.260339 unit_bearing:-0.101015 -0.188748 0.976816 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.314771, -0.531022, 1.707318 mu:0.260339 unit_bearing:-0.098130 -0.188756 0.977109 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.356209, -0.559845, 1.606217 mu:0.260339 unit_bearing:-0.126943 -0.192996 0.972953 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.351913, -0.558630, 1.616440 mu:0.260339 unit_bearing:-0.124063 -0.193007 0.973323 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.347588, -0.557417, 1.626648 mu:0.260339 unit_bearing:-0.121182 -0.193017 0.973683 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.293596, -0.481983, 1.766241 mu:0.260339 unit_bearing:-0.080838 -0.177954 0.980713 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.288830, -0.480780, 1.776226 mu:0.260339 unit_bearing:-0.077950 -0.177960 0.980946 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.290140, -0.472416, 1.775939 mu:0.260339 unit_bearing:-0.077954 -0.175789 0.981336 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.285345, -0.471214, 1.785910 mu:0.260339 unit_bearing:-0.075066 -0.175795 0.981561 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.349020, -0.549062, 1.626420 mu:0.260339 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.283090, -0.453281, 1.795266 mu:0.260339 unit_bearing:-0.072185 -0.171458 0.982543 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.269703, -0.441316, 1.824729 mu:0.260339 unit_bearing:-0.063520 -0.169301 0.983515 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.223248, -0.361238, 1.929921 mu:0.260339 unit_bearing:-0.031730 -0.151947 0.987879 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.693021, -0.251160, -0.252541 mu:0.260339 unit_bearing:-0.578372 -0.054259 0.813967 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.295306, 0.057005, 1.829607 mu:0.260339 unit_bearing:-0.052058 -0.040691 0.997815 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.311628, 0.095122, 1.795579 mu:0.260339 unit_bearing:-0.060750 -0.029762 0.997709 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.311838, 0.103468, 1.794674 mu:0.260339 unit_bearing:-0.060751 -0.027576 0.997772 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.331678, 0.106946, 1.754027 mu:0.260339 unit_bearing:-0.072334 -0.025388 0.997057 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.287741, 0.176257, 1.836428 mu:0.260339 unit_bearing:-0.046270 -0.010093 0.998878 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.524752, 0.073975, 1.277284 mu:0.260339 unit_bearing:-0.205071 -0.018782 0.978567 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -2.984305, 0.294662, 2.318561 mu:0.260339 unit_bearing:0.104370 0.005206 0.994525 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.256692, 0.241811, 1.888009 mu:0.260339 unit_bearing:-0.028884 0.005210 0.999569 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.054725, 0.290750, 2.217750 mu:0.260339 unit_bearing:0.072538 0.007394 0.997338 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.097921, 0.257834, 2.156319 mu:0.260339 unit_bearing:0.052265 0.000837 0.998633 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.091846, 0.258972, 2.165591 mu:0.260339 unit_bearing:0.055162 0.000837 0.998477 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -2.917318, 0.313886, 2.406383 mu:0.260339 unit_bearing:0.133268 0.007387 0.991052 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -2.910473, 0.314963, 2.415173 mu:0.260339 unit_bearing:0.136155 0.007387 0.990660 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.072429, 0.353961, 2.181453 mu:0.260339 unit_bearing:0.063849 0.024879 0.997649 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.084325, 0.368336, 2.160718 mu:0.260339 unit_bearing:0.058055 0.029251 0.997885 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.078195, 0.369468, 2.169957 mu:0.260339 unit_bearing:0.060952 0.029251 0.997712 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.530619, 0.262394, 1.231953 mu:0.260339 unit_bearing:-0.210803 0.031343 0.977026 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.527159, 0.263712, 1.242603 mu:0.260339 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.530375, 0.270684, 1.230804 mu:0.260339 unit_bearing:-0.210801 0.033522 0.976954 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.526916, 0.272004, 1.241454 mu:0.260339 unit_bearing:-0.207931 0.033525 0.977569 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.532976, 0.294226, 1.216640 mu:0.260339 unit_bearing:-0.213663 0.040054 0.976086 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.612091, 0.347173, 0.899210 mu:0.260339 unit_bearing:-0.293557 0.063807 0.953810 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.499983, 0.635252, 1.182306 mu:0.260339 unit_bearing:-0.207686 0.129264 0.969617 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.596694, 0.612476, 0.808592 mu:0.260339 unit_bearing:-0.304549 0.135236 0.942847 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.392484, 0.623997, 1.493813 mu:0.260339 unit_bearing:-0.124282 0.116473 0.985387 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.593230, 0.622085, 0.818110 mu:0.260339 unit_bearing:-0.301704 0.137417 0.943446 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.499001, 0.643465, 1.180767 mu:0.260339 unit_bearing:-0.207677 0.131435 0.969327 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.065000, 0.788099, 2.071766 mu:0.260339 unit_bearing:0.052192 0.140539 0.988698 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.058931, 0.789224, 2.081025 mu:0.260339 unit_bearing:0.055085 0.140536 0.988542 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.052833, 0.790346, 2.090267 mu:0.260339 unit_bearing:0.057977 0.140533 0.988377 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.498002, 0.651676, 1.179220 mu:0.260339 unit_bearing:-0.207668 0.133606 0.969032 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -2.856043, 0.830924, 2.357934 mu:0.260339 unit_bearing:0.144600 0.142526 0.979172 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -2.853938, 0.847338, 2.354636 mu:0.260339 unit_bearing:0.144587 0.146872 0.978531 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.505244, 0.695447, 1.127138 mu:0.260339 unit_bearing:-0.219066 0.146569 0.964639 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.498514, 0.698176, 1.148473 mu:0.260339 unit_bearing:-0.213339 0.146597 0.965917 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.504077, 0.680420, 1.140999 mu:0.260339 unit_bearing:-0.216224 0.142246 0.965926 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.500696, 0.681782, 1.151661 mu:0.260339 unit_bearing:-0.213360 0.142260 0.966561 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] If point is visible? -3.056849, 0.805669, 2.077774 mu:0.260339 unit_bearing:0.055080 0.144889 0.987914 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.050752, 0.806791, 2.087016 mu:0.260339 unit_bearing:0.057972 0.144886 0.987749 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.827] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.827] If point is visible? -3.589719, 0.631692, 0.827607 mu:0.260339 unit_bearing:-0.298857 0.139598 0.944032 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.587244, 0.633123, 0.838649 mu:0.260339 unit_bearing:-0.296024 0.139617 0.944921 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -2.846065, 0.904710, 2.342792 mu:0.260339 unit_bearing:0.144536 0.162073 0.976136 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -2.847237, 0.896521, 2.344513 mu:0.260339 unit_bearing:0.144543 0.159902 0.976493 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -2.833466, 1.026201, 2.307139 mu:0.260339 unit_bearing:0.141531 0.194597 0.970619 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -1.391420, 0.527794, 1.230165 mu:0.506686 unit_bearing:0.144409 0.194585 0.970197 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.991254, Z inverse max: 0.022118 +[21:41:40.828] If point is visible? -2.832036, 1.034347, 2.305267 mu:0.260339 unit_bearing:0.141522 0.196761 0.970184 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -2.215871, 1.292128, 2.840391 mu:0.260339 unit_bearing:0.348513 0.246393 0.904339 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -2.206961, 1.292838, 2.847599 mu:0.260339 unit_bearing:0.351304 0.246348 0.903271 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -1.357248, 1.448954, 3.316596 mu:0.260339 unit_bearing:0.571058 0.271808 0.774605 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -3.428923, 1.332954, 0.670875 mu:0.260339 unit_bearing:-0.293765 0.325775 0.898650 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.431491, 1.325069, 0.673164 mu:0.260339 unit_bearing:-0.293803 0.323665 0.899400 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.429081, 1.326608, 0.684120 mu:0.260339 unit_bearing:-0.290995 0.323715 0.900295 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.089779, -1.568450, 1.482196 mu:0.260339 unit_bearing:-0.147796 -0.449683 0.880876 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -2.673931, -1.668504, 2.116377 mu:0.260339 unit_bearing:0.045493 -0.495657 0.867326 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -3.260196, -1.648891, 0.840858 mu:0.260339 unit_bearing:-0.315740 -0.450121 0.835284 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -1.195741, -1.266313, 3.460097 mu:0.260339 unit_bearing:0.549543 -0.434365 0.713674 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -3.182732, -1.787737, 0.867650 mu:0.260339 unit_bearing:-0.303488 -0.486848 0.819069 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -1.167226, -1.279254, 3.466247 mu:0.260339 unit_bearing:0.554271 -0.437904 0.707830 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -2.565609, -1.090874, 2.597564 mu:0.260339 unit_bearing:0.183178 -0.361666 0.914136 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -2.570993, -1.074393, 2.598893 mu:0.260339 unit_bearing:0.183229 -0.357449 0.915782 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -2.561766, -0.900020, 2.675999 mu:0.260339 unit_bearing:0.206483 -0.314838 0.926413 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -1.934413, -0.801429, 3.224495 mu:0.260339 unit_bearing:0.413546 -0.306764 0.857249 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -2.841988, -0.841355, 2.372429 mu:0.260339 unit_bearing:0.103704 -0.290048 0.951377 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -2.858859, -0.653445, 2.411509 mu:0.260339 unit_bearing:0.115425 -0.242732 0.963202 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -3.362521, -0.711415, 1.526448 mu:0.260339 unit_bearing:-0.149788 -0.229631 0.961682 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -2.862396, -0.636752, 2.411597 mu:0.260339 unit_bearing:0.115444 -0.238421 0.964276 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -3.349020, -0.549062, 1.626420 mu:0.260339 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.340280, -0.546637, 1.646792 mu:0.260339 unit_bearing:-0.115425 -0.190870 0.974805 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.331423, -0.544215, 1.667105 mu:0.260339 unit_bearing:-0.109660 -0.190889 0.975467 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.036843, -0.477997, 2.210586 mu:0.260339 unit_bearing:0.052128 -0.191022 0.980201 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -3.021855, -0.492427, 2.229432 mu:0.260339 unit_bearing:0.057899 -0.195348 0.979023 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] If point is visible? -3.415692, -0.152773, 1.563737 mu:0.260339 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.407147, -0.150290, 1.584257 mu:0.260339 unit_bearing:-0.127224 -0.086471 0.988098 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.398484, -0.147812, 1.604718 mu:0.260339 unit_bearing:-0.121449 -0.086480 0.988823 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.316582, 0.093908, 1.785669 mu:0.260339 unit_bearing:-0.063646 -0.029761 0.997529 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.690487, -0.342829, -0.195311 mu:0.260339 unit_bearing:-0.567750 -0.079762 0.819328 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.541752, 0.059144, 1.224893 mu:0.260339 unit_bearing:-0.219418 -0.020952 0.975406 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.327637, 0.158214, 1.758308 mu:0.260339 unit_bearing:-0.069441 -0.012276 0.997510 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.317813, 0.160651, 1.778174 mu:0.260339 unit_bearing:-0.063650 -0.012277 0.997897 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.327785, 0.174889, 1.756344 mu:0.260339 unit_bearing:-0.069442 -0.007905 0.997555 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.395924, 0.630959, 1.482087 mu:0.260339 unit_bearing:-0.127163 0.118644 0.984761 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.378501, 0.636066, 1.522915 mu:0.260339 unit_bearing:-0.115617 0.118668 0.986180 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.530045, 0.360463, 1.206927 mu:0.260339 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.385480, 0.649997, 1.499508 mu:0.260339 unit_bearing:-0.121381 0.123010 0.984954 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] If point is visible? -3.046397, 0.839653, 2.080403 mu:0.260339 unit_bearing:0.057961 0.153587 0.986434 T_cur_ref: x=0.125212 y=0.000000 z=0.082822 +[21:41:40.828] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:40.828] init seeds +[21:41:40.828] DepthFilter: Initialized 1 new seeds +[21:41:40.831] DepthFilter: Initialized 1 new seeds +[21:41:42.987] add new frame +[21:41:42.987] update seed +[21:41:42.987] If point is visible? -7.066516, 4.230922, 1.913833 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134872 y=0.000000 z=0.088495 +[21:41:42.987] If point is visible? -6.023668, -1.607180, 5.796552 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134872 y=0.000000 z=0.088495 +[21:41:42.987] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -4.936836, 2.990063, 6.287677 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134872 y=0.000000 z=0.088495 +[21:41:42.987] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -7.220674, 4.042698, 1.714870 mu:0.116967 unit_bearing:-0.209951 0.446154 0.869981 T_cur_ref: x=0.134872 y=0.000000 z=0.088495 +[21:41:42.987] If point is visible? -6.777338, 3.892147, 3.276770 mu:0.116967 unit_bearing:-0.028502 0.406412 0.913245 T_cur_ref: x=0.134872 y=0.000000 z=0.088495 +[21:41:42.987] If point is visible? -7.066516, 4.230922, 1.913833 mu:0.116967 unit_bearing:-0.178630 0.465170 0.867011 T_cur_ref: x=0.134872 y=0.000000 z=0.088495 +[21:41:42.987] If point is visible? -6.023668, -1.607180, 5.796552 mu:0.116967 unit_bearing:0.201262 -0.267952 0.942176 T_cur_ref: x=0.134872 y=0.000000 z=0.088495 +[21:41:42.987] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -4.936836, 2.990063, 6.287677 mu:0.116967 unit_bearing:0.370567 0.258765 0.892032 T_cur_ref: x=0.134872 y=0.000000 z=0.088495 +[21:41:42.987] Z inverse min: 0.571082, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -6.777338, 3.892147, 3.276770 mu:0.116967 unit_bearing:-0.028502 0.406412 0.913245 T_cur_ref: x=0.134872 y=0.000000 z=0.088495 +[21:41:42.987] If point is visible? -7.220674, 4.042698, 1.714870 mu:0.116967 unit_bearing:-0.209951 0.446154 0.869981 T_cur_ref: x=0.134872 y=0.000000 z=0.088495 +[21:41:42.987] If point is visible? -12877865749.443192, -12757037213.136049, 33130280928.507278 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -32237672285.800499, 17849083316.866486, 8266779871.973198 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] If point is visible? -30239028577.487991, 14975903309.538097, 16956426801.244518 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] If point is visible? -28370820256.164337, 13196958165.185947, 21145538354.287712 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -27817677676.861046, 13273793977.645088, 21821552218.379398 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -12877865749.443192, -12757037213.136049, 33130280928.507278 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:42.987] add key frame +[21:41:42.987] remove key frame +[21:41:42.987] init seeds +[21:41:42.987] update seed +[21:41:42.987] If point is visible? -12877865749.443192, -12757037213.136049, 33130280928.507278 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -32237672285.800499, 17849083316.866486, 8266779871.973198 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] If point is visible? -30239028577.487991, 14975903309.538097, 16956426801.244518 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] If point is visible? -28370820256.164337, 13196958165.185947, 21145538354.287712 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -27817677676.861046, 13273793977.645088, 21821552218.379398 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -12877865749.443192, -12757037213.136049, 33130280928.507278 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -32237672285.800499, 17849083316.866486, 8266779871.973198 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] If point is visible? -28370820256.164337, 13196958165.185947, 21145538354.287712 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -27817677676.861046, 13273793977.645088, 21821552218.379398 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -30239028577.487991, 14975903309.538097, 16956426801.244518 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126592 y=0.000000 z=0.083625 +[21:41:42.987] If point is visible? -3.156340, 1.873797, 0.771874 mu:0.260339 unit_bearing:-0.220847 0.462323 0.858769 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.987] If point is visible? -2.924781, 1.377507, 1.968157 mu:0.260339 unit_bearing:0.063430 0.296128 0.953040 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.987] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -3.264796, 1.745123, 0.548534 mu:0.260339 unit_bearing:-0.288484 0.436160 0.852374 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.987] If point is visible? -3.255220, 1.751573, 0.591907 mu:0.260339 unit_bearing:-0.277352 0.436451 0.855913 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.987] If point is visible? -3.509226, 1.099508, -0.497225 mu:0.260339 unit_bearing:-0.572126 0.302514 0.762337 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.987] If point is visible? -3.160338, -1.826168, 0.873241 mu:0.260339 unit_bearing:-0.300379 -0.496956 0.814129 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.987] If point is visible? -2.705015, -1.683513, 2.060211 mu:0.260339 unit_bearing:0.028467 -0.497754 0.866851 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.987] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.987] If point is visible? -3.164438, -1.818296, 0.874333 mu:0.260339 unit_bearing:-0.300451 -0.494957 0.815320 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.987] If point is visible? -2.677777, -1.660471, 2.117656 mu:0.260339 unit_bearing:0.045502 -0.493622 0.868485 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.987] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.661518, -1.639720, 2.156447 mu:0.260339 unit_bearing:0.056871 -0.489491 0.870152 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.653183, -1.629332, 2.175729 mu:0.260339 unit_bearing:0.062557 -0.487419 0.870925 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.617624, -1.543805, 2.284635 mu:0.260339 unit_bearing:0.093911 -0.468774 0.878312 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -3.260204, -1.648891, 0.840851 mu:0.260339 unit_bearing:-0.315740 -0.450121 0.835284 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -1.727104, -0.920996, 3.319352 mu:0.260339 unit_bearing:0.458449 -0.340670 0.820834 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.562199, -0.925983, 2.666392 mu:0.260339 unit_bearing:0.203565 -0.321242 0.924859 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.554682, -0.924849, 2.674593 mu:0.260339 unit_bearing:0.206410 -0.321209 0.924240 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.831002, -0.830744, 2.390446 mu:0.260339 unit_bearing:0.109460 -0.287877 0.951391 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.822254, -0.837920, 2.399026 mu:0.260339 unit_bearing:0.112321 -0.290004 0.950411 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.869046, -0.637887, 2.402732 mu:0.260339 unit_bearing:0.112566 -0.238433 0.964613 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.949078, -0.574096, 2.312983 mu:0.260339 unit_bearing:0.083823 -0.219102 0.972095 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.308139, -0.489326, 3.014342 mu:0.260339 unit_bearing:0.326494 -0.219450 0.919371 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -3.003741, -0.523588, 2.248457 mu:0.260339 unit_bearing:0.063659 -0.204004 0.976898 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -3.319338, -0.532230, 1.697221 mu:0.260339 unit_bearing:-0.101015 -0.188748 0.976816 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.314778, -0.531022, 1.707311 mu:0.260339 unit_bearing:-0.098130 -0.188756 0.977109 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.356217, -0.559845, 1.606210 mu:0.260339 unit_bearing:-0.126943 -0.192996 0.972953 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.351921, -0.558630, 1.616433 mu:0.260339 unit_bearing:-0.124063 -0.193007 0.973323 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.347595, -0.557417, 1.626641 mu:0.260339 unit_bearing:-0.121182 -0.193017 0.973683 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.293603, -0.481983, 1.766234 mu:0.260339 unit_bearing:-0.080838 -0.177954 0.980713 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.288838, -0.480780, 1.776219 mu:0.260339 unit_bearing:-0.077950 -0.177960 0.980946 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.290147, -0.472416, 1.775933 mu:0.260339 unit_bearing:-0.077954 -0.175789 0.981336 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.285353, -0.471214, 1.785903 mu:0.260339 unit_bearing:-0.075066 -0.175795 0.981561 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.349027, -0.549062, 1.626413 mu:0.260339 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.283097, -0.453281, 1.795259 mu:0.260339 unit_bearing:-0.072185 -0.171458 0.982543 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.269711, -0.441316, 1.824722 mu:0.260339 unit_bearing:-0.063520 -0.169301 0.983515 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.223256, -0.361238, 1.929914 mu:0.260339 unit_bearing:-0.031730 -0.151947 0.987879 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.693028, -0.251160, -0.252548 mu:0.260339 unit_bearing:-0.578372 -0.054259 0.813967 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.295313, 0.057005, 1.829600 mu:0.260339 unit_bearing:-0.052058 -0.040691 0.997815 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.311635, 0.095122, 1.795572 mu:0.260339 unit_bearing:-0.060750 -0.029762 0.997709 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.311845, 0.103468, 1.794667 mu:0.260339 unit_bearing:-0.060751 -0.027576 0.997772 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.331685, 0.106946, 1.754020 mu:0.260339 unit_bearing:-0.072334 -0.025388 0.997057 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.287749, 0.176257, 1.836422 mu:0.260339 unit_bearing:-0.046270 -0.010093 0.998878 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.524760, 0.073975, 1.277278 mu:0.260339 unit_bearing:-0.205071 -0.018782 0.978567 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -2.984313, 0.294662, 2.318554 mu:0.260339 unit_bearing:0.104370 0.005206 0.994525 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -3.256700, 0.241811, 1.888003 mu:0.260339 unit_bearing:-0.028884 0.005210 0.999569 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.054733, 0.290750, 2.217743 mu:0.260339 unit_bearing:0.072538 0.007394 0.997338 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -3.097928, 0.257834, 2.156312 mu:0.260339 unit_bearing:0.052265 0.000837 0.998633 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -3.091853, 0.258972, 2.165584 mu:0.260339 unit_bearing:0.055162 0.000837 0.998477 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.917326, 0.313886, 2.406377 mu:0.260339 unit_bearing:0.133268 0.007387 0.991052 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -2.910481, 0.314963, 2.415167 mu:0.260339 unit_bearing:0.136155 0.007387 0.990660 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -3.072437, 0.353961, 2.181447 mu:0.260339 unit_bearing:0.063849 0.024879 0.997649 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -3.084332, 0.368336, 2.160712 mu:0.260339 unit_bearing:0.058055 0.029251 0.997885 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -3.078202, 0.369468, 2.169950 mu:0.260339 unit_bearing:0.060952 0.029251 0.997712 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.988] If point is visible? -3.530626, 0.262394, 1.231946 mu:0.260339 unit_bearing:-0.210803 0.031343 0.977026 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.527166, 0.263712, 1.242597 mu:0.260339 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.530383, 0.270684, 1.230797 mu:0.260339 unit_bearing:-0.210801 0.033522 0.976954 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.526923, 0.272004, 1.241447 mu:0.260339 unit_bearing:-0.207931 0.033525 0.977569 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.532983, 0.294226, 1.216634 mu:0.260339 unit_bearing:-0.213663 0.040054 0.976086 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.988] If point is visible? -3.612098, 0.347173, 0.899203 mu:0.260339 unit_bearing:-0.293557 0.063807 0.953810 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.499991, 0.635252, 1.182299 mu:0.260339 unit_bearing:-0.207686 0.129264 0.969617 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.596701, 0.612476, 0.808585 mu:0.260339 unit_bearing:-0.304549 0.135236 0.942847 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.392491, 0.623997, 1.493806 mu:0.260339 unit_bearing:-0.124282 0.116473 0.985387 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.593237, 0.622085, 0.818103 mu:0.260339 unit_bearing:-0.301704 0.137417 0.943446 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.499009, 0.643465, 1.180760 mu:0.260339 unit_bearing:-0.207677 0.131435 0.969327 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.065007, 0.788099, 2.071759 mu:0.260339 unit_bearing:0.052192 0.140539 0.988698 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -3.058938, 0.789224, 2.081018 mu:0.260339 unit_bearing:0.055085 0.140536 0.988542 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -3.052841, 0.790346, 2.090260 mu:0.260339 unit_bearing:0.057977 0.140533 0.988377 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -3.498010, 0.651676, 1.179213 mu:0.260339 unit_bearing:-0.207668 0.133606 0.969032 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -2.856050, 0.830924, 2.357927 mu:0.260339 unit_bearing:0.144600 0.142526 0.979172 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -2.853945, 0.847338, 2.354629 mu:0.260339 unit_bearing:0.144587 0.146872 0.978531 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -3.505251, 0.695447, 1.127131 mu:0.260339 unit_bearing:-0.219066 0.146569 0.964639 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.498521, 0.698176, 1.148467 mu:0.260339 unit_bearing:-0.213339 0.146597 0.965917 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.504085, 0.680420, 1.140993 mu:0.260339 unit_bearing:-0.216224 0.142246 0.965926 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.500703, 0.681782, 1.151654 mu:0.260339 unit_bearing:-0.213360 0.142260 0.966561 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.056856, 0.805669, 2.077768 mu:0.260339 unit_bearing:0.055080 0.144889 0.987914 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -3.050760, 0.806791, 2.087009 mu:0.260339 unit_bearing:0.057972 0.144886 0.987749 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -3.589726, 0.631692, 0.827600 mu:0.260339 unit_bearing:-0.298857 0.139598 0.944032 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.587252, 0.633123, 0.838642 mu:0.260339 unit_bearing:-0.296024 0.139617 0.944921 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -2.846072, 0.904710, 2.342786 mu:0.260339 unit_bearing:0.144536 0.162073 0.976136 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -2.847245, 0.896521, 2.344506 mu:0.260339 unit_bearing:0.144543 0.159902 0.976493 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -2.833474, 1.026201, 2.307132 mu:0.260339 unit_bearing:0.141531 0.194597 0.970619 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -1.391427, 0.527794, 1.230158 mu:0.506686 unit_bearing:0.144409 0.194585 0.970197 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.991254, Z inverse max: 0.022118 +[21:41:42.989] If point is visible? -2.832043, 1.034347, 2.305260 mu:0.260339 unit_bearing:0.141522 0.196761 0.970184 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -2.215878, 1.292128, 2.840385 mu:0.260339 unit_bearing:0.348513 0.246393 0.904339 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -2.206968, 1.292838, 2.847592 mu:0.260339 unit_bearing:0.351304 0.246348 0.903271 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -1.357255, 1.448954, 3.316590 mu:0.260339 unit_bearing:0.571058 0.271808 0.774605 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -3.428931, 1.332954, 0.670868 mu:0.260339 unit_bearing:-0.293765 0.325775 0.898650 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.431499, 1.325069, 0.673157 mu:0.260339 unit_bearing:-0.293803 0.323665 0.899400 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.429089, 1.326608, 0.684113 mu:0.260339 unit_bearing:-0.290995 0.323715 0.900295 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.089786, -1.568450, 1.482190 mu:0.260339 unit_bearing:-0.147796 -0.449683 0.880876 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -2.673938, -1.668504, 2.116370 mu:0.260339 unit_bearing:0.045493 -0.495657 0.867326 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -3.260204, -1.648891, 0.840851 mu:0.260339 unit_bearing:-0.315740 -0.450121 0.835284 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -1.195749, -1.266313, 3.460090 mu:0.260339 unit_bearing:0.549543 -0.434365 0.713674 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -3.182739, -1.787737, 0.867643 mu:0.260339 unit_bearing:-0.303488 -0.486848 0.819069 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -1.167234, -1.279254, 3.466240 mu:0.260339 unit_bearing:0.554271 -0.437904 0.707830 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -2.565617, -1.090874, 2.597557 mu:0.260339 unit_bearing:0.183178 -0.361666 0.914136 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -2.571000, -1.074393, 2.598886 mu:0.260339 unit_bearing:0.183229 -0.357449 0.915782 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -2.561773, -0.900020, 2.675992 mu:0.260339 unit_bearing:0.206483 -0.314838 0.926413 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -1.934421, -0.801429, 3.224488 mu:0.260339 unit_bearing:0.413546 -0.306764 0.857249 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -2.841995, -0.841355, 2.372422 mu:0.260339 unit_bearing:0.103704 -0.290048 0.951377 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -2.858866, -0.653445, 2.411502 mu:0.260339 unit_bearing:0.115425 -0.242732 0.963202 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -3.362529, -0.711415, 1.526441 mu:0.260339 unit_bearing:-0.149788 -0.229631 0.961682 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -2.862404, -0.636752, 2.411591 mu:0.260339 unit_bearing:0.115444 -0.238421 0.964276 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.989] If point is visible? -3.349027, -0.549062, 1.626413 mu:0.260339 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.340288, -0.546637, 1.646786 mu:0.260339 unit_bearing:-0.115425 -0.190870 0.974805 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.989] If point is visible? -3.331431, -0.544215, 1.667099 mu:0.260339 unit_bearing:-0.109660 -0.190889 0.975467 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.036850, -0.477997, 2.210579 mu:0.260339 unit_bearing:0.052128 -0.191022 0.980201 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.990] If point is visible? -3.021863, -0.492427, 2.229425 mu:0.260339 unit_bearing:0.057899 -0.195348 0.979023 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.990] If point is visible? -3.415699, -0.152773, 1.563730 mu:0.260339 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.407154, -0.150290, 1.584250 mu:0.260339 unit_bearing:-0.127224 -0.086471 0.988098 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.398492, -0.147812, 1.604711 mu:0.260339 unit_bearing:-0.121449 -0.086480 0.988823 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.316589, 0.093908, 1.785662 mu:0.260339 unit_bearing:-0.063646 -0.029761 0.997529 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.690495, -0.342829, -0.195318 mu:0.260339 unit_bearing:-0.567750 -0.079762 0.819328 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.541760, 0.059144, 1.224886 mu:0.260339 unit_bearing:-0.219418 -0.020952 0.975406 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.327645, 0.158214, 1.758301 mu:0.260339 unit_bearing:-0.069441 -0.012276 0.997510 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.317821, 0.160651, 1.778167 mu:0.260339 unit_bearing:-0.063650 -0.012277 0.997897 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.327792, 0.174889, 1.756337 mu:0.260339 unit_bearing:-0.069442 -0.007905 0.997555 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.395931, 0.630959, 1.482080 mu:0.260339 unit_bearing:-0.127163 0.118644 0.984761 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.378508, 0.636066, 1.522908 mu:0.260339 unit_bearing:-0.115617 0.118668 0.986180 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.530053, 0.360463, 1.206920 mu:0.260339 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.385487, 0.649997, 1.499501 mu:0.260339 unit_bearing:-0.121381 0.123010 0.984954 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] If point is visible? -3.046405, 0.839653, 2.080396 mu:0.260339 unit_bearing:0.057961 0.153587 0.986434 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.990] If point is visible? -3.021742, 0.844106, 2.117185 mu:0.260339 unit_bearing:0.069526 0.153570 0.985689 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.990] If point is visible? -2.838937, 1.033323, 2.296536 mu:0.260339 unit_bearing:0.138645 0.196773 0.970597 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.990] If point is visible? -2.219492, 1.276170, 2.844742 mu:0.260339 unit_bearing:0.348580 0.242131 0.905464 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.990] If point is visible? -2.693334, 1.273917, 2.360407 mu:0.260339 unit_bearing:0.178486 0.256916 0.949809 T_cur_ref: x=0.125204 y=0.000000 z=0.082816 +[21:41:42.990] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:42.990] init seeds +[21:41:42.990] DepthFilter: Initialized 0 new seeds +[21:41:42.992] DepthFilter: Initialized 0 new seeds +[21:41:46.098] add new frame +[21:41:46.098] update seed +[21:41:46.098] If point is visible? -12877865749.443201, -12757037213.136049, 33130280928.507256 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126583 y=0.000000 z=0.083603 +[21:41:46.098] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:46.098] If point is visible? -32237672285.800507, 17849083316.866486, 8266779871.973175 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126583 y=0.000000 z=0.083603 +[21:41:46.098] If point is visible? -30239028577.487999, 14975903309.538097, 16956426801.244495 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126583 y=0.000000 z=0.083603 +[21:41:46.098] If point is visible? -28370820256.164345, 13196958165.185947, 21145538354.287689 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126583 y=0.000000 z=0.083603 +[21:41:46.098] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:46.098] If point is visible? -27817677676.861053, 13273793977.645088, 21821552218.379375 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126583 y=0.000000 z=0.083603 +[21:41:46.098] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:46.098] If point is visible? -12877865749.443201, -12757037213.136049, 33130280928.507256 mu:0.000000 unit_bearing:0.548974 -0.442195 0.709289 T_cur_ref: x=0.126583 y=0.000000 z=0.083603 +[21:41:46.098] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:46.098] If point is visible? -32237672285.800507, 17849083316.866486, 8266779871.973175 mu:0.000000 unit_bearing:-0.187482 0.442435 0.876984 T_cur_ref: x=0.126583 y=0.000000 z=0.083603 +[21:41:46.098] If point is visible? -28370820256.164345, 13196958165.185947, 21145538354.287689 mu:0.000000 unit_bearing:0.143954 0.278607 0.949555 T_cur_ref: x=0.126583 y=0.000000 z=0.083603 +[21:41:46.098] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:46.098] If point is visible? -27817677676.861053, 13273793977.645088, 21821552218.379375 mu:0.000000 unit_bearing:0.166874 0.278445 0.945844 T_cur_ref: x=0.126583 y=0.000000 z=0.083603 +[21:41:46.098] Z inverse min: 0.416787, Z inverse max: 0.000000 +[21:41:46.098] If point is visible? -30239028577.487999, 14975903309.538097, 16956426801.244495 mu:0.000000 unit_bearing:0.028829 0.338880 0.940388 T_cur_ref: x=0.126583 y=0.000000 z=0.083603 +[21:41:46.098] If point is visible? -3.156349, 1.873797, 0.771852 mu:0.260339 unit_bearing:-0.220847 0.462323 0.858769 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.098] If point is visible? -2.924790, 1.377507, 1.968134 mu:0.260339 unit_bearing:0.063430 0.296128 0.953040 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.098] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.098] add key frame +[21:41:46.098] If point is visible? -3.264805, 1.745123, 0.548512 mu:0.260339 unit_bearing:-0.288484 0.436160 0.852374 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.098] init seeds +[21:41:46.098] remove key frame +[21:41:46.099] update seed +[21:41:46.099] If point is visible? -3.156349, 1.873797, 0.771852 mu:0.260339 unit_bearing:-0.220847 0.462323 0.858769 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -2.924790, 1.377507, 1.968134 mu:0.260339 unit_bearing:0.063430 0.296128 0.953040 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -3.264805, 1.745123, 0.548512 mu:0.260339 unit_bearing:-0.288484 0.436160 0.852374 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.255229, 1.751573, 0.591885 mu:0.260339 unit_bearing:-0.277352 0.436451 0.855913 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.509235, 1.099508, -0.497247 mu:0.260339 unit_bearing:-0.572126 0.302514 0.762337 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.160347, -1.826168, 0.873218 mu:0.260339 unit_bearing:-0.300379 -0.496956 0.814129 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -2.705024, -1.683513, 2.060188 mu:0.260339 unit_bearing:0.028467 -0.497754 0.866851 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -3.164447, -1.818296, 0.874311 mu:0.260339 unit_bearing:-0.300451 -0.494957 0.815320 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -2.677786, -1.660471, 2.117634 mu:0.260339 unit_bearing:0.045502 -0.493622 0.868485 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -2.661527, -1.639720, 2.156424 mu:0.260339 unit_bearing:0.056871 -0.489491 0.870152 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -2.653192, -1.629332, 2.175707 mu:0.260339 unit_bearing:0.062557 -0.487419 0.870925 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -2.617633, -1.543805, 2.284612 mu:0.260339 unit_bearing:0.093911 -0.468774 0.878312 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -3.260213, -1.648891, 0.840829 mu:0.260339 unit_bearing:-0.315740 -0.450121 0.835284 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -1.727113, -0.920996, 3.319329 mu:0.260339 unit_bearing:0.458449 -0.340670 0.820834 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -2.562208, -0.925983, 2.666369 mu:0.260339 unit_bearing:0.203565 -0.321242 0.924859 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -2.554691, -0.924849, 2.674571 mu:0.260339 unit_bearing:0.206410 -0.321209 0.924240 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -2.831011, -0.830744, 2.390423 mu:0.260339 unit_bearing:0.109460 -0.287877 0.951391 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -2.822263, -0.837920, 2.399003 mu:0.260339 unit_bearing:0.112321 -0.290004 0.950411 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -2.869055, -0.637887, 2.402710 mu:0.260339 unit_bearing:0.112566 -0.238433 0.964613 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -2.949087, -0.574096, 2.312960 mu:0.260339 unit_bearing:0.083823 -0.219102 0.972095 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -2.308148, -0.489326, 3.014320 mu:0.260339 unit_bearing:0.326494 -0.219450 0.919371 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -3.003750, -0.523588, 2.248434 mu:0.260339 unit_bearing:0.063659 -0.204004 0.976898 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -3.319347, -0.532230, 1.697199 mu:0.260339 unit_bearing:-0.101015 -0.188748 0.976816 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.314787, -0.531022, 1.707288 mu:0.260339 unit_bearing:-0.098130 -0.188756 0.977109 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.356226, -0.559845, 1.606187 mu:0.260339 unit_bearing:-0.126943 -0.192996 0.972953 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.351930, -0.558630, 1.616410 mu:0.260339 unit_bearing:-0.124063 -0.193007 0.973323 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.347604, -0.557417, 1.626618 mu:0.260339 unit_bearing:-0.121182 -0.193017 0.973683 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.293612, -0.481983, 1.766211 mu:0.260339 unit_bearing:-0.080838 -0.177954 0.980713 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.288847, -0.480780, 1.776196 mu:0.260339 unit_bearing:-0.077950 -0.177960 0.980946 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.290156, -0.472416, 1.775910 mu:0.260339 unit_bearing:-0.077954 -0.175789 0.981336 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.285362, -0.471214, 1.785880 mu:0.260339 unit_bearing:-0.075066 -0.175795 0.981561 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.349036, -0.549062, 1.626390 mu:0.260339 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.283106, -0.453281, 1.795237 mu:0.260339 unit_bearing:-0.072185 -0.171458 0.982543 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.269720, -0.441316, 1.824700 mu:0.260339 unit_bearing:-0.063520 -0.169301 0.983515 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.223265, -0.361238, 1.929891 mu:0.260339 unit_bearing:-0.031730 -0.151947 0.987879 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.693037, -0.251160, -0.252570 mu:0.260339 unit_bearing:-0.578372 -0.054259 0.813967 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.295322, 0.057005, 1.829578 mu:0.260339 unit_bearing:-0.052058 -0.040691 0.997815 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.311644, 0.095122, 1.795549 mu:0.260339 unit_bearing:-0.060750 -0.029762 0.997709 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.311854, 0.103468, 1.794644 mu:0.260339 unit_bearing:-0.060751 -0.027576 0.997772 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.331694, 0.106946, 1.753997 mu:0.260339 unit_bearing:-0.072334 -0.025388 0.997057 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.287758, 0.176257, 1.836399 mu:0.260339 unit_bearing:-0.046270 -0.010093 0.998878 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -3.524769, 0.073975, 1.277255 mu:0.260339 unit_bearing:-0.205071 -0.018782 0.978567 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] If point is visible? -2.984322, 0.294662, 2.318531 mu:0.260339 unit_bearing:0.104370 0.005206 0.994525 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.099] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.099] If point is visible? -3.256709, 0.241811, 1.887980 mu:0.260339 unit_bearing:-0.028884 0.005210 0.999569 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.054742, 0.290750, 2.217720 mu:0.260339 unit_bearing:0.072538 0.007394 0.997338 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.097937, 0.257834, 2.156289 mu:0.260339 unit_bearing:0.052265 0.000837 0.998633 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.091862, 0.258972, 2.165561 mu:0.260339 unit_bearing:0.055162 0.000837 0.998477 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -2.917335, 0.313886, 2.406354 mu:0.260339 unit_bearing:0.133268 0.007387 0.991052 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -2.910490, 0.314963, 2.415144 mu:0.260339 unit_bearing:0.136155 0.007387 0.990660 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.072446, 0.353961, 2.181424 mu:0.260339 unit_bearing:0.063849 0.024879 0.997649 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.084341, 0.368336, 2.160689 mu:0.260339 unit_bearing:0.058055 0.029251 0.997885 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.078211, 0.369468, 2.169927 mu:0.260339 unit_bearing:0.060952 0.029251 0.997712 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.530635, 0.262394, 1.231924 mu:0.260339 unit_bearing:-0.210803 0.031343 0.977026 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.527175, 0.263712, 1.242574 mu:0.260339 unit_bearing:-0.207933 0.031346 0.977641 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.530392, 0.270684, 1.230774 mu:0.260339 unit_bearing:-0.210801 0.033522 0.976954 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.526932, 0.272004, 1.241424 mu:0.260339 unit_bearing:-0.207931 0.033525 0.977569 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.532992, 0.294226, 1.216611 mu:0.260339 unit_bearing:-0.213663 0.040054 0.976086 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.612107, 0.347173, 0.899180 mu:0.260339 unit_bearing:-0.293557 0.063807 0.953810 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.500000, 0.635252, 1.182276 mu:0.260339 unit_bearing:-0.207686 0.129264 0.969617 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.596710, 0.612476, 0.808562 mu:0.260339 unit_bearing:-0.304549 0.135236 0.942847 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.392500, 0.623997, 1.493784 mu:0.260339 unit_bearing:-0.124282 0.116473 0.985387 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.593247, 0.622085, 0.818081 mu:0.260339 unit_bearing:-0.301704 0.137417 0.943446 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.499018, 0.643465, 1.180737 mu:0.260339 unit_bearing:-0.207677 0.131435 0.969327 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.065016, 0.788099, 2.071737 mu:0.260339 unit_bearing:0.052192 0.140539 0.988698 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.058947, 0.789224, 2.080995 mu:0.260339 unit_bearing:0.055085 0.140536 0.988542 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.052850, 0.790346, 2.090237 mu:0.260339 unit_bearing:0.057977 0.140533 0.988377 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.498019, 0.651676, 1.179190 mu:0.260339 unit_bearing:-0.207668 0.133606 0.969032 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -2.856059, 0.830924, 2.357905 mu:0.260339 unit_bearing:0.144600 0.142526 0.979172 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -2.853954, 0.847338, 2.354606 mu:0.260339 unit_bearing:0.144587 0.146872 0.978531 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.505260, 0.695447, 1.127109 mu:0.260339 unit_bearing:-0.219066 0.146569 0.964639 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.498530, 0.698176, 1.148444 mu:0.260339 unit_bearing:-0.213339 0.146597 0.965917 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.504094, 0.680420, 1.140970 mu:0.260339 unit_bearing:-0.216224 0.142246 0.965926 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.500712, 0.681782, 1.151632 mu:0.260339 unit_bearing:-0.213360 0.142260 0.966561 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.056865, 0.805669, 2.077745 mu:0.260339 unit_bearing:0.055080 0.144889 0.987914 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.050769, 0.806791, 2.086986 mu:0.260339 unit_bearing:0.057972 0.144886 0.987749 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.589735, 0.631692, 0.827578 mu:0.260339 unit_bearing:-0.298857 0.139598 0.944032 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.587261, 0.633123, 0.838619 mu:0.260339 unit_bearing:-0.296024 0.139617 0.944921 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -2.846081, 0.904710, 2.342763 mu:0.260339 unit_bearing:0.144536 0.162073 0.976136 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -2.847254, 0.896521, 2.344483 mu:0.260339 unit_bearing:0.144543 0.159902 0.976493 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -2.833483, 1.026201, 2.307110 mu:0.260339 unit_bearing:0.141531 0.194597 0.970619 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -1.391436, 0.527794, 1.230135 mu:0.506686 unit_bearing:0.144409 0.194585 0.970197 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.991254, Z inverse max: 0.022118 +[21:41:46.100] calculated Z= 1.001441 +[21:41:46.100] update seeds 305 +[21:41:46.100] If point is visible? -2.832052, 1.034347, 2.305238 mu:0.260339 unit_bearing:0.141522 0.196761 0.970184 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -2.215887, 1.292128, 2.840362 mu:0.260339 unit_bearing:0.348513 0.246393 0.904339 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -2.206977, 1.292838, 2.847570 mu:0.260339 unit_bearing:0.351304 0.246348 0.903271 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -1.357264, 1.448954, 3.316567 mu:0.260339 unit_bearing:0.571058 0.271808 0.774605 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.100] If point is visible? -3.428940, 1.332954, 0.670845 mu:0.260339 unit_bearing:-0.293765 0.325775 0.898650 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.431508, 1.325069, 0.673134 mu:0.260339 unit_bearing:-0.293803 0.323665 0.899400 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.429098, 1.326608, 0.684090 mu:0.260339 unit_bearing:-0.290995 0.323715 0.900295 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -3.089795, -1.568450, 1.482167 mu:0.260339 unit_bearing:-0.147796 -0.449683 0.880876 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] If point is visible? -2.673947, -1.668504, 2.116347 mu:0.260339 unit_bearing:0.045493 -0.495657 0.867326 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.100] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -3.260213, -1.648891, 0.840829 mu:0.260339 unit_bearing:-0.315740 -0.450121 0.835284 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -1.195758, -1.266313, 3.460067 mu:0.260339 unit_bearing:0.549543 -0.434365 0.713674 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -3.182748, -1.787737, 0.867621 mu:0.260339 unit_bearing:-0.303488 -0.486848 0.819069 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -1.167243, -1.279254, 3.466217 mu:0.260339 unit_bearing:0.554271 -0.437904 0.707830 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -2.565626, -1.090874, 2.597534 mu:0.260339 unit_bearing:0.183178 -0.361666 0.914136 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -2.571009, -1.074393, 2.598863 mu:0.260339 unit_bearing:0.183229 -0.357449 0.915782 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -2.561782, -0.900020, 2.675970 mu:0.260339 unit_bearing:0.206483 -0.314838 0.926413 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -1.934430, -0.801429, 3.224465 mu:0.260339 unit_bearing:0.413546 -0.306764 0.857249 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -2.842004, -0.841355, 2.372399 mu:0.260339 unit_bearing:0.103704 -0.290048 0.951377 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -2.858875, -0.653445, 2.411480 mu:0.260339 unit_bearing:0.115425 -0.242732 0.963202 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -3.362538, -0.711415, 1.526419 mu:0.260339 unit_bearing:-0.149788 -0.229631 0.961682 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -2.862413, -0.636752, 2.411568 mu:0.260339 unit_bearing:0.115444 -0.238421 0.964276 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -3.349036, -0.549062, 1.626390 mu:0.260339 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.340297, -0.546637, 1.646763 mu:0.260339 unit_bearing:-0.115425 -0.190870 0.974805 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.331440, -0.544215, 1.667076 mu:0.260339 unit_bearing:-0.109660 -0.190889 0.975467 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.036859, -0.477997, 2.210557 mu:0.260339 unit_bearing:0.052128 -0.191022 0.980201 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -3.021872, -0.492427, 2.229403 mu:0.260339 unit_bearing:0.057899 -0.195348 0.979023 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -3.415708, -0.152773, 1.563708 mu:0.260339 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.407163, -0.150290, 1.584227 mu:0.260339 unit_bearing:-0.127224 -0.086471 0.988098 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.398501, -0.147812, 1.604688 mu:0.260339 unit_bearing:-0.121449 -0.086480 0.988823 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.316598, 0.093908, 1.785639 mu:0.260339 unit_bearing:-0.063646 -0.029761 0.997529 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.690504, -0.342829, -0.195341 mu:0.260339 unit_bearing:-0.567750 -0.079762 0.819328 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.541769, 0.059144, 1.224864 mu:0.260339 unit_bearing:-0.219418 -0.020952 0.975406 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.327654, 0.158214, 1.758278 mu:0.260339 unit_bearing:-0.069441 -0.012276 0.997510 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.317830, 0.160651, 1.778145 mu:0.260339 unit_bearing:-0.063650 -0.012277 0.997897 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.327801, 0.174889, 1.756315 mu:0.260339 unit_bearing:-0.069442 -0.007905 0.997555 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.395940, 0.630959, 1.482057 mu:0.260339 unit_bearing:-0.127163 0.118644 0.984761 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.378517, 0.636066, 1.522885 mu:0.260339 unit_bearing:-0.115617 0.118668 0.986180 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.530062, 0.360463, 1.206898 mu:0.260339 unit_bearing:-0.213635 0.057478 0.975221 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.385496, 0.649997, 1.499479 mu:0.260339 unit_bearing:-0.121381 0.123010 0.984954 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.046414, 0.839653, 2.080373 mu:0.260339 unit_bearing:0.057961 0.153587 0.986434 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -3.021751, 0.844106, 2.117162 mu:0.260339 unit_bearing:0.069526 0.153570 0.985689 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -2.838946, 1.033323, 2.296513 mu:0.260339 unit_bearing:0.138645 0.196773 0.970597 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -2.219501, 1.276170, 2.844720 mu:0.260339 unit_bearing:0.348580 0.242131 0.905464 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -2.693343, 1.273917, 2.360384 mu:0.260339 unit_bearing:0.178486 0.256916 0.949809 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -3.087472, 1.375228, 1.677148 mu:0.260339 unit_bearing:-0.022926 0.304772 0.952150 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -1.619667, 1.465246, 3.175196 mu:0.260339 unit_bearing:0.505743 0.280503 0.815807 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -3.502336, 1.160934, -0.414899 mu:0.260339 unit_bearing:-0.551105 0.315773 0.772380 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.504274, 1.164773, -0.391236 mu:0.260339 unit_bearing:-0.545954 0.316015 0.775931 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -1.348237, 1.441472, 3.324028 mu:0.260339 unit_bearing:0.573696 0.269638 0.773413 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -3.205356, 1.600979, 1.131002 mu:0.260339 unit_bearing:-0.154314 0.380433 0.911843 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.156349, 1.873797, 0.771852 mu:0.260339 unit_bearing:-0.220847 0.462323 0.858769 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.226110, -1.710539, 0.855618 mu:0.260339 unit_bearing:-0.309691 -0.466520 0.828524 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.382695, -0.735344, 1.464249 mu:0.260339 unit_bearing:-0.166985 -0.233841 0.957828 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.349036, -0.549062, 1.626390 mu:0.260339 unit_bearing:-0.121189 -0.190851 0.974109 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -2.561656, -1.055604, 2.616758 mu:0.260339 unit_bearing:0.188967 -0.353162 0.916279 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:46.101] If point is visible? -3.342286, -0.477345, 1.664932 mu:0.260339 unit_bearing:-0.109712 -0.173542 0.978696 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.324206, -0.472496, 1.705392 mu:0.260339 unit_bearing:-0.098170 -0.173573 0.979916 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.265678, -0.319361, 1.858866 mu:0.260339 unit_bearing:-0.051993 -0.138872 0.988945 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.245273, -0.314581, 1.898125 mu:0.260339 unit_bearing:-0.040420 -0.138883 0.989484 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.413016, -0.186195, 1.566316 mu:0.260339 unit_bearing:-0.132981 -0.095180 0.986538 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.395813, -0.181242, 1.607294 mu:0.260339 unit_bearing:-0.121435 -0.095201 0.988023 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] If point is visible? -3.318922, -0.505942, 1.706531 mu:0.260339 unit_bearing:-0.098148 -0.182251 0.978341 T_cur_ref: x=0.125195 y=0.000000 z=0.082793 +[21:41:46.101] init seeds +[21:41:46.101] DepthFilter: Initialized 1 new seeds +[21:41:46.104] DepthFilter: Initialized 1 new seeds +[21:41:47.567] add new frame +[21:41:47.568] update seed +[21:41:47.568] If point is visible? -3.156351, 1.873797, 0.771847 mu:0.260339 unit_bearing:-0.220847 0.462323 0.858769 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] If point is visible? -2.924792, 1.377507, 1.968129 mu:0.260339 unit_bearing:0.063430 0.296128 0.953040 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -3.264807, 1.745123, 0.548507 mu:0.260339 unit_bearing:-0.288484 0.436160 0.852374 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] If point is visible? -3.255231, 1.751573, 0.591880 mu:0.260339 unit_bearing:-0.277352 0.436451 0.855913 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] If point is visible? -3.509237, 1.099508, -0.497252 mu:0.260339 unit_bearing:-0.572126 0.302514 0.762337 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] If point is visible? -3.160349, -1.826168, 0.873213 mu:0.260339 unit_bearing:-0.300379 -0.496956 0.814129 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] If point is visible? -2.705026, -1.683513, 2.060183 mu:0.260339 unit_bearing:0.028467 -0.497754 0.866851 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -3.164450, -1.818296, 0.874306 mu:0.260339 unit_bearing:-0.300451 -0.494957 0.815320 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] If point is visible? -2.677789, -1.660471, 2.117629 mu:0.260339 unit_bearing:0.045502 -0.493622 0.868485 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -2.661530, -1.639720, 2.156419 mu:0.260339 unit_bearing:0.056871 -0.489491 0.870152 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -2.653194, -1.629332, 2.175702 mu:0.260339 unit_bearing:0.062557 -0.487419 0.870925 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -2.617635, -1.543805, 2.284607 mu:0.260339 unit_bearing:0.093911 -0.468774 0.878312 T_cur_ref: x=0.125193 y=0.000000 z=0.082788 +[21:41:47.568] Z inverse min: 0.676627, Z inverse max: 0.000000 +[21:41:47.568] add key frame +[21:41:47.568] remove key frame +[21:41:47.568] init seeds +[21:41:47.568] update seed +[21:41:47.568] If point is visible? -8.197190, 4.136230, 2.843728 mu:0.103217 unit_bearing:-0.142834 0.388947 0.910120 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] If point is visible? -8.139671, -4.565740, 2.283818 mu:0.103217 unit_bearing:-0.283915 -0.495509 0.820891 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] If point is visible? -8.092312, -4.642780, 2.299678 mu:0.103217 unit_bearing:-0.280884 -0.503602 0.817000 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] If point is visible? -7.097418, -3.994666, 5.164325 mu:0.103217 unit_bearing:0.031381 -0.473238 0.880375 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -6.983132, -3.883733, 5.405273 mu:0.103217 unit_bearing:0.059852 -0.464904 0.883336 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -6.967664, -3.880795, 5.427951 mu:0.103217 unit_bearing:0.062695 -0.464888 0.883147 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -7.011016, -3.933378, 5.331117 mu:0.103217 unit_bearing:0.051300 -0.469057 0.881677 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -8.383158, -4.137667, 2.202185 mu:0.103217 unit_bearing:-0.299157 -0.450627 0.841095 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] If point is visible? -6.878250, -3.731556, 5.647229 mu:0.103217 unit_bearing:0.088370 -0.452357 0.887448 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -6.886935, -3.711065, 5.650007 mu:0.103217 unit_bearing:0.088386 -0.450293 0.888495 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -6.872400, -3.620172, 5.727499 mu:0.103217 unit_bearing:0.096986 -0.441956 0.891778 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -8.533440, -3.842075, 2.150203 mu:0.103217 unit_bearing:-0.308365 -0.419691 0.853681 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] If point is visible? -3.134650, -2.857071, 8.745252 mu:0.103217 unit_bearing:0.566772 -0.401738 0.719288 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -8.680883, -3.524233, 2.093756 mu:0.103217 unit_bearing:-0.317578 -0.386418 0.865924 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] If point is visible? -8.724817, -3.424709, 2.073003 mu:0.103217 unit_bearing:-0.320619 -0.375961 0.869400 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] If point is visible? -6.729544, -2.389883, 6.503391 mu:0.103217 unit_bearing:0.186434 -0.325675 0.926919 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.568] If point is visible? -4.903033, -1.769380, 8.173205 mu:0.103217 unit_bearing:0.435957 -0.283111 0.854277 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.568] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -6.686466, -1.969883, 6.688923 mu:0.103217 unit_bearing:0.209653 -0.284981 0.935324 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -6.710895, -1.951746, 6.669095 mu:0.103217 unit_bearing:0.206825 -0.282873 0.936593 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -6.718147, -1.757495, 6.716065 mu:0.103217 unit_bearing:0.212714 -0.263564 0.940897 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -7.727498, -1.508037, 5.561318 mu:0.103217 unit_bearing:0.060733 -0.223481 0.972814 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -7.417867, -1.366404, 6.013829 mu:0.103217 unit_bearing:0.118420 -0.214664 0.969482 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -7.438754, -1.348163, 5.991416 mu:0.103217 unit_bearing:0.115549 -0.212513 0.970302 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -7.614635, -1.226177, 5.787173 mu:0.103217 unit_bearing:0.089651 -0.197447 0.976206 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -7.618248, -1.205079, 5.786773 mu:0.103217 unit_bearing:0.089657 -0.195280 0.976641 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -8.531352, -1.068263, 4.314345 mu:0.103217 unit_bearing:-0.086646 -0.162742 0.982857 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.519330, -1.065226, 4.339550 mu:0.103217 unit_bearing:-0.083757 -0.162748 0.983106 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.660608, -1.168182, 4.011406 mu:0.103217 unit_bearing:-0.121260 -0.169168 0.978099 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.649467, -1.165116, 4.037067 mu:0.103217 unit_bearing:-0.118377 -0.169176 0.978451 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.638252, -1.162053, 4.062691 mu:0.103217 unit_bearing:-0.115493 -0.169185 0.978794 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.389718, -0.772641, 4.651788 mu:0.103217 unit_bearing:-0.046209 -0.136701 0.989534 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.376677, -0.769637, 4.676453 mu:0.103217 unit_bearing:-0.043315 -0.136703 0.989665 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.363566, -0.766637, 4.701079 mu:0.103217 unit_bearing:-0.040421 -0.136706 0.989787 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.317787, -0.691320, 4.795704 mu:0.103217 unit_bearing:-0.028849 -0.130180 0.991071 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.304317, -0.688335, 4.820132 mu:0.103217 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.539477, -0.696123, 0.477520 mu:0.103217 unit_bearing:-0.474532 -0.076353 0.876921 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.506959, 0.441212, 4.472780 mu:0.103217 unit_bearing:-0.054961 -0.010092 0.998438 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.193759, 0.335052, 2.739605 mu:0.103217 unit_bearing:-0.245198 0.000834 0.969473 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.048071, 0.391336, 3.197888 mu:0.103217 unit_bearing:-0.196458 0.000835 0.980512 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.558020, 0.492066, 4.365619 mu:0.103217 unit_bearing:-0.066546 -0.003534 0.997777 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.193755, 0.314120, 2.742172 mu:0.103217 unit_bearing:-0.245198 -0.001343 0.969472 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.066353, 0.363816, 3.147068 mu:0.103217 unit_bearing:-0.202204 -0.001345 0.979342 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.545394, 0.579199, 4.380228 mu:0.103217 unit_bearing:-0.063650 0.005209 0.997959 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.441608, 0.687594, 4.567822 mu:0.103217 unit_bearing:-0.040474 0.013954 0.999083 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.231229, 0.464629, 2.584345 mu:0.103217 unit_bearing:-0.259477 0.016062 0.965616 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -7.951765, 0.871507, 5.370790 mu:0.103217 unit_bearing:0.058057 0.022695 0.998055 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -7.936174, 0.874353, 5.394007 mu:0.103217 unit_bearing:0.060953 0.022694 0.997883 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -7.920514, 0.877192, 5.417181 mu:0.103217 unit_bearing:0.063849 0.022694 0.997701 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -7.950858, 0.913474, 5.365094 mu:0.103217 unit_bearing:0.058056 0.027066 0.997946 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.063178, 0.883626, 3.049401 mu:0.103217 unit_bearing:-0.205033 0.053137 0.977311 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.054155, 0.886955, 3.076140 mu:0.103217 unit_bearing:-0.202162 0.053142 0.977909 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.045056, 0.890279, 3.102844 mu:0.103217 unit_bearing:-0.199290 0.053146 0.978498 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.261584, 0.840435, 2.363465 mu:0.103217 unit_bearing:-0.276516 0.057341 0.959297 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.068932, 0.942912, 3.013189 mu:0.103217 unit_bearing:-0.207893 0.059666 0.976330 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.062155, 0.904505, 3.046276 mu:0.103217 unit_bearing:-0.205030 0.055315 0.977191 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.053133, 0.907836, 3.073015 mu:0.103217 unit_bearing:-0.202158 0.055320 0.977789 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.044034, 0.911161, 3.099718 mu:0.103217 unit_bearing:-0.199286 0.055325 0.978378 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.051099, 1.092235, 3.017166 mu:0.103217 unit_bearing:-0.204991 0.074914 0.975893 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.042082, 1.095582, 3.043899 mu:0.103217 unit_bearing:-0.202120 0.074921 0.976491 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.032988, 1.098924, 3.070597 mu:0.103217 unit_bearing:-0.199248 0.074927 0.977080 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.052492, 1.071393, 3.020489 mu:0.103217 unit_bearing:-0.204996 0.072737 0.976056 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.043474, 1.074738, 3.047222 mu:0.103217 unit_bearing:-0.202125 0.072744 0.976654 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.034380, 1.078078, 3.073921 mu:0.103217 unit_bearing:-0.199253 0.072750 0.977244 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.270985, 1.176142, 2.168535 mu:0.103217 unit_bearing:-0.290605 0.094185 0.952196 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -7.784201, 1.953337, 5.334726 mu:0.103217 unit_bearing:0.075338 0.133980 0.988116 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -8.692901, 1.773161, 3.700836 mu:0.103217 unit_bearing:-0.118466 0.136074 0.983590 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.687743, 1.814639, 3.692828 mu:0.103217 unit_bearing:-0.118455 0.140424 0.982980 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.210141, 1.750937, 2.034176 mu:0.103217 unit_bearing:-0.293083 0.154762 0.943478 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -9.196971, 1.758160, 2.089627 mu:0.103217 unit_bearing:-0.287413 0.154804 0.945214 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.976047, 1.935680, 2.808475 mu:0.103217 unit_bearing:-0.210387 0.163949 0.963773 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.967231, 1.939116, 2.835238 mu:0.103217 unit_bearing:-0.207523 0.163964 0.964391 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -7.843398, 2.205942, 5.141999 mu:0.103217 unit_bearing:0.057950 0.162283 0.985041 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -7.827825, 2.208747, 5.165170 mu:0.103217 unit_bearing:0.060841 0.162279 0.984868 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -7.812183, 2.211545, 5.188299 mu:0.103217 unit_bearing:0.063731 0.162275 0.984685 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -9.204054, 1.792074, 2.025917 mu:0.103217 unit_bearing:-0.293050 0.159080 0.942770 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -7.343000, 2.307555, 5.813771 mu:0.103217 unit_bearing:0.144528 0.164243 0.975775 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -7.809184, 2.232224, 5.183959 mu:0.103217 unit_bearing:0.063728 0.164448 0.984325 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -8.955512, 1.904702, 2.897091 mu:0.103217 unit_bearing:-0.201814 0.159660 0.966323 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -8.970326, 1.918490, 2.839463 mu:0.103217 unit_bearing:-0.207534 0.161798 0.964754 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] If point is visible? -7.345988, 2.286909, 5.818150 mu:0.103217 unit_bearing:0.144536 0.162073 0.976136 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -7.320950, 2.451887, 5.782437 mu:0.103217 unit_bearing:0.144471 0.179423 0.973106 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -7.303300, 2.454456, 5.804270 mu:0.103217 unit_bearing:0.147349 0.179412 0.972677 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.569] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.569] If point is visible? -7.830436, 2.389023, 5.078911 mu:0.103217 unit_bearing:0.055031 0.181833 0.981788 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -7.394672, 2.521280, 5.654185 mu:0.103217 unit_bearing:0.130041 0.188146 0.973494 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -7.377368, 2.523882, 5.676239 mu:0.103217 unit_bearing:0.132921 0.188135 0.973107 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -7.418523, 2.577754, 5.595896 mu:0.103217 unit_bearing:0.124257 0.194665 0.972968 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -7.259136, 2.800973, 5.701396 mu:0.103217 unit_bearing:0.144310 0.216206 0.965624 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -4.336674, 3.907858, 7.743263 mu:0.103217 unit_bearing:0.489063 0.303919 0.817588 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -8.740045, 3.537867, 1.787742 mu:0.103217 unit_bearing:-0.271012 0.340929 0.900178 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -9.004177, 3.208693, -0.554756 mu:0.103217 unit_bearing:-0.495589 0.336673 0.800652 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.083154, -4.260207, 2.991915 mu:0.103217 unit_bearing:-0.215004 -0.473115 0.854362 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -6.882299, -3.842706, 5.565981 mu:0.103217 unit_bearing:0.079763 -0.462722 0.882908 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -7.001905, -3.953783, 5.328151 mu:0.103217 unit_bearing:0.051290 -0.471110 0.880582 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -6.958651, -3.901220, 5.425021 mu:0.103217 unit_bearing:0.062683 -0.466944 0.882062 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -8.673016, -3.544667, 2.092240 mu:0.103217 unit_bearing:-0.317525 -0.388493 0.865015 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -6.684098, -2.056441, 6.664960 mu:0.103217 unit_bearing:0.206716 -0.293547 0.933327 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -6.656569, -2.008949, 6.707830 mu:0.103217 unit_bearing:0.212457 -0.289221 0.933388 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -6.832461, -1.774249, 6.591796 mu:0.103217 unit_bearing:0.195588 -0.263717 0.944563 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -6.794632, -1.768655, 6.633419 mu:0.103217 unit_bearing:0.201300 -0.263667 0.943376 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -6.756528, -1.763071, 6.674843 mu:0.103217 unit_bearing:0.207009 -0.263616 0.942154 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -6.694941, -2.014574, 6.666695 mu:0.103217 unit_bearing:0.206760 -0.289280 0.934648 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -5.307827, -1.537184, 7.956688 mu:0.103217 unit_bearing:0.398260 -0.256599 0.880651 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -6.705619, -1.972692, 6.668322 mu:0.103217 unit_bearing:0.206803 -0.285010 0.935950 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -6.822607, -1.816216, 6.590734 mu:0.103217 unit_bearing:0.195551 -0.268003 0.943363 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -7.430844, -1.390319, 5.991754 mu:0.103217 unit_bearing:0.115532 -0.216836 0.969347 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -7.396870, -1.384645, 6.036166 mu:0.103217 unit_bearing:0.121291 -0.216813 0.968649 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -7.438754, -1.348163, 5.991416 mu:0.103217 unit_bearing:0.115549 -0.212513 0.970302 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -7.561781, -1.238707, 5.855369 mu:0.103217 unit_bearing:0.098299 -0.199588 0.974937 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -6.241970, -0.748092, 7.349396 mu:0.103217 unit_bearing:0.304492 -0.168119 0.937561 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -6.290846, -0.711287, 7.310092 mu:0.103217 unit_bearing:0.298871 -0.163854 0.940121 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -8.660608, -1.168182, 4.011406 mu:0.103217 unit_bearing:-0.121260 -0.169168 0.978099 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.638252, -1.162053, 4.062691 mu:0.103217 unit_bearing:-0.115493 -0.169185 0.978794 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.615603, -1.155934, 4.113823 mu:0.103217 unit_bearing:-0.109724 -0.169201 0.979455 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.592661, -1.149826, 4.164803 mu:0.103217 unit_bearing:-0.103953 -0.169217 0.980081 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -7.833550, -0.983390, 5.527696 mu:0.103217 unit_bearing:0.057940 -0.169310 0.983858 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -8.349234, -0.655070, 4.744287 mu:0.103217 unit_bearing:-0.034641 -0.125819 0.991448 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.322504, -0.649088, 4.793267 mu:0.103217 unit_bearing:-0.028851 -0.125823 0.991633 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.762820, -0.198272, 3.950033 mu:0.103217 unit_bearing:-0.121472 -0.069030 0.990192 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -9.542383, -0.442091, -0.550083 mu:0.103217 unit_bearing:-0.562842 -0.037402 0.825718 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.519903, 0.459193, 4.445444 mu:0.103217 unit_bearing:-0.057857 -0.007906 0.998294 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.569930, 0.404890, 4.350606 mu:0.103217 unit_bearing:-0.069441 -0.012276 0.997510 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.493904, 0.423222, 4.500054 mu:0.103217 unit_bearing:-0.052064 -0.012278 0.998568 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -9.101906, 0.413515, 3.032085 mu:0.103217 unit_bearing:-0.213688 0.005193 0.976888 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -9.102020, 0.371613, 3.037292 mu:0.103217 unit_bearing:-0.213688 0.000835 0.976902 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.545122, 0.621216, 4.374912 mu:0.103217 unit_bearing:-0.063650 0.009580 0.997926 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.519780, 0.627337, 4.424727 mu:0.103217 unit_bearing:-0.057857 0.009581 0.998279 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.329422, 1.417742, 4.608851 mu:0.103217 unit_bearing:-0.023075 0.088240 0.995832 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.686661, 1.734869, 3.734376 mu:0.103217 unit_bearing:-0.115589 0.131729 0.984524 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.681669, 1.776372, 3.726456 mu:0.103217 unit_bearing:-0.115579 0.136081 0.983933 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.658986, 1.782776, 3.777584 mu:0.103217 unit_bearing:-0.109806 0.136093 0.984592 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.676513, 1.817853, 3.718446 mu:0.103217 unit_bearing:-0.115569 0.140431 0.983322 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -8.653834, 1.824261, 3.769570 mu:0.103217 unit_bearing:-0.109796 0.140444 0.983982 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -9.207118, 1.771509, 2.030057 mu:0.103217 unit_bearing:-0.293066 0.156921 0.943127 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -7.320950, 2.451887, 5.782437 mu:0.103217 unit_bearing:0.144471 0.179423 0.973106 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -7.446169, 2.513424, 5.587752 mu:0.103217 unit_bearing:0.121399 0.188177 0.974603 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -7.411907, 2.518669, 5.632086 mu:0.103217 unit_bearing:0.127161 0.188156 0.973872 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -7.263098, 2.780498, 5.706357 mu:0.103217 unit_bearing:0.144320 0.214046 0.966104 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.570] If point is visible? -9.038141, 2.768071, 1.630205 mu:0.103217 unit_bearing:-0.308825 0.264047 0.913732 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] If point is visible? -4.343905, 3.500701, 7.933439 mu:0.103217 unit_bearing:0.501090 0.259815 0.825473 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.570] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.571] If point is visible? -6.967335, 3.334642, 5.784727 mu:0.103217 unit_bearing:0.172664 0.269831 0.947301 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.571] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.571] If point is visible? -4.334036, 3.540028, 7.921402 mu:0.103217 unit_bearing:0.500966 0.263995 0.824221 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.571] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.571] If point is visible? -7.812855, 3.881138, 4.069768 mu:0.103217 unit_bearing:-0.017130 0.347391 0.937564 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.571] If point is visible? -7.785520, 3.887090, 4.117872 mu:0.103217 unit_bearing:-0.011387 0.347396 0.937649 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.571] If point is visible? -7.352289, 3.742499, 4.985179 mu:0.103217 unit_bearing:0.086322 0.321673 0.942908 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.571] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.571] If point is visible? -9.009779, 3.175207, -0.637606 mu:0.103217 unit_bearing:-0.503575 0.334284 0.796660 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.571] If point is visible? -9.010930, 3.184624, -0.578574 mu:0.103217 unit_bearing:-0.498310 0.334506 0.799871 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.571] If point is visible? -7.491707, 3.870189, 4.661363 mu:0.103217 unit_bearing:0.051804 0.338828 0.939421 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.571] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.571] If point is visible? -7.460919, 3.875678, 4.707480 mu:0.103217 unit_bearing:0.057546 0.338810 0.939093 T_cur_ref: x=0.115471 y=0.000000 z=0.077104 +[21:41:47.571] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:47.571] init seeds +[21:41:47.571] DepthFilter: Initialized 3 new seeds +[21:41:47.573] DepthFilter: Initialized 3 new seeds +[21:41:49.069] add new frame +[21:41:49.069] update seed +[21:41:49.069] If point is visible? -8.197195, 4.136230, 2.843726 mu:0.103217 unit_bearing:-0.142834 0.388947 0.910120 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.069] If point is visible? -8.139676, -4.565740, 2.283815 mu:0.103217 unit_bearing:-0.283915 -0.495509 0.820891 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.069] If point is visible? -8.092317, -4.642780, 2.299675 mu:0.103217 unit_bearing:-0.280884 -0.503602 0.817000 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.069] If point is visible? -7.097423, -3.994666, 5.164322 mu:0.103217 unit_bearing:0.031381 -0.473238 0.880375 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.069] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.069] If point is visible? -6.983137, -3.883733, 5.405271 mu:0.103217 unit_bearing:0.059852 -0.464904 0.883336 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.069] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.069] If point is visible? -6.967669, -3.880795, 5.427948 mu:0.103217 unit_bearing:0.062695 -0.464888 0.883147 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.069] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.069] If point is visible? -7.011021, -3.933378, 5.331115 mu:0.103217 unit_bearing:0.051300 -0.469057 0.881677 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.069] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.070] If point is visible? -8.383163, -4.137667, 2.202182 mu:0.103217 unit_bearing:-0.299157 -0.450627 0.841095 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] If point is visible? -6.878255, -3.731556, 5.647227 mu:0.103217 unit_bearing:0.088370 -0.452357 0.887448 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.070] If point is visible? -6.886940, -3.711065, 5.650004 mu:0.103217 unit_bearing:0.088386 -0.450293 0.888495 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.070] If point is visible? -6.872405, -3.620172, 5.727496 mu:0.103217 unit_bearing:0.096986 -0.441956 0.891778 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.070] If point is visible? -8.533445, -3.842075, 2.150201 mu:0.103217 unit_bearing:-0.308365 -0.419691 0.853681 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] If point is visible? -3.134656, -2.857071, 8.745249 mu:0.103217 unit_bearing:0.566772 -0.401738 0.719288 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.070] If point is visible? -8.680888, -3.524233, 2.093753 mu:0.103217 unit_bearing:-0.317578 -0.386418 0.865924 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] If point is visible? -8.724822, -3.424709, 2.073001 mu:0.103217 unit_bearing:-0.320619 -0.375961 0.869400 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] If point is visible? -6.729549, -2.389883, 6.503388 mu:0.103217 unit_bearing:0.186434 -0.325675 0.926919 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.070] If point is visible? -4.903038, -1.769380, 8.173202 mu:0.103217 unit_bearing:0.435957 -0.283111 0.854277 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.070] If point is visible? -6.686471, -1.969883, 6.688920 mu:0.103217 unit_bearing:0.209653 -0.284981 0.935324 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.070] add key frame +[21:41:49.070] If point is visible? -6.710900, -1.951746, 6.669093 mu:0.103217 unit_bearing:0.206825 -0.282873 0.936593 T_cur_ref: x=0.115466 y=0.000000 z=0.077101 +[21:41:49.070] Z inverse min: 0.605776, Z inverse max: 0.000000 +[21:41:49.070] remove key frame +[21:41:49.070] init seeds +[21:41:49.070] update seed +[21:41:49.070] init seeds +[21:41:49.073] DepthFilter: Initialized 3 new seeds +[21:41:49.075] DepthFilter: Initialized 175 new seeds +[21:41:49.839] add new frame +[21:41:49.839] update seed +[21:41:49.839] If point is visible? -1223327944.311111, 594852955.786984, -33447347.491614 mu:0.000000 unit_bearing:-0.472446 0.436904 0.765447 T_cur_ref: x=0.046212 y=0.000000 z=0.033401 +[21:41:49.839] If point is visible? -1222306677.630986, 597637917.262908, -17185140.811782 mu:0.000000 unit_bearing:-0.461935 0.437479 0.771510 T_cur_ref: x=0.046212 y=0.000000 z=0.033401 +[21:41:49.839] If point is visible? -1223327944.311111, 594852955.786984, -33447347.491614 mu:0.000000 unit_bearing:-0.472446 0.436904 0.765447 T_cur_ref: x=0.046212 y=0.000000 z=0.033401 +[21:41:49.839] If point is visible? -1222306677.630986, 597637917.262908, -17185140.811782 mu:0.000000 unit_bearing:-0.461935 0.437479 0.771510 T_cur_ref: x=0.046212 y=0.000000 z=0.033401 +[21:41:49.839] If point is visible? 38572793697.330498, -33549214951.342136, -48748777917.529053 mu:-0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.000062 y=0.000000 z=-0.000104 +[21:41:49.839] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? 38572793697.330498, -33549214951.342136, -48748777917.529053 mu:-0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.000062 y=0.000000 z=-0.000104 +[21:41:49.839] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? -12.720012, 18.944585, 31.156076 mu:0.025894 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000063 y=0.000000 z=-0.000089 +[21:41:49.839] Z inverse min: 0.449564, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? -12.720012, 18.944585, 31.156076 mu:0.025894 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000063 y=0.000000 z=-0.000089 +[21:41:49.839] Z inverse min: 0.449564, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? -7.199582, 1.752527, 6.226112 mu:0.103324 unit_bearing:0.034856 0.101328 0.994242 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.839] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? -7.196209, 1.794090, 6.218170 mu:0.103324 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.839] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? -8.183565, -0.209153, 5.162908 mu:0.103324 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.839] If point is visible? -2.957005, 4.758079, 7.892138 mu:0.103324 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.839] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? -7.672961, -4.247434, 4.093311 mu:0.103324 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.839] If point is visible? -7.838667, -3.817033, 4.201879 mu:0.103324 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.839] If point is visible? -7.906042, -3.675941, 4.201450 mu:0.103324 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.839] If point is visible? -6.445746, -3.170406, 6.486183 mu:0.103324 unit_bearing:0.057288 -0.406811 0.911714 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.839] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? -7.363614, -3.243378, 5.378444 mu:0.103324 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.839] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? -6.241256, -3.056228, 6.736156 mu:0.103324 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.839] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.839] add key frame +[21:41:49.839] remove key frame +[21:41:49.839] init seeds +[21:41:49.839] update seed +[21:41:49.839] If point is visible? 38572793697.330498, -33549214951.342136, -48748777917.529053 mu:-0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.000062 y=0.000000 z=-0.000104 +[21:41:49.839] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? 38572793697.330498, -33549214951.342136, -48748777917.529053 mu:-0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.000062 y=0.000000 z=-0.000104 +[21:41:49.839] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? -12.720012, 18.944585, 31.156076 mu:0.025894 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000063 y=0.000000 z=-0.000089 +[21:41:49.839] Z inverse min: 0.449564, Z inverse max: 0.000000 +[21:41:49.839] If point is visible? -12.720012, 18.944585, 31.156076 mu:0.025894 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000063 y=0.000000 z=-0.000089 +[21:41:49.839] Z inverse min: 0.449564, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -7.199582, 1.752527, 6.226112 mu:0.103324 unit_bearing:0.034856 0.101328 0.994242 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -7.196209, 1.794090, 6.218170 mu:0.103324 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -8.183565, -0.209153, 5.162908 mu:0.103324 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -2.957005, 4.758079, 7.892138 mu:0.103324 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -7.672961, -4.247434, 4.093311 mu:0.103324 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -7.838667, -3.817033, 4.201879 mu:0.103324 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -7.906042, -3.675941, 4.201450 mu:0.103324 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -6.445746, -3.170406, 6.486183 mu:0.103324 unit_bearing:0.057288 -0.406811 0.911714 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -7.363614, -3.243378, 5.378444 mu:0.103324 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.241256, -3.056228, 6.736156 mu:0.103324 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.175336, -3.004305, 6.819748 mu:0.103324 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.128403, -2.954945, 6.883353 mu:0.103324 unit_bearing:0.111663 -0.389716 0.914141 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -8.942462, -3.701809, 0.006321 mu:0.103324 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -6.325394, -3.110730, 6.631922 mu:0.103324 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.305988, -3.108158, 6.651579 mu:0.103324 unit_bearing:0.080166 -0.402510 0.911899 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -8.992305, -3.574769, 0.174672 mu:0.103324 unit_bearing:-0.613089 -0.368806 0.698644 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -7.484578, -3.220162, 5.223184 mu:0.103324 unit_bearing:-0.111414 -0.396010 0.911462 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -8.056066, -3.330617, 4.204407 mu:0.103324 unit_bearing:-0.230628 -0.394509 0.889479 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -8.950503, -3.682319, 0.008771 mu:0.103324 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -6.208444, -3.030266, 6.778076 mu:0.103324 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -8.109751, -3.209040, 4.195742 mu:0.103324 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -6.114769, -2.931539, 6.905450 mu:0.103324 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -9.023016, -3.489993, 0.275944 mu:0.103324 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -9.022834, -3.487903, 0.306624 mu:0.103324 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -9.022551, -3.485803, 0.337279 mu:0.103324 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -9.022168, -3.483694, 0.367908 mu:0.103324 unit_bearing:-0.598903 -0.361899 0.714384 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -9.037533, -3.446338, 0.341696 mu:0.103324 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -9.037136, -3.444206, 0.372333 mu:0.103324 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -9.036638, -3.442065, 0.402943 mu:0.103324 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -9.030545, -3.470290, 0.278158 mu:0.103324 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -6.093607, -2.863851, 6.952401 mu:0.103324 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.073245, -2.861308, 6.971238 mu:0.103324 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -9.044552, -3.424446, 0.374504 mu:0.103324 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -9.044047, -3.422294, 0.405118 mu:0.103324 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -9.051924, -3.404677, 0.376648 mu:0.103324 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -9.051411, -3.402512, 0.407266 mu:0.103324 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -6.079622, -2.840433, 6.974216 mu:0.103324 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.059197, -2.837893, 6.992999 mu:0.103324 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.085960, -2.819552, 6.977160 mu:0.103324 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -9.117483, -3.241970, 0.179410 mu:0.103324 unit_bearing:-0.617730 -0.334735 0.711591 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -8.121669, -2.194207, 4.784778 mu:0.103324 unit_bearing:-0.178061 -0.285274 0.941761 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] If point is visible? -5.713124, -1.589055, 7.648824 mu:0.103324 unit_bearing:0.212753 -0.259278 0.942078 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -5.423217, -1.409133, 7.891285 mu:0.103324 unit_bearing:0.252751 -0.243879 0.936290 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -5.675346, -1.305938, 7.730094 mu:0.103324 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -5.652723, -1.303618, 7.747043 mu:0.103324 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -5.637510, -1.259181, 7.765456 mu:0.103324 unit_bearing:0.230150 -0.226917 0.946330 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.383052, -1.168665, 7.180558 mu:0.103324 unit_bearing:0.135709 -0.210269 0.968179 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.358836, -1.187356, 7.198954 mu:0.103324 unit_bearing:0.138576 -0.212418 0.967303 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.232494, -0.893520, 7.350316 mu:0.103324 unit_bearing:0.161709 -0.184190 0.969497 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.256729, -0.874782, 7.331958 mu:0.103324 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.782919, -0.830071, 6.853659 mu:0.103324 unit_bearing:0.086828 -0.171429 0.981363 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.259671, -0.853662, 7.331937 mu:0.103324 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -4.139480, -0.429584, 8.737802 mu:0.103324 unit_bearing:0.413693 -0.154083 0.897283 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -4.168417, -0.410599, 8.724949 mu:0.103324 unit_bearing:0.410956 -0.151974 0.898899 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.840] If point is visible? -6.542656, -0.628974, 7.104057 mu:0.103324 unit_bearing:0.124389 -0.153959 0.980216 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.840] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.540137, -0.650106, 7.104474 mu:0.103324 unit_bearing:0.124383 -0.156131 0.979873 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -4.254685, -0.353627, 8.685716 mu:0.103324 unit_bearing:0.402727 -0.145637 0.903660 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.762185, -0.648684, 5.744357 mu:0.103324 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.745695, -0.645954, 5.766880 mu:0.103324 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.729140, -0.643228, 5.789351 mu:0.103324 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.566761, -0.552797, 6.009029 mu:0.103324 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.551658, -0.528981, 6.030134 mu:0.103324 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.536454, -0.505170, 6.051160 mu:0.103324 unit_bearing:-0.023061 -0.128004 0.991506 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.523197, -0.460226, 6.071208 mu:0.103324 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.505743, -0.457563, 6.092973 mu:0.103324 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.439275, -0.404686, 6.177642 mu:0.103324 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.271497, -0.230603, 6.382942 mu:0.103324 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -5.126160, 0.296268, 8.203898 mu:0.103324 unit_bearing:0.313565 -0.072921 0.946763 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -5.100500, 0.277288, 8.220538 mu:0.103324 unit_bearing:0.316386 -0.075077 0.945655 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -5.202584, 0.353192, 8.153381 mu:0.103324 unit_bearing:0.305092 -0.066447 0.950002 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.228741, 0.307234, 6.428117 mu:0.103324 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.227919, 0.286161, 6.430013 mu:0.103324 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -9.199848, 0.186559, 2.999763 mu:0.103324 unit_bearing:-0.367022 -0.018642 0.930026 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -7.456405, 0.864901, 6.109323 mu:0.103324 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -7.438490, 0.867532, 6.130750 mu:0.103324 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -8.469824, 0.599713, 4.644636 mu:0.103324 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -7.509562, 0.877950, 6.041982 mu:0.103324 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.524201, 1.151215, 7.055430 mu:0.103324 unit_bearing:0.139034 0.029218 0.989856 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.398141, 1.164898, 7.167731 mu:0.103324 unit_bearing:0.156343 0.029207 0.987271 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -8.427134, 0.755325, 4.699266 mu:0.103324 unit_bearing:-0.176317 0.018287 0.984164 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -8.210836, 0.799899, 5.060876 mu:0.103324 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -6.748650, 1.167313, 6.838330 mu:0.103324 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.728456, 1.169688, 6.857795 mu:0.103324 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -8.173095, 1.387634, 4.994508 mu:0.103324 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -8.158086, 1.390581, 5.018171 mu:0.103324 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -8.183901, 1.447114, 4.959814 mu:0.103324 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -7.721171, 1.776763, 5.558471 mu:0.103324 unit_bearing:-0.052018 0.112220 0.992321 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -8.109260, 1.808885, 4.963664 mu:0.103324 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -8.483576, 1.808941, 4.292664 mu:0.103324 unit_bearing:-0.201942 0.131459 0.970535 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -7.703625, 2.105346, 5.467328 mu:0.103324 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.473804, 2.392669, 6.784883 mu:0.103324 unit_bearing:0.133020 0.159940 0.978123 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.113344, 2.429411, 7.098909 mu:0.103324 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.517644, 2.367584, 6.751629 mu:0.103324 unit_bearing:0.127261 0.157787 0.979238 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.115916, 2.408852, 7.103698 mu:0.103324 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.617148, 2.376787, 6.650858 mu:0.103324 unit_bearing:0.112834 0.159999 0.980647 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.596852, 2.379083, 6.670170 mu:0.103324 unit_bearing:0.115719 0.159991 0.980312 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.576496, 2.381369, 6.689427 mu:0.103324 unit_bearing:0.118604 0.159983 0.979969 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.611872, 2.417962, 6.641256 mu:0.103324 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -6.571223, 2.422538, 6.679820 mu:0.103324 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.841] If point is visible? -8.063609, 2.201242, 4.878820 mu:0.103324 unit_bearing:-0.124158 0.164310 0.978564 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -8.407791, 2.206421, 4.255707 mu:0.103324 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -8.100095, 2.353694, 4.745393 mu:0.103324 unit_bearing:-0.135626 0.181625 0.973970 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.841] If point is visible? -8.085271, 2.356710, 4.769115 mu:0.103324 unit_bearing:-0.132746 0.181635 0.974365 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] If point is visible? -6.101378, 2.673478, 7.021058 mu:0.103324 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -6.079699, 2.675542, 7.039054 mu:0.103324 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -8.091305, 2.315644, 4.778988 mu:0.103324 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] If point is visible? -6.416289, 2.661866, 6.739090 mu:0.103324 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -6.227149, 2.681367, 6.906697 mu:0.103324 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -6.119959, 2.691869, 6.997820 mu:0.103324 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -6.076663, 2.696003, 7.033866 mu:0.103324 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -6.178268, 2.726515, 6.932870 mu:0.103324 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -6.116886, 2.712327, 6.992606 mu:0.103324 unit_bearing:0.176042 0.190107 0.965851 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -9.260732, 2.344230, 1.553788 mu:0.103324 unit_bearing:-0.464359 0.220843 0.857671 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] If point is visible? -9.136918, 2.436962, 2.061232 mu:0.103324 unit_bearing:-0.415206 0.223963 0.881728 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] If point is visible? -5.737046, 3.484410, 6.972424 mu:0.103324 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -5.732609, 3.504494, 6.966005 mu:0.103324 unit_bearing:0.206934 0.271681 0.939876 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -3.802421, 3.808442, 8.044033 mu:0.103324 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -4.191273, 3.814334, 7.845589 mu:0.103324 unit_bearing:0.380955 0.292381 0.877147 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -7.115059, 3.966953, 5.225819 mu:0.103324 unit_bearing:-0.017136 0.341020 0.939900 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -8.494768, 3.632857, 2.883018 mu:0.103324 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] If point is visible? -7.862145, 4.244893, 3.719928 mu:0.103324 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] If point is visible? -8.306569, 4.436532, 2.233539 mu:0.103324 unit_bearing:-0.327504 0.426856 0.842932 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] If point is visible? -7.515625, -3.269629, 5.147323 mu:0.103324 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -7.485768, -3.264376, 5.193952 mu:0.103324 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -8.935089, -3.719413, 0.034669 mu:0.103324 unit_bearing:-0.621788 -0.381876 0.683777 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] If point is visible? -6.234514, -3.077057, 6.732916 mu:0.103324 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -5.864166, -2.770846, 7.183555 mu:0.103324 unit_bearing:0.154574 -0.374616 0.914204 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -1.536979, -1.836170, 9.377355 mu:0.103324 unit_bearing:0.621980 -0.306386 0.720603 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -5.618569, -1.364473, 7.761395 mu:0.103324 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -2.865195, -1.264735, 9.157506 mu:0.103324 unit_bearing:0.522677 -0.245015 0.816563 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -5.721339, -1.032013, 7.737610 mu:0.103324 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -5.686498, -1.242741, 7.732316 mu:0.103324 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] If point is visible? -5.633794, -1.280242, 7.764709 mu:0.103324 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=-0.000058 y=0.000000 z=-0.000084 +[21:41:49.842] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:49.842] init seeds +[21:41:49.842] DepthFilter: Initialized 0 new seeds +[21:41:49.844] DepthFilter: Initialized 0 new seeds +[21:41:53.260] add new frame +[21:41:53.261] update seed +[21:41:53.261] If point is visible? 38572793697.330490, -33549214951.342136, -48748777917.529076 mu:-0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.000070 y=0.000000 z=-0.000127 +[21:41:53.261] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? 38572793697.330490, -33549214951.342136, -48748777917.529076 mu:-0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.000070 y=0.000000 z=-0.000127 +[21:41:53.261] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -12.720019, 18.944585, 31.156053 mu:0.025894 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000070 y=0.000000 z=-0.000112 +[21:41:53.261] Z inverse min: 0.449564, Z inverse max: 0.000000 +[21:41:53.261] calculated Z= 2.560377 +[21:41:53.261] update seeds 305 +[21:41:53.261] If point is visible? -12.720019, 18.944585, 31.156053 mu:0.025894 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000070 y=0.000000 z=-0.000112 +[21:41:53.261] Z inverse min: 0.449564, Z inverse max: 0.000000 +[21:41:53.261] calculated Z= 2.560377 +[21:41:53.261] update seeds 305 +[21:41:53.261] If point is visible? -7.199589, 1.752527, 6.226090 mu:0.103324 unit_bearing:0.034856 0.101328 0.994242 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.196216, 1.794090, 6.218147 mu:0.103324 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -8.183572, -0.209153, 5.162885 mu:0.103324 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -2.957012, 4.758079, 7.892115 mu:0.103324 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.672968, -4.247434, 4.093288 mu:0.103324 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -7.838674, -3.817033, 4.201856 mu:0.103324 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -7.906050, -3.675941, 4.201427 mu:0.103324 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -6.445753, -3.170406, 6.486160 mu:0.103324 unit_bearing:0.057288 -0.406811 0.911714 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.363621, -3.243378, 5.378421 mu:0.103324 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.241263, -3.056228, 6.736133 mu:0.103324 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.175344, -3.004305, 6.819725 mu:0.103324 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.128410, -2.954945, 6.883330 mu:0.103324 unit_bearing:0.111663 -0.389716 0.914141 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] add key frame +[21:41:53.261] init seeds +[21:41:53.261] remove key frame +[21:41:53.261] update seed +[21:41:53.261] If point is visible? -12.710654, 18.930637, 31.133113 mu:0.025913 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000070 y=0.000000 z=-0.000112 +[21:41:53.261] Z inverse min: 0.449572, Z inverse max: 0.000000 +[21:41:53.261] calculated Z= 2.560377 +[21:41:53.261] update seeds 305 +[21:41:53.261] If point is visible? -12.710654, 18.930637, 31.133113 mu:0.025913 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000070 y=0.000000 z=-0.000112 +[21:41:53.261] Z inverse min: 0.449572, Z inverse max: 0.000000 +[21:41:53.261] calculated Z= 2.560377 +[21:41:53.261] update seeds 305 +[21:41:53.261] If point is visible? -7.199589, 1.752527, 6.226090 mu:0.103324 unit_bearing:0.034856 0.101328 0.994242 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.196216, 1.794090, 6.218147 mu:0.103324 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -8.183572, -0.209153, 5.162885 mu:0.103324 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -2.957012, 4.758079, 7.892115 mu:0.103324 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.672968, -4.247434, 4.093288 mu:0.103324 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -7.838674, -3.817033, 4.201856 mu:0.103324 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -7.906050, -3.675941, 4.201427 mu:0.103324 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -6.445753, -3.170406, 6.486160 mu:0.103324 unit_bearing:0.057288 -0.406811 0.911714 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.363621, -3.243378, 5.378421 mu:0.103324 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.241263, -3.056228, 6.736133 mu:0.103324 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.175344, -3.004305, 6.819725 mu:0.103324 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.128410, -2.954945, 6.883330 mu:0.103324 unit_bearing:0.111663 -0.389716 0.914141 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -8.942469, -3.701809, 0.006298 mu:0.103324 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -6.325401, -3.110730, 6.631899 mu:0.103324 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.305995, -3.108158, 6.651556 mu:0.103324 unit_bearing:0.080166 -0.402510 0.911899 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -8.992312, -3.574769, 0.174649 mu:0.103324 unit_bearing:-0.613089 -0.368806 0.698644 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -7.484586, -3.220162, 5.223161 mu:0.103324 unit_bearing:-0.111414 -0.396010 0.911462 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -8.056074, -3.330617, 4.204384 mu:0.103324 unit_bearing:-0.230628 -0.394509 0.889479 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -8.950510, -3.682319, 0.008748 mu:0.103324 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -6.208451, -3.030266, 6.778053 mu:0.103324 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -8.109758, -3.209040, 4.195720 mu:0.103324 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -6.114777, -2.931539, 6.905427 mu:0.103324 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -9.023023, -3.489993, 0.275921 mu:0.103324 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -9.022841, -3.487903, 0.306601 mu:0.103324 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -9.022559, -3.485803, 0.337256 mu:0.103324 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -9.022176, -3.483694, 0.367885 mu:0.103324 unit_bearing:-0.598903 -0.361899 0.714384 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -9.037541, -3.446338, 0.341673 mu:0.103324 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -9.037143, -3.444206, 0.372310 mu:0.103324 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -9.036645, -3.442065, 0.402920 mu:0.103324 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -9.030552, -3.470290, 0.278135 mu:0.103324 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -6.093614, -2.863851, 6.952378 mu:0.103324 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.073252, -2.861308, 6.971215 mu:0.103324 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -9.044559, -3.424446, 0.374481 mu:0.103324 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -9.044054, -3.422294, 0.405095 mu:0.103324 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -9.051931, -3.404677, 0.376625 mu:0.103324 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -9.051419, -3.402512, 0.407243 mu:0.103324 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -6.079629, -2.840433, 6.974193 mu:0.103324 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.059204, -2.837893, 6.992976 mu:0.103324 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.085967, -2.819552, 6.977137 mu:0.103324 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -9.117490, -3.241970, 0.179388 mu:0.103324 unit_bearing:-0.617730 -0.334735 0.711591 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -8.121676, -2.194207, 4.784755 mu:0.103324 unit_bearing:-0.178061 -0.285274 0.941761 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] If point is visible? -5.713131, -1.589055, 7.648801 mu:0.103324 unit_bearing:0.212753 -0.259278 0.942078 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -5.423224, -1.409133, 7.891262 mu:0.103324 unit_bearing:0.252751 -0.243879 0.936290 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -5.675353, -1.305938, 7.730071 mu:0.103324 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -5.652731, -1.303618, 7.747020 mu:0.103324 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -5.637517, -1.259181, 7.765433 mu:0.103324 unit_bearing:0.230150 -0.226917 0.946330 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.383059, -1.168665, 7.180535 mu:0.103324 unit_bearing:0.135709 -0.210269 0.968179 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.358843, -1.187356, 7.198931 mu:0.103324 unit_bearing:0.138576 -0.212418 0.967303 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.232501, -0.893520, 7.350293 mu:0.103324 unit_bearing:0.161709 -0.184190 0.969497 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.256736, -0.874782, 7.331935 mu:0.103324 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.782926, -0.830071, 6.853637 mu:0.103324 unit_bearing:0.086828 -0.171429 0.981363 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.259678, -0.853662, 7.331914 mu:0.103324 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -4.139488, -0.429584, 8.737779 mu:0.103324 unit_bearing:0.413693 -0.154083 0.897283 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -4.168424, -0.410599, 8.724927 mu:0.103324 unit_bearing:0.410956 -0.151974 0.898899 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.542663, -0.628974, 7.104035 mu:0.103324 unit_bearing:0.124389 -0.153959 0.980216 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -6.540144, -0.650106, 7.104451 mu:0.103324 unit_bearing:0.124383 -0.156131 0.979873 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -4.254692, -0.353627, 8.685693 mu:0.103324 unit_bearing:0.402727 -0.145637 0.903660 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.762192, -0.648684, 5.744334 mu:0.103324 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.745702, -0.645954, 5.766857 mu:0.103324 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.729148, -0.643228, 5.789328 mu:0.103324 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.566768, -0.552797, 6.009006 mu:0.103324 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.551665, -0.528981, 6.030111 mu:0.103324 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.536461, -0.505170, 6.051137 mu:0.103324 unit_bearing:-0.023061 -0.128004 0.991506 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.523204, -0.460226, 6.071185 mu:0.103324 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.505750, -0.457563, 6.092950 mu:0.103324 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.261] If point is visible? -7.439282, -0.404686, 6.177619 mu:0.103324 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.261] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.271504, -0.230603, 6.382919 mu:0.103324 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -5.126167, 0.296268, 8.203875 mu:0.103324 unit_bearing:0.313565 -0.072921 0.946763 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -5.100507, 0.277288, 8.220515 mu:0.103324 unit_bearing:0.316386 -0.075077 0.945655 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -5.202591, 0.353192, 8.153358 mu:0.103324 unit_bearing:0.305092 -0.066447 0.950002 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.228748, 0.307234, 6.428094 mu:0.103324 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.227927, 0.286161, 6.429990 mu:0.103324 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -9.199855, 0.186559, 2.999740 mu:0.103324 unit_bearing:-0.367022 -0.018642 0.930026 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -7.456412, 0.864901, 6.109300 mu:0.103324 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.438497, 0.867532, 6.130728 mu:0.103324 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -8.469831, 0.599713, 4.644613 mu:0.103324 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -7.509570, 0.877950, 6.041959 mu:0.103324 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.524208, 1.151215, 7.055408 mu:0.103324 unit_bearing:0.139034 0.029218 0.989856 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.398148, 1.164898, 7.167708 mu:0.103324 unit_bearing:0.156343 0.029207 0.987271 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -8.427141, 0.755325, 4.699243 mu:0.103324 unit_bearing:-0.176317 0.018287 0.984164 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -8.210843, 0.799899, 5.060853 mu:0.103324 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -6.748657, 1.167313, 6.838307 mu:0.103324 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.728463, 1.169688, 6.857772 mu:0.103324 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -8.173103, 1.387634, 4.994485 mu:0.103324 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -8.158093, 1.390581, 5.018148 mu:0.103324 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -8.183908, 1.447114, 4.959791 mu:0.103324 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -7.721179, 1.776763, 5.558448 mu:0.103324 unit_bearing:-0.052018 0.112220 0.992321 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -8.109267, 1.808885, 4.963641 mu:0.103324 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -8.483583, 1.808941, 4.292641 mu:0.103324 unit_bearing:-0.201942 0.131459 0.970535 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -7.703632, 2.105346, 5.467305 mu:0.103324 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.473811, 2.392669, 6.784860 mu:0.103324 unit_bearing:0.133020 0.159940 0.978123 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.113352, 2.429411, 7.098886 mu:0.103324 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.517651, 2.367584, 6.751607 mu:0.103324 unit_bearing:0.127261 0.157787 0.979238 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.115924, 2.408852, 7.103675 mu:0.103324 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.617155, 2.376787, 6.650835 mu:0.103324 unit_bearing:0.112834 0.159999 0.980647 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.596859, 2.379083, 6.670147 mu:0.103324 unit_bearing:0.115719 0.159991 0.980312 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.576503, 2.381369, 6.689404 mu:0.103324 unit_bearing:0.118604 0.159983 0.979969 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.611879, 2.417962, 6.641233 mu:0.103324 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.571230, 2.422538, 6.679797 mu:0.103324 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -8.063616, 2.201242, 4.878797 mu:0.103324 unit_bearing:-0.124158 0.164310 0.978564 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -8.407798, 2.206421, 4.255684 mu:0.103324 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -8.100102, 2.353694, 4.745370 mu:0.103324 unit_bearing:-0.135626 0.181625 0.973970 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -8.085279, 2.356710, 4.769092 mu:0.103324 unit_bearing:-0.132746 0.181635 0.974365 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -6.101385, 2.673478, 7.021035 mu:0.103324 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.079706, 2.675542, 7.039031 mu:0.103324 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -8.091312, 2.315644, 4.778966 mu:0.103324 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -6.416296, 2.661866, 6.739067 mu:0.103324 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.227156, 2.681367, 6.906674 mu:0.103324 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.119966, 2.691869, 6.997797 mu:0.103324 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.076670, 2.696003, 7.033844 mu:0.103324 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.178275, 2.726515, 6.932847 mu:0.103324 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.116893, 2.712327, 6.992583 mu:0.103324 unit_bearing:0.176042 0.190107 0.965851 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -9.260739, 2.344230, 1.553765 mu:0.103324 unit_bearing:-0.464359 0.220843 0.857671 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -9.136925, 2.436962, 2.061209 mu:0.103324 unit_bearing:-0.415206 0.223963 0.881728 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -5.737053, 3.484410, 6.972401 mu:0.103324 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -5.732616, 3.504494, 6.965982 mu:0.103324 unit_bearing:0.206934 0.271681 0.939876 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -3.802428, 3.808442, 8.044010 mu:0.103324 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -4.191280, 3.814334, 7.845566 mu:0.103324 unit_bearing:0.380955 0.292381 0.877147 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.115066, 3.966953, 5.225796 mu:0.103324 unit_bearing:-0.017136 0.341020 0.939900 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -8.494775, 3.632857, 2.882995 mu:0.103324 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -7.862152, 4.244893, 3.719905 mu:0.103324 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -8.306577, 4.436532, 2.233516 mu:0.103324 unit_bearing:-0.327504 0.426856 0.842932 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -7.515632, -3.269629, 5.147300 mu:0.103324 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.485775, -3.264376, 5.193929 mu:0.103324 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -8.935096, -3.719413, 0.034646 mu:0.103324 unit_bearing:-0.621788 -0.381876 0.683777 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -6.234522, -3.077057, 6.732893 mu:0.103324 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -5.864173, -2.770846, 7.183532 mu:0.103324 unit_bearing:0.154574 -0.374616 0.914204 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -1.536986, -1.836170, 9.377332 mu:0.103324 unit_bearing:0.621980 -0.306386 0.720603 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -5.618576, -1.364473, 7.761372 mu:0.103324 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -2.865202, -1.264735, 9.157483 mu:0.103324 unit_bearing:0.522677 -0.245015 0.816563 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -5.721346, -1.032013, 7.737587 mu:0.103324 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -5.686505, -1.242741, 7.732293 mu:0.103324 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -5.633801, -1.280242, 7.764686 mu:0.103324 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.400314, -1.192228, 7.161277 mu:0.103324 unit_bearing:0.132822 -0.212443 0.968104 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.898634, -0.887550, 5.522111 mu:0.103324 unit_bearing:-0.092427 -0.160557 0.982690 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.762192, -0.648684, 5.744334 mu:0.103324 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.729148, -0.643228, 5.789328 mu:0.103324 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.700358, -0.595514, 5.832634 mu:0.103324 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.666795, -0.590092, 5.877227 mu:0.103324 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.565625, -0.610270, 7.084454 mu:0.103324 unit_bearing:0.121511 -0.151794 0.980915 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.651801, -0.577757, 7.006363 mu:0.103324 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.311445, -0.193546, 6.338370 mu:0.103324 unit_bearing:0.017480 -0.099663 0.994868 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.791960, 0.201164, 5.737134 mu:0.103324 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.793585, 0.243299, 5.733293 mu:0.103324 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -9.200167, 0.207368, 2.997415 mu:0.103324 unit_bearing:-0.367024 -0.016478 0.930065 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -9.434267, 0.476344, 2.106777 mu:0.103324 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -8.240553, 0.794035, 5.013263 mu:0.103324 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -7.347941, 0.649565, 6.265418 mu:0.103324 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.456586, 0.843917, 6.112022 mu:0.103324 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.489835, 1.006401, 6.046423 mu:0.103324 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.196216, 1.794090, 6.218147 mu:0.103324 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.723010, 1.756002, 5.562501 mu:0.103324 unit_bearing:-0.052020 0.110040 0.992565 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.164071, 2.125733, 6.150365 mu:0.103324 unit_bearing:0.034832 0.140555 0.989460 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.126728, 2.130785, 6.191859 mu:0.103324 unit_bearing:0.040619 0.140550 0.989240 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.153461, 2.607872, 7.000232 mu:0.103324 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.159406, 2.167076, 6.141361 mu:0.103324 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.122066, 2.172126, 6.182852 mu:0.103324 unit_bearing:0.040616 0.144903 0.988612 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -6.147564, 2.648846, 6.990021 mu:0.103324 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -8.129679, 2.247961, 4.746057 mu:0.103324 unit_bearing:-0.138545 0.170773 0.975521 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -1.330221, 3.337212, 8.986757 mu:0.103324 unit_bearing:0.654929 0.229080 0.720133 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -9.099156, 2.420339, 2.240098 mu:0.103324 unit_bearing:-0.398744 0.220006 0.890281 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -3.833788, 3.788002, 8.038775 mu:0.103324 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -3.780469, 3.789630, 8.063222 mu:0.103324 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -5.627080, 3.768248, 6.914155 mu:0.103324 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -7.227227, 4.230126, 4.852128 mu:0.103324 unit_bearing:-0.051497 0.372715 0.926516 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] If point is visible? -8.390347, 4.306095, 2.174918 mu:0.103324 unit_bearing:-0.338917 0.414217 0.844724 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] If point is visible? -4.835831, 4.630215, 6.988920 mu:0.103324 unit_bearing:0.278729 0.386839 0.879014 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.262] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.262] calculated Z= 2.860716 +[21:41:53.263] update seeds 305 +[21:41:53.263] If point is visible? -3.299006, 5.016897, 7.590529 mu:0.103324 unit_bearing:0.431234 0.418919 0.799090 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] If point is visible? -7.888702, 4.238157, 3.671058 mu:0.103324 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] If point is visible? -5.727884, -0.989858, 7.738258 mu:0.103324 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -5.678016, -1.757370, 7.638122 mu:0.103324 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -9.015524, -3.511755, 0.242978 mu:0.103324 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] If point is visible? -8.917241, -3.762043, -0.032052 mu:0.103324 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] If point is visible? -6.181425, -3.113561, 6.764990 mu:0.103324 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.387117, -0.161750, 6.250919 mu:0.103324 unit_bearing:0.005894 -0.095301 0.995431 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.314626, -0.151304, 6.335848 mu:0.103324 unit_bearing:0.017481 -0.095299 0.995295 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -8.952298, -3.676587, 0.101184 mu:0.103324 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] If point is visible? -5.909678, -2.906110, 7.092214 mu:0.103324 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.308120, -0.235795, 6.340773 mu:0.103324 unit_bearing:0.017479 -0.104026 0.994421 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.515446, -0.351892, 6.088016 mu:0.103324 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.418632, 0.512937, 6.194388 mu:0.103324 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -8.183572, -0.209153, 5.162885 mu:0.103324 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] If point is visible? -7.762192, -0.648684, 5.744334 mu:0.103324 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -8.326567, 0.860007, 4.857852 mu:0.103324 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] If point is visible? -7.577201, -0.447109, 6.004652 mu:0.103324 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -6.758351, -0.333999, 6.919722 mu:0.103324 unit_bearing:0.098482 -0.121387 0.987708 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.491535, 0.586541, 6.099390 mu:0.103324 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.637337, -0.542411, 5.920018 mu:0.103324 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -6.750186, -0.418512, 6.923096 mu:0.103324 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -5.685880, 0.543073, 7.813125 mu:0.103324 unit_bearing:0.248220 -0.042690 0.967763 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -8.328084, 0.776298, 4.869337 mu:0.103324 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] If point is visible? -8.233464, 2.106244, 4.630757 mu:0.103324 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] If point is visible? -6.382617, 2.463252, 6.845727 mu:0.103324 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.191686, 2.203312, 6.090544 mu:0.103324 unit_bearing:0.029039 0.149264 0.988371 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.201165, 2.120649, 6.108660 mu:0.103324 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -6.376014, 3.027121, 6.622116 mu:0.103324 unit_bearing:0.132756 0.227055 0.964791 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.032652, 3.185958, 5.836195 mu:0.103324 unit_bearing:0.028948 0.253240 0.966970 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -6.280240, 3.824367, 6.293035 mu:0.103324 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -3.808084, 3.671697, 8.104685 mu:0.103324 unit_bearing:0.425284 0.274490 0.862432 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -4.414984, 3.726621, 7.764608 mu:0.103324 unit_bearing:0.358974 0.284405 0.888961 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -4.313038, 3.731157, 7.819531 mu:0.103324 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -3.789816, 3.750368, 8.077179 mu:0.103324 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -2.957012, 4.758079, 7.892115 mu:0.103324 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000107 +[21:41:53.263] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -3.180880, 3.223819, 7.171292 mu:0.117901 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -3.259403, 3.290014, 7.105671 mu:0.117901 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.819203, 3.154676, 0.921103 mu:0.117901 unit_bearing:-0.476315 0.355930 0.804014 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] If point is visible? -6.677568, -3.788557, 3.605073 mu:0.117901 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] If point is visible? -6.698242, -3.715490, 3.642569 mu:0.117901 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] If point is visible? -6.690464, -3.733246, 3.638709 mu:0.117901 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] If point is visible? -6.907933, -3.196429, 3.742050 mu:0.117901 unit_bearing:-0.224372 -0.427821 0.875572 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] If point is visible? -7.839817, -3.236183, 0.070186 mu:0.117901 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] If point is visible? -7.840210, -3.234529, 0.097209 mu:0.117901 unit_bearing:-0.621935 -0.379909 0.684738 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] If point is visible? -6.416967, -2.835854, 4.766532 mu:0.117901 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -5.497960, -2.720532, 5.857486 mu:0.117901 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -5.480809, -2.718295, 5.874572 mu:0.117901 unit_bearing:0.080166 -0.402510 0.911899 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:53.263] If point is visible? -7.846828, -3.219095, 0.072391 mu:0.117901 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] If point is visible? -5.365007, -2.627400, 6.020999 mu:0.117901 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=-0.000064 y=0.000000 z=-0.000106 +[21:41:53.263] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:53.263] init seeds +[21:41:53.263] DepthFilter: Initialized 0 new seeds +[21:41:53.265] DepthFilter: Initialized 0 new seeds +[21:41:54.029] add new frame +[21:41:54.029] update seed +[21:41:54.029] If point is visible? -12.701902, 18.917601, 31.111669 mu:0.025931 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000071 y=0.000000 z=-0.000116 +[21:41:54.029] Z inverse min: 0.449579, Z inverse max: 0.000000 +[21:41:54.029] calculated Z= 2.703543 +[21:41:54.029] update seeds 305 +[21:41:54.029] If point is visible? -12.701902, 18.917601, 31.111669 mu:0.025931 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000071 y=0.000000 z=-0.000116 +[21:41:54.029] Z inverse min: 0.449579, Z inverse max: 0.000000 +[21:41:54.029] calculated Z= 2.703543 +[21:41:54.029] update seeds 305 +[21:41:54.029] If point is visible? -7.199590, 1.752527, 6.226085 mu:0.103324 unit_bearing:0.034856 0.101328 0.994242 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.029] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.029] If point is visible? -7.196217, 1.794090, 6.218142 mu:0.103324 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.029] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.029] If point is visible? -8.183573, -0.209153, 5.162881 mu:0.103324 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.029] If point is visible? -2.957013, 4.758079, 7.892110 mu:0.103324 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.029] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.029] If point is visible? -7.672969, -4.247434, 4.093284 mu:0.103324 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.029] add key frame +[21:41:54.029] If point is visible? -7.838675, -3.817033, 4.201851 mu:0.103324 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.029] remove key frame +[21:41:54.029] init seeds +[21:41:54.030] update seed +[21:41:54.030] If point is visible? -7.199590, 1.752527, 6.226085 mu:0.103324 unit_bearing:0.034856 0.101328 0.994242 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.196217, 1.794090, 6.218142 mu:0.103324 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -8.183573, -0.209153, 5.162881 mu:0.103324 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -2.957013, 4.758079, 7.892110 mu:0.103324 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.672969, -4.247434, 4.093284 mu:0.103324 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -7.838675, -3.817033, 4.201851 mu:0.103324 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -7.906051, -3.675941, 4.201422 mu:0.103324 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -6.445754, -3.170406, 6.486155 mu:0.103324 unit_bearing:0.057288 -0.406811 0.911714 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.363622, -3.243378, 5.378416 mu:0.103324 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.241264, -3.056228, 6.736129 mu:0.103324 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.175344, -3.004305, 6.819720 mu:0.103324 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.128411, -2.954945, 6.883325 mu:0.103324 unit_bearing:0.111663 -0.389716 0.914141 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -8.942470, -3.701809, 0.006293 mu:0.103324 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -6.325402, -3.110730, 6.631894 mu:0.103324 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.305996, -3.108158, 6.651552 mu:0.103324 unit_bearing:0.080166 -0.402510 0.911899 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -8.992313, -3.574769, 0.174645 mu:0.103324 unit_bearing:-0.613089 -0.368806 0.698644 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -7.484586, -3.220162, 5.223156 mu:0.103324 unit_bearing:-0.111414 -0.396010 0.911462 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -8.056074, -3.330617, 4.204379 mu:0.103324 unit_bearing:-0.230628 -0.394509 0.889479 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -8.950511, -3.682319, 0.008743 mu:0.103324 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -6.208452, -3.030266, 6.778048 mu:0.103324 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -8.109759, -3.209040, 4.195715 mu:0.103324 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -6.114778, -2.931539, 6.905422 mu:0.103324 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -9.023024, -3.489993, 0.275916 mu:0.103324 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -9.022842, -3.487903, 0.306597 mu:0.103324 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -9.022559, -3.485803, 0.337252 mu:0.103324 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -9.022176, -3.483694, 0.367880 mu:0.103324 unit_bearing:-0.598903 -0.361899 0.714384 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -9.037541, -3.446338, 0.341668 mu:0.103324 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -9.037144, -3.444206, 0.372305 mu:0.103324 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -9.036646, -3.442065, 0.402916 mu:0.103324 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -9.030553, -3.470290, 0.278130 mu:0.103324 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -6.093615, -2.863851, 6.952373 mu:0.103324 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.073253, -2.861308, 6.971210 mu:0.103324 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -9.044560, -3.424446, 0.374476 mu:0.103324 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -9.044055, -3.422294, 0.405091 mu:0.103324 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -9.051932, -3.404677, 0.376620 mu:0.103324 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -9.051419, -3.402512, 0.407238 mu:0.103324 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -6.079630, -2.840433, 6.974189 mu:0.103324 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.059205, -2.837893, 6.992972 mu:0.103324 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.085968, -2.819552, 6.977133 mu:0.103324 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -9.117491, -3.241970, 0.179383 mu:0.103324 unit_bearing:-0.617730 -0.334735 0.711591 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -8.121677, -2.194207, 4.784751 mu:0.103324 unit_bearing:-0.178061 -0.285274 0.941761 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -5.713132, -1.589055, 7.648797 mu:0.103324 unit_bearing:0.212753 -0.259278 0.942078 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -5.423225, -1.409133, 7.891258 mu:0.103324 unit_bearing:0.252751 -0.243879 0.936290 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -5.675354, -1.305938, 7.730066 mu:0.103324 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -5.652731, -1.303618, 7.747015 mu:0.103324 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -5.637518, -1.259181, 7.765428 mu:0.103324 unit_bearing:0.230150 -0.226917 0.946330 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.383060, -1.168665, 7.180531 mu:0.103324 unit_bearing:0.135709 -0.210269 0.968179 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.358844, -1.187356, 7.198926 mu:0.103324 unit_bearing:0.138576 -0.212418 0.967303 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.232502, -0.893520, 7.350289 mu:0.103324 unit_bearing:0.161709 -0.184190 0.969497 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.256737, -0.874782, 7.331930 mu:0.103324 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.782927, -0.830071, 6.853632 mu:0.103324 unit_bearing:0.086828 -0.171429 0.981363 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.259679, -0.853662, 7.331909 mu:0.103324 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -4.139488, -0.429584, 8.737775 mu:0.103324 unit_bearing:0.413693 -0.154083 0.897283 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -4.168425, -0.410599, 8.724922 mu:0.103324 unit_bearing:0.410956 -0.151974 0.898899 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.542664, -0.628974, 7.104030 mu:0.103324 unit_bearing:0.124389 -0.153959 0.980216 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.540145, -0.650106, 7.104447 mu:0.103324 unit_bearing:0.124383 -0.156131 0.979873 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -4.254693, -0.353627, 8.685688 mu:0.103324 unit_bearing:0.402727 -0.145637 0.903660 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.762193, -0.648684, 5.744330 mu:0.103324 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.745703, -0.645954, 5.766852 mu:0.103324 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.729148, -0.643228, 5.789324 mu:0.103324 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.566769, -0.552797, 6.009001 mu:0.103324 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.551666, -0.528981, 6.030107 mu:0.103324 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.536462, -0.505170, 6.051132 mu:0.103324 unit_bearing:-0.023061 -0.128004 0.991506 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.523205, -0.460226, 6.071181 mu:0.103324 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.505751, -0.457563, 6.092946 mu:0.103324 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.439283, -0.404686, 6.177614 mu:0.103324 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.271505, -0.230603, 6.382914 mu:0.103324 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -5.126168, 0.296268, 8.203870 mu:0.103324 unit_bearing:0.313565 -0.072921 0.946763 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -5.100508, 0.277288, 8.220510 mu:0.103324 unit_bearing:0.316386 -0.075077 0.945655 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -5.202592, 0.353192, 8.153354 mu:0.103324 unit_bearing:0.305092 -0.066447 0.950002 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.228749, 0.307234, 6.428089 mu:0.103324 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.227927, 0.286161, 6.429985 mu:0.103324 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -9.199856, 0.186559, 2.999736 mu:0.103324 unit_bearing:-0.367022 -0.018642 0.930026 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -7.456413, 0.864901, 6.109296 mu:0.103324 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -7.438498, 0.867532, 6.130723 mu:0.103324 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -8.469832, 0.599713, 4.644608 mu:0.103324 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -7.509571, 0.877950, 6.041955 mu:0.103324 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.524209, 1.151215, 7.055403 mu:0.103324 unit_bearing:0.139034 0.029218 0.989856 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.398149, 1.164898, 7.167703 mu:0.103324 unit_bearing:0.156343 0.029207 0.987271 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -8.427142, 0.755325, 4.699238 mu:0.103324 unit_bearing:-0.176317 0.018287 0.984164 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -8.210844, 0.799899, 5.060848 mu:0.103324 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -6.748658, 1.167313, 6.838303 mu:0.103324 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.728464, 1.169688, 6.857768 mu:0.103324 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -8.173103, 1.387634, 4.994481 mu:0.103324 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -8.158094, 1.390581, 5.018144 mu:0.103324 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -8.183909, 1.447114, 4.959787 mu:0.103324 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -7.721180, 1.776763, 5.558444 mu:0.103324 unit_bearing:-0.052018 0.112220 0.992321 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -8.109268, 1.808885, 4.963637 mu:0.103324 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -8.483584, 1.808941, 4.292636 mu:0.103324 unit_bearing:-0.201942 0.131459 0.970535 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -7.703633, 2.105346, 5.467300 mu:0.103324 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.473812, 2.392669, 6.784855 mu:0.103324 unit_bearing:0.133020 0.159940 0.978123 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.113353, 2.429411, 7.098882 mu:0.103324 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.517652, 2.367584, 6.751602 mu:0.103324 unit_bearing:0.127261 0.157787 0.979238 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.115924, 2.408852, 7.103671 mu:0.103324 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.617156, 2.376787, 6.650830 mu:0.103324 unit_bearing:0.112834 0.159999 0.980647 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.596860, 2.379083, 6.670142 mu:0.103324 unit_bearing:0.115719 0.159991 0.980312 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.576504, 2.381369, 6.689400 mu:0.103324 unit_bearing:0.118604 0.159983 0.979969 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.611880, 2.417962, 6.641228 mu:0.103324 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.571231, 2.422538, 6.679793 mu:0.103324 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -8.063617, 2.201242, 4.878792 mu:0.103324 unit_bearing:-0.124158 0.164310 0.978564 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -8.407799, 2.206421, 4.255679 mu:0.103324 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -8.100103, 2.353694, 4.745365 mu:0.103324 unit_bearing:-0.135626 0.181625 0.973970 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -8.085280, 2.356710, 4.769088 mu:0.103324 unit_bearing:-0.132746 0.181635 0.974365 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -6.101386, 2.673478, 7.021030 mu:0.103324 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.079707, 2.675542, 7.039026 mu:0.103324 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -8.091313, 2.315644, 4.778961 mu:0.103324 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] If point is visible? -6.416297, 2.661866, 6.739063 mu:0.103324 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.227157, 2.681367, 6.906670 mu:0.103324 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.119967, 2.691869, 6.997793 mu:0.103324 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.030] If point is visible? -6.076671, 2.696003, 7.033839 mu:0.103324 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.030] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -6.178276, 2.726515, 6.932842 mu:0.103324 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -6.116894, 2.712327, 6.992578 mu:0.103324 unit_bearing:0.176042 0.190107 0.965851 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -9.260740, 2.344230, 1.553761 mu:0.103324 unit_bearing:-0.464359 0.220843 0.857671 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -9.136926, 2.436962, 2.061205 mu:0.103324 unit_bearing:-0.415206 0.223963 0.881728 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -5.737054, 3.484410, 6.972397 mu:0.103324 unit_bearing:0.206954 0.269541 0.940488 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -5.732617, 3.504494, 6.965977 mu:0.103324 unit_bearing:0.206934 0.271681 0.939876 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -3.802429, 3.808442, 8.044006 mu:0.103324 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -4.191281, 3.814334, 7.845561 mu:0.103324 unit_bearing:0.380955 0.292381 0.877147 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.115067, 3.966953, 5.225791 mu:0.103324 unit_bearing:-0.017136 0.341020 0.939900 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -8.494776, 3.632857, 2.882990 mu:0.103324 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -7.862153, 4.244893, 3.719900 mu:0.103324 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -8.306577, 4.436532, 2.233511 mu:0.103324 unit_bearing:-0.327504 0.426856 0.842932 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -7.515633, -3.269629, 5.147295 mu:0.103324 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.485776, -3.264376, 5.193924 mu:0.103324 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -8.935097, -3.719413, 0.034642 mu:0.103324 unit_bearing:-0.621788 -0.381876 0.683777 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -6.234522, -3.077057, 6.732888 mu:0.103324 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -5.864174, -2.770846, 7.183527 mu:0.103324 unit_bearing:0.154574 -0.374616 0.914204 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -1.536987, -1.836170, 9.377328 mu:0.103324 unit_bearing:0.621980 -0.306386 0.720603 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -5.618577, -1.364473, 7.761368 mu:0.103324 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -2.865203, -1.264735, 9.157478 mu:0.103324 unit_bearing:0.522677 -0.245015 0.816563 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -5.721347, -1.032013, 7.737582 mu:0.103324 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -5.686506, -1.242741, 7.732288 mu:0.103324 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -5.633802, -1.280242, 7.764682 mu:0.103324 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -6.400315, -1.192228, 7.161273 mu:0.103324 unit_bearing:0.132822 -0.212443 0.968104 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.898634, -0.887550, 5.522106 mu:0.103324 unit_bearing:-0.092427 -0.160557 0.982690 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.762193, -0.648684, 5.744330 mu:0.103324 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.729148, -0.643228, 5.789324 mu:0.103324 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.700359, -0.595514, 5.832630 mu:0.103324 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.666796, -0.590092, 5.877223 mu:0.103324 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -6.565626, -0.610270, 7.084449 mu:0.103324 unit_bearing:0.121511 -0.151794 0.980915 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -6.651802, -0.577757, 7.006359 mu:0.103324 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.311445, -0.193546, 6.338365 mu:0.103324 unit_bearing:0.017480 -0.099663 0.994868 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.791961, 0.201164, 5.737129 mu:0.103324 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.793586, 0.243299, 5.733288 mu:0.103324 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -9.200168, 0.207368, 2.997411 mu:0.103324 unit_bearing:-0.367024 -0.016478 0.930065 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -9.434267, 0.476344, 2.106773 mu:0.103324 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -8.240554, 0.794035, 5.013259 mu:0.103324 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -7.347942, 0.649565, 6.265413 mu:0.103324 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.456587, 0.843917, 6.112017 mu:0.103324 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.489836, 1.006401, 6.046418 mu:0.103324 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.196217, 1.794090, 6.218142 mu:0.103324 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.723011, 1.756002, 5.562496 mu:0.103324 unit_bearing:-0.052020 0.110040 0.992565 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.164072, 2.125733, 6.150360 mu:0.103324 unit_bearing:0.034832 0.140555 0.989460 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.126729, 2.130785, 6.191855 mu:0.103324 unit_bearing:0.040619 0.140550 0.989240 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -6.153462, 2.607872, 7.000227 mu:0.103324 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.159407, 2.167076, 6.141357 mu:0.103324 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.122067, 2.172126, 6.182848 mu:0.103324 unit_bearing:0.040616 0.144903 0.988612 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -6.147565, 2.648846, 6.990016 mu:0.103324 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -8.129680, 2.247961, 4.746052 mu:0.103324 unit_bearing:-0.138545 0.170773 0.975521 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -1.330222, 3.337212, 8.986752 mu:0.103324 unit_bearing:0.654929 0.229080 0.720133 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -9.099157, 2.420339, 2.240094 mu:0.103324 unit_bearing:-0.398744 0.220006 0.890281 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -3.833789, 3.788002, 8.038770 mu:0.103324 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -3.780470, 3.789630, 8.063217 mu:0.103324 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -5.627081, 3.768248, 6.914151 mu:0.103324 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.227228, 4.230126, 4.852123 mu:0.103324 unit_bearing:-0.051497 0.372715 0.926516 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -8.390348, 4.306095, 2.174914 mu:0.103324 unit_bearing:-0.338917 0.414217 0.844724 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -4.835002, 4.629421, 6.987717 mu:0.103341 unit_bearing:0.278729 0.386839 0.879014 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534434, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -3.299007, 5.016897, 7.590524 mu:0.103324 unit_bearing:0.431234 0.418919 0.799090 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -7.888703, 4.238157, 3.671053 mu:0.103324 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -5.727885, -0.989858, 7.738253 mu:0.103324 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -5.678017, -1.757370, 7.638117 mu:0.103324 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -9.015525, -3.511755, 0.242973 mu:0.103324 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -8.917242, -3.762043, -0.032057 mu:0.103324 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -6.181426, -3.113561, 6.764986 mu:0.103324 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.387117, -0.161750, 6.250914 mu:0.103324 unit_bearing:0.005894 -0.095301 0.995431 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.314627, -0.151304, 6.335843 mu:0.103324 unit_bearing:0.017481 -0.095299 0.995295 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -8.952299, -3.676587, 0.101179 mu:0.103324 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -5.909679, -2.906110, 7.092209 mu:0.103324 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.308121, -0.235795, 6.340768 mu:0.103324 unit_bearing:0.017479 -0.104026 0.994421 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.515447, -0.351892, 6.088012 mu:0.103324 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.418633, 0.512937, 6.194384 mu:0.103324 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -8.183573, -0.209153, 5.162881 mu:0.103324 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -7.762193, -0.648684, 5.744330 mu:0.103324 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -8.326568, 0.860007, 4.857847 mu:0.103324 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -7.577202, -0.447109, 6.004647 mu:0.103324 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -6.758352, -0.333999, 6.919718 mu:0.103324 unit_bearing:0.098482 -0.121387 0.987708 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.491536, 0.586541, 6.099385 mu:0.103324 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.637338, -0.542411, 5.920014 mu:0.103324 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -6.750186, -0.418512, 6.923091 mu:0.103324 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -5.685881, 0.543073, 7.813120 mu:0.103324 unit_bearing:0.248220 -0.042690 0.967763 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -8.328085, 0.776298, 4.869333 mu:0.103324 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -8.233465, 2.106244, 4.630752 mu:0.103324 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] If point is visible? -6.382617, 2.463252, 6.845722 mu:0.103324 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.191687, 2.203312, 6.090539 mu:0.103324 unit_bearing:0.029039 0.149264 0.988371 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.201165, 2.120649, 6.108655 mu:0.103324 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -6.376014, 3.027121, 6.622112 mu:0.103324 unit_bearing:0.132756 0.227055 0.964791 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.032653, 3.185958, 5.836190 mu:0.103324 unit_bearing:0.028948 0.253240 0.966970 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -6.280241, 3.824367, 6.293031 mu:0.103324 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -3.808085, 3.671697, 8.104680 mu:0.103324 unit_bearing:0.425284 0.274490 0.862432 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -4.414985, 3.726621, 7.764604 mu:0.103324 unit_bearing:0.358974 0.284405 0.888961 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -4.313039, 3.731157, 7.819527 mu:0.103324 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -3.789817, 3.750368, 8.077174 mu:0.103324 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -2.957013, 4.758079, 7.892110 mu:0.103324 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000112 +[21:41:54.031] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -3.180881, 3.223819, 7.171287 mu:0.117901 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.031] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -3.259404, 3.290014, 7.105666 mu:0.117901 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.031] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.031] If point is visible? -7.819204, 3.154676, 0.921099 mu:0.117901 unit_bearing:-0.476315 0.355930 0.804014 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.031] If point is visible? -6.677569, -3.788557, 3.605068 mu:0.117901 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.031] If point is visible? -6.698243, -3.715490, 3.642565 mu:0.117901 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.031] If point is visible? -6.690464, -3.733246, 3.638704 mu:0.117901 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.031] If point is visible? -6.907934, -3.196429, 3.742045 mu:0.117901 unit_bearing:-0.224372 -0.427821 0.875572 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.031] If point is visible? -7.839817, -3.236183, 0.070182 mu:0.117901 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.031] If point is visible? -7.840211, -3.234529, 0.097204 mu:0.117901 unit_bearing:-0.621935 -0.379909 0.684738 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.031] If point is visible? -6.416968, -2.835854, 4.766527 mu:0.117901 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.032] If point is visible? -5.497961, -2.720532, 5.857481 mu:0.117901 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.032] If point is visible? -5.480810, -2.718295, 5.874568 mu:0.117901 unit_bearing:0.080166 -0.402510 0.911899 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.032] If point is visible? -7.846829, -3.219095, 0.072387 mu:0.117901 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] If point is visible? -5.365008, -2.627400, 6.020994 mu:0.117901 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.032] If point is visible? -5.335413, -2.604681, 6.057054 mu:0.117901 unit_bearing:0.108792 -0.391837 0.913580 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.032] If point is visible? -5.394346, -2.650121, 5.984715 mu:0.117901 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.032] If point is visible? -7.920964, -3.014076, 0.337899 mu:0.117901 unit_bearing:-0.604087 -0.357569 0.712196 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] If point is visible? -7.920479, -3.012215, 0.364768 mu:0.117901 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] If point is visible? -7.919907, -3.010347, 0.391613 mu:0.117901 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] If point is visible? -7.919248, -3.008471, 0.418435 mu:0.117901 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] If point is visible? -7.085269, -2.786926, 3.737865 mu:0.117901 unit_bearing:-0.233704 -0.379840 0.895044 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] If point is visible? -5.292301, -2.504383, 6.136651 mu:0.117901 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.032] If point is visible? -5.274320, -2.502173, 6.153011 mu:0.117901 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.032] If point is visible? -5.279867, -2.483874, 6.155667 mu:0.117901 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.032] If point is visible? -5.261830, -2.481666, 6.171980 mu:0.117901 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:54.032] If point is visible? -7.932800, -2.975692, 0.395501 mu:0.117901 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.000065 y=0.000000 z=-0.000111 +[21:41:54.032] init seeds +[21:41:54.032] DepthFilter: Initialized 1 new seeds +[21:41:54.033] DepthFilter: Initialized 1 new seeds +[21:41:55.611] add new frame +[21:41:55.611] update seed +[21:41:55.611] If point is visible? -7.199589, 1.752527, 6.226078 mu:0.103324 unit_bearing:0.034856 0.101328 0.994242 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -7.196216, 1.794090, 6.218135 mu:0.103324 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -8.183572, -0.209153, 5.162874 mu:0.103324 unit_bearing:-0.132997 -0.086462 0.987338 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] If point is visible? -2.957013, 4.758079, 7.892103 mu:0.103324 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -7.672968, -4.247434, 4.093277 mu:0.103324 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] If point is visible? -7.838674, -3.817033, 4.201844 mu:0.103324 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] If point is visible? -7.906050, -3.675941, 4.201415 mu:0.103324 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] If point is visible? -6.445753, -3.170406, 6.486148 mu:0.103324 unit_bearing:0.057288 -0.406811 0.911714 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -7.363621, -3.243378, 5.378409 mu:0.103324 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -6.241264, -3.056228, 6.736121 mu:0.103324 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -6.175344, -3.004305, 6.819713 mu:0.103324 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -6.128411, -2.954945, 6.883318 mu:0.103324 unit_bearing:0.111663 -0.389716 0.914141 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -8.942470, -3.701809, 0.006286 mu:0.103324 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] If point is visible? -6.325402, -3.110730, 6.631887 mu:0.103324 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -6.305995, -3.108158, 6.651544 mu:0.103324 unit_bearing:0.080166 -0.402510 0.911899 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -8.992313, -3.574769, 0.174637 mu:0.103324 unit_bearing:-0.613089 -0.368806 0.698644 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] If point is visible? -7.484586, -3.220162, 5.223149 mu:0.103324 unit_bearing:-0.111414 -0.396010 0.911462 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -8.056074, -3.330617, 4.204372 mu:0.103324 unit_bearing:-0.230628 -0.394509 0.889479 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] If point is visible? -8.950511, -3.682319, 0.008736 mu:0.103324 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] If point is visible? -6.208452, -3.030266, 6.778041 mu:0.103324 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] If point is visible? -8.109759, -3.209040, 4.195708 mu:0.103324 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] If point is visible? -6.114777, -2.931539, 6.905415 mu:0.103324 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] Z inverse min: 0.534432, Z inverse max: 0.000000 +[21:41:55.611] add key frame +[21:41:55.611] If point is visible? -9.023024, -3.489993, 0.275909 mu:0.103324 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=-0.000066 y=0.000000 z=-0.000119 +[21:41:55.611] init seeds +[21:41:55.611] remove key frame +[21:41:55.611] update seed +[21:41:55.611] init seeds +[21:41:55.614] DepthFilter: Initialized 3 new seeds +[21:41:55.616] DepthFilter: Initialized 198 new seeds +[21:41:56.415] add new frame +[21:41:56.415] update seed +[21:41:56.415] If point is visible? -3.180877, 3.223819, 7.171278 mu:0.117901 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.415] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:56.415] If point is visible? -3.259400, 3.290014, 7.105657 mu:0.117901 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.415] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:56.415] If point is visible? -7.819200, 3.154676, 0.921090 mu:0.117901 unit_bearing:-0.476315 0.355930 0.804014 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -6.677565, -3.788557, 3.605059 mu:0.117901 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -6.698239, -3.715490, 3.642556 mu:0.117901 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -6.690460, -3.733246, 3.638695 mu:0.117901 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -6.907930, -3.196429, 3.742036 mu:0.117901 unit_bearing:-0.224372 -0.427821 0.875572 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -7.839813, -3.236183, 0.070173 mu:0.117901 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -7.840207, -3.234529, 0.097195 mu:0.117901 unit_bearing:-0.621935 -0.379909 0.684738 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -6.416964, -2.835854, 4.766518 mu:0.117901 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -5.497957, -2.720532, 5.857472 mu:0.117901 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -5.480806, -2.718295, 5.874559 mu:0.117901 unit_bearing:0.080166 -0.402510 0.911899 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -7.846825, -3.219095, 0.072378 mu:0.117901 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -5.365004, -2.627400, 6.020985 mu:0.117901 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -5.335409, -2.604681, 6.057045 mu:0.117901 unit_bearing:0.108792 -0.391837 0.913580 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -5.394342, -2.650121, 5.984706 mu:0.117901 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -7.920960, -3.014076, 0.337890 mu:0.117901 unit_bearing:-0.604087 -0.357569 0.712196 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -7.920475, -3.012215, 0.364759 mu:0.117901 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -7.919903, -3.010347, 0.391604 mu:0.117901 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -7.919244, -3.008471, 0.418426 mu:0.117901 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] If point is visible? -7.085265, -2.786926, 3.737856 mu:0.117901 unit_bearing:-0.233704 -0.379840 0.895044 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] add key frame +[21:41:56.416] If point is visible? -5.292297, -2.504383, 6.136642 mu:0.117901 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000120 +[21:41:56.416] Z inverse min: 0.544629, Z inverse max: 0.000000 +[21:41:56.416] remove key frame +[21:41:56.416] init seeds +[21:41:56.416] update seed +[21:41:56.416] If point is visible? -8.599265, 2.287030, 1.920846 mu:0.109852 unit_bearing:-0.431662 0.223646 0.873871 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] If point is visible? -4.714431, 0.247026, 7.783238 mu:0.109852 unit_bearing:0.310718 -0.077267 0.947356 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -4.760660, 0.243375, 7.755164 mu:0.109852 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -7.160749, -3.980496, 3.968146 mu:0.109852 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -7.152454, -3.999561, 3.963934 mu:0.109852 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -7.314091, -3.575362, 4.072802 mu:0.109852 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] If point is visible? -7.384362, -3.423180, 4.076750 mu:0.109852 unit_bearing:-0.224372 -0.427821 0.875572 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] If point is visible? -7.504405, -3.156360, 4.072859 mu:0.109852 unit_bearing:-0.230553 -0.398677 0.887639 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] If point is visible? -6.943202, -3.031786, 5.046464 mu:0.109852 unit_bearing:-0.108544 -0.398128 0.910885 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -6.848058, -3.036722, 5.171941 mu:0.109852 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -8.416776, -3.464826, 0.144185 mu:0.109852 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] If point is visible? -5.852048, -2.913947, 6.334713 mu:0.109852 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -5.833489, -2.911565, 6.352900 mu:0.109852 unit_bearing:0.080166 -0.402510 0.911899 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -8.424263, -3.446479, 0.146613 mu:0.109852 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] If point is visible? -8.424439, -3.444691, 0.175622 mu:0.109852 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] If point is visible? -7.511011, -3.136905, 4.075711 mu:0.109852 unit_bearing:-0.230590 -0.396593 0.888562 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] If point is visible? -5.739652, -2.838489, 6.470353 mu:0.109852 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -5.802486, -2.887205, 6.392287 mu:0.109852 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -7.574279, -2.983484, 4.073820 mu:0.109852 unit_bearing:-0.233704 -0.379840 0.895044 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] If point is visible? -5.771207, -2.862846, 6.431438 mu:0.109852 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -5.628644, -2.682186, 6.632518 mu:0.109852 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.416] If point is visible? -5.609199, -2.679833, 6.649919 mu:0.109852 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.416] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.615110, -2.660187, 6.652818 mu:0.109852 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.595607, -2.657837, 6.670167 mu:0.109852 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -8.487313, -3.263485, 0.427842 mu:0.109852 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -8.486569, -3.261511, 0.456667 mu:0.109852 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -8.494971, -3.246904, 0.401189 mu:0.109852 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -8.493563, -3.242942, 0.458872 mu:0.109852 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -8.492719, -3.240949, 0.487674 mu:0.109852 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -8.491780, -3.238948, 0.516450 mu:0.109852 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -7.635134, -2.829712, 4.069932 mu:0.109852 unit_bearing:-0.236808 -0.363022 0.901187 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -8.507426, -3.205775, 0.463204 mu:0.109852 unit_bearing:-0.601749 -0.355740 0.715085 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -8.506568, -3.203760, 0.492013 mu:0.109852 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -8.505615, -3.201737, 0.520796 mu:0.109852 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -8.513430, -3.185151, 0.494143 mu:0.109852 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -8.512470, -3.183117, 0.522930 mu:0.109852 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -7.007007, -2.567665, 5.213013 mu:0.109852 unit_bearing:-0.094580 -0.349753 0.932055 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -8.571290, -3.050599, 0.307796 mu:0.109852 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -7.760389, -2.481998, 4.059921 mu:0.109852 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] If point is visible? -1.346451, -1.669414, 8.846759 mu:0.109852 unit_bearing:0.619850 -0.300461 0.724920 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.274945, -1.505879, 7.264513 mu:0.109852 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -4.862506, -1.344231, 7.577257 mu:0.109852 unit_bearing:0.266890 -0.248009 0.931269 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -4.980910, -1.315214, 7.505100 mu:0.109852 unit_bearing:0.252751 -0.243879 0.936290 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.184100, -1.173765, 7.390074 mu:0.109852 unit_bearing:0.230150 -0.226917 0.946330 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.326315, -1.107287, 7.298640 mu:0.109852 unit_bearing:0.213095 -0.218444 0.952299 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.209108, -1.156076, 7.375263 mu:0.109852 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.962644, -1.034336, 6.800226 mu:0.109852 unit_bearing:0.127102 -0.203818 0.970723 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.908804, -0.705051, 6.888757 mu:0.109852 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.888855, -0.702832, 6.906043 mu:0.109852 unit_bearing:0.144510 -0.169089 0.974949 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.792634, -0.813234, 6.974957 mu:0.109852 unit_bearing:0.155968 -0.182049 0.970841 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.772409, -0.811031, 6.991960 mu:0.109852 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.795361, -0.793362, 6.974981 mu:0.109852 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.775136, -0.791160, 6.991985 mu:0.109852 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -5.975812, -0.652095, 6.835970 mu:0.109852 unit_bearing:0.133011 -0.162619 0.977682 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -7.308223, -0.732656, 5.377699 mu:0.109852 unit_bearing:-0.083778 -0.151880 0.984842 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -3.703690, -0.432149, 8.304298 mu:0.109852 unit_bearing:0.419158 -0.158295 0.894007 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -3.840567, -0.342589, 8.246098 mu:0.109852 unit_bearing:0.405473 -0.147751 0.902087 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -3.815589, -0.340867, 8.257757 mu:0.109852 unit_bearing:0.408240 -0.147719 0.900844 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -7.057228, -0.510658, 5.727233 mu:0.109852 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -7.040770, -0.508165, 5.747674 mu:0.109852 unit_bearing:-0.031742 -0.132356 0.990694 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -7.024252, -0.505676, 5.768067 mu:0.109852 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -7.212310, -0.595489, 5.522181 mu:0.109852 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -7.196448, -0.592952, 5.543107 mu:0.109852 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -7.180527, -0.590420, 5.563984 mu:0.109852 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -7.182639, -0.570535, 5.563333 mu:0.109852 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -6.996943, -0.441051, 5.806434 mu:0.109852 unit_bearing:-0.023061 -0.125825 0.991784 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -6.980246, -0.438575, 5.826682 mu:0.109852 unit_bearing:-0.020166 -0.125826 0.991847 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -6.963491, -0.436104, 5.846880 mu:0.109852 unit_bearing:-0.017271 -0.125827 0.991902 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -6.965390, -0.416219, 5.846067 mu:0.109852 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -6.905031, -0.326848, 5.922845 mu:0.109852 unit_bearing:-0.005691 -0.114932 0.993357 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.417] If point is visible? -6.950440, -0.393867, 5.865376 mu:0.109852 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.417] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.901472, -0.366611, 5.924665 mu:0.109852 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -4.790032, 0.359836, 7.732516 mu:0.109852 unit_bearing:0.302264 -0.064287 0.951054 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -4.766997, 0.361655, 7.746653 mu:0.109852 unit_bearing:0.305099 -0.064278 0.950149 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.698255, 0.302593, 6.156957 mu:0.109852 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.859737, 0.737621, 5.938542 mu:0.109852 unit_bearing:0.009673 0.000921 0.999953 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.705783, 0.895883, 6.090663 mu:0.109852 unit_bearing:0.034880 0.016140 0.999261 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.916228, 0.827553, 5.860660 mu:0.109852 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -7.892430, 0.580072, 4.498876 mu:0.109852 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -7.642054, 0.767862, 4.886319 mu:0.109852 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -8.843681, 0.540047, 2.089299 mu:0.109852 unit_bearing:-0.452931 0.030911 0.891010 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -6.123105, 1.084352, 6.648148 mu:0.109852 unit_bearing:0.124596 0.029226 0.991777 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -5.904065, 1.107695, 6.839668 mu:0.109852 unit_bearing:0.156343 0.029207 0.987271 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.102532, 1.125862, 6.660154 mu:0.109852 unit_bearing:0.127482 0.033591 0.991272 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.238785, 1.110636, 6.535304 mu:0.109852 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.219489, 1.112832, 6.553297 mu:0.109852 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -7.606472, 1.320595, 4.823311 mu:0.109852 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -7.591985, 1.323338, 4.845333 mu:0.109852 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -7.605226, 1.340173, 4.819874 mu:0.109852 unit_bearing:-0.130118 0.081596 0.988135 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -7.590740, 1.342917, 4.841895 mu:0.109852 unit_bearing:-0.127231 0.081600 0.988511 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -7.618371, 1.356995, 4.794342 mu:0.109852 unit_bearing:-0.133001 0.083771 0.987569 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -7.589461, 1.362492, 4.838430 mu:0.109852 unit_bearing:-0.127228 0.083781 0.988329 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -7.617057, 1.376562, 4.790850 mu:0.109852 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -7.544193, 1.736163, 4.789323 mu:0.109852 unit_bearing:-0.124262 0.125181 0.984321 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -7.162906, 1.936445, 5.273472 mu:0.109852 unit_bearing:-0.054884 0.140537 0.988553 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -7.146866, 1.939024, 5.294245 mu:0.109852 unit_bearing:-0.051991 0.140540 0.988709 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.877827, 2.018156, 5.611505 mu:0.109852 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -7.893142, 1.853221, 4.138936 mu:0.109852 unit_bearing:-0.201876 0.146651 0.968369 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -7.160735, 1.955887, 5.269244 mu:0.109852 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -7.144697, 1.958467, 5.290016 mu:0.109852 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.020600, 2.239135, 6.450178 mu:0.109852 unit_bearing:0.127261 0.157787 0.979238 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -5.637280, 2.277182, 6.775068 mu:0.109852 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.110826, 2.286699, 6.347833 mu:0.109852 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.071993, 2.290925, 6.383472 mu:0.109852 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -7.501178, 2.104997, 4.708295 mu:0.109852 unit_bearing:-0.124152 0.166481 0.978198 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -5.655571, 2.294592, 6.753916 mu:0.109852 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -7.531123, 2.193298, 4.619349 mu:0.109852 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -5.588514, 2.491348, 6.740009 mu:0.109852 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -5.603712, 2.527954, 6.713709 mu:0.109852 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -5.741564, 2.552959, 6.586571 mu:0.109852 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -5.721229, 2.554910, 6.603487 mu:0.109852 unit_bearing:0.164554 0.190164 0.967863 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -5.924917, 2.515734, 6.436814 mu:0.109852 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -5.600898, 2.547193, 6.708784 mu:0.109852 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -5.606493, 2.508707, 6.718605 mu:0.109852 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -5.718345, 2.574146, 6.598513 mu:0.109852 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -5.697955, 2.576086, 6.615372 mu:0.109852 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -8.599265, 2.287030, 1.920846 mu:0.109852 unit_bearing:-0.431662 0.223646 0.873871 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] If point is visible? -5.259766, 3.289810, 6.661683 mu:0.109852 unit_bearing:0.209806 0.269514 0.939864 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -3.793041, 3.577862, 7.461728 mu:0.109852 unit_bearing:0.383763 0.290210 0.876644 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -3.499184, 3.569282, 7.607989 mu:0.109852 unit_bearing:0.416778 0.287317 0.862407 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -3.813134, 3.595467, 7.443001 mu:0.109852 unit_bearing:0.380955 0.292381 0.877147 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.418] If point is visible? -6.586309, 3.747083, 5.044447 mu:0.109852 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.418] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.419] If point is visible? -7.315353, 4.010593, 3.642488 mu:0.109852 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.419] If point is visible? -7.228852, -3.061158, 4.608658 mu:0.109852 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.419] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.419] If point is visible? -6.994637, -3.061120, 4.956935 mu:0.109852 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.419] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.419] If point is visible? -6.965828, -3.056237, 5.000325 mu:0.109852 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.419] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.419] If point is visible? -5.827159, -2.931159, 6.349698 mu:0.109852 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.419] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.419] If point is visible? -5.764956, -2.882450, 6.428287 mu:0.109852 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.419] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.419] If point is visible? -5.409119, -2.595148, 6.846358 mu:0.109852 unit_bearing:0.154574 -0.374616 0.914204 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.419] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.419] If point is visible? -1.370585, -1.690238, 8.839096 mu:0.109852 unit_bearing:0.617279 -0.302629 0.726211 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.419] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.419] If point is visible? -5.216806, -1.237490, 7.356588 mu:0.109852 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.419] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.419] If point is visible? -5.173670, -1.233211, 7.387703 mu:0.109852 unit_bearing:0.230094 -0.233367 0.944773 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.419] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.419] If point is visible? -5.223795, -1.197852, 7.358189 mu:0.109852 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=-0.000059 y=0.000000 z=-0.000118 +[21:41:56.419] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:41:56.419] calculated Z= 1.168644 +[21:41:56.419] update seeds 305 +[21:41:56.419] init seeds +[21:41:56.419] DepthFilter: Initialized 1 new seeds +[21:41:56.421] DepthFilter: Initialized 1 new seeds +[21:42:03.726] add new frame +[21:42:03.726] update seed +[21:42:03.726] If point is visible? -8.599273, 2.287030, 1.920795 mu:0.109852 unit_bearing:-0.431662 0.223646 0.873871 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -4.714438, 0.247026, 7.783187 mu:0.109852 unit_bearing:0.310718 -0.077267 0.947356 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -4.760668, 0.243375, 7.755113 mu:0.109852 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -7.160757, -3.980496, 3.968095 mu:0.109852 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -7.152462, -3.999561, 3.963883 mu:0.109852 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -7.314099, -3.575362, 4.072751 mu:0.109852 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -7.384370, -3.423180, 4.076699 mu:0.109852 unit_bearing:-0.224372 -0.427821 0.875572 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -7.504412, -3.156360, 4.072808 mu:0.109852 unit_bearing:-0.230553 -0.398677 0.887639 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -6.943210, -3.031786, 5.046413 mu:0.109852 unit_bearing:-0.108544 -0.398128 0.910885 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -6.848065, -3.036722, 5.171889 mu:0.109852 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -8.416783, -3.464826, 0.144134 mu:0.109852 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -5.852056, -2.913947, 6.334662 mu:0.109852 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -5.833497, -2.911565, 6.352849 mu:0.109852 unit_bearing:0.080166 -0.402510 0.911899 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -8.424271, -3.446479, 0.146562 mu:0.109852 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -8.424447, -3.444691, 0.175571 mu:0.109852 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -7.511019, -3.136905, 4.075660 mu:0.109852 unit_bearing:-0.230590 -0.396593 0.888562 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -5.739660, -2.838489, 6.470302 mu:0.109852 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -5.802494, -2.887205, 6.392236 mu:0.109852 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -7.574287, -2.983484, 4.073769 mu:0.109852 unit_bearing:-0.233704 -0.379840 0.895044 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -5.771215, -2.862846, 6.431387 mu:0.109852 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -5.628652, -2.682186, 6.632467 mu:0.109852 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -5.609207, -2.679833, 6.649868 mu:0.109852 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -5.615118, -2.660187, 6.652767 mu:0.109852 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -5.595615, -2.657837, 6.670116 mu:0.109852 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -8.487320, -3.263485, 0.427791 mu:0.109852 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -8.486577, -3.261511, 0.456615 mu:0.109852 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -8.494978, -3.246904, 0.401138 mu:0.109852 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -8.493571, -3.242942, 0.458821 mu:0.109852 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -8.492726, -3.240949, 0.487623 mu:0.109852 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -8.491788, -3.238948, 0.516399 mu:0.109852 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -7.635142, -2.829712, 4.069881 mu:0.109852 unit_bearing:-0.236808 -0.363022 0.901187 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -8.507434, -3.205775, 0.463153 mu:0.109852 unit_bearing:-0.601749 -0.355740 0.715085 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -8.506575, -3.203760, 0.491962 mu:0.109852 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -8.505623, -3.201737, 0.520745 mu:0.109852 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -8.513437, -3.185151, 0.494092 mu:0.109852 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -8.512478, -3.183117, 0.522878 mu:0.109852 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -7.007014, -2.567665, 5.212962 mu:0.109852 unit_bearing:-0.094580 -0.349753 0.932055 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -8.571297, -3.050599, 0.307745 mu:0.109852 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -7.760397, -2.481998, 4.059870 mu:0.109852 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] If point is visible? -1.346459, -1.669414, 8.846708 mu:0.109852 unit_bearing:0.619850 -0.300461 0.724920 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] If point is visible? -5.274953, -1.505879, 7.264462 mu:0.109852 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=-0.000067 y=0.000000 z=-0.000170 +[21:42:03.726] Z inverse min: 0.682885, Z inverse max: 0.000000 +[21:42:03.726] add key frame +[21:42:03.726] init seeds +[21:42:03.726] remove key frame +[21:42:03.726] update seed +[21:42:03.726] init seeds +[21:42:03.729] DepthFilter: Initialized 0 new seeds +[21:42:03.730] DepthFilter: Initialized 190 new seeds +[21:42:04.130] add new frame +[21:42:04.130] update seed +[21:42:04.130] If point is visible? -2.376466, 2.419636, 3.716476 mu:0.198750 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000166 +[21:42:04.130] Z inverse min: 0.642590, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -1.271644, 2.483861, 4.186584 mu:0.198750 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000166 +[21:42:04.130] Z inverse min: 0.642590, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -1.271644, 2.483861, 4.186584 mu:0.198750 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000166 +[21:42:04.130] Z inverse min: 0.642590, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -2.376466, 2.419636, 3.716476 mu:0.198750 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.000061 y=0.000000 z=-0.000166 +[21:42:04.130] Z inverse min: 0.642590, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -3.134460, -1.767170, 1.931306 mu:0.244866 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -3.130883, -1.775744, 1.929242 mu:0.244866 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -3.199874, -1.585025, 1.981454 mu:0.244866 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -2.614075, -1.334064, 2.839753 mu:0.244866 unit_bearing:0.034414 -0.408980 0.911894 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -3.778139, -1.533090, 0.231530 mu:0.244866 unit_bearing:-0.626746 -0.379518 0.680556 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] If point is visible? -3.777640, -1.532299, 0.244543 mu:0.244866 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] If point is visible? -3.777098, -1.531504, 0.257545 mu:0.244866 unit_bearing:-0.621935 -0.379909 0.684738 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] If point is visible? -2.526537, -1.305172, 2.930939 mu:0.244866 unit_bearing:0.065870 -0.404679 0.912083 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -2.966146, -1.344675, 2.464002 mu:0.244866 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -2.557986, -1.318072, 2.897702 mu:0.244866 unit_bearing:0.054430 -0.406823 0.911884 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -2.471154, -1.280419, 2.988506 mu:0.244866 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -2.426049, -1.247894, 3.038794 mu:0.244866 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -2.456238, -1.269576, 3.005380 mu:0.244866 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -2.447400, -1.268561, 3.013008 mu:0.244866 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -3.141437, -1.334907, 2.242091 mu:0.244866 unit_bearing:-0.159881 -0.391350 0.906247 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -3.780895, -1.524049, 0.245790 mu:0.244866 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] If point is visible? -3.780349, -1.523248, 0.258793 mu:0.244866 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] If point is visible? -3.144173, -1.326116, 2.243471 mu:0.244866 unit_bearing:-0.159905 -0.389255 0.907145 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -3.808724, -1.425116, 0.375405 mu:0.244866 unit_bearing:-0.604087 -0.357569 0.712196 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] If point is visible? -3.807763, -1.424224, 0.388309 mu:0.244866 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] If point is visible? -3.806761, -1.423329, 0.401199 mu:0.244866 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] If point is visible? -3.805717, -1.422431, 0.414075 mu:0.244866 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] If point is visible? -3.021200, -1.334461, 2.401889 mu:0.244866 unit_bearing:-0.111414 -0.396010 0.911462 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -2.441203, -1.258734, 3.022143 mu:0.244866 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -2.387584, -1.188915, 3.092430 mu:0.244866 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -2.378493, -1.187912, 3.099812 mu:0.244866 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] add key frame +[21:42:04.130] remove key frame +[21:42:04.130] init seeds +[21:42:04.130] update seed +[21:42:04.130] If point is visible? -3.134460, -1.767170, 1.931306 mu:0.244866 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -3.130883, -1.775744, 1.929242 mu:0.244866 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.130] If point is visible? -3.199874, -1.585025, 1.981454 mu:0.244866 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.130] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.614075, -1.334064, 2.839753 mu:0.244866 unit_bearing:0.034414 -0.408980 0.911894 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.778139, -1.533090, 0.231530 mu:0.244866 unit_bearing:-0.626746 -0.379518 0.680556 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.777640, -1.532299, 0.244543 mu:0.244866 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.777098, -1.531504, 0.257545 mu:0.244866 unit_bearing:-0.621935 -0.379909 0.684738 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -2.526537, -1.305172, 2.930939 mu:0.244866 unit_bearing:0.065870 -0.404679 0.912083 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.966146, -1.344675, 2.464002 mu:0.244866 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.557986, -1.318072, 2.897702 mu:0.244866 unit_bearing:0.054430 -0.406823 0.911884 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.471154, -1.280419, 2.988506 mu:0.244866 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.426049, -1.247894, 3.038794 mu:0.244866 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.456238, -1.269576, 3.005380 mu:0.244866 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.447400, -1.268561, 3.013008 mu:0.244866 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.141437, -1.334907, 2.242091 mu:0.244866 unit_bearing:-0.159881 -0.391350 0.906247 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.780895, -1.524049, 0.245790 mu:0.244866 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.780349, -1.523248, 0.258793 mu:0.244866 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.144173, -1.326116, 2.243471 mu:0.244866 unit_bearing:-0.159905 -0.389255 0.907145 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.808724, -1.425116, 0.375405 mu:0.244866 unit_bearing:-0.604087 -0.357569 0.712196 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.807763, -1.424224, 0.388309 mu:0.244866 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.806761, -1.423329, 0.401199 mu:0.244866 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.805717, -1.422431, 0.414075 mu:0.244866 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.021200, -1.334461, 2.401889 mu:0.244866 unit_bearing:-0.111414 -0.396010 0.911462 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.441203, -1.258734, 3.022143 mu:0.244866 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.387584, -1.188915, 3.092430 mu:0.244866 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.378493, -1.187912, 3.099812 mu:0.244866 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.383549, -1.170252, 3.102644 mu:0.244866 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.317595, -1.310048, 1.988721 mu:0.244866 unit_bearing:-0.233740 -0.377747 0.895920 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -2.371912, -1.178081, 3.108593 mu:0.244866 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.809760, -1.414967, 0.402312 mu:0.244866 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.808713, -1.414064, 0.415189 mu:0.244866 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.812740, -1.406601, 0.403411 mu:0.244866 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.811690, -1.405693, 0.416290 mu:0.244866 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.842296, -1.346076, 0.321135 mu:0.244866 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.394964, -1.102178, 1.984216 mu:0.244866 unit_bearing:-0.243014 -0.327092 0.913211 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -0.403841, -0.753673, 3.993189 mu:0.244866 unit_bearing:0.622200 -0.302342 0.722120 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -0.760051, -0.600955, 3.967101 mu:0.244866 unit_bearing:0.561086 -0.264447 0.784379 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.206002, -0.643460, 3.375885 mu:0.244866 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.175290, -0.532128, 3.414970 mu:0.244866 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -0.997087, -0.474331, 3.931613 mu:0.244866 unit_bearing:0.517754 -0.232613 0.823299 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.613341, -0.376181, 3.115470 mu:0.244866 unit_bearing:0.104112 -0.184403 0.977321 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -1.239875, -0.329610, 3.876967 mu:0.244866 unit_bearing:0.470461 -0.195809 0.860422 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.428779, -0.357123, 3.263533 mu:0.244866 unit_bearing:0.161709 -0.184190 0.969497 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.603138, -0.384138, 3.123031 mu:0.244866 unit_bearing:0.106990 -0.186563 0.976600 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.502464, -0.301226, 3.213115 mu:0.244866 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.439418, -0.349134, 3.256455 mu:0.244866 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.429962, -0.348202, 3.263616 mu:0.244866 unit_bearing:0.161719 -0.182024 0.969904 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.440587, -0.340213, 3.256523 mu:0.244866 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.633496, -0.206540, 3.114364 mu:0.244866 unit_bearing:0.104216 -0.143140 0.984200 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.634414, -0.197615, 3.114167 mu:0.244866 unit_bearing:0.104221 -0.140965 0.984513 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.115482, -0.248570, 2.628579 mu:0.244866 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.107921, -0.247475, 2.637617 mu:0.244866 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.100334, -0.246382, 2.646632 mu:0.244866 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.026584, -0.199860, 2.734454 mu:0.244866 unit_bearing:-0.028849 -0.130180 0.991071 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.018714, -0.198790, 2.743216 mu:0.244866 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.102135, -0.228529, 2.646122 mu:0.244866 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.005392, -0.169878, 2.759736 mu:0.244866 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.997446, -0.168814, 2.768429 mu:0.244866 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.990275, -0.158828, 2.776761 mu:0.244866 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.967766, -0.137808, 2.801917 mu:0.244866 unit_bearing:-0.005691 -0.117112 0.993102 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -1.644481, -0.070404, 3.737329 mu:0.244866 unit_bearing:0.383447 -0.128644 0.914559 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.975042, -0.147787, 2.793681 mu:0.244866 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.966994, -0.146733, 2.802281 mu:0.244866 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -1.935913, 0.141143, 3.592951 mu:0.244866 unit_bearing:0.313565 -0.072921 0.946763 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.868886, 0.144040, 2.902769 mu:0.244866 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.869213, 0.152934, 2.901991 mu:0.244866 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.004032, 0.393659, 2.738287 mu:0.244866 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.996001, 0.394719, 2.746919 mu:0.244866 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.406059, 0.339777, 2.227312 mu:0.244866 unit_bearing:-0.170559 0.016108 0.985216 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.439027, 0.280652, 2.184480 mu:0.244866 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.318061, 0.364216, 2.352737 mu:0.244866 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.439424, 0.526032, 3.232593 mu:0.244866 unit_bearing:0.173630 0.031376 0.984311 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.653119, 0.514205, 3.061666 mu:0.244866 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.644082, 0.515138, 3.069316 mu:0.244866 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.635021, 0.516068, 3.076942 mu:0.244866 unit_bearing:0.113035 0.033600 0.993023 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.658526, 0.619056, 3.037476 mu:0.244866 unit_bearing:0.104344 0.059808 0.992741 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.302013, 0.612091, 2.323708 mu:0.244866 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.295043, 0.613282, 2.333266 mu:0.244866 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.307303, 0.637228, 2.309384 mu:0.244866 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.936992, 0.796245, 2.723501 mu:0.244866 unit_bearing:0.005893 0.112241 0.993664 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.639001, 0.795585, 3.013299 mu:0.244866 unit_bearing:0.107180 0.103433 0.988845 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.629968, 0.796504, 3.020944 mu:0.244866 unit_bearing:0.110069 0.103428 0.988528 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.273741, 0.798359, 2.307120 mu:0.244866 unit_bearing:-0.124262 0.125181 0.984321 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.564562, 0.924216, 3.040737 mu:0.244866 unit_bearing:0.127327 0.133877 0.982784 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.092016, 0.887178, 2.515915 mu:0.244866 unit_bearing:-0.054884 0.140537 0.988553 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.084377, 0.888291, 2.524881 mu:0.244866 unit_bearing:-0.051991 0.140540 0.988709 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.956833, 0.923065, 2.661296 mu:0.244866 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.091082, 0.895894, 2.513973 mu:0.244866 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.083444, 0.897008, 2.522938 mu:0.244866 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.089172, 0.913319, 2.510048 mu:0.244866 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.596700, 1.041479, 2.974850 mu:0.244866 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.578526, 1.043271, 2.989991 mu:0.244866 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.375398, 1.035941, 3.156182 mu:0.244866 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -3.438519, 0.895216, 2.013170 mu:0.244866 unit_bearing:-0.201825 0.157493 0.966676 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.424377, 0.957133, 2.008786 mu:0.244866 unit_bearing:-0.198881 0.172672 0.964692 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.418084, 0.958432, 2.018858 mu:0.244866 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] If point is visible? -3.270317, 1.003413, 2.230645 mu:0.244866 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.510891, 1.143734, 3.010737 mu:0.244866 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.379022, 1.155384, 3.111677 mu:0.244866 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.359803, 1.156980, 3.125685 mu:0.244866 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.353733, 1.131893, 3.139417 mu:0.244866 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.370631, 1.147559, 3.120962 mu:0.244866 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.361010, 1.148357, 3.127954 mu:0.244866 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.377802, 1.164006, 3.109396 mu:0.244866 unit_bearing:0.176042 0.190107 0.965851 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -2.405215, 1.170203, 3.085898 mu:0.244866 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.131] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.131] If point is visible? -1.402491, 1.527250, 3.518163 mu:0.244866 unit_bearing:0.420015 0.266192 0.867600 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -1.390937, 1.527533, 3.522623 mu:0.244866 unit_bearing:0.422751 0.266127 0.866290 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.178063, 1.615636, 3.053350 mu:0.244866 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.205045, 1.807239, 1.771810 mu:0.244866 unit_bearing:-0.185504 0.386354 0.903503 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.198768, 1.808609, 1.781725 mu:0.244866 unit_bearing:-0.182667 0.386392 0.904065 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.196037, 1.816805, 1.778285 mu:0.244866 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.091435, 1.876408, 1.897315 mu:0.244866 unit_bearing:-0.142724 0.399420 0.905590 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -1.170192, 2.119169, 3.288885 mu:0.244866 unit_bearing:0.431323 0.416894 0.800100 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -2.453556, -1.278386, 3.003836 mu:0.244866 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.036487, -1.355222, 2.370788 mu:0.244866 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.022637, -1.353110, 2.389616 mu:0.244866 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -0.740557, -0.634741, 3.965526 mu:0.244866 unit_bearing:0.563347 -0.272611 0.779951 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.183778, -0.541930, 3.408005 mu:0.244866 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.163772, -0.540125, 3.421026 mu:0.244866 unit_bearing:0.230094 -0.233367 0.944773 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.189708, -0.506328, 3.409675 mu:0.244866 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.160723, -0.557920, 3.420098 mu:0.244866 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.166765, -0.522329, 3.421895 mu:0.244866 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.448850, -0.350068, 3.249268 mu:0.244866 unit_bearing:0.155968 -0.182049 0.970841 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.223458, -0.419084, 3.399659 mu:0.244866 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.203537, -0.417297, 3.412823 mu:0.244866 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.613583, -0.222460, 3.130001 mu:0.244866 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -1.616727, -0.121940, 3.748095 mu:0.244866 unit_bearing:0.388893 -0.141491 0.910353 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.115482, -0.248570, 2.628579 mu:0.244866 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.100334, -0.246382, 2.646632 mu:0.244866 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.086882, -0.226349, 2.664085 mu:0.244866 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.071527, -0.224177, 2.681955 mu:0.244866 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.141212, 0.125696, 2.606614 mu:0.244866 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.126040, 0.127905, 2.624682 mu:0.244866 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.110765, 0.130103, 2.642659 mu:0.244866 unit_bearing:-0.052056 -0.047246 0.997526 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -1.923221, 0.106511, 3.600952 mu:0.244866 unit_bearing:0.316359 -0.081577 0.945125 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.922662, 0.297792, 2.836673 mu:0.244866 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -1.945651, 0.122700, 3.588366 mu:0.244866 unit_bearing:0.310718 -0.077267 0.947356 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -1.946610, 0.140393, 3.587197 mu:0.244866 unit_bearing:0.310734 -0.072932 0.947695 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.971911, 0.380175, 2.774993 mu:0.244866 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.914111, 0.232066, 1.141885 mu:0.244866 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -3.345586, 0.359464, 2.314176 mu:0.244866 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.856254, 0.780222, 2.812546 mu:0.244866 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.081971, 0.750664, 2.572045 mu:0.244866 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.393339, 1.120052, 3.113616 mu:0.244866 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.390996, 1.137322, 3.109153 mu:0.244866 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.287586, 0.974985, 2.217832 mu:0.244866 unit_bearing:-0.138545 0.170773 0.975521 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.183221, 1.457474, 3.128335 mu:0.244866 unit_bearing:0.218440 0.260866 0.940336 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.170167, 1.607932, 3.063024 mu:0.244866 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -1.388286, 1.593650, 3.494265 mu:0.244866 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -1.365166, 1.594168, 3.503126 mu:0.244866 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.179803, 1.474416, 3.122775 mu:0.244866 unit_bearing:0.218399 0.265150 0.939147 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.189864, 1.606549, 3.049703 mu:0.244866 unit_bearing:0.206654 0.299444 0.931465 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.196037, 1.816805, 1.778285 mu:0.244866 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.466146, 1.828510, 1.149064 mu:0.244866 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -2.206132, -0.399487, 3.413278 mu:0.244866 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.222383, -0.762779, 3.340102 mu:0.244866 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.119031, -0.212869, 2.627503 mu:0.244866 unit_bearing:-0.063574 -0.130150 0.989454 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.088625, -0.208497, 2.663522 mu:0.244866 unit_bearing:-0.052002 -0.130162 0.990128 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.057808, -0.204161, 2.699173 mu:0.244866 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.656733, -0.154932, 3.097579 mu:0.244866 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.791926, -1.488520, 0.289644 mu:0.244866 unit_bearing:-0.617813 -0.370420 0.693611 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -2.430452, -1.293968, 3.015921 mu:0.244866 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.190385, -0.723491, 3.369845 mu:0.244866 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.779131, -1.521634, 0.284762 mu:0.244866 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -3.768253, -1.557794, 0.227719 mu:0.244866 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -2.306495, -1.207372, 3.146348 mu:0.244866 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.906796, -0.075922, 2.867422 mu:0.244866 unit_bearing:0.017479 -0.104026 0.994421 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.029883, -0.164157, 2.733177 mu:0.244866 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.587633, -0.111572, 3.157358 mu:0.244866 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.954802, 0.240385, 2.808687 mu:0.244866 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.182316, 0.282578, 3.440161 mu:0.244866 unit_bearing:0.248233 -0.033987 0.968104 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.580923, -0.182932, 3.159521 mu:0.244866 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.987822, 0.271694, 2.770646 mu:0.244866 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.399346, 0.349825, 2.235995 mu:0.244866 unit_bearing:-0.167677 0.018291 0.985672 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -3.372076, 0.389984, 2.270375 mu:0.244866 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -3.372682, 0.354667, 2.275261 mu:0.244866 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -3.330507, 0.950245, 2.163880 mu:0.244866 unit_bearing:-0.155833 0.166370 0.973672 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -2.494487, 1.059807, 3.054762 mu:0.244866 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -1.636936, 1.586256, 3.388399 mu:0.244866 unit_bearing:0.358974 0.284405 0.888961 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -1.592510, 1.587826, 3.408771 mu:0.244866 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -1.365166, 1.594168, 3.503126 mu:0.244866 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.334874, 0.915545, 2.172099 mu:0.244866 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -1.016146, 2.016625, 3.402588 mu:0.244866 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.495877, 1.297731, 2.960363 mu:0.244866 unit_bearing:0.132756 0.227055 0.964791 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -2.759554, 1.370990, 2.680043 mu:0.244866 unit_bearing:0.040484 0.253225 0.966560 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -3.492922, 1.818208, 1.082410 mu:0.244866 unit_bearing:-0.355554 0.409593 0.840128 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -1.100730, 2.048474, 3.356949 mu:0.244866 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] If point is visible? -1.053462, 2.048337, 3.372163 mu:0.244866 unit_bearing:0.464118 0.397194 0.791727 T_cur_ref: x=-0.000060 y=0.000000 z=-0.000165 +[21:42:04.132] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? -5.798187, 1.844871, 0.926553 mu:0.162477 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=-0.000054 y=0.000000 z=-0.000155 +[21:42:04.132] If point is visible? -5.798187, 1.844871, 0.926553 mu:0.162477 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=-0.000054 y=0.000000 z=-0.000155 +[21:42:04.132] If point is visible? 34677250521.186264, -2337424665.975772, -12285152052.176243 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.132] If point is visible? 27343404768.496105, 15836136387.462635, -18985658237.395523 mu:-0.000000 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.132] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? 27556665080.970104, 15127430753.822453, -19253344310.193687 mu:-0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.132] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? 27926639871.564819, 14110420313.272402, -19490999019.804859 mu:-0.000000 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.132] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? 28439215128.148460, 12947895684.483290, -19556667890.056046 mu:-0.000000 unit_bearing:-0.227466 -0.413277 0.881738 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.132] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? 21739255667.496494, 11751265853.973013, -27353477522.534332 mu:-0.000000 unit_bearing:0.051572 -0.406834 0.912045 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.132] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? 28695815797.128265, 12324861232.363165, -19584385874.047577 mu:-0.000000 unit_bearing:-0.230590 -0.396593 0.888562 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.132] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? 25903467847.791203, 12001659815.355013, -23321036294.690247 mu:-0.000000 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.132] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? 25559523460.663719, 11956399503.123722, -23720360244.077316 mu:-0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.132] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.132] If point is visible? 34014652960.433205, 13595302329.601755, -4131749904.257334 mu:-0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.132] If point is visible? 20827556484.877354, 11408275875.461630, -28195112185.304832 mu:-0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.133] If point is visible? 28671413396.574650, 12403972908.989183, -19570174466.240738 mu:-0.000000 unit_bearing:-0.230553 -0.398677 0.887639 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.133] If point is visible? 20600263509.748753, 11302770576.322142, -28403815577.335068 mu:-0.000000 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.133] If point is visible? 34042837286.578274, 13520632105.107910, -4144629739.939903 mu:-0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] If point is visible? 20161833214.009354, 11012235526.999525, -28829349088.588188 mu:-0.000000 unit_bearing:0.111646 -0.391815 0.913245 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.133] If point is visible? 20308979405.806725, 11109054707.037867, -28688577478.395134 mu:-0.000000 unit_bearing:0.105921 -0.393956 0.913006 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.133] If point is visible? 20539145496.471737, 11214474598.945614, -28482964741.537895 mu:-0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.133] If point is visible? 34232121514.535595, 12542534427.526482, -5454072374.996151 mu:-0.000000 unit_bearing:-0.601749 -0.355740 0.715085 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] If point is visible? 34216438360.275211, 12534495289.215828, -5569738997.962698 mu:-0.000000 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] If point is visible? 34200388943.788628, 12526429447.724457, -5685259898.023623 mu:-0.000000 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] If point is visible? 20015781947.015144, 10587741939.315464, -29088974069.212631 mu:-0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.133] If point is visible? 19930030828.847305, 10579266866.206612, -29150869668.984169 mu:-0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.000051 y=0.000000 z=-0.000153 +[21:42:04.133] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:04.133] init seeds +[21:42:04.133] DepthFilter: Initialized 1 new seeds +[21:42:04.134] DepthFilter: Initialized 1 new seeds +[21:42:06.296] add new frame +[21:42:06.296] update seed +[21:42:06.296] If point is visible? -3.245010, -1.767170, -1.303831 mu:0.244866 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.110610 y=0.000000 z=-3.235302 +[21:42:06.296] If point is visible? -3.241433, -1.775744, -1.305895 mu:0.244866 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=-0.110610 y=0.000000 z=-3.235302 +[21:42:06.296] If point is visible? -3.310425, -1.585025, -1.253683 mu:0.244866 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.110610 y=0.000000 z=-3.235302 +[21:42:06.296] If point is visible? -2.724625, -1.334064, -0.395384 mu:0.244866 unit_bearing:0.034414 -0.408980 0.911894 T_cur_ref: x=-0.110610 y=0.000000 z=-3.235302 +[21:42:06.296] If point is visible? -3.888690, -1.533090, -3.003607 mu:0.244866 unit_bearing:-0.626746 -0.379518 0.680556 T_cur_ref: x=-0.110610 y=0.000000 z=-3.235302 +[21:42:06.296] Z inverse min: 0.791395, Z inverse max: 0.000000 +[21:42:06.296] add key frame +[21:42:06.296] remove key frame +[21:42:06.296] init seeds +[21:42:06.297] update seed +[21:42:06.297] If point is visible? -5.908737, 1.844871, -2.308584 mu:0.162477 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=-0.110605 y=0.000000 z=-3.235292 +[21:42:06.297] If point is visible? -5.908737, 1.844871, -2.308584 mu:0.162477 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=-0.110605 y=0.000000 z=-3.235292 +[21:42:06.297] If point is visible? 34677250521.075714, -2337424665.975772, -12285152055.411381 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] If point is visible? 27343404768.385551, 15836136387.462635, -18985658240.630661 mu:-0.000000 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 27556665080.859550, 15127430753.822453, -19253344313.428825 mu:-0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 27926639871.454266, 14110420313.272402, -19490999023.039997 mu:-0.000000 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 28439215128.037907, 12947895684.483290, -19556667893.291183 mu:-0.000000 unit_bearing:-0.227466 -0.413277 0.881738 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 21739255667.385941, 11751265853.973013, -27353477525.769470 mu:-0.000000 unit_bearing:0.051572 -0.406834 0.912045 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 28695815797.017712, 12324861232.363165, -19584385877.282715 mu:-0.000000 unit_bearing:-0.230590 -0.396593 0.888562 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 25903467847.680649, 12001659815.355013, -23321036297.925385 mu:-0.000000 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 25559523460.553165, 11956399503.123722, -23720360247.312454 mu:-0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 34014652960.322651, 13595302329.601755, -4131749907.492471 mu:-0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] If point is visible? 20827556484.766800, 11408275875.461630, -28195112188.539970 mu:-0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 28671413396.464096, 12403972908.989183, -19570174469.475876 mu:-0.000000 unit_bearing:-0.230553 -0.398677 0.887639 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 20600263509.638199, 11302770576.322142, -28403815580.570206 mu:-0.000000 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 34042837286.467720, 13520632105.107910, -4144629743.175040 mu:-0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] If point is visible? 20161833213.898800, 11012235526.999525, -28829349091.823326 mu:-0.000000 unit_bearing:0.111646 -0.391815 0.913245 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 20308979405.696171, 11109054707.037867, -28688577481.630272 mu:-0.000000 unit_bearing:0.105921 -0.393956 0.913006 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 20539145496.361183, 11214474598.945614, -28482964744.773033 mu:-0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 34232121514.425041, 12542534427.526482, -5454072378.231288 mu:-0.000000 unit_bearing:-0.601749 -0.355740 0.715085 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] If point is visible? 34216438360.164658, 12534495289.215828, -5569739001.197835 mu:-0.000000 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] If point is visible? 34200388943.678074, 12526429447.724457, -5685259901.258760 mu:-0.000000 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] If point is visible? 20015781946.904591, 10587741939.315464, -29088974072.447769 mu:-0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 19930030828.736752, 10579266866.206612, -29150869672.219307 mu:-0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 19300725239.948990, 10272319195.613129, -29679314049.797760 mu:-0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 19951601593.688152, 10499418190.072979, -29164979520.382332 mu:-0.000000 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 19865635015.070312, 10490957247.381725, -29226641620.098198 mu:-0.000000 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 34242215766.101135, 12458796366.841475, -5581153220.366398 mu:-0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] If point is visible? 34226136319.237373, 12450686207.139881, -5696685385.460763 mu:-0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] If point is visible? 29182254611.186592, 11074551661.723524, -19612509786.956387 mu:-0.000000 unit_bearing:-0.236808 -0.363022 0.901187 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 34571253706.167366, 11834783504.037161, -4864826342.586639 mu:-0.000000 unit_bearing:-0.617730 -0.334735 0.711591 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] If point is visible? 29412175792.352570, 10447596085.499136, -19613053562.302055 mu:-0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 18356850318.542408, 5852356843.504006, -31427315900.049896 mu:-0.000000 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 18264670074.447762, 5844630689.857460, -31482413155.502121 mu:-0.000000 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 17977923591.138794, 4761124455.510362, -31828072140.731369 mu:-0.000000 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 17884505834.423279, 4753608918.802979, -31881779627.731087 mu:-0.000000 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.297] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.297] If point is visible? 17897276091.160679, 4673190554.846410, -31886502120.498306 mu:-0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 20455359904.768230, 2851249161.845628, -30534387963.406788 mu:-0.000000 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 20934112810.342258, 2568172680.259629, -30233551376.617085 mu:-0.000000 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 11097737667.061640, 1802703994.025238, -35106846852.587448 mu:-0.000000 unit_bearing:0.427333 -0.164601 0.888984 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 26752990492.968197, 2053520048.628181, -25277673428.818439 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 26680177269.710014, 2044125604.385441, -25355273815.358837 mu:-0.000000 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 26607143748.603619, 2034751871.113130, -25432654309.885513 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 22159333560.755802, 1705139350.831777, -29410145440.750896 mu:-0.000000 unit_bearing:0.104216 -0.143140 0.984200 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 12354138605.953918, 989014897.411832, -34717392295.257439 mu:-0.000000 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 12466614146.372944, 915015731.569407, -34679194005.648209 mu:-0.000000 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25894883653.005322, 1619594011.018896, -26186487636.256577 mu:-0.000000 unit_bearing:-0.028849 -0.130180 0.991071 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25819434124.271366, 1610445210.450843, -26261445249.911095 mu:-0.000000 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25750983546.856606, 1520687735.223082, -26333905408.607311 mu:-0.000000 unit_bearing:-0.023061 -0.128004 0.991506 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25675098261.247246, 1511580913.436631, -26408420462.154610 mu:-0.000000 unit_bearing:-0.020166 -0.128005 0.991568 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 12809417028.673687, 613280506.930654, -34560713843.169571 mu:-0.000000 unit_bearing:0.386213 -0.130770 0.913093 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25689153684.496292, 1350336570.221832, -26403488273.520424 mu:-0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25613046243.352993, 1341249477.281242, -26477785611.046299 mu:-0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 13245715882.076273, 397018708.718414, -34399034955.347321 mu:-0.000000 unit_bearing:0.375118 -0.124412 0.918590 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25543560705.889702, 1251569728.025227, -26549205234.241417 mu:-0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25396972570.899418, 1152894288.257008, -26693910127.283890 mu:-0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25319999302.513004, 1143893850.803355, -26767318899.541458 mu:-0.000000 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 14765280762.221495, -718144899.017874, -33769379189.664467 mu:-0.000000 unit_bearing:0.336066 -0.092305 0.937304 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 15291305420.853098, -1087440133.600608, -33524523433.135925 mu:-0.000000 unit_bearing:0.322012 -0.081552 0.943217 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 24366494532.561554, -1474407072.187887, -27622459826.684311 mu:-0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 24369283572.304653, -1554714931.313235, -27615595205.455341 mu:-0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 33387130254.806732, -662311886.326774, -15612850320.513323 mu:-0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] If point is visible? 29861831981.044178, -2744431253.705532, -21439200234.267250 mu:-0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25345313492.322014, -3559555706.485352, -26530074746.176662 mu:-0.000000 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25259869223.389408, -3569382947.474813, -26610124597.255295 mu:-0.000000 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25345256399.841553, -3612515138.068167, -26522969880.706177 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 25267564584.217850, -3621454756.550988, -26595779069.590149 mu:-0.000000 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.298] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.298] If point is visible? 28749103729.210239, -3400851155.368188, -22821557025.119148 mu:-0.000000 unit_bearing:-0.135953 0.016121 0.990584 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 25652584358.996525, -3736295156.372627, -26208495437.477112 mu:-0.000000 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 25575746658.912598, -3745346437.799674, -26282195147.812538 mu:-0.000000 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 28544317283.508095, -3591001876.819990, -23048359490.541473 mu:-0.000000 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 22317947010.175812, -4801877900.218369, -28943935958.815994 mu:-0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 22232552069.779552, -4809722831.191616, -29008281811.540512 mu:-0.000000 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 28500760520.346809, -6281381215.860536, -22520015955.713791 mu:-0.000000 unit_bearing:-0.130096 0.094676 0.986971 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 28433031432.195862, -6291710164.140090, -22602595551.163933 mu:-0.000000 unit_bearing:-0.127210 0.094681 0.987347 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 28588839213.285843, -5954554987.420736, -22497150179.550148 mu:-0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 28284530688.576122, -7328124908.381968, -22476301473.254906 mu:-0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 28277460011.301472, -7406886896.846281, -22459374449.635914 mu:-0.000000 unit_bearing:-0.124262 0.125181 0.984321 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 21292965581.106403, -8904731321.581020, -28743966249.577789 mu:-0.000000 unit_bearing:0.133066 0.144734 0.980482 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 25233334015.475899, -8512090468.963605, -25489672206.489292 mu:-0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 26527870424.096561, -8196866576.646725, -24248374955.063332 mu:-0.000000 unit_bearing:-0.054884 0.140537 0.988553 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 26454400330.813816, -8206426237.641410, -24325285001.784676 mu:-0.000000 unit_bearing:-0.051991 0.140540 0.988709 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 21829737277.555851, -9479608088.350838, -28151373319.694435 mu:-0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 21744034913.804180, -9487137455.441296, -28215091484.344002 mu:-0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 21658128121.186943, -9494630085.287138, -28278573244.265961 mu:-0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 26519903050.007389, -8275490701.177037, -24230377932.404907 mu:-0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 26446436964.035542, -8285051905.741094, -24307285033.528885 mu:-0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 19734382694.329712, -9493718743.634295, -29653392099.409668 mu:-0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 21649141050.998802, -9572878668.782232, -28259067653.553467 mu:-0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] If point is visible? 29715057527.686203, -8861297960.546974, -19934717791.492210 mu:-0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=-0.110602 y=0.000000 z=-3.235290 +[21:42:06.299] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.299] init seeds +[21:42:06.299] DepthFilter: Initialized 8 new seeds +[21:42:06.301] DepthFilter: Initialized 8 new seeds +[21:42:06.850] add new frame +[21:42:06.850] update seed +[21:42:06.850] If point is visible? -5.897749, 1.844871, -2.295676 mu:0.162477 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=-0.099616 y=0.000000 z=-3.222384 +[21:42:06.850] If point is visible? -5.897749, 1.844871, -2.295676 mu:0.162477 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=-0.099616 y=0.000000 z=-3.222384 +[21:42:06.850] If point is visible? 34677250521.086708, -2337424665.975772, -12285152055.398472 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.850] If point is visible? 27343404768.396542, 15836136387.462635, -18985658240.617752 mu:-0.000000 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.850] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.850] If point is visible? 27556665080.870541, 15127430753.822453, -19253344313.415916 mu:-0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.850] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.850] If point is visible? 27926639871.465256, 14110420313.272402, -19490999023.027088 mu:-0.000000 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.850] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.850] If point is visible? 28439215128.048897, 12947895684.483290, -19556667893.278275 mu:-0.000000 unit_bearing:-0.227466 -0.413277 0.881738 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.850] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.850] If point is visible? 21739255667.396931, 11751265853.973013, -27353477525.756561 mu:-0.000000 unit_bearing:0.051572 -0.406834 0.912045 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.850] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.850] If point is visible? 28695815797.028702, 12324861232.363165, -19584385877.269806 mu:-0.000000 unit_bearing:-0.230590 -0.396593 0.888562 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.850] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.850] If point is visible? 25903467847.691639, 12001659815.355013, -23321036297.912476 mu:-0.000000 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.850] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.850] If point is visible? 25559523460.564156, 11956399503.123722, -23720360247.299545 mu:-0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.850] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 34014652960.333641, 13595302329.601755, -4131749907.479562 mu:-0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] If point is visible? 20827556484.777790, 11408275875.461630, -28195112188.527061 mu:-0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 28671413396.475086, 12403972908.989183, -19570174469.462967 mu:-0.000000 unit_bearing:-0.230553 -0.398677 0.887639 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 20600263509.649189, 11302770576.322142, -28403815580.557297 mu:-0.000000 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 34042837286.478710, 13520632105.107910, -4144629743.162131 mu:-0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] If point is visible? 20161833213.909790, 11012235526.999525, -28829349091.810417 mu:-0.000000 unit_bearing:0.111646 -0.391815 0.913245 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 20308979405.707161, 11109054707.037867, -28688577481.617363 mu:-0.000000 unit_bearing:0.105921 -0.393956 0.913006 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 20539145496.372173, 11214474598.945614, -28482964744.760124 mu:-0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 34232121514.436031, 12542534427.526482, -5454072378.218380 mu:-0.000000 unit_bearing:-0.601749 -0.355740 0.715085 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] If point is visible? 34216438360.175648, 12534495289.215828, -5569739001.184927 mu:-0.000000 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] If point is visible? 34200388943.689064, 12526429447.724457, -5685259901.245852 mu:-0.000000 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] If point is visible? 20015781946.915581, 10587741939.315464, -29088974072.434860 mu:-0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 19930030828.747742, 10579266866.206612, -29150869672.206398 mu:-0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 19300725239.959980, 10272319195.613129, -29679314049.784851 mu:-0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 19951601593.699142, 10499418190.072979, -29164979520.369423 mu:-0.000000 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 19865635015.081303, 10490957247.381725, -29226641620.085289 mu:-0.000000 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 34242215766.112125, 12458796366.841475, -5581153220.353490 mu:-0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] If point is visible? 34226136319.248363, 12450686207.139881, -5696685385.447855 mu:-0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] If point is visible? 29182254611.197582, 11074551661.723524, -19612509786.943478 mu:-0.000000 unit_bearing:-0.236808 -0.363022 0.901187 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 34571253706.178360, 11834783504.037161, -4864826342.573731 mu:-0.000000 unit_bearing:-0.617730 -0.334735 0.711591 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] If point is visible? 29412175792.363560, 10447596085.499136, -19613053562.289146 mu:-0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 18356850318.553398, 5852356843.504006, -31427315900.036987 mu:-0.000000 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 18264670074.458752, 5844630689.857460, -31482413155.489212 mu:-0.000000 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 17977923591.149784, 4761124455.510362, -31828072140.718460 mu:-0.000000 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 17884505834.434269, 4753608918.802979, -31881779627.718178 mu:-0.000000 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 17897276091.171669, 4673190554.846410, -31886502120.485397 mu:-0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 20455359904.779221, 2851249161.845628, -30534387963.393879 mu:-0.000000 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 20934112810.353249, 2568172680.259629, -30233551376.604176 mu:-0.000000 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 11097737667.072628, 1802703994.025238, -35106846852.574539 mu:-0.000000 unit_bearing:0.427333 -0.164601 0.888984 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 26752990492.979187, 2053520048.628181, -25277673428.805531 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 26680177269.721004, 2044125604.385441, -25355273815.345928 mu:-0.000000 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 26607143748.614609, 2034751871.113130, -25432654309.872604 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 22159333560.766792, 1705139350.831777, -29410145440.737988 mu:-0.000000 unit_bearing:0.104216 -0.143140 0.984200 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 12354138605.964907, 989014897.411832, -34717392295.244530 mu:-0.000000 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.851] If point is visible? 12466614146.383932, 915015731.569407, -34679194005.635300 mu:-0.000000 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.851] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25894883653.016312, 1619594011.018896, -26186487636.243668 mu:-0.000000 unit_bearing:-0.028849 -0.130180 0.991071 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25819434124.282356, 1610445210.450843, -26261445249.898186 mu:-0.000000 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25750983546.867596, 1520687735.223082, -26333905408.594402 mu:-0.000000 unit_bearing:-0.023061 -0.128004 0.991506 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25675098261.258236, 1511580913.436631, -26408420462.141701 mu:-0.000000 unit_bearing:-0.020166 -0.128005 0.991568 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 12809417028.684675, 613280506.930654, -34560713843.156662 mu:-0.000000 unit_bearing:0.386213 -0.130770 0.913093 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25689153684.507282, 1350336570.221832, -26403488273.507515 mu:-0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25613046243.363983, 1341249477.281242, -26477785611.033390 mu:-0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 13245715882.087261, 397018708.718414, -34399034955.334412 mu:-0.000000 unit_bearing:0.375118 -0.124412 0.918590 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25543560705.900692, 1251569728.025227, -26549205234.228508 mu:-0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25396972570.910408, 1152894288.257008, -26693910127.270981 mu:-0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25319999302.523994, 1143893850.803355, -26767318899.528549 mu:-0.000000 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 14765280762.232483, -718144899.017874, -33769379189.651558 mu:-0.000000 unit_bearing:0.336066 -0.092305 0.937304 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 15291305420.864086, -1087440133.600608, -33524523433.123016 mu:-0.000000 unit_bearing:0.322012 -0.081552 0.943217 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 24366494532.572544, -1474407072.187887, -27622459826.671402 mu:-0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 24369283572.315643, -1554714931.313235, -27615595205.442432 mu:-0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 33387130254.817722, -662311886.326774, -15612850320.500414 mu:-0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] If point is visible? 29861831981.055168, -2744431253.705532, -21439200234.254341 mu:-0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25345313492.333004, -3559555706.485352, -26530074746.163754 mu:-0.000000 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25259869223.400398, -3569382947.474813, -26610124597.242386 mu:-0.000000 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25345256399.852543, -3612515138.068167, -26522969880.693268 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25267564584.228840, -3621454756.550988, -26595779069.577240 mu:-0.000000 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 28749103729.221230, -3400851155.368188, -22821557025.106239 mu:-0.000000 unit_bearing:-0.135953 0.016121 0.990584 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25652584359.007515, -3736295156.372627, -26208495437.464203 mu:-0.000000 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25575746658.923588, -3745346437.799674, -26282195147.799629 mu:-0.000000 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 28544317283.519085, -3591001876.819990, -23048359490.528564 mu:-0.000000 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 22317947010.186802, -4801877900.218369, -28943935958.803085 mu:-0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 22232552069.790543, -4809722831.191616, -29008281811.527603 mu:-0.000000 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 28500760520.357800, -6281381215.860536, -22520015955.700882 mu:-0.000000 unit_bearing:-0.130096 0.094676 0.986971 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 28433031432.206852, -6291710164.140090, -22602595551.151024 mu:-0.000000 unit_bearing:-0.127210 0.094681 0.987347 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 28588839213.296833, -5954554987.420736, -22497150179.537239 mu:-0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 28284530688.587112, -7328124908.381968, -22476301473.241997 mu:-0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 28277460011.312462, -7406886896.846281, -22459374449.623005 mu:-0.000000 unit_bearing:-0.124262 0.125181 0.984321 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 21292965581.117393, -8904731321.581020, -28743966249.564880 mu:-0.000000 unit_bearing:0.133066 0.144734 0.980482 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 25233334015.486889, -8512090468.963605, -25489672206.476383 mu:-0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 26527870424.107552, -8196866576.646725, -24248374955.050423 mu:-0.000000 unit_bearing:-0.054884 0.140537 0.988553 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 26454400330.824806, -8206426237.641410, -24325285001.771767 mu:-0.000000 unit_bearing:-0.051991 0.140540 0.988709 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.852] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.852] If point is visible? 21829737277.566841, -9479608088.350838, -28151373319.681526 mu:-0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 21744034913.815170, -9487137455.441296, -28215091484.331093 mu:-0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 21658128121.197933, -9494630085.287138, -28278573244.253052 mu:-0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 26519903050.018379, -8275490701.177037, -24230377932.391998 mu:-0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 26446436964.046532, -8285051905.741094, -24307285033.515976 mu:-0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 19734382694.340702, -9493718743.634295, -29653392099.396759 mu:-0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 21649141051.009792, -9572878668.782232, -28259067653.540558 mu:-0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 29715057527.697193, -8861297960.546974, -19934717791.479301 mu:-0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 19716888456.118202, -9650027707.736610, -29614548684.036259 mu:-0.000000 unit_bearing:0.181920 0.161923 0.969890 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 19725695708.704571, -9571887893.003275, -29634036341.371735 mu:-0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 29756574909.151070, -9005918094.362659, -19807571981.410397 mu:-0.000000 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 29694668548.068581, -9017249208.854071, -19895127427.875046 mu:-0.000000 unit_bearing:-0.195991 0.177017 0.964496 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 28262486084.955433, -9335756617.641218, -21748005598.944328 mu:-0.000000 unit_bearing:-0.132754 0.179467 0.974766 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 19541677885.055504, -10358489297.805761, -29491096009.023838 mu:-0.000000 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 28272722389.999321, -9257695622.279636, -21768060530.998810 mu:-0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 21022769063.571419, -10475427862.548923, -28411420430.849812 mu:-0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 20229820028.653553, -10538493726.320864, -28958500487.671989 mu:-0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 19782239438.428646, -10572155704.869959, -29253935555.076565 mu:-0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 19712514962.606216, -10423178134.103836, -29354289811.581810 mu:-0.000000 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 19622191551.408653, -10429767187.528292, -29412408504.621773 mu:-0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 20119797879.247978, -10700843329.103401, -28975608781.356766 mu:-0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 20030488628.912281, -10707600806.630293, -29034927745.033466 mu:-0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 10478217721.366356, -14690689720.631742, -32144841076.666763 mu:-0.000000 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 12126512482.932537, -14807975321.075216, -31505107217.967865 mu:-0.000000 unit_bearing:0.378146 0.294551 0.877636 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 12142616113.949596, -14733226636.446968, -31533936096.092819 mu:-0.000000 unit_bearing:0.378193 0.292443 0.878321 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 12038932951.790756, -14735665731.357784, -31572527104.436359 mu:-0.000000 unit_bearing:0.380955 0.292381 0.877147 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 27782813386.286343, -16595814363.077995, -17652037978.675034 mu:-0.000000 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 27720880296.441936, -16607738534.332054, -17737982839.029610 mu:-0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 20947110114.402248, 11584865048.842592, -28034081018.557167 mu:-0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 26241561066.939091, 12047042423.724564, -22916139737.679710 mu:-0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 26107029348.708950, 12028875324.854092, -23078765042.168465 mu:-0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 20661022399.058430, 11391058032.577190, -28324303508.220764 mu:-0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 5722781251.595105, 5111493800.664905, -36055826503.170082 mu:-0.000000 unit_bearing:0.543244 -0.256827 0.799328 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 17764994964.740204, 4906920372.717206, -31925339548.454224 mu:-0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 18332088268.378994, 3649776622.379399, -31772848302.466141 mu:-0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 18145745864.528923, 3634913557.444720, -31881335125.352005 mu:-0.000000 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 17958617142.248936, 3620131546.091560, -31988793926.201927 mu:-0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.853] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.853] If point is visible? 18003350377.142551, 4600267672.765423, -31837354341.428299 mu:-0.000000 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 17816303496.521763, 4585288496.659532, -31944556313.210377 mu:-0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] calculated Z= 1.600763 +[21:42:06.854] update seeds 305 +[21:42:06.854] If point is visible? 21182443656.647381, 4059806811.745325, -29895188045.838211 mu:-0.000000 unit_bearing:0.127084 -0.208144 0.969807 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 18028292417.825386, 4439397846.877869, -31846077280.875275 mu:-0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 21159198074.862225, 4221121540.901423, -29889307263.257446 mu:-0.000000 unit_bearing:0.127066 -0.212468 0.968871 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 27384039932.035160, 2954796794.914419, -24500688802.097546 mu:-0.000000 unit_bearing:-0.092427 -0.160557 0.982690 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 21972915967.118999, 1850111530.609521, -29540959194.575169 mu:-0.000000 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 26607143748.614609, 2034751871.113130, -25432654309.872604 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 26475782864.915665, 1854800005.663667, -25583058017.206337 mu:-0.000000 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 26328163771.989502, 1836189920.040050, -25736286015.211624 mu:-0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 15904838500.389305, -1370337989.287516, -33227375836.889961 mu:-0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 26821048561.366955, -1184766286.530678, -25261193594.045986 mu:-0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 26674107571.472565, -1203617123.766009, -25415418744.665298 mu:-0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 26826583580.083172, -1345337578.757853, -25247271121.859436 mu:-0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 26679637080.834328, -1364196052.987062, -25401499035.405197 mu:-0.000000 unit_bearing:-0.052056 -0.047246 0.997526 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 24875174554.852684, -2865711548.124434, -27053901882.746426 mu:-0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 34674137872.940727, -2494374774.999580, -12263053292.128464 mu:-0.000000 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] If point is visible? 28815236669.985512, -3470352941.308774, -22727494472.104034 mu:-0.000000 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 24553452198.630917, -4179875299.628712, -27176402383.366894 mu:-0.000000 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 34677250521.086708, -2337424665.975772, -12285152055.398472 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] If point is visible? 25345256399.852543, -3612515138.068167, -26522969880.693268 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 20662509311.325256, -4866099086.817780, -30137717357.990097 mu:-0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 26417299618.255623, -6963917114.691620, -24749350661.715797 mu:-0.000000 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 24258825558.049000, -7216182705.501510, -26801796741.938454 mu:-0.000000 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 26585054030.929085, -8344491997.509408, -24135131537.856735 mu:-0.000000 unit_bearing:-0.057771 0.144886 0.987760 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 19751851694.924957, -10111619001.761292, -29436707266.506603 mu:-0.000000 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 24133846839.106739, -8634867418.096300, -26493333506.897301 mu:-0.000000 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 19892561760.336754, -10409881113.949863, -29237314868.373211 mu:-0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 18146609877.019604, -13427981275.713688, -29142582036.220711 mu:-0.000000 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 17961276391.607471, -13439378507.370955, -29251937963.631718 mu:-0.000000 unit_bearing:0.218399 0.265150 0.939147 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 12246119095.466908, -14730729266.687696, -31495053600.447243 mu:-0.000000 unit_bearing:0.375429 0.292504 0.879485 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 23300199590.939037, -13157388278.429016, -25355158283.772255 mu:-0.000000 unit_bearing:0.040456 0.270440 0.961886 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 12277980035.320227, -14581042941.364750, -31552252089.487541 mu:-0.000000 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 10600330406.075174, -14614626642.308079, -32139475762.935394 mu:-0.000000 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 10387455569.716452, -14617742868.269672, -32207492593.387848 mu:-0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 10418611420.922676, -14468695821.742655, -32264680320.853699 mu:-0.000000 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.854] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.854] If point is visible? 17896514593.539238, -14644041006.358175, -28708309725.793770 mu:-0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 16072472174.700672, -16811245625.677933, -28599962895.273666 mu:-0.000000 unit_bearing:0.251194 0.358093 0.899261 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 7908651240.843667, -18409331282.769878, -30942688574.089516 mu:-0.000000 unit_bearing:0.458993 0.393377 0.796605 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 33591020910.138584, -13674045985.859779, -6600302974.135691 mu:-0.000000 unit_bearing:-0.508300 0.346354 0.788460 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] If point is visible? 30536725051.339031, -16719472535.269829, -12118905894.370844 mu:-0.000000 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] If point is visible? 27905940512.376869, -16571818732.309744, -17479517351.848068 mu:-0.000000 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 27782813386.286343, -16595814363.077995, -17652037978.675034 mu:-0.000000 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 30389734508.537781, -16893872391.265308, -12245869953.760498 mu:-0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] If point is visible? 20447630683.042679, 11533172464.963282, -28421480454.855186 mu:-0.000000 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 18006112045.316608, 6720767330.598157, -31456500670.321327 mu:-0.000000 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 25646021784.078938, 938248018.670707, -26463209861.896271 mu:-0.000000 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 34064086932.956814, 13169284460.794353, -5010803025.809620 mu:-0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] If point is visible? 18068257164.006817, 6399480988.962018, -31487853928.933895 mu:-0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 26752990492.979187, 2053520048.628181, -25277673428.805531 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 34006943120.502045, 13499017692.244852, -4494948240.959898 mu:-0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] If point is visible? 25182653158.710991, -2349589681.041902, -26818158533.164425 mu:-0.000000 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 19258700725.862469, 10759501800.062193, -29533638216.040005 mu:-0.000000 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 18167788004.273827, 3474001546.410316, -31886721550.082584 mu:-0.000000 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 26194512012.203270, 1656403687.150231, -25884437141.893761 mu:-0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 22374065404.021347, 1237823800.896649, -29270620226.466137 mu:-0.000000 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 15896703434.401886, -1210532877.627841, -33237473565.318005 mu:-0.000000 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 28936447586.658371, -4087134561.242986, -22469480434.696899 mu:-0.000000 unit_bearing:-0.144601 0.035763 0.988844 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 29213076164.394699, -3408210081.917197, -22223422416.709633 mu:-0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 25923033707.339779, 1297119675.650091, -26176593033.510300 mu:-0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 25497647605.635826, -2634325730.503338, -26492083976.414391 mu:-0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 24309311791.331932, -8460512061.210707, -26388961987.589832 mu:-0.000000 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 28889812024.920090, -8468707997.148370, -21273456815.442093 mu:-0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 20857758713.043369, -9716767624.289347, -28799974779.655533 mu:-0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 17804172938.337154, -13297910672.303671, -29412195032.716240 mu:-0.000000 unit_bearing:0.224139 0.260811 0.939010 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 8423678461.987917, -18839795158.230000, -30545113823.383720 mu:-0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] If point is visible? 12515874416.720673, -14425826152.085487, -31530122840.526794 mu:-0.000000 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 10418611420.922676, -14468695821.742655, -32264680320.853699 mu:-0.000000 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:06.855] If point is visible? 33129228520.925766, -14173935657.931307, -7775216031.720694 mu:-0.000000 unit_bearing:-0.476315 0.355930 0.804014 T_cur_ref: x=-0.099613 y=0.000000 z=-3.222381 +[21:42:06.855] If point is visible? -3.015443, -1.055956, 8.494463 mu:0.082506 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=-0.099612 y=0.000000 z=-3.222380 +[21:42:06.855] Z inverse min: 0.593821, Z inverse max: 0.000000 +[21:42:06.855] calculated Z= 0.239160 +[21:42:06.855] update seeds 305 +[21:42:06.855] If point is visible? -2.402976, 6.006337, 7.049910 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.099612 y=0.000000 z=-3.222380 +[21:42:06.855] If point is visible? -3.015443, -1.055956, 8.494463 mu:0.082506 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=-0.099612 y=0.000000 z=-3.222380 +[21:42:06.855] Z inverse min: 0.593821, Z inverse max: 0.000000 +[21:42:06.855] calculated Z= 0.239160 +[21:42:06.855] update seeds 305 +[21:42:06.855] If point is visible? -2.402976, 6.006337, 7.049910 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.099612 y=0.000000 z=-3.222380 +[21:42:06.855] If point is visible? -896618232441.959961, -184549854955.938965, 1664017488582.736572 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=-0.099610 y=0.000000 z=-3.222378 +[21:42:06.855] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:06.856] If point is visible? -1037873440803.754761, 769731964063.920410, 1391857941887.409668 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=-0.099610 y=0.000000 z=-3.222378 +[21:42:06.856] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:06.856] calculated Z= 0.756778 +[21:42:06.856] update seeds 305 +[21:42:06.856] If point is visible? -896618232441.959961, -184549854955.938965, 1664017488582.736572 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=-0.099610 y=0.000000 z=-3.222378 +[21:42:06.856] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:06.856] If point is visible? -1037873440803.754761, 769731964063.920410, 1391857941887.409668 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=-0.099610 y=0.000000 z=-3.222378 +[21:42:06.856] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:06.856] calculated Z= 0.756778 +[21:42:06.856] update seeds 305 +[21:42:06.856] If point is visible? -179580014552.242462, 217584080552.489288, 348110320923.445618 mu:0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.099609 y=0.000000 z=-3.222376 +[21:42:06.856] Z inverse min: 0.501810, Z inverse max: 0.000000 +[21:42:06.856] If point is visible? -86438677429.171829, 229257142262.794312, 375156136875.674377 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=-0.099609 y=0.000000 z=-3.222376 +[21:42:06.856] If point is visible? -179580014552.242462, 217584080552.489288, 348110320923.445618 mu:0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.099609 y=0.000000 z=-3.222376 +[21:42:06.856] Z inverse min: 0.501810, Z inverse max: 0.000000 +[21:42:06.856] If point is visible? -86438677429.171829, 229257142262.794312, 375156136875.674377 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=-0.099609 y=0.000000 z=-3.222376 +[21:42:06.856] If point is visible? -5.605606, 0.400458, -1.047638 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=-0.099607 y=0.000000 z=-3.222374 +[21:42:06.856] If point is visible? -1.266397, 3.037937, 1.739018 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=-0.099607 y=0.000000 z=-3.222374 +[21:42:06.856] If point is visible? -1.196411, 3.037066, 1.755489 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=-0.099607 y=0.000000 z=-3.222374 +[21:42:06.856] If point is visible? -5.605121, 0.425718, -1.051212 mu:0.168536 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=-0.099607 y=0.000000 z=-3.222374 +[21:42:06.856] If point is visible? -5.605606, 0.400458, -1.047638 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=-0.099607 y=0.000000 z=-3.222374 +[21:42:06.856] If point is visible? -1.210038, 2.991554, 1.779968 mu:0.168536 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=-0.099607 y=0.000000 z=-3.222374 +[21:42:06.856] If point is visible? -1.252444, 3.083350, 1.714203 mu:0.168536 unit_bearing:0.442103 0.414388 0.795505 T_cur_ref: x=-0.099607 y=0.000000 z=-3.222374 +[21:42:06.856] If point is visible? -1.266397, 3.037937, 1.739018 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=-0.099607 y=0.000000 z=-3.222374 +[21:42:06.856] If point is visible? -1.196411, 3.037066, 1.755489 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=-0.099607 y=0.000000 z=-3.222374 +[21:42:06.856] If point is visible? -55778.574730, -36476.714397, 109006.379732 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=-0.099598 y=0.000000 z=-3.222358 +[21:42:06.856] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:06.856] If point is visible? -55778.574730, -36476.714397, 109006.379732 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=-0.099598 y=0.000000 z=-3.222358 +[21:42:06.856] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:06.856] If point is visible? -0.296579, -0.442483, 3.397015 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=-0.099581 y=0.000000 z=-3.222328 +[21:42:06.856] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:06.856] If point is visible? -0.296579, -0.442483, 3.397015 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=-0.099581 y=0.000000 z=-3.222328 +[21:42:06.856] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:06.856] If point is visible? -12.677705, 15.860771, 29.608286 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=-0.099579 y=0.000000 z=-3.222323 +[21:42:06.856] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:06.856] If point is visible? 2.210864, 19.197576, 30.150378 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.099579 y=0.000000 z=-3.222323 +[21:42:06.856] If point is visible? -17.491204, 18.082673, 26.072225 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=-0.099579 y=0.000000 z=-3.222323 +[21:42:06.856] If point is visible? -12.677705, 15.860771, 29.608286 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=-0.099579 y=0.000000 z=-3.222323 +[21:42:06.856] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:06.856] If point is visible? -17.491204, 18.082673, 26.072225 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=-0.099579 y=0.000000 z=-3.222323 +[21:42:06.857] If point is visible? 2.210864, 19.197576, 30.150378 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.099579 y=0.000000 z=-3.222323 +[21:42:06.857] If point is visible? -65390785586.692177, -23901742507.747051, 214641930160.810547 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? 11104398245.895819, -17919591477.839687, 224664164695.871613 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -33664972913.078621, 111761912249.881927, 193117453604.933014 mu:0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -127215923218.724289, -93211181533.139786, 161388323105.697144 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -127340713863.063477, -92731183094.694763, 161566322582.299469 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -127332992375.727219, -90772945223.635559, 162680631256.848572 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -127786642879.039886, -86879519390.142609, 164441264074.100830 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -130519617881.252380, -77216087575.478775, 167094917593.854279 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -69841920261.287430, -65449907006.819855, 204344860871.986511 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -107045388559.463104, -68104733549.407867, 186605027730.274139 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -70971979689.552216, -66004356695.477112, 203776370842.997467 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -193410520649.882019, -75472062244.760468, 88401044343.453949 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] If point is visible? -68707990802.441956, -64895784179.771454, 204905235446.430634 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -193533230592.975128, -75009287257.339020, 88526277454.438828 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] If point is visible? -193244709275.864441, -74972325031.314880, 89185419967.779297 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] If point is visible? -134321981676.790405, -66099680389.706200, 168839698556.995911 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -65366078445.969223, -62742950806.593575, 206661569311.853149 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.857] If point is visible? -64379270653.406158, -61204694153.393288, 207431196403.725647 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.857] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.858] If point is visible? -63761918547.925316, -61174854214.607407, 207630588480.271393 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.858] If point is visible? -192341501031.205536, -70047638971.892883, 94955155594.798584 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] If point is visible? -192035441711.438141, -70006981067.687790, 95602395613.202667 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] If point is visible? -191727501094.097290, -69966231967.020889, 96248106615.391663 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] If point is visible? -191417686702.304138, -69925393352.218811, 96892285041.532806 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] If point is visible? -191106006040.933563, -69884466898.077469, 97534927384.725098 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] If point is visible? -59035663366.733330, -59461445853.986710, 209517381678.811066 mu:0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.858] If point is visible? -191530278906.611755, -69457208073.627808, 97006467965.106262 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] If point is visible? -191218389746.812775, -69416016224.650314, 97649118954.672577 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] If point is visible? -63922851039.444656, -60188986598.633911, 207869096608.830872 mu:0.000000 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.858] If point is visible? -191753390368.100922, -68520265513.134216, 97231768547.320938 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] If point is visible? -191441087675.029907, -68478545328.511108, 97874435364.807495 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] If point is visible? -135554368647.578094, -62217852018.017136, 169329142054.273346 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.858] If point is visible? -194763169101.392517, -65069828215.564644, 93550156259.063141 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] If point is visible? -136835899852.535797, -57839114806.132980, 169849873794.484558 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.858] If point is visible? -138152139334.515289, -52962393312.445717, 170374228127.155243 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.858] If point is visible? -48062606611.156372, -31668381845.420612, 218186859720.555206 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.858] If point is visible? -142765074486.923157, -34402276706.468872, 171327240047.107208 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.858] If point is visible? -46078828318.174454, -25638162106.270035, 219403355813.697540 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.858] If point is visible? -45432387771.546234, -25615713629.098858, 219540747184.485046 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.858] If point is visible? -61738507253.455101, -14798043728.755327, 216535865254.727844 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.858] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.859] If point is visible? -62406478851.876579, -14328019288.723972, 216375935765.209656 mu:0.000000 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.859] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.859] calculated Z= 0.166764 +[21:42:06.859] update seeds 305 +[21:42:06.859] If point is visible? -68401157678.973946, -9609110679.054111, 214819349542.453827 mu:0.000000 unit_bearing:0.130143 -0.158286 0.978779 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.859] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.859] If point is visible? -68368319087.499779, -10104287455.970634, 214807082373.617584 mu:0.000000 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.859] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.859] If point is visible? -72942251610.052826, -6828220043.593216, 213427293612.628235 mu:0.000000 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.859] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.859] If point is visible? -108276842912.367767, -6283730899.971777, 197876341013.102020 mu:0.000000 unit_bearing:-0.060676 -0.134508 0.989053 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.859] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.859] If point is visible? -107704208934.205460, -6245996943.767147, 198189800993.541534 mu:0.000000 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.859] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.859] If point is visible? -101959507173.534332, -5383021406.371277, 201230435807.488922 mu:0.000000 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.859] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.859] If point is visible? -107674775160.655487, -6741003286.103760, 198189575877.802246 mu:0.000000 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.859] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.859] If point is visible? -100320683964.268402, -3296282880.509888, 202097256799.567993 mu:0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.859] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.859] If point is visible? -99736061471.218399, -3260926159.958283, 202386982586.786316 mu:0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.859] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.860] If point is visible? -107644863327.636154, -7236065311.309441, 198188367660.186157 mu:0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.860] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.860] If point is visible? -11947115401.052681, -1101393409.514618, 225331887853.853394 mu:0.000000 unit_bearing:0.377891 -0.126541 0.917162 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.860] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.860] calculated Z= 0.852434 +[21:42:06.860] update seeds 305 +[21:42:06.860] If point is visible? -99176821029.805771, -2730965883.870788, 202669450864.101807 mu:0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.860] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.860] If point is visible? -98029084754.531158, -2166400651.200541, 203233883907.672028 mu:0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.860] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.860] If point is visible? -97441108997.627487, -2131741328.757657, 203516810789.692474 mu:0.000000 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.860] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.860] calculated Z= 0.477114 +[21:42:06.860] update seeds 305 +[21:42:06.860] If point is visible? -91681714810.172028, 1666255304.114086, 206179759143.562012 mu:0.000000 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.860] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.860] If point is visible? -91106405959.797852, 2193101236.762956, 206429696065.807190 mu:0.000000 unit_bearing:0.026168 -0.101842 0.994456 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.860] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.860] If point is visible? -27924053211.685772, 10882725367.802870, 223652006157.879272 mu:0.000000 unit_bearing:0.313565 -0.072921 0.946763 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.860] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.860] If point is visible? -27241931295.515335, 10405662101.078310, 223758811431.353333 mu:0.000000 unit_bearing:0.316386 -0.075077 0.945655 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.860] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.860] If point is visible? -89681660155.211899, 13633341477.349247, 206614951418.655334 mu:0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.860] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.860] If point is visible? -89692275321.625992, 14125464122.251459, 206577281734.287323 mu:0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.861] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.861] If point is visible? -164925059205.395599, 11179357548.588949, 153600628673.910217 mu:0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.861] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.861] If point is visible? -164933172661.447144, 11665560555.964178, 153555753949.070831 mu:0.000000 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.861] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.861] If point is visible? -132986790216.414719, 22892075175.134182, 180855944995.048981 mu:0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.861] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.861] If point is visible? -96948440731.896393, 27466265358.815044, 201903468084.852875 mu:0.000000 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.861] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.861] If point is visible? -96357422793.004440, 27500408377.213295, 202181554375.202148 mu:0.000000 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.861] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.861] If point is visible? -59440864678.015083, 33541480718.665775, 215081749563.357727 mu:0.000000 unit_bearing:0.176509 0.031374 0.983799 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.861] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.861] If point is visible? -123208898182.440948, 27132997360.452808, 187087610976.262512 mu:0.000000 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.861] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.861] If point is visible? -70154726666.012817, 33644228547.838673, 211813093385.575867 mu:0.000000 unit_bearing:0.127482 0.033591 0.991272 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.861] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.861] If point is visible? -62621425384.452957, 32948253096.222973, 214269400564.892059 mu:0.000000 unit_bearing:0.162108 0.029203 0.986341 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.861] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.861] If point is visible? -74508331028.045715, 33467095931.758141, 210349396041.559387 mu:0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.861] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.862] If point is visible? -73888599371.196793, 33493074737.035297, 210563755535.846649 mu:0.000000 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.862] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.862] If point is visible? -122354505614.364853, 40789337724.651520, 185159421045.108337 mu:0.000000 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.862] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.862] If point is visible? -121802692725.263474, 40833735149.311226, 185513116615.886749 mu:0.000000 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.862] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.862] If point is visible? -122850308969.175674, 42196288122.569199, 184514718038.346405 mu:0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.862] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.862] If point is visible? -120801252394.965134, 50528846960.848869, 183772411864.606903 mu:0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.862] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.862] If point is visible? -69363237667.133179, 55892489975.651382, 207323846053.492188 mu:0.000000 unit_bearing:0.127327 0.133877 0.982784 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.862] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.862] If point is visible? -107017477354.613129, 55853607600.730804, 190646375198.982117 mu:0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.862] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.862] If point is visible? -106443225705.173462, 55892378545.204483, 190956246401.911530 mu:0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.862] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.862] If point is visible? -97109282136.954895, 56958791391.008369, 195560450306.190125 mu:0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.862] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.862] If point is visible? -72075511071.946259, 61996285267.482399, 204646005664.723724 mu:0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.862] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.862] If point is visible? -71455240311.847427, 62020285702.813805, 204856142478.304626 mu:0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.862] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -70834231503.567673, 62044022875.071762, 205064519579.933746 mu:0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -106954586744.133881, 56812541377.973869, 190398156068.911896 mu:0.000000 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -106380393482.545792, 56851333297.263039, 190708007442.514923 mu:0.000000 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -57054347041.711617, 61545378102.533707, 209464493973.564636 mu:0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -70800484585.642014, 62521293371.168892, 204931172776.149017 mu:0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -57022084315.004555, 62022226435.114296, 209332586202.306671 mu:0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -57626111790.813736, 62481024873.852043, 209030521906.084320 mu:0.000000 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -134600107026.473389, 60224880751.296799, 170804511781.626984 mu:0.000000 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -134073672425.999588, 60276923995.552887, 171199734561.252869 mu:0.000000 unit_bearing:-0.198881 0.172672 0.964692 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -133546235476.490601, 60328706558.182190, 171593287960.441895 mu:0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -121617033680.898590, 62354671787.965363, 179553887016.742981 mu:0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.863] If point is visible? -66659877655.250282, 67892202772.217644, 204610644472.612244 mu:0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.863] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.864] If point is visible? -61002121551.361885, 68075438635.439735, 206307736497.175201 mu:0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.864] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.864] If point is visible? -57834124993.914230, 68167510440.297691, 207187863602.857849 mu:0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.864] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.864] If point is visible? -57236532442.496071, 67710918957.896805, 207503294252.381195 mu:0.000000 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.864] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.864] If point is visible? -56600114317.747131, 67728258528.654175, 207672136729.139893 mu:0.000000 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.864] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.864] If point is visible? -56637736520.445953, 67253922711.900330, 207815983503.324860 mu:0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.864] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.864] If point is visible? -60292059814.422173, 69042535428.623596, 206195058482.700958 mu:0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.864] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.864] If point is visible? -59659223795.573364, 69061142481.403687, 206372822660.918182 mu:0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.864] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.864] If point is visible? -7498603824.279452, 91312094703.983917, 206214157174.549103 mu:0.000000 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.864] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -47521346375.229965, 93108793409.736618, 199977200066.080078 mu:0.000000 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -147074690931.147644, 94005611241.958206, 143004848381.867249 mu:0.000000 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -124365963093.129242, 106885239734.766815, 155006642015.320068 mu:0.000000 unit_bearing:-0.179828 0.386428 0.904619 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -124273833558.111420, 107332570043.388474, 154771250620.905609 mu:0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -123655630841.037323, 107834790744.996841, 154917233335.720337 mu:0.000000 unit_bearing:-0.176934 0.390653 0.903374 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -149805548089.740295, 109099489938.476822, 128740069034.379440 mu:0.000000 unit_bearing:-0.330763 0.410354 0.849827 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] If point is visible? -72010915592.380951, -67051147240.276222, 203068899655.007141 mu:0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -192999034881.657898, -75898236047.364456, 88933889031.079575 mu:0.000000 unit_bearing:-0.621788 -0.381876 0.683777 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] If point is visible? -69756003706.805679, -65942090074.644913, 204215932339.328705 mu:0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -68536975551.085770, -65880171881.488663, 204648215855.770630 mu:0.000000 unit_bearing:0.097312 -0.400306 0.911200 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -121335588032.942886, -68095741740.416595, 177648673936.738647 mu:0.000000 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -112546355030.985062, -68472900869.752670, 183202582224.274811 mu:0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -111453730910.197723, -68398664069.422699, 183896968266.560913 mu:0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -44738380313.006935, -26088041452.230289, 219627634276.356293 mu:0.000000 unit_bearing:0.230094 -0.233367 0.944773 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -44643224819.639824, -27077292541.625366, 219527239822.288086 mu:0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.865] If point is visible? -65390785586.692177, -23901742507.747051, 214641930160.810547 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.865] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? 11104398245.895819, -17919591477.839687, 224664164695.871613 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -46217151728.849319, -24153983997.348076, 219542629711.868622 mu:0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -47941314450.577080, -19251331305.674805, 219657512799.776367 mu:0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -46649414187.332695, -19207283273.795292, 219939352419.912964 mu:0.000000 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] calculated Z= 0.417378 +[21:42:06.866] update seeds 305 +[21:42:06.866] If point is visible? -44831762813.635086, -25098790251.893970, 219723849612.613129 mu:0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -72911959213.369415, -7323271762.750800, 213421231868.049835 mu:0.000000 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -108848612053.796112, -6321635544.805914, 197561187726.307373 mu:0.000000 unit_bearing:-0.063569 -0.134505 0.988872 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -107704208934.205460, -6245996943.767147, 198189800993.541534 mu:0.000000 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] calculated Z= 0.269716 +[21:42:06.866] update seeds 305 +[21:42:06.866] If point is visible? -106556355871.189911, -6171041616.647375, 198811638458.712585 mu:0.000000 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -105405071536.795486, -6096770597.344652, 199426694803.935608 mu:0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -108470114024.494385, 12512754035.968876, 197474230389.125519 mu:0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -107320850736.664124, 12588617847.584642, 198096360430.147217 mu:0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -29923461959.623085, 10843994925.365891, 223395166724.922333 mu:0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -108491466532.089203, 13496724652.392101, 197397685982.393097 mu:0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.866] If point is visible? -178295200815.438385, 21843551937.854843, 136572643392.284149 mu:0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.866] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -93389590756.156616, 22281549270.597538, 204206569968.456238 mu:0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -124299432646.414597, 28020325912.454025, 186233505839.963684 mu:0.000000 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -125404451072.288086, 26955394176.403416, 185648960928.849030 mu:0.000000 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -96950704274.121124, 26977183005.130196, 201968311513.606689 mu:0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -62615268237.525871, 33435238732.262779, 214195749986.248047 mu:0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -105701838148.972717, 48753529158.232658, 193309650882.724762 mu:0.000000 unit_bearing:-0.046230 0.110044 0.992851 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -58619086145.034859, 66251328243.497536, 207588464427.210236 mu:0.000000 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -58545001941.658394, 67200923996.949615, 207303943231.582123 mu:0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? 1860665350.704731, 89767252122.477905, 207018802741.629181 mu:0.000000 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? 3337086557.488302, 90641984317.556534, 206618733056.882721 mu:0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -46941209909.648048, 92659863927.598846, 200322436953.366547 mu:0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -85151390772.235611, 83999571090.675186, 191341890405.630768 mu:0.000000 unit_bearing:0.040463 0.266140 0.963085 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -8907615964.741140, 90876856298.717743, 206350327561.743286 mu:0.000000 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.867] If point is visible? -28889643758.495586, 101013613731.481354, 199699886435.152954 mu:0.000000 unit_bearing:0.285343 0.336464 0.897425 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.867] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -150052939556.236511, 109896657137.460281, 127770287621.302322 mu:0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] If point is visible? 12623203520.753111, 116075337893.915649, 193094735773.712799 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] If point is visible? -95247050099.189362, 1466364570.088095, 204558684831.836700 mu:0.000000 unit_bearing:0.005893 -0.104028 0.994557 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -92873382217.356339, 1600353633.471891, 205646249811.490112 mu:0.000000 unit_bearing:0.017479 -0.104026 0.994421 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] calculated Z= 0.525134 +[21:42:06.868] update seeds 305 +[21:42:06.868] If point is visible? -68364021259.215492, -66864073860.612976, 204386796397.928772 mu:0.000000 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] calculated Z= 0.538082 +[21:42:06.868] update seeds 305 +[21:42:06.868] If point is visible? -108789155202.837219, -7311648289.062314, 197559777858.192688 mu:0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -73030401479.255249, -5343382858.467561, 213439487998.649384 mu:0.000000 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -70546775710.978745, -5234501025.875678, 214275894009.354279 mu:0.000000 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -117413625257.344879, -13881163948.040470, 192197190950.440521 mu:0.000000 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -49908698035.358971, -38198345327.212166, 216721975333.309479 mu:0.000000 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] calculated Z= 0.438332 +[21:42:06.868] update seeds 305 +[21:42:06.868] If point is visible? -59176651087.051529, -62445879439.358154, 208607388231.850098 mu:0.000000 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -193323765297.392365, -76894636323.122314, 87358703026.824738 mu:0.000000 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] If point is visible? -47344836953.451286, -38099791746.735359, 217313779131.456299 mu:0.000000 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] calculated Z= 0.455593 +[21:42:06.868] update seeds 305 +[21:42:06.868] If point is visible? -191950430412.102692, -72886611709.505005, 93600109063.137909 mu:0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] If point is visible? -47573768064.229027, -36121345407.236748, 217601450628.963165 mu:0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -104307492299.998993, -5033206377.444115, 200032547855.241028 mu:0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -46887532239.201340, -16240067006.659084, 220127748959.116272 mu:0.000000 unit_bearing:0.224725 -0.190320 0.955655 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -192661830518.466797, -74898030776.777939, 90499228535.769730 mu:0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] If point is visible? -46730554782.192429, -18218123936.760990, 220006276109.670837 mu:0.000000 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -102095876382.653824, -2908654233.619668, 201212271181.483002 mu:0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -98121287773.445953, 21029975680.259262, 202109770487.142090 mu:0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -127585051854.027451, 26774424107.305679, 184183579819.281403 mu:0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -126319735836.147385, 57688655408.940018, 177858791442.406311 mu:0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.868] If point is visible? -106900306497.069778, 47711989001.964584, 192910074631.075043 mu:0.000000 unit_bearing:-0.052023 0.105679 0.993039 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.868] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -59959642643.117226, 65263800208.904549, 207518394254.958435 mu:0.000000 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.869] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -187338822253.737854, 75793105160.250092, 100389128919.519775 mu:0.000000 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.869] If point is visible? 5758976149.720721, 87852228697.787872, 207767240979.607635 mu:0.000000 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.869] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -65144810395.762856, 63199496771.269447, 206592312548.458374 mu:0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.869] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -33664972913.078621, 111761912249.881927, 193117453604.933014 mu:0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.869] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? 12623203520.753111, 116075337893.915649, 193094735773.712799 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.869] If point is visible? -10369923523.993900, 89983037352.427063, 206673471913.277496 mu:0.000000 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.869] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.869] calculated Z= 0.850735 +[21:42:06.869] update seeds 305 +[21:42:06.869] If point is visible? 3228678160.604472, 89735393938.961884, 207015798985.728882 mu:0.000000 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.099574 y=0.000000 z=-3.222321 +[21:42:06.869] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:06.869] calculated Z= 0.905784 +[21:42:06.869] update seeds 305 +[21:42:06.869] If point is visible? -5.614680, 12.795682, 24.186181 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222289 +[21:42:06.869] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -5.614680, 12.795682, 24.186181 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222289 +[21:42:06.869] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -7.477256, 4.571889, 2.948917 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] If point is visible? 2.374062, 5.264663, 5.698517 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] If point is visible? -0.150414, 5.290408, 6.020292 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] If point is visible? -4.922480, -4.179989, 5.303172 mu:0.093899 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] If point is visible? -4.927192, -3.995986, 5.388310 mu:0.093899 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -4.931001, -3.973092, 5.396764 mu:0.093899 unit_bearing:-0.220701 -0.468921 0.855222 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -4.971634, -3.720643, 5.486101 mu:0.093899 unit_bearing:-0.221187 -0.446416 0.867058 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -1.971363, -3.064937, 6.803620 mu:0.093899 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -5.076699, -3.377496, 5.566167 mu:0.093899 unit_bearing:-0.227427 -0.415351 0.880773 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -8.529574, -3.415121, 2.317401 mu:0.093899 unit_bearing:-0.624195 -0.381680 0.681690 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] If point is visible? -8.533983, -3.393193, 2.324160 mu:0.093899 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] If point is visible? -1.883997, -3.038936, 6.827437 mu:0.093899 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -1.798960, -2.989681, 6.856906 mu:0.093899 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.869] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.869] If point is visible? -1.856547, -3.014747, 6.839551 mu:0.093899 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.870] If point is visible? -1.771395, -2.965503, 6.868652 mu:0.093899 unit_bearing:0.105938 -0.391858 0.913906 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.870] If point is visible? -8.538367, -3.371254, 2.330866 mu:0.093899 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -3.953113, -3.114303, 6.204672 mu:0.093899 unit_bearing:-0.108544 -0.398128 0.910885 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.870] If point is visible? -3.922023, -3.136356, 6.210017 mu:0.093899 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.870] If point is visible? -3.780773, -3.130322, 6.268027 mu:0.093899 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.870] If point is visible? -1.632906, -2.844656, 6.925278 mu:0.093899 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.870] If point is visible? -1.602640, -2.843819, 6.930040 mu:0.093899 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.870] If point is visible? -8.437893, -3.206605, 2.574799 mu:0.093899 unit_bearing:-0.608475 -0.365192 0.704552 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -5.180802, -3.009872, 5.639878 mu:0.093899 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.870] If point is visible? -8.427109, -3.160797, 2.615316 mu:0.093899 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -8.408066, -3.159213, 2.643243 mu:0.093899 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -8.388945, -3.157626, 2.671084 mu:0.093899 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -8.441997, -3.184496, 2.581078 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -8.431153, -3.138658, 2.621489 mu:0.093899 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -8.392968, -3.135461, 2.677255 mu:0.093899 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -8.373761, -3.133859, 2.705010 mu:0.093899 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -1.605078, -2.820497, 6.936182 mu:0.093899 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.870] If point is visible? -1.574786, -2.819666, 6.940856 mu:0.093899 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.870] If point is visible? -8.396966, -3.113288, 2.683373 mu:0.093899 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -8.377749, -3.111673, 2.711127 mu:0.093899 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -8.358457, -3.110056, 2.738796 mu:0.093899 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -8.385651, -3.067277, 2.723202 mu:0.093899 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -8.366338, -3.065635, 2.750869 mu:0.093899 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? -8.549859, -2.901489, 2.573412 mu:0.093899 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] If point is visible? 2.807276, -1.313168, 6.938526 mu:0.093899 unit_bearing:0.525495 -0.238661 0.816637 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.870] If point is visible? -0.658550, -1.207109, 7.344013 mu:0.093899 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.870] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -0.627391, -1.206639, 7.345669 mu:0.093899 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -0.628777, -1.183258, 7.348243 mu:0.093899 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? 2.146226, -0.849179, 7.153241 mu:0.093899 unit_bearing:0.473124 -0.197875 0.858487 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -0.581974, -0.901881, 7.378193 mu:0.093899 unit_bearing:0.233178 -0.205361 0.950502 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -1.401152, -0.657898, 7.327088 mu:0.093899 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -2.044174, -0.649057, 7.228239 mu:0.093899 unit_bearing:0.098354 -0.180082 0.978722 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] calculated Z= 0.262716 +[21:42:06.871] update seeds 305 +[21:42:06.871] If point is visible? -1.434141, -0.611704, 7.325746 mu:0.093899 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -1.593058, -0.497857, 7.310419 mu:0.093899 unit_bearing:0.141639 -0.166930 0.975742 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -1.592015, -0.521255, 7.309435 mu:0.093899 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -1.433038, -0.635106, 7.324502 mu:0.093899 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -1.402267, -0.634496, 7.328384 mu:0.093899 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -3.921944, -0.433627, 6.708356 mu:0.093899 unit_bearing:-0.083774 -0.154054 0.984504 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -3.438386, -0.178621, 6.888927 mu:0.093899 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.871] If point is visible? -3.379814, -0.176302, 6.908121 mu:0.093899 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.871] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? 1.192764, -0.196760, 7.346887 mu:0.093899 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? -1.939020, -0.271510, 7.263845 mu:0.093899 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? 1.225505, -0.220048, 7.342373 mu:0.093899 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? -3.727786, -0.237507, 6.787502 mu:0.093899 unit_bearing:-0.063566 -0.136682 0.988573 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? -3.698788, -0.236256, 6.797995 mu:0.093899 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? -3.669762, -0.235015, 6.808403 mu:0.093899 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? -3.295181, -0.079373, 6.936355 mu:0.093899 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? -3.265771, -0.078252, 6.945569 mu:0.093899 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? -3.237153, -0.053769, 6.954595 mu:0.093899 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? -3.150271, -0.003753, 6.981117 mu:0.093899 unit_bearing:-0.005691 -0.117112 0.993102 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? -3.120729, -0.002677, 6.989904 mu:0.093899 unit_bearing:-0.002795 -0.117112 0.993115 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? -3.179002, -0.028204, 6.972445 mu:0.093899 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.872] If point is visible? -3.149487, -0.027118, 6.981316 mu:0.093899 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.872] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.873] If point is visible? 0.218278, 0.546040, 7.408663 mu:0.093899 unit_bearing:0.310742 -0.070764 0.947856 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.873] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.873] If point is visible? -2.750849, 0.709573, 7.067683 mu:0.093899 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.873] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.873] calculated Z= 0.395497 +[21:42:06.873] update seeds 305 +[21:42:06.873] If point is visible? -6.649496, 0.665336, 5.148615 mu:0.093899 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.873] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.873] If point is visible? -4.810547, 1.334062, 6.235154 mu:0.093899 unit_bearing:-0.170559 0.016108 0.985216 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.873] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.873] If point is visible? -4.950147, 1.187312, 6.184010 mu:0.093899 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.873] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.873] If point is visible? -3.111688, 1.369186, 6.900396 mu:0.093899 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.873] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.873] If point is visible? -3.082067, 1.370245, 6.909020 mu:0.093899 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.873] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.873] If point is visible? -3.200313, 1.389021, 6.870892 mu:0.093899 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.873] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.873] If point is visible? -2.813642, 1.517641, 6.963332 mu:0.093899 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.873] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.873] calculated Z= 0.160413 +[21:42:06.873] update seeds 305 +[21:42:06.873] If point is visible? -4.387959, 1.404290, 6.424159 mu:0.093899 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.873] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.874] If point is visible? -1.815460, 1.589283, 7.167427 mu:0.093899 unit_bearing:0.124596 0.029226 0.991777 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.874] If point is visible? -1.998294, 1.631525, 7.129004 mu:0.093899 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.874] If point is visible? -1.967810, 1.632177, 7.134447 mu:0.093899 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.874] calculated Z= 0.641354 +[21:42:06.874] update seeds 305 +[21:42:06.874] If point is visible? -7.434707, 1.266740, 4.393967 mu:0.093899 unit_bearing:-0.455668 0.030903 0.889613 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] If point is visible? -7.411221, 1.246935, 4.419774 mu:0.093899 unit_bearing:-0.452936 0.028762 0.891079 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] If point is visible? -4.434004, 2.066007, 6.283528 mu:0.093899 unit_bearing:-0.133001 0.083771 0.987569 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.874] If point is visible? -4.433404, 2.088821, 6.278815 mu:0.093899 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.874] If point is visible? -4.332238, 2.570836, 6.205945 mu:0.093899 unit_bearing:-0.124247 0.131709 0.983471 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.874] If point is visible? -4.331301, 2.593469, 6.200165 mu:0.093899 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.874] If point is visible? -3.139165, 2.761436, 6.603779 mu:0.093899 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.874] If point is visible? -3.638078, 2.718563, 6.447491 mu:0.093899 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.874] If point is visible? -3.609002, 2.719853, 6.457720 mu:0.093899 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.874] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.875] If point is visible? -3.636105, 2.763773, 6.435390 mu:0.093899 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.875] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.875] If point is visible? -1.194904, 2.985476, 6.941543 mu:0.093899 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.875] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.875] If point is visible? -1.902061, 2.953423, 6.849683 mu:0.093899 unit_bearing:0.112834 0.159999 0.980647 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.875] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.875] If point is visible? -1.871583, 2.953983, 6.854926 mu:0.093899 unit_bearing:0.115719 0.159991 0.980312 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.875] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.875] If point is visible? -1.900020, 2.998438, 6.836739 mu:0.093899 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.875] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.875] If point is visible? -1.839049, 2.999539, 6.847134 mu:0.093899 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.875] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.876] If point is visible? -5.065483, 2.951090, 5.724611 mu:0.093899 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.876] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.876] If point is visible? -5.010476, 2.954984, 5.753641 mu:0.093899 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.876] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.876] If point is visible? -1.195884, 2.963002, 6.948012 mu:0.093899 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.876] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.876] If point is visible? -4.419836, 3.082453, 6.010806 mu:0.093899 unit_bearing:-0.135626 0.181625 0.973970 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.876] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.876] If point is visible? -4.391607, 3.084115, 6.023408 mu:0.093899 unit_bearing:-0.132746 0.181635 0.974365 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.876] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.876] If point is visible? -1.123617, 3.187742, 6.887406 mu:0.093899 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.876] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.876] If point is visible? -4.394165, 3.039269, 6.037061 mu:0.093899 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.876] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.876] If point is visible? -1.184369, 3.209653, 6.874128 mu:0.093899 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.876] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.876] If point is visible? -1.153447, 3.209888, 6.877328 mu:0.093899 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.876] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.876] If point is visible? -1.366049, 3.275045, 6.831885 mu:0.093899 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.876] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.876] If point is visible? -1.364871, 3.297386, 6.824728 mu:0.093899 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.877] If point is visible? -1.334071, 3.297695, 6.828458 mu:0.093899 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.877] If point is visible? -1.303251, 3.297990, 6.832099 mu:0.093899 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.877] If point is visible? -1.643557, 3.249266, 6.801417 mu:0.093899 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.877] If point is visible? -7.427226, 3.231505, 3.797614 mu:0.093899 unit_bearing:-0.464359 0.220843 0.857671 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] If point is visible? -6.847505, 3.374780, 4.293857 mu:0.093899 unit_bearing:-0.398598 0.228517 0.888200 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.877] If point is visible? -7.284589, 3.273557, 3.924426 mu:0.093899 unit_bearing:-0.448032 0.223311 0.865679 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] If point is visible? 1.146969, 4.300938, 6.440236 mu:0.093899 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] If point is visible? -0.762750, 4.422232, 6.443132 mu:0.093899 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] If point is visible? -3.106861, 4.768420, 5.812900 mu:0.093899 unit_bearing:-0.017136 0.341020 0.939900 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] If point is visible? -3.077661, 4.769560, 5.821966 mu:0.093899 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] If point is visible? -5.820575, 4.558299, 4.517753 mu:0.093899 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] If point is visible? -4.716979, 5.140478, 4.881492 mu:0.093899 unit_bearing:-0.185504 0.386354 0.903503 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] If point is visible? -4.686711, 5.163653, 4.883948 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] If point is visible? -4.512611, -3.116386, 5.955373 mu:0.093899 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.877] If point is visible? -2.025927, -3.113345, 6.778337 mu:0.093899 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.877] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.878] If point is visible? -4.062494, -3.142497, 6.149809 mu:0.093899 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.878] If point is visible? -4.006400, -3.140027, 6.174156 mu:0.093899 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.878] If point is visible? -8.441997, -3.184496, 2.581078 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] If point is visible? -1.911401, -3.063126, 6.815182 mu:0.093899 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.878] If point is visible? 3.954637, -2.067943, 6.405969 mu:0.093899 unit_bearing:0.612340 -0.302911 0.730263 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.878] If point is visible? 3.304462, -1.703795, 6.723865 mu:0.093899 unit_bearing:0.563347 -0.272611 0.779951 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.878] If point is visible? -1.657413, -1.038563, 7.261547 mu:0.093899 unit_bearing:0.132803 -0.216765 0.967149 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.878] If point is visible? -0.593409, -1.252936, 7.341924 mu:0.093899 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.878] If point is visible? -0.664026, -1.113577, 7.353989 mu:0.093899 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.878] If point is visible? -0.598971, -1.159421, 7.352334 mu:0.093899 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.878] If point is visible? -0.676804, -0.879796, 7.375309 mu:0.093899 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.878] If point is visible? -3.949629, -0.458341, 6.696544 mu:0.093899 unit_bearing:-0.086659 -0.156223 0.983913 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.878] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -3.668823, -0.258402, 6.808162 mu:0.093899 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -1.938099, -0.294897, 7.263375 mu:0.093899 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -3.612550, -0.209172, 6.829154 mu:0.093899 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -3.554304, -0.206748, 6.849372 mu:0.093899 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -2.918914, 0.191395, 7.045669 mu:0.093899 unit_bearing:0.017480 -0.099663 0.994868 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -3.753500, 0.718189, 6.755150 mu:0.093899 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -3.695402, 0.720731, 6.776052 mu:0.093899 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? 0.155286, 0.522908, 7.411522 mu:0.093899 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -2.933568, 1.121166, 6.982011 mu:0.093899 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -3.111758, 1.346106, 6.903471 mu:0.093899 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -4.501112, 1.421088, 6.370584 mu:0.093899 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -4.501401, 1.375046, 6.377159 mu:0.093899 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -1.292109, 1.620725, 7.235598 mu:0.093899 unit_bearing:0.173630 0.031376 0.984311 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -3.169956, 1.528426, 6.860019 mu:0.093899 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.879] If point is visible? -2.736794, 2.412589, 6.809697 mu:0.093899 unit_bearing:0.034851 0.110052 0.993315 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.879] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.880] If point is visible? -2.665595, 2.732018, 6.746055 mu:0.093899 unit_bearing:0.040619 0.140550 0.989240 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.880] If point is visible? -3.565061, 2.336649, 6.572951 mu:0.093899 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.880] calculated Z= 0.236964 +[21:42:06.880] update seeds 305 +[21:42:06.880] If point is visible? -1.188743, 3.120105, 6.901690 mu:0.093899 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.880] If point is visible? -1.248377, 3.164381, 6.881336 mu:0.093899 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.880] If point is visible? -2.723512, 2.775445, 6.718944 mu:0.093899 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.880] If point is visible? -2.663740, 2.777248, 6.734026 mu:0.093899 unit_bearing:0.040616 0.144903 0.988612 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.880] calculated Z= 0.188549 +[21:42:06.880] update seeds 305 +[21:42:06.880] If point is visible? -1.246156, 3.209142, 6.867461 mu:0.093899 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.880] If point is visible? -0.701880, 4.008221, 6.625944 mu:0.093899 unit_bearing:0.218440 0.260866 0.940336 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? 1.145410, 4.279502, 6.449950 mu:0.093899 unit_bearing:0.381048 0.288163 0.878501 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? -0.733578, 4.400502, 6.455000 mu:0.093899 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? 1.590713, 4.262287, 6.389796 mu:0.093899 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? 1.587741, 4.219550, 6.409154 mu:0.093899 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? 1.651456, 4.216814, 6.398974 mu:0.093899 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? -7.477256, 4.571889, 2.948917 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? 2.069965, 5.407695, 5.692096 mu:0.093899 unit_bearing:0.447983 0.401983 0.798574 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? -6.064051, 5.270831, 3.852987 mu:0.093899 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? -4.741251, 5.159358, 4.855587 mu:0.093899 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? -4.686711, 5.163653, 4.883948 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? -6.049683, 5.352897, 3.803298 mu:0.093899 unit_bearing:-0.333276 0.418490 0.844863 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] If point is visible? -1.846094, -3.107898, 6.812995 mu:0.093899 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.880] If point is visible? -0.803805, -0.834854, 7.371265 mu:0.093899 unit_bearing:0.213234 -0.199035 0.956513 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.880] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -0.679203, -0.833053, 7.378954 mu:0.093899 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -1.382885, -2.907996, 6.942009 mu:0.093899 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -3.726844, -0.260893, 6.787262 mu:0.093899 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] calculated Z= 0.096038 +[21:42:06.881] update seeds 305 +[21:42:06.881] If point is visible? -0.869462, -1.772759, 7.250576 mu:0.093899 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] calculated Z= 0.688117 +[21:42:06.881] update seeds 305 +[21:42:06.881] If point is visible? -0.745521, -1.770461, 7.259339 mu:0.093899 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -0.752297, -1.676918, 7.274292 mu:0.093899 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -8.538873, -3.460324, 2.275028 mu:0.093899 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] If point is visible? -3.269714, 0.038568, 6.944568 mu:0.093899 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? 0.156140, 0.476647, 7.413676 mu:0.093899 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -3.497737, -0.157594, 6.869485 mu:0.093899 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -2.066764, -0.110851, 7.243568 mu:0.093899 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -3.051660, 0.978116, 6.963227 mu:0.093899 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -3.384074, -0.059420, 6.908100 mu:0.093899 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -1.826202, -0.011646, 7.286513 mu:0.093899 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -3.170644, 1.066521, 6.919078 mu:0.093899 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -4.781838, 1.450762, 6.232229 mu:0.093899 unit_bearing:-0.167673 0.027018 0.985472 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -4.670433, 1.365404, 6.299221 mu:0.093899 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.881] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.881] If point is visible? -1.312268, 3.118996, 6.887980 mu:0.093899 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.882] calculated Z= 0.313197 +[21:42:06.882] update seeds 305 +[21:42:06.882] If point is visible? -1.562619, 3.026327, 6.883013 mu:0.093899 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.882] If point is visible? -2.785054, 2.728359, 6.715544 mu:0.093899 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.882] If point is visible? -1.772863, 3.647986, 6.642222 mu:0.093899 unit_bearing:0.121248 0.227106 0.966293 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.882] If point is visible? -1.650791, 3.649800, 6.661484 mu:0.093899 unit_bearing:0.132756 0.227055 0.964791 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.882] If point is visible? -4.630018, 2.823453, 5.992884 mu:0.093899 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.882] calculated Z= 0.558306 +[21:42:06.882] update seeds 305 +[21:42:06.882] If point is visible? 1.015304, 4.240780, 6.482821 mu:0.093899 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] If point is visible? 1.651456, 4.216814, 6.398974 mu:0.093899 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] If point is visible? -2.591851, 3.982913, 6.334971 mu:0.093899 unit_bearing:0.040470 0.261837 0.964263 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] If point is visible? -1.712307, 4.438396, 6.323182 mu:0.093899 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] If point is visible? -2.598629, 3.894742, 6.369477 mu:0.093899 unit_bearing:0.040484 0.253225 0.966560 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:06.882] calculated Z= 0.210178 +[21:42:06.882] update seeds 305 +[21:42:06.882] If point is visible? 2.255403, 5.354477, 5.677149 mu:0.093899 unit_bearing:0.464118 0.397194 0.791727 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] If point is visible? -8.026627, 3.738206, 2.827817 mu:0.093899 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] If point is visible? 2.374062, 5.264663, 5.698517 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] If point is visible? -0.150414, 5.290408, 6.020292 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=-0.099566 y=0.000000 z=-3.222282 +[21:42:06.882] If point is visible? -2608609.947964, 7847758.074771, 16505706.445425 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=-0.099570 y=0.000000 z=-3.222280 +[21:42:06.882] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:06.882] If point is visible? -2608609.947964, 7847758.074771, 16505706.445425 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=-0.099570 y=0.000000 z=-3.222280 +[21:42:06.882] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:06.882] If point is visible? -2.000489, -2.656566, 2.954167 mu:0.143122 unit_bearing:-0.223120 -0.485109 0.845510 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.882] If point is visible? -1.999677, -2.671579, 2.947939 mu:0.143122 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.882] If point is visible? -4.802929, -2.173026, 1.465525 mu:0.143122 unit_bearing:-0.635373 -0.390455 0.666218 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.882] If point is visible? 0.067895, -2.012295, 3.466669 mu:0.143122 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.882] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.882] If point is visible? 0.167461, -1.981456, 3.472640 mu:0.143122 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.882] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.882] If point is visible? -1.108765, -2.005849, 3.394176 mu:0.143122 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.882] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.882] If point is visible? -4.734104, -2.069570, 1.579504 mu:0.143122 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.882] If point is visible? -4.718151, -2.069018, 1.595088 mu:0.143122 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.882] If point is visible? 0.286902, -1.935374, 3.480286 mu:0.143122 unit_bearing:0.108792 -0.391837 0.913580 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.882] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.882] If point is visible? 0.365897, -1.858759, 3.496930 mu:0.143122 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.882] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.883] If point is visible? 0.385956, -1.858767, 3.495508 mu:0.143122 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.883] If point is visible? -4.599646, -1.948095, 1.755009 mu:0.143122 unit_bearing:-0.603700 -0.363551 0.709490 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? -4.633519, -1.934784, 1.729395 mu:0.143122 unit_bearing:-0.608739 -0.361214 0.706372 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? -4.584567, -1.932875, 1.774516 mu:0.143122 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? -2.093893, -1.900202, 3.198878 mu:0.143122 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.883] If point is visible? -4.587077, -1.903677, 1.783464 mu:0.143122 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? -4.570674, -1.903023, 1.798368 mu:0.143122 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? -4.554235, -1.902369, 1.813207 mu:0.143122 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? -4.618510, -1.919568, 1.748998 mu:0.143122 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? -4.571910, -1.888409, 1.802784 mu:0.143122 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? -4.555464, -1.887747, 1.817621 mu:0.143122 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? 0.385727, -1.843441, 3.499747 mu:0.143122 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.883] If point is visible? 0.405788, -1.843454, 3.498265 mu:0.143122 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.883] If point is visible? 0.385498, -1.828112, 3.503948 mu:0.143122 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.883] If point is visible? -4.573138, -1.873789, 1.807162 mu:0.143122 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? -4.556686, -1.873119, 1.821996 mu:0.143122 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? -4.697163, -1.761778, 1.735284 mu:0.143122 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] If point is visible? -2.166846, -1.504159, 3.280277 mu:0.143122 unit_bearing:-0.243014 -0.327092 0.913211 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.883] If point is visible? 0.960223, -1.001636, 3.610949 mu:0.143122 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.883] If point is visible? 0.980379, -1.001845, 3.607761 mu:0.143122 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.883] If point is visible? 1.382448, -0.915047, 3.544238 mu:0.143122 unit_bearing:0.266890 -0.248009 0.931269 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.883] If point is visible? 1.080045, -0.818680, 3.615682 mu:0.143122 unit_bearing:0.224373 -0.235566 0.945603 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.883] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.883] If point is visible? 1.079875, -0.787969, 3.619318 mu:0.143122 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 1.100041, -0.788231, 3.615781 mu:0.143122 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 0.370960, -0.566503, 3.725894 mu:0.143122 unit_bearing:0.124230 -0.201665 0.971544 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 0.370836, -0.551115, 3.727140 mu:0.143122 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 0.592427, -0.398758, 3.719016 mu:0.143122 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 0.248644, -0.458327, 3.741062 mu:0.143122 unit_bearing:0.106990 -0.186563 0.976600 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 0.612771, -0.414289, 3.716048 mu:0.143122 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 0.490773, -0.336547, 3.731689 mu:0.143122 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 0.409347, -0.274584, 3.740842 mu:0.143122 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 2.301553, -0.190105, 3.336524 mu:0.143122 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.744926, -0.077531, 3.734511 mu:0.143122 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.724777, -0.077317, 3.736353 mu:0.143122 unit_bearing:-0.031742 -0.132356 0.990694 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.704624, -0.077110, 3.738137 mu:0.143122 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.945744, -0.126053, 3.712237 mu:0.143122 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.925644, -0.125780, 3.714665 mu:0.143122 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.905539, -0.125513, 3.717035 mu:0.143122 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 0.246466, -0.150947, 3.754605 mu:0.143122 unit_bearing:0.107104 -0.143134 0.983891 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.905680, -0.110159, 3.717279 mu:0.143122 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 2.301574, -0.174937, 3.336939 mu:0.143122 unit_bearing:0.397248 -0.139257 0.907084 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.905819, -0.094806, 3.717490 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? 2.202250, -0.110841, 3.373839 mu:0.143122 unit_bearing:0.383428 -0.130795 0.914262 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.684591, -0.061558, 3.740004 mu:0.143122 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.644503, -0.030478, 3.743462 mu:0.143122 unit_bearing:-0.020166 -0.125826 0.991847 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.564129, 0.016247, 3.749331 mu:0.143122 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.543940, 0.016406, 3.750647 mu:0.143122 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.342435, 0.109643, 3.759728 mu:0.143122 unit_bearing:0.023270 -0.106205 0.994072 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.884] If point is visible? -0.342523, 0.124965, 3.759468 mu:0.143122 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.884] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? 1.661423, 0.346164, 3.530388 mu:0.143122 unit_bearing:0.307918 -0.068606 0.948936 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -0.263159, 0.507395, 3.744443 mu:0.143122 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] calculated Z= 0.688622 +[21:42:06.885] update seeds 305 +[21:42:06.885] If point is visible? 1.641277, 0.361901, 3.534785 mu:0.143122 unit_bearing:0.305092 -0.066447 0.950002 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -3.038326, 0.537705, 3.093883 mu:0.143122 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -3.038387, 0.552767, 3.092555 mu:0.143122 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -0.506377, 0.906437, 3.693811 mu:0.143122 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -0.484143, 0.906591, 3.695063 mu:0.143122 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -0.506442, 0.916478, 3.692484 mu:0.143122 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -0.486222, 0.916618, 3.693625 mu:0.143122 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -0.587265, 0.946125, 3.683257 mu:0.143122 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -0.567059, 0.946294, 3.684631 mu:0.143122 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -0.324249, 1.023378, 3.685806 mu:0.143122 unit_bearing:0.026186 0.024885 0.999347 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -1.431616, 0.962686, 3.568765 mu:0.143122 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -0.304002, 1.023452, 3.686424 mu:0.143122 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? 0.243526, 1.083031, 3.671832 mu:0.143122 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? 0.263821, 1.082895, 3.670813 mu:0.143122 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -1.429696, 1.428795, 3.486573 mu:0.143122 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.885] If point is visible? -1.903725, 1.726640, 3.303294 mu:0.143122 unit_bearing:-0.201942 0.131459 0.970535 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.885] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.886] If point is visible? -1.366911, 1.758068, 3.420192 mu:0.143122 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.886] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.886] If point is visible? -0.885176, 1.827043, 3.475790 mu:0.143122 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.886] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.886] If point is visible? -0.542659, 1.830976, 3.506064 mu:0.143122 unit_bearing:-0.005688 0.142744 0.989743 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.886] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.886] If point is visible? -0.542528, 1.845802, 3.502021 mu:0.143122 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.886] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.886] If point is visible? 0.287866, 1.963557, 3.472028 mu:0.143122 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.886] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.886] If point is visible? 0.308125, 1.963361, 3.470883 mu:0.143122 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.886] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.886] If point is visible? 0.328384, 1.963156, 3.469678 mu:0.143122 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.886] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.886] If point is visible? 0.753704, 1.942088, 3.435020 mu:0.143122 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.886] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.886] If point is visible? -0.884881, 1.856682, 3.467669 mu:0.143122 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.886] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.886] If point is visible? -0.864770, 1.856981, 3.469917 mu:0.143122 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.886] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.887] If point is visible? -1.879512, 2.036999, 3.219909 mu:0.143122 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.887] If point is visible? 0.328487, 1.977907, 3.465326 mu:0.143122 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.887] If point is visible? -1.423067, 2.051910, 3.324276 mu:0.143122 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.887] If point is visible? 0.754722, 2.118451, 3.380884 mu:0.143122 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 0.774956, 2.118037, 3.378368 mu:0.143122 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 0.451303, 2.152900, 3.401992 mu:0.143122 unit_bearing:0.135792 0.190290 0.972291 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 0.613246, 2.150408, 3.387339 mu:0.143122 unit_bearing:0.158807 0.190191 0.968818 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 0.633487, 2.150055, 3.385240 mu:0.143122 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 0.653726, 2.149693, 3.383080 mu:0.143122 unit_bearing:0.164554 0.190164 0.967863 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 0.774867, 2.103379, 3.383065 mu:0.143122 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 0.734578, 2.133509, 3.378611 mu:0.143122 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 0.775046, 2.132687, 3.373637 mu:0.143122 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 0.653826, 2.164337, 3.378285 mu:0.143122 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 0.674063, 2.163965, 3.376066 mu:0.143122 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 2.476469, 2.604400, 2.727553 mu:0.143122 unit_bearing:0.420015 0.266192 0.867600 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 2.496082, 2.602977, 2.719646 mu:0.143122 unit_bearing:0.422751 0.266127 0.866290 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 2.495087, 2.757395, 2.650020 mu:0.143122 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 0.982444, 2.892285, 3.045361 mu:0.143122 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? -0.582178, 3.163279, 2.989010 mu:0.143122 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? -2.531174, 3.077097, 2.560286 mu:0.143122 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? -1.681776, 3.482890, 2.624549 mu:0.143122 unit_bearing:-0.174068 0.392782 0.903007 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? 1.506302, 3.470058, 2.625731 mu:0.143122 unit_bearing:0.281436 0.390939 0.876333 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? -4.632231, -1.949351, 1.724859 mu:0.143122 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] If point is visible? -1.622294, -1.982810, 3.302224 mu:0.143122 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.887] If point is visible? -1.306450, -2.008487, 3.360182 mu:0.143122 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.887] If point is visible? -1.266969, -2.007934, 3.367467 mu:0.143122 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.887] If point is visible? 0.167736, -1.996766, 3.468079 mu:0.143122 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.887] If point is visible? 3.980013, -1.511847, 2.244958 mu:0.143122 unit_bearing:0.626651 -0.310126 0.714934 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.887] calculated Z= 0.182048 +[21:42:06.887] update seeds 305 +[21:42:06.887] If point is visible? 1.120448, -0.834554, 3.606668 mu:0.143122 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.887] If point is visible? 1.079791, -0.772614, 3.621084 mu:0.143122 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.887] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 1.120123, -0.773146, 3.613951 mu:0.143122 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 3.548648, -1.230682, 2.608270 mu:0.143122 unit_bearing:0.568316 -0.276522 0.774954 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 1.038456, -0.587849, 3.646402 mu:0.143122 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] calculated Z= 0.551819 +[21:42:06.888] update seeds 305 +[21:42:06.888] If point is visible? 1.078839, -0.588399, 3.639541 mu:0.143122 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 1.119211, -0.588970, 3.632437 mu:0.143122 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 1.079626, -0.741905, 3.624510 mu:0.143122 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 0.473260, -0.705524, 3.705458 mu:0.143122 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 2.479308, -0.378320, 3.260443 mu:0.143122 unit_bearing:0.421802 -0.166814 0.891210 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? -0.905819, -0.094806, 3.717490 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? -0.865591, -0.094289, 3.722052 mu:0.143122 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? -0.825344, -0.093796, 3.726381 mu:0.143122 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 2.162413, -0.124686, 3.387360 mu:0.143122 unit_bearing:0.377834 -0.132998 0.916271 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 0.266923, -0.181732, 3.752826 mu:0.143122 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 0.185114, -0.058659, 3.758763 mu:0.143122 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 1.641288, 0.346732, 3.535578 mu:0.143122 unit_bearing:0.305085 -0.068616 0.949850 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] calculated Z= 0.287740 +[21:42:06.888] update seeds 305 +[21:42:06.888] If point is visible? -0.949782, 0.516603, 3.693621 mu:0.143122 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? -0.909527, 0.517174, 3.698409 mu:0.143122 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 1.641312, 0.316385, 3.537060 mu:0.143122 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] calculated Z= 0.367393 +[21:42:06.888] update seeds 305 +[21:42:06.888] If point is visible? -1.511493, 0.960707, 3.552889 mu:0.143122 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? -0.385063, 0.765567, 3.716873 mu:0.143122 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] calculated Z= 0.833298 +[21:42:06.888] update seeds 305 +[21:42:06.888] If point is visible? -0.304022, 1.008337, 3.688646 mu:0.143122 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? -3.603689, 0.891227, 2.756529 mu:0.143122 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? -0.546739, 1.037192, 3.672914 mu:0.143122 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? 0.629150, 1.064096, 3.644751 mu:0.143122 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.888] If point is visible? -0.866977, 1.604273, 3.534702 mu:0.143122 unit_bearing:-0.052020 0.110040 0.992565 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.888] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? -0.259909, 1.817568, 3.522359 mu:0.143122 unit_bearing:0.034832 0.140555 0.989460 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? 0.754279, 2.045086, 3.404030 mu:0.143122 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? -0.259674, 1.847223, 3.514303 mu:0.143122 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? 0.713972, 2.075245, 3.399724 mu:0.143122 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? 0.714155, 2.104590, 3.390433 mu:0.143122 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? 1.000713, 2.649174, 3.148800 mu:0.143122 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? 2.475783, 2.716860, 2.677348 mu:0.143122 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? 2.475601, 2.744874, 2.664446 mu:0.143122 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? 1.002442, 2.877480, 3.048691 mu:0.143122 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? 2.160714, 2.766657, 2.782394 mu:0.143122 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? -2.809545, 3.546964, 2.153064 mu:0.143122 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? -2.771913, 3.550174, 2.169760 mu:0.143122 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? 1.486328, 3.443769, 2.646684 mu:0.143122 unit_bearing:0.278729 0.386839 0.879014 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? 2.738500, 3.458451, 2.144638 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? 0.921155, -1.170279, 3.590063 mu:0.143122 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? 1.001260, -1.109596, 3.587744 mu:0.143122 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] calculated Z= 0.516217 +[21:42:06.889] update seeds 305 +[21:42:06.889] If point is visible? 0.208335, -2.027306, 3.457140 mu:0.143122 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? 1.078690, -0.557707, 3.642130 mu:0.143122 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? 0.526988, -1.904861, 3.470877 mu:0.143122 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? 0.607163, -1.905010, 3.462845 mu:0.143122 unit_bearing:0.154437 -0.387219 0.908961 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? -1.264513, -0.315523, 3.659782 mu:0.143122 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? -0.383315, 0.186030, 3.756568 mu:0.143122 unit_bearing:0.017481 -0.095299 0.995295 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? -0.946301, -0.064651, 3.713014 mu:0.143122 unit_bearing:-0.063574 -0.130150 0.989454 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? -0.865858, -0.063590, 3.722372 mu:0.143122 unit_bearing:-0.052002 -0.130162 0.990128 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? -0.785340, -0.062626, 3.730794 mu:0.143122 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? 0.185114, -0.058659, 3.758763 mu:0.143122 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? 1.641393, 0.225273, 3.540689 mu:0.143122 unit_bearing:0.305019 -0.085959 0.948459 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? -0.705232, -0.000379, 3.738511 mu:0.143122 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? 0.346971, 0.001956, 3.750528 mu:0.143122 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? -1.670897, 0.956395, 3.518316 mu:0.143122 unit_bearing:-0.167677 0.018291 0.985672 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? -1.591143, 1.018978, 3.527260 mu:0.143122 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? -0.546833, 0.734153, 3.711724 mu:0.143122 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] calculated Z= 0.716184 +[21:42:06.889] update seeds 305 +[21:42:06.889] If point is visible? -0.300355, 1.817465, 3.521304 mu:0.143122 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] calculated Z= 0.564301 +[21:42:06.889] update seeds 305 +[21:42:06.889] If point is visible? -1.584208, 1.914735, 3.331270 mu:0.143122 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] calculated Z= 0.311512 +[21:42:06.889] update seeds 305 +[21:42:06.889] If point is visible? 0.592308, 2.048018, 3.421992 mu:0.143122 unit_bearing:0.155998 0.175042 0.972124 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] If point is visible? -1.591255, 0.958610, 3.536074 mu:0.143122 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.889] If point is visible? 0.510910, 1.990394, 3.447433 mu:0.143122 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.889] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.290918, 2.637408, 3.245089 mu:0.143122 unit_bearing:0.028938 0.261854 0.964674 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.890] If point is visible? 1.000509, 2.620473, 3.160694 mu:0.143122 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.890] If point is visible? -0.291784, 2.579629, 3.268326 mu:0.143122 unit_bearing:0.028948 0.253240 0.966970 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.890] If point is visible? -1.385962, 3.521713, 2.673655 mu:0.143122 unit_bearing:-0.131356 0.397441 0.908177 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.890] If point is visible? 2.593552, 2.651885, 2.654282 mu:0.143122 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.890] If point is visible? -2.843697, 3.597296, 2.102048 mu:0.143122 unit_bearing:-0.344295 0.418148 0.840603 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.890] If point is visible? 2.738500, 3.458451, 2.144638 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.890] If point is visible? -2.922036, 3.537007, 2.101487 mu:0.143122 unit_bearing:-0.355554 0.409593 0.840128 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.890] If point is visible? 2.737530, 3.511411, 2.110654 mu:0.143122 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.890] If point is visible? 2.121232, 2.740999, 2.808835 mu:0.143122 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.890] If point is visible? 2.514948, 2.713932, 2.661447 mu:0.143122 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222229 +[21:42:06.890] If point is visible? 2029134166.522479, 2275362565.975900, 3567830412.366196 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222228 +[21:42:06.890] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? 2029134166.522479, 2275362565.975900, 3567830412.366196 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=-0.099562 y=0.000000 z=-3.222228 +[21:42:06.890] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.122719, -0.097167, -0.334750 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? 0.145793, 0.126422, -0.324776 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.197621, 0.075446, -0.301695 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.292998, 0.091544, -0.204801 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? 0.059920, -0.043593, -0.366421 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.081836, 0.129698, -0.337445 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.139074, -0.099654, -0.327291 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.216674, -0.187305, -0.234624 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] If point is visible? -0.122719, -0.097167, -0.334750 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? 0.145793, 0.126422, -0.324776 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.292998, 0.091544, -0.204801 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.197621, 0.075446, -0.301695 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? 0.059920, -0.043593, -0.366421 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.081836, 0.129698, -0.337445 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.139074, -0.099654, -0.327291 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:06.890] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:06.890] If point is visible? -0.216674, -0.187305, -0.234624 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.010989 y=0.000000 z=0.012909 +[21:42:18.662] add new frame +[21:42:18.662] update seed +[21:42:18.662] If point is visible? -5.672243, 1.844871, -1.436038 mu:0.162477 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.125889 y=0.000000 z=-2.362746 +[21:42:18.662] If point is visible? -5.672243, 1.844871, -1.436038 mu:0.162477 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.125889 y=0.000000 z=-2.362746 +[21:42:18.662] If point is visible? 34677250521.312210, -2337424665.975772, -12285152054.538834 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] If point is visible? 27343404768.622047, 15836136387.462635, -18985658239.758114 mu:-0.000000 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 27556665081.096046, 15127430753.822453, -19253344312.556278 mu:-0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 27926639871.690762, 14110420313.272402, -19490999022.167450 mu:-0.000000 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 28439215128.274403, 12947895684.483290, -19556667892.418636 mu:-0.000000 unit_bearing:-0.227466 -0.413277 0.881738 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 21739255667.622437, 11751265853.973013, -27353477524.896923 mu:-0.000000 unit_bearing:0.051572 -0.406834 0.912045 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 28695815797.254208, 12324861232.363165, -19584385876.410168 mu:-0.000000 unit_bearing:-0.230590 -0.396593 0.888562 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 25903467847.917145, 12001659815.355013, -23321036297.052837 mu:-0.000000 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 25559523460.789661, 11956399503.123722, -23720360246.439907 mu:-0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 34014652960.559147, 13595302329.601755, -4131749906.619925 mu:-0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] If point is visible? 20827556485.003296, 11408275875.461630, -28195112187.667423 mu:-0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 28671413396.700592, 12403972908.989183, -19570174468.603329 mu:-0.000000 unit_bearing:-0.230553 -0.398677 0.887639 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 20600263509.874695, 11302770576.322142, -28403815579.697659 mu:-0.000000 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 34042837286.704216, 13520632105.107910, -4144629742.302494 mu:-0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] If point is visible? 20161833214.135296, 11012235526.999525, -28829349090.950779 mu:-0.000000 unit_bearing:0.111646 -0.391815 0.913245 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 20308979405.932667, 11109054707.037867, -28688577480.757725 mu:-0.000000 unit_bearing:0.105921 -0.393956 0.913006 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 20539145496.597679, 11214474598.945614, -28482964743.900486 mu:-0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 34232121514.661537, 12542534427.526482, -5454072377.358743 mu:-0.000000 unit_bearing:-0.601749 -0.355740 0.715085 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] If point is visible? 34216438360.401154, 12534495289.215828, -5569739000.325290 mu:-0.000000 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] If point is visible? 34200388943.914570, 12526429447.724457, -5685259900.386215 mu:-0.000000 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] If point is visible? 20015781947.141087, 10587741939.315464, -29088974071.575222 mu:-0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 19930030828.973248, 10579266866.206612, -29150869671.346760 mu:-0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 19300725240.185486, 10272319195.613129, -29679314048.925213 mu:-0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 19951601593.924648, 10499418190.072979, -29164979519.509785 mu:-0.000000 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 19865635015.306808, 10490957247.381725, -29226641619.225651 mu:-0.000000 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 34242215766.337631, 12458796366.841475, -5581153219.493853 mu:-0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] If point is visible? 34226136319.473869, 12450686207.139881, -5696685384.588218 mu:-0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] If point is visible? 29182254611.423088, 11074551661.723524, -19612509786.083839 mu:-0.000000 unit_bearing:-0.236808 -0.363022 0.901187 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 34571253706.403862, 11834783504.037161, -4864826341.714094 mu:-0.000000 unit_bearing:-0.617730 -0.334735 0.711591 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] If point is visible? 29412175792.589066, 10447596085.499136, -19613053561.429508 mu:-0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 18356850318.778904, 5852356843.504006, -31427315899.177349 mu:-0.000000 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 18264670074.684258, 5844630689.857460, -31482413154.629574 mu:-0.000000 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 17977923591.375290, 4761124455.510362, -31828072139.858822 mu:-0.000000 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 17884505834.659775, 4753608918.802979, -31881779626.858540 mu:-0.000000 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 17897276091.397175, 4673190554.846410, -31886502119.625759 mu:-0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 20455359905.004726, 2851249161.845628, -30534387962.534241 mu:-0.000000 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 20934112810.578754, 2568172680.259629, -30233551375.744537 mu:-0.000000 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 11097737667.298134, 1802703994.025238, -35106846851.714905 mu:-0.000000 unit_bearing:0.427333 -0.164601 0.888984 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 26752990493.204693, 2053520048.628181, -25277673427.945892 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 26680177269.946510, 2044125604.385441, -25355273814.486290 mu:-0.000000 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 26607143748.840115, 2034751871.113130, -25432654309.012966 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 22159333560.992298, 1705139350.831777, -29410145439.878349 mu:-0.000000 unit_bearing:0.104216 -0.143140 0.984200 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 12354138606.190413, 989014897.411832, -34717392294.384895 mu:-0.000000 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 12466614146.609438, 915015731.569407, -34679194004.775665 mu:-0.000000 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 25894883653.241817, 1619594011.018896, -26186487635.384029 mu:-0.000000 unit_bearing:-0.028849 -0.130180 0.991071 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 25819434124.507862, 1610445210.450843, -26261445249.038548 mu:-0.000000 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 25750983547.093102, 1520687735.223082, -26333905407.734764 mu:-0.000000 unit_bearing:-0.023061 -0.128004 0.991506 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 25675098261.483742, 1511580913.436631, -26408420461.282063 mu:-0.000000 unit_bearing:-0.020166 -0.128005 0.991568 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 12809417028.910181, 613280506.930654, -34560713842.297028 mu:-0.000000 unit_bearing:0.386213 -0.130770 0.913093 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 25689153684.732788, 1350336570.221832, -26403488272.647877 mu:-0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 25613046243.589489, 1341249477.281242, -26477785610.173752 mu:-0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 13245715882.312767, 397018708.718414, -34399034954.474777 mu:-0.000000 unit_bearing:0.375118 -0.124412 0.918590 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 25543560706.126198, 1251569728.025227, -26549205233.368870 mu:-0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 25396972571.135914, 1152894288.257008, -26693910126.411343 mu:-0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 25319999302.749500, 1143893850.803355, -26767318898.668911 mu:-0.000000 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 14765280762.457989, -718144899.017874, -33769379188.791920 mu:-0.000000 unit_bearing:0.336066 -0.092305 0.937304 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 15291305421.089592, -1087440133.600608, -33524523432.263378 mu:-0.000000 unit_bearing:0.322012 -0.081552 0.943217 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.662] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.662] If point is visible? 24366494532.798050, -1474407072.187887, -27622459825.811764 mu:-0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 24369283572.541149, -1554714931.313235, -27615595204.582794 mu:-0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 33387130255.043228, -662311886.326774, -15612850319.640776 mu:-0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] If point is visible? 29861831981.280674, -2744431253.705532, -21439200233.394703 mu:-0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 25345313492.558510, -3559555706.485352, -26530074745.304115 mu:-0.000000 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 25259869223.625904, -3569382947.474813, -26610124596.382748 mu:-0.000000 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 25345256400.078049, -3612515138.068167, -26522969879.833630 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 25267564584.454346, -3621454756.550988, -26595779068.717602 mu:-0.000000 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 28749103729.446735, -3400851155.368188, -22821557024.246601 mu:-0.000000 unit_bearing:-0.135953 0.016121 0.990584 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 25652584359.233021, -3736295156.372627, -26208495436.604565 mu:-0.000000 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 25575746659.149094, -3745346437.799674, -26282195146.939991 mu:-0.000000 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 28544317283.744591, -3591001876.819990, -23048359489.668926 mu:-0.000000 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 22317947010.412308, -4801877900.218369, -28943935957.943447 mu:-0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 22232552070.016048, -4809722831.191616, -29008281810.667965 mu:-0.000000 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 28500760520.583305, -6281381215.860536, -22520015954.841244 mu:-0.000000 unit_bearing:-0.130096 0.094676 0.986971 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 28433031432.432358, -6291710164.140090, -22602595550.291386 mu:-0.000000 unit_bearing:-0.127210 0.094681 0.987347 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 28588839213.522339, -5954554987.420736, -22497150178.677601 mu:-0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 28284530688.812618, -7328124908.381968, -22476301472.382359 mu:-0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 28277460011.537968, -7406886896.846281, -22459374448.763367 mu:-0.000000 unit_bearing:-0.124262 0.125181 0.984321 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 21292965581.342899, -8904731321.581020, -28743966248.705242 mu:-0.000000 unit_bearing:0.133066 0.144734 0.980482 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 25233334015.712395, -8512090468.963605, -25489672205.616745 mu:-0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26527870424.333057, -8196866576.646725, -24248374954.190784 mu:-0.000000 unit_bearing:-0.054884 0.140537 0.988553 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26454400331.050312, -8206426237.641410, -24325285000.912128 mu:-0.000000 unit_bearing:-0.051991 0.140540 0.988709 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 21829737277.792347, -9479608088.350838, -28151373318.821888 mu:-0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 21744034914.040676, -9487137455.441296, -28215091483.471455 mu:-0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 21658128121.423439, -9494630085.287138, -28278573243.393414 mu:-0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26519903050.243885, -8275490701.177037, -24230377931.532360 mu:-0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26446436964.272038, -8285051905.741094, -24307285032.656338 mu:-0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 19734382694.566208, -9493718743.634295, -29653392098.537121 mu:-0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 21649141051.235298, -9572878668.782232, -28259067652.680920 mu:-0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 29715057527.922699, -8861297960.546974, -19934717790.619663 mu:-0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 19716888456.343708, -9650027707.736610, -29614548683.176620 mu:-0.000000 unit_bearing:0.181920 0.161923 0.969890 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 19725695708.930077, -9571887893.003275, -29634036340.512096 mu:-0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 29756574909.376575, -9005918094.362659, -19807571980.550758 mu:-0.000000 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 29694668548.294086, -9017249208.854071, -19895127427.015408 mu:-0.000000 unit_bearing:-0.195991 0.177017 0.964496 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 28262486085.180939, -9335756617.641218, -21748005598.084690 mu:-0.000000 unit_bearing:-0.132754 0.179467 0.974766 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 19541677885.281010, -10358489297.805761, -29491096008.164200 mu:-0.000000 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 28272722390.224827, -9257695622.279636, -21768060530.139172 mu:-0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 21022769063.796925, -10475427862.548923, -28411420429.990173 mu:-0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 20229820028.879059, -10538493726.320864, -28958500486.812351 mu:-0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 19782239438.654152, -10572155704.869959, -29253935554.216927 mu:-0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 19712514962.831722, -10423178134.103836, -29354289810.722172 mu:-0.000000 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 19622191551.634159, -10429767187.528292, -29412408503.762135 mu:-0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 20119797879.473484, -10700843329.103401, -28975608780.497128 mu:-0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 20030488629.137787, -10707600806.630293, -29034927744.173828 mu:-0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 10478217721.591862, -14690689720.631742, -32144841075.807125 mu:-0.000000 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 12126512483.158043, -14807975321.075216, -31505107217.108227 mu:-0.000000 unit_bearing:0.378146 0.294551 0.877636 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 12142616114.175102, -14733226636.446968, -31533936095.233181 mu:-0.000000 unit_bearing:0.378193 0.292443 0.878321 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 12038932952.016262, -14735665731.357784, -31572527103.576721 mu:-0.000000 unit_bearing:0.380955 0.292381 0.877147 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 27782813386.511848, -16595814363.077995, -17652037977.815395 mu:-0.000000 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 27720880296.667442, -16607738534.332054, -17737982838.169971 mu:-0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 20947110114.627754, 11584865048.842592, -28034081017.697529 mu:-0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26241561067.164597, 12047042423.724564, -22916139736.820072 mu:-0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26107029348.934456, 12028875324.854092, -23078765041.308826 mu:-0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 20661022399.283936, 11391058032.577190, -28324303507.361126 mu:-0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 5722781251.820611, 5111493800.664905, -36055826502.310448 mu:-0.000000 unit_bearing:0.543244 -0.256827 0.799328 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 17764994964.965710, 4906920372.717206, -31925339547.594585 mu:-0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 18332088268.604500, 3649776622.379399, -31772848301.606503 mu:-0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 18145745864.754429, 3634913557.444720, -31881335124.492367 mu:-0.000000 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 17958617142.474442, 3620131546.091560, -31988793925.342289 mu:-0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 18003350377.368057, 4600267672.765423, -31837354340.568661 mu:-0.000000 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 17816303496.747269, 4585288496.659532, -31944556312.350739 mu:-0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 21182443656.872887, 4059806811.745325, -29895188044.978573 mu:-0.000000 unit_bearing:0.127084 -0.208144 0.969807 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 18028292418.050892, 4439397846.877869, -31846077280.015636 mu:-0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 21159198075.087730, 4221121540.901423, -29889307262.397808 mu:-0.000000 unit_bearing:0.127066 -0.212468 0.968871 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 27384039932.260666, 2954796794.914419, -24500688801.237907 mu:-0.000000 unit_bearing:-0.092427 -0.160557 0.982690 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 21972915967.344505, 1850111530.609521, -29540959193.715530 mu:-0.000000 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26607143748.840115, 2034751871.113130, -25432654309.012966 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26475782865.141171, 1854800005.663667, -25583058016.346699 mu:-0.000000 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26328163772.215008, 1836189920.040050, -25736286014.351986 mu:-0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 15904838500.614811, -1370337989.287516, -33227375836.030323 mu:-0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26821048561.592461, -1184766286.530678, -25261193593.186348 mu:-0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26674107571.698071, -1203617123.766009, -25415418743.805660 mu:-0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26826583580.308678, -1345337578.757853, -25247271120.999798 mu:-0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 26679637081.059834, -1364196052.987062, -25401499034.545559 mu:-0.000000 unit_bearing:-0.052056 -0.047246 0.997526 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 24875174555.078190, -2865711548.124434, -27053901881.886787 mu:-0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 34674137873.166229, -2494374774.999580, -12263053291.268826 mu:-0.000000 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] If point is visible? 28815236670.211018, -3470352941.308774, -22727494471.244396 mu:-0.000000 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.663] If point is visible? 24553452198.856422, -4179875299.628712, -27176402382.507256 mu:-0.000000 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.663] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 34677250521.312210, -2337424665.975772, -12285152054.538834 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] If point is visible? 25345256400.078049, -3612515138.068167, -26522969879.833630 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 20662509311.550762, -4866099086.817780, -30137717357.130459 mu:-0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 26417299618.481129, -6963917114.691620, -24749350660.856159 mu:-0.000000 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 24258825558.274506, -7216182705.501510, -26801796741.078815 mu:-0.000000 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 26585054031.154591, -8344491997.509408, -24135131536.997097 mu:-0.000000 unit_bearing:-0.057771 0.144886 0.987760 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 19751851695.150463, -10111619001.761292, -29436707265.646965 mu:-0.000000 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 24133846839.332245, -8634867418.096300, -26493333506.037663 mu:-0.000000 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 19892561760.562260, -10409881113.949863, -29237314867.513573 mu:-0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 18146609877.245110, -13427981275.713688, -29142582035.361073 mu:-0.000000 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 17961276391.832977, -13439378507.370955, -29251937962.772079 mu:-0.000000 unit_bearing:0.218399 0.265150 0.939147 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 12246119095.692413, -14730729266.687696, -31495053599.587605 mu:-0.000000 unit_bearing:0.375429 0.292504 0.879485 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 23300199591.164543, -13157388278.429016, -25355158282.912617 mu:-0.000000 unit_bearing:0.040456 0.270440 0.961886 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 12277980035.545732, -14581042941.364750, -31552252088.627903 mu:-0.000000 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 10600330406.300680, -14614626642.308079, -32139475762.075756 mu:-0.000000 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 10387455569.941957, -14617742868.269672, -32207492592.528210 mu:-0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 10418611421.148182, -14468695821.742655, -32264680319.994061 mu:-0.000000 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 17896514593.764744, -14644041006.358175, -28708309724.934132 mu:-0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 16072472174.926178, -16811245625.677933, -28599962894.414028 mu:-0.000000 unit_bearing:0.251194 0.358093 0.899261 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 7908651241.069173, -18409331282.769878, -30942688573.229877 mu:-0.000000 unit_bearing:0.458993 0.393377 0.796605 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 33591020910.364090, -13674045985.859779, -6600302973.276053 mu:-0.000000 unit_bearing:-0.508300 0.346354 0.788460 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] If point is visible? 30536725051.564537, -16719472535.269829, -12118905893.511206 mu:-0.000000 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] If point is visible? 27905940512.602375, -16571818732.309744, -17479517350.988430 mu:-0.000000 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 27782813386.511848, -16595814363.077995, -17652037977.815395 mu:-0.000000 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 30389734508.763287, -16893872391.265308, -12245869952.900860 mu:-0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] If point is visible? 20447630683.268185, 11533172464.963282, -28421480453.995548 mu:-0.000000 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 18006112045.542114, 6720767330.598157, -31456500669.461689 mu:-0.000000 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 25646021784.304443, 938248018.670707, -26463209861.036633 mu:-0.000000 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 34064086933.182320, 13169284460.794353, -5010803024.949983 mu:-0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] If point is visible? 18068257164.232323, 6399480988.962018, -31487853928.074257 mu:-0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 26752990493.204693, 2053520048.628181, -25277673427.945892 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 34006943120.727551, 13499017692.244852, -4494948240.100261 mu:-0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] If point is visible? 25182653158.936497, -2349589681.041902, -26818158532.304787 mu:-0.000000 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 19258700726.087975, 10759501800.062193, -29533638215.180367 mu:-0.000000 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 18167788004.499332, 3474001546.410316, -31886721549.222946 mu:-0.000000 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 26194512012.428776, 1656403687.150231, -25884437141.034122 mu:-0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 22374065404.246853, 1237823800.896649, -29270620225.606499 mu:-0.000000 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 15896703434.627392, -1210532877.627841, -33237473564.458366 mu:-0.000000 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 28936447586.883877, -4087134561.242986, -22469480433.837261 mu:-0.000000 unit_bearing:-0.144601 0.035763 0.988844 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 29213076164.620205, -3408210081.917197, -22223422415.849995 mu:-0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 25923033707.565285, 1297119675.650091, -26176593032.650661 mu:-0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 25497647605.861332, -2634325730.503338, -26492083975.554752 mu:-0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 24309311791.557438, -8460512061.210707, -26388961986.730194 mu:-0.000000 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 28889812025.145596, -8468707997.148370, -21273456814.582455 mu:-0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 20857758713.268875, -9716767624.289347, -28799974778.795895 mu:-0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 17804172938.562660, -13297910672.303671, -29412195031.856602 mu:-0.000000 unit_bearing:0.224139 0.260811 0.939010 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 8423678462.213423, -18839795158.230000, -30545113822.524082 mu:-0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] If point is visible? 12515874416.946178, -14425826152.085487, -31530122839.667156 mu:-0.000000 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 10418611421.148182, -14468695821.742655, -32264680319.994061 mu:-0.000000 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? 33129228521.151272, -14173935657.931307, -7775216030.861056 mu:-0.000000 unit_bearing:-0.476315 0.355930 0.804014 T_cur_ref: x=0.125892 y=0.000000 z=-2.362744 +[21:42:18.664] If point is visible? -2.789901, -1.055943, 9.353951 mu:0.082507 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=0.125894 y=0.000000 z=-2.362742 +[21:42:18.664] Z inverse min: 0.593824, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? -2.177471, 6.006337, 7.909547 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125894 y=0.000000 z=-2.362742 +[21:42:18.664] If point is visible? -2.789901, -1.055943, 9.353951 mu:0.082507 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=0.125894 y=0.000000 z=-2.362742 +[21:42:18.664] Z inverse min: 0.593824, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? -2.177471, 6.006337, 7.909547 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125894 y=0.000000 z=-2.362742 +[21:42:18.664] If point is visible? -896618232441.734497, -184549854955.938965, 1664017488583.596191 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.125895 y=0.000000 z=-2.362741 +[21:42:18.664] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? -17.049985, 12.738377, 20.671266 mu:0.031817 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.125895 y=0.000000 z=-2.362741 +[21:42:18.664] Z inverse min: 0.508232, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? -896618232441.734497, -184549854955.938965, 1664017488583.596191 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.125895 y=0.000000 z=-2.362741 +[21:42:18.664] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? -17.049985, 12.738377, 20.671266 mu:0.031817 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.125895 y=0.000000 z=-2.362741 +[21:42:18.664] Z inverse min: 0.508232, Z inverse max: 0.000000 +[21:42:18.664] If point is visible? -179580014552.016968, 217584080552.489288, 348110320924.305237 mu:0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.125896 y=0.000000 z=-2.362739 +[21:42:18.664] Z inverse min: 0.501810, Z inverse max: 0.000000 +[21:42:18.664] calculated Z= 0.568931 +[21:42:18.664] update seeds 305 +[21:42:18.664] If point is visible? -86438677428.946320, 229257142262.794312, 375156136876.533997 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.125896 y=0.000000 z=-2.362739 +[21:42:18.664] If point is visible? -179580014552.016968, 217584080552.489288, 348110320924.305237 mu:0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.125896 y=0.000000 z=-2.362739 +[21:42:18.664] Z inverse min: 0.501810, Z inverse max: 0.000000 +[21:42:18.664] calculated Z= 0.568931 +[21:42:18.664] update seeds 305 +[21:42:18.664] If point is visible? -86438677428.946320, 229257142262.794312, 375156136876.533997 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.125896 y=0.000000 z=-2.362739 +[21:42:18.664] If point is visible? -5.380101, 0.400458, -0.188001 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.125899 y=0.000000 z=-2.362736 +[21:42:18.664] If point is visible? -1.040891, 3.037937, 2.598656 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.125899 y=0.000000 z=-2.362736 +[21:42:18.664] If point is visible? -0.970906, 3.037066, 2.615126 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.125899 y=0.000000 z=-2.362736 +[21:42:18.664] If point is visible? -5.379616, 0.425718, -0.191575 mu:0.168536 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.125899 y=0.000000 z=-2.362736 +[21:42:18.664] If point is visible? -5.380101, 0.400458, -0.188001 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.125899 y=0.000000 z=-2.362736 +[21:42:18.664] If point is visible? -0.984533, 2.991554, 2.639605 mu:0.168536 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.125899 y=0.000000 z=-2.362736 +[21:42:18.664] If point is visible? -1.026938, 3.083350, 2.573840 mu:0.168536 unit_bearing:0.442103 0.414388 0.795505 T_cur_ref: x=0.125899 y=0.000000 z=-2.362736 +[21:42:18.664] If point is visible? -1.040891, 3.037937, 2.598656 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.125899 y=0.000000 z=-2.362736 +[21:42:18.664] If point is visible? -0.970906, 3.037066, 2.615126 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.125899 y=0.000000 z=-2.362736 +[21:42:18.664] If point is visible? -55778.349225, -36476.714397, 109007.239369 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.125908 y=0.000000 z=-2.362720 +[21:42:18.664] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -55778.349225, -36476.714397, 109007.239369 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.125908 y=0.000000 z=-2.362720 +[21:42:18.665] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -0.071073, -0.442483, 4.256653 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.125924 y=0.000000 z=-2.362691 +[21:42:18.665] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -0.071073, -0.442483, 4.256653 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.125924 y=0.000000 z=-2.362691 +[21:42:18.665] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -12.452200, 15.860771, 30.467924 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.125926 y=0.000000 z=-2.362686 +[21:42:18.665] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? 2.436369, 19.197576, 31.010015 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125926 y=0.000000 z=-2.362686 +[21:42:18.665] If point is visible? -17.265699, 18.082673, 26.931862 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.125926 y=0.000000 z=-2.362686 +[21:42:18.665] If point is visible? -12.452200, 15.860771, 30.467924 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.125926 y=0.000000 z=-2.362686 +[21:42:18.665] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -17.265699, 18.082673, 26.931862 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.125926 y=0.000000 z=-2.362686 +[21:42:18.665] If point is visible? 2.436369, 19.197576, 31.010015 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125926 y=0.000000 z=-2.362686 +[21:42:18.665] If point is visible? -65390785586.466675, -23901742507.747051, 214641930161.670197 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? 11104398246.121323, -17919591477.839687, 224664164696.731262 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -33664972912.853115, 111761912249.881927, 193117453605.792664 mu:0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -127215923218.498779, -93211181533.139786, 161388323106.556793 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -127340713862.837967, -92731183094.694763, 161566322583.159119 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -127332992375.501709, -90772945223.635559, 162680631257.708221 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -127786642878.814377, -86879519390.142609, 164441264074.960480 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -130519617881.026871, -77216087575.478775, 167094917594.713928 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -69841920261.061920, -65449907006.819855, 204344860872.846161 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -107045388559.237595, -68104733549.407867, 186605027731.133789 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -70971979689.326706, -66004356695.477112, 203776370843.857117 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -193410520649.656494, -75472062244.760468, 88401044344.313583 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -68707990802.216454, -64895784179.771454, 204905235447.290283 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -193533230592.749603, -75009287257.339020, 88526277455.298462 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -193244709275.638916, -74972325031.314880, 89185419968.638931 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -134321981676.564896, -66099680389.706200, 168839698557.855560 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -65366078445.743721, -62742950806.593575, 206661569312.712799 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -64379270653.180656, -61204694153.393288, 207431196404.585297 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -63761918547.699814, -61174854214.607407, 207630588481.131042 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -192341501030.980011, -70047638971.892883, 94955155595.658218 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -192035441711.212616, -70006981067.687790, 95602395614.062302 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -191727501093.871765, -69966231967.020889, 96248106616.251297 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -191417686702.078613, -69925393352.218811, 96892285042.392441 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -191106006040.708038, -69884466898.077469, 97534927385.584732 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -59035663366.507828, -59461445853.986710, 209517381679.670715 mu:0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -191530278906.386230, -69457208073.627808, 97006467965.965897 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -191218389746.587250, -69416016224.650314, 97649118955.532211 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -63922851039.219154, -60188986598.633911, 207869096609.690521 mu:0.000000 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -191753390367.875397, -68520265513.134216, 97231768548.180573 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -191441087674.804382, -68478545328.511108, 97874435365.667130 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -135554368647.352585, -62217852018.017136, 169329142055.132996 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -194763169101.166992, -65069828215.564644, 93550156259.922775 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] If point is visible? -136835899852.310287, -57839114806.132980, 169849873795.344208 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -138152139334.289764, -52962393312.445717, 170374228128.014893 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.665] If point is visible? -48062606610.930870, -31668381845.420612, 218186859721.414856 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.665] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -142765074486.697632, -34402276706.468872, 171327240047.966858 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -46078828317.948952, -25638162106.270035, 219403355814.557190 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -45432387771.320732, -25615713629.098858, 219540747185.344696 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -61738507253.229599, -14798043728.755327, 216535865255.587494 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -279.576809, -64.217471, 967.423521 mu:0.000989 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.978844, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -68401157678.748444, -9609110679.054111, 214819349543.313477 mu:0.000000 unit_bearing:0.130143 -0.158286 0.978779 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -68368319087.274277, -10104287455.970634, 214807082374.477234 mu:0.000000 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -72942251609.827316, -6828220043.593216, 213427293613.487885 mu:0.000000 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -108276842912.142258, -6283730899.971777, 197876341013.961670 mu:0.000000 unit_bearing:-0.060676 -0.134508 0.989053 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -107704208933.979950, -6245996943.767147, 198189800994.401184 mu:0.000000 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -101959507173.308823, -5383021406.371277, 201230435808.348572 mu:0.000000 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -107674775160.429977, -6741003286.103760, 198189575878.661896 mu:0.000000 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -100320683964.042892, -3296282880.509888, 202097256800.427643 mu:0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -99736061470.992889, -3260926159.958283, 202386982587.645966 mu:0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -107644863327.410645, -7236065311.309441, 198188367661.045807 mu:0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? 0.041372, -0.007795, -0.767818 mu:0.626125 unit_bearing:0.377891 -0.126541 0.917162 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 1.509897, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -99176821029.580261, -2730965883.870788, 202669450864.961456 mu:0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -98029084754.305649, -2166400651.200541, 203233883908.531677 mu:0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -0.938456, -0.023286, -0.139590 mu:0.405700 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] If point is visible? -91681714809.946518, 1666255304.114086, 206179759144.421661 mu:0.000000 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -91106405959.572342, 2193101236.762956, 206429696066.666840 mu:0.000000 unit_bearing:0.026168 -0.101842 0.994456 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -27924053211.460266, 10882725367.802870, 223652006158.738922 mu:0.000000 unit_bearing:0.313565 -0.072921 0.946763 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -27241931295.289829, 10405662101.078310, 223758811432.212982 mu:0.000000 unit_bearing:0.316386 -0.075077 0.945655 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -89681660154.986389, 13633341477.349247, 206614951419.514984 mu:0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.666] If point is visible? -89692275321.400482, 14125464122.251459, 206577281735.146973 mu:0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.666] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -164925059205.170074, 11179357548.588949, 153600628674.769867 mu:0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -164933172661.221619, 11665560555.964178, 153555753949.930481 mu:0.000000 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -132986790216.189209, 22892075175.134182, 180855944995.908630 mu:0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -96948440731.670883, 27466265358.815044, 201903468085.712524 mu:0.000000 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -96357422792.778931, 27500408377.213295, 202181554376.061798 mu:0.000000 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -59440864677.789581, 33541480718.665775, 215081749564.217377 mu:0.000000 unit_bearing:0.176509 0.031374 0.983799 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -123208898182.215439, 27132997360.452808, 187087610977.122162 mu:0.000000 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -70154726665.787308, 33644228547.838673, 211813093386.435516 mu:0.000000 unit_bearing:0.127482 0.033591 0.991272 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -62621425384.227455, 32948253096.222973, 214269400565.751709 mu:0.000000 unit_bearing:0.162108 0.029203 0.986341 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -74508331027.820206, 33467095931.758141, 210349396042.419037 mu:0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -73888599370.971283, 33493074737.035297, 210563755536.706299 mu:0.000000 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] calculated Z= 0.364041 +[21:42:18.667] update seeds 305 +[21:42:18.667] If point is visible? -122354505614.139343, 40789337724.651520, 185159421045.967987 mu:0.000000 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -121802692725.037964, 40833735149.311226, 185513116616.746399 mu:0.000000 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -122850308968.950165, 42196288122.569199, 184514718039.206055 mu:0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -120801252394.739624, 50528846960.848869, 183772411865.466553 mu:0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -69363237666.907669, 55892489975.651382, 207323846054.351837 mu:0.000000 unit_bearing:0.127327 0.133877 0.982784 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -107017477354.387619, 55853607600.730804, 190646375199.841766 mu:0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -106443225704.947952, 55892378545.204483, 190956246402.771179 mu:0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -97109282136.729385, 56958791391.008369, 195560450307.049774 mu:0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -72075511071.720749, 61996285267.482399, 204646005665.583374 mu:0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -71455240311.621918, 62020285702.813805, 204856142479.164276 mu:0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -70834231503.342163, 62044022875.071762, 205064519580.793396 mu:0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -106954586743.908371, 56812541377.973869, 190398156069.771545 mu:0.000000 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -106380393482.320282, 56851333297.263039, 190708007443.374573 mu:0.000000 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -57054347041.486115, 61545378102.533707, 209464493974.424286 mu:0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -70800484585.416504, 62521293371.168892, 204931172777.008667 mu:0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.667] If point is visible? -57022084314.779053, 62022226435.114296, 209332586203.166321 mu:0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.667] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -57626111790.588234, 62481024873.852043, 209030521906.943970 mu:0.000000 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -134600107026.247879, 60224880751.296799, 170804511782.486633 mu:0.000000 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -134073672425.774078, 60276923995.552887, 171199734562.112518 mu:0.000000 unit_bearing:-0.198881 0.172672 0.964692 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -133546235476.265091, 60328706558.182190, 171593287961.301544 mu:0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -121617033680.673080, 62354671787.965363, 179553887017.602631 mu:0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -66659877655.024780, 67892202772.217644, 204610644473.471893 mu:0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -61002121551.136383, 68075438635.439735, 206307736498.034851 mu:0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -57834124993.688728, 68167510440.297691, 207187863603.717499 mu:0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -57236532442.270569, 67710918957.896805, 207503294253.240845 mu:0.000000 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -56600114317.521629, 67728258528.654175, 207672136729.999542 mu:0.000000 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -56637736520.220451, 67253922711.900330, 207815983504.184509 mu:0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -60292059814.196671, 69042535428.623596, 206195058483.560608 mu:0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -59659223795.347862, 69061142481.403687, 206372822661.777832 mu:0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -7498603824.053946, 91312094703.983917, 206214157175.408752 mu:0.000000 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -47521346375.004463, 93108793409.736618, 199977200066.939728 mu:0.000000 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -147074690930.922119, 94005611241.958206, 143004848382.726898 mu:0.000000 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -124365963092.903732, 106885239734.766815, 155006642016.179718 mu:0.000000 unit_bearing:-0.179828 0.386428 0.904619 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -124273833557.885910, 107332570043.388474, 154771250621.765259 mu:0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -123655630840.811813, 107834790744.996841, 154917233336.579987 mu:0.000000 unit_bearing:-0.176934 0.390653 0.903374 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -149805548089.514771, 109099489938.476822, 128740069035.239075 mu:0.000000 unit_bearing:-0.330763 0.410354 0.849827 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] If point is visible? -72010915592.155441, -67051147240.276222, 203068899655.866791 mu:0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -192999034881.432373, -75898236047.364456, 88933889031.939209 mu:0.000000 unit_bearing:-0.621788 -0.381876 0.683777 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] If point is visible? -69756003706.580170, -65942090074.644913, 204215932340.188354 mu:0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -68536975550.860268, -65880171881.488663, 204648215856.630280 mu:0.000000 unit_bearing:0.097312 -0.400306 0.911200 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -121335588032.717377, -68095741740.416595, 177648673937.598297 mu:0.000000 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.668] If point is visible? -112546355030.759552, -68472900869.752670, 183202582225.134460 mu:0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.668] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -111453730909.972214, -68398664069.422699, 183896968267.420563 mu:0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -44738380312.781433, -26088041452.230289, 219627634277.215942 mu:0.000000 unit_bearing:0.230094 -0.233367 0.944773 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -44643224819.414322, -27077292541.625366, 219527239823.147736 mu:0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -65390785586.466675, -23901742507.747051, 214641930161.670197 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? 11104398246.121323, -17919591477.839687, 224664164696.731262 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -46217151728.623817, -24153983997.348076, 219542629712.728271 mu:0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -47941314450.351578, -19251331305.674805, 219657512800.636017 mu:0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -0.659812, -0.323520, 1.341886 mu:0.263104 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 1.441966, Z inverse max: 0.000000 +[21:42:18.669] calculated Z= 0.315419 +[21:42:18.669] update seeds 305 +[21:42:18.669] If point is visible? -44831762813.409584, -25098790251.893970, 219723849613.472778 mu:0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -72911959213.143906, -7323271762.750800, 213421231868.909485 mu:0.000000 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] calculated Z= 0.491323 +[21:42:18.669] update seeds 305 +[21:42:18.669] If point is visible? -108848612053.570602, -6321635544.805914, 197561187727.167023 mu:0.000000 unit_bearing:-0.063569 -0.134505 0.988872 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -52.388961, -3.045451, 94.271573 mu:0.009089 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 1.000588, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -106556355870.964401, -6171041616.647375, 198811638459.572235 mu:0.000000 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -105405071536.569977, -6096770597.344652, 199426694804.795258 mu:0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -108470114024.268875, 12512754035.968876, 197474230389.985168 mu:0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -107320850736.438614, 12588617847.584642, 198096360431.006866 mu:0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -29923461959.397579, 10843994925.365891, 223395166725.781982 mu:0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -108491466531.863693, 13496724652.392101, 197397685983.252747 mu:0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -178295200815.212860, 21843551937.854843, 136572643393.143784 mu:0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -93389590755.931107, 22281549270.597538, 204206569969.315887 mu:0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -124299432646.189087, 28020325912.454025, 186233505840.823334 mu:0.000000 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -125404451072.062576, 26955394176.403416, 185648960929.708679 mu:0.000000 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -96950704273.895615, 26977183005.130196, 201968311514.466339 mu:0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -62615268237.300369, 33435238732.262779, 214195749987.107697 mu:0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -105701838148.747208, 48753529158.232658, 193309650883.584412 mu:0.000000 unit_bearing:-0.046230 0.110044 0.992851 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -58619086144.809357, 66251328243.497536, 207588464428.069885 mu:0.000000 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -58545001941.432892, 67200923996.949615, 207303943232.441772 mu:0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? 1860665350.930237, 89767252122.477905, 207018802742.488831 mu:0.000000 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? 3337086557.713807, 90641984317.556534, 206618733057.742371 mu:0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.669] If point is visible? -46941209909.422546, 92659863927.598846, 200322436954.226196 mu:0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.669] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -85151390772.010101, 83999571090.675186, 191341890406.490417 mu:0.000000 unit_bearing:0.040463 0.266140 0.963085 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -8907615964.515636, 90876856298.717743, 206350327562.602936 mu:0.000000 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -28889643758.270081, 101013613731.481354, 199699886436.012604 mu:0.000000 unit_bearing:0.285343 0.336464 0.897425 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -150052939556.010986, 109896657137.460281, 127770287622.161957 mu:0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? 12623203520.978615, 116075337893.915649, 193094735774.572449 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? -95247050098.963852, 1466364570.088095, 204558684832.696350 mu:0.000000 unit_bearing:0.005893 -0.104028 0.994557 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -0.694474, 0.014137, -0.546088 mu:0.501678 unit_bearing:0.017479 -0.104026 0.994421 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 1.685863, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -0.453657, -0.566871, -0.629899 mu:0.522722 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? -108789155202.611710, -7311648289.062314, 197559777859.052338 mu:0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -73030401479.029739, -5343382858.467561, 213439487999.509033 mu:0.000000 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] calculated Z= 0.447460 +[21:42:18.670] update seeds 305 +[21:42:18.670] If point is visible? -70546775710.753235, -5234501025.875678, 214275894010.213928 mu:0.000000 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -117413625257.119370, -13881163948.040470, 192197190951.300171 mu:0.000000 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -0.579302, -0.539761, 0.699702 mu:0.313621 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? -59176651086.826027, -62445879439.358154, 208607388232.709747 mu:0.000000 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -193323765297.166840, -76894636323.122314, 87358703027.684372 mu:0.000000 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? -0.462234, -0.473314, 0.337008 mu:0.356727 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? -191950430411.877167, -72886611709.505005, 93600109063.997543 mu:0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? -47573768064.003525, -36121345407.236748, 217601450629.822815 mu:0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -104307492299.773483, -5033206377.444115, 200032547856.100677 mu:0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -46887532238.975838, -16240067006.659084, 220127748959.975922 mu:0.000000 unit_bearing:0.224725 -0.190320 0.955655 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] calculated Z= 0.304310 +[21:42:18.670] update seeds 305 +[21:42:18.670] If point is visible? -192661830518.241272, -74898030776.777939, 90499228536.629364 mu:0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? -46730554781.966927, -18218123936.760990, 220006276110.530487 mu:0.000000 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] calculated Z= 0.310418 +[21:42:18.670] update seeds 305 +[21:42:18.670] If point is visible? -102095876382.428314, -2908654233.619668, 201212271182.342651 mu:0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -98121287773.220444, 21029975680.259262, 202109770488.001740 mu:0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -127585051853.801941, 26774424107.305679, 184183579820.141052 mu:0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -126319735835.921875, 57688655408.940018, 177858791443.265961 mu:0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -106900306496.844269, 47711989001.964584, 192910074631.934692 mu:0.000000 unit_bearing:-0.052023 0.105679 0.993039 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -59959642642.891724, 65263800208.904549, 207518394255.818085 mu:0.000000 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -187338822253.512329, 75793105160.250092, 100389128920.379410 mu:0.000000 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? 5758976149.946227, 87852228697.787872, 207767240980.467285 mu:0.000000 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -65144810395.537354, 63199496771.269447, 206592312549.318024 mu:0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -33664972912.853115, 111761912249.881927, 193117453605.792664 mu:0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? 12623203520.978615, 116075337893.915649, 193094735774.572449 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? 0.053105, 0.631941, -0.911239 mu:0.631025 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? 0.149157, 0.645506, -0.873528 mu:0.616064 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.125931 y=0.000000 z=-2.362683 +[21:42:18.670] If point is visible? -5.389175, 12.795682, 25.045818 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.125940 y=0.000000 z=-2.362652 +[21:42:18.670] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -5.389175, 12.795682, 25.045818 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.125940 y=0.000000 z=-2.362652 +[21:42:18.670] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -7.251751, 4.571889, 3.808554 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] If point is visible? 2.599568, 5.264663, 6.558154 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] If point is visible? 0.075091, 5.290408, 6.879929 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] If point is visible? -4.696974, -4.179989, 6.162809 mu:0.093899 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -4.701686, -3.995986, 6.247947 mu:0.093899 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -4.705496, -3.973092, 6.256401 mu:0.093899 unit_bearing:-0.220701 -0.468921 0.855222 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -4.746129, -3.720643, 6.345739 mu:0.093899 unit_bearing:-0.221187 -0.446416 0.867058 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -1.745858, -3.064937, 7.663257 mu:0.093899 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -4.851193, -3.377496, 6.425804 mu:0.093899 unit_bearing:-0.227427 -0.415351 0.880773 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -8.304069, -3.415121, 3.177038 mu:0.093899 unit_bearing:-0.624195 -0.381680 0.681690 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] If point is visible? -8.308478, -3.393193, 3.183797 mu:0.093899 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] If point is visible? -1.658492, -3.038936, 7.687074 mu:0.093899 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.670] If point is visible? -1.573455, -2.989681, 7.716544 mu:0.093899 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.670] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -1.631042, -3.014747, 7.699188 mu:0.093899 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] calculated Z= 0.329181 +[21:42:18.671] update seeds 305 +[21:42:18.671] If point is visible? -1.545890, -2.965503, 7.728289 mu:0.093899 unit_bearing:0.105938 -0.391858 0.913906 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -8.312861, -3.371254, 3.190504 mu:0.093899 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -3.727608, -3.114303, 7.064309 mu:0.093899 unit_bearing:-0.108544 -0.398128 0.910885 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -3.696517, -3.136356, 7.069654 mu:0.093899 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -3.555268, -3.130322, 7.127665 mu:0.093899 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -1.407401, -2.844656, 7.784915 mu:0.093899 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -1.377134, -2.843819, 7.789677 mu:0.093899 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -8.212388, -3.206605, 3.434436 mu:0.093899 unit_bearing:-0.608475 -0.365192 0.704552 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -4.955297, -3.009872, 6.499515 mu:0.093899 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -8.201604, -3.160797, 3.474954 mu:0.093899 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -8.182560, -3.159213, 3.502880 mu:0.093899 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -8.163440, -3.157626, 3.530722 mu:0.093899 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -8.216492, -3.184496, 3.440716 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -8.205647, -3.138658, 3.481126 mu:0.093899 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -8.167463, -3.135461, 3.536892 mu:0.093899 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -8.148256, -3.133859, 3.564647 mu:0.093899 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -1.379572, -2.820497, 7.795820 mu:0.093899 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -1.349281, -2.819666, 7.800493 mu:0.093899 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] calculated Z= 0.355448 +[21:42:18.671] update seeds 305 +[21:42:18.671] If point is visible? -8.171461, -3.113288, 3.543010 mu:0.093899 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -8.152244, -3.111673, 3.570764 mu:0.093899 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -8.132952, -3.110056, 3.598433 mu:0.093899 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -8.160146, -3.067277, 3.582840 mu:0.093899 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -8.140833, -3.065635, 3.610506 mu:0.093899 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? -8.324354, -2.901489, 3.433050 mu:0.093899 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] If point is visible? 3.032781, -1.313168, 7.798164 mu:0.093899 unit_bearing:0.525495 -0.238661 0.816637 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -0.433044, -1.207109, 8.203650 mu:0.093899 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -0.401886, -1.206639, 8.205306 mu:0.093899 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -0.403272, -1.183258, 8.207881 mu:0.093899 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? 2.371731, -0.849179, 8.012879 mu:0.093899 unit_bearing:0.473124 -0.197875 0.858487 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -0.356469, -0.901881, 8.237830 mu:0.093899 unit_bearing:0.233178 -0.205361 0.950502 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -1.175647, -0.657898, 8.186726 mu:0.093899 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] calculated Z= 0.497306 +[21:42:18.671] update seeds 305 +[21:42:18.671] If point is visible? -1.809387, -0.645959, 8.037997 mu:0.094350 unit_bearing:0.098354 -0.180082 0.978722 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.751942, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -1.208636, -0.611704, 8.185383 mu:0.093899 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] calculated Z= 0.559042 +[21:42:18.671] update seeds 305 +[21:42:18.671] If point is visible? -1.367553, -0.497857, 8.170056 mu:0.093899 unit_bearing:0.141639 -0.166930 0.975742 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -1.366510, -0.521255, 8.169072 mu:0.093899 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -1.207533, -0.635106, 8.184140 mu:0.093899 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -1.176762, -0.634496, 8.188021 mu:0.093899 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] calculated Z= 0.485600 +[21:42:18.671] update seeds 305 +[21:42:18.671] If point is visible? -3.696439, -0.433627, 7.567993 mu:0.093899 unit_bearing:-0.083774 -0.154054 0.984504 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.671] If point is visible? -3.212881, -0.178621, 7.748564 mu:0.093899 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.671] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -3.154309, -0.176302, 7.767758 mu:0.093899 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? 1.418269, -0.196760, 8.206524 mu:0.093899 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -1.713515, -0.271510, 8.123482 mu:0.093899 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? 1.451010, -0.220048, 8.202010 mu:0.093899 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -3.502280, -0.237507, 7.647140 mu:0.093899 unit_bearing:-0.063566 -0.136682 0.988573 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -3.473283, -0.236256, 7.657632 mu:0.093899 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -3.444257, -0.235015, 7.668040 mu:0.093899 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -3.069676, -0.079373, 7.795993 mu:0.093899 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -3.040266, -0.078252, 7.805206 mu:0.093899 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -3.011648, -0.053769, 7.814232 mu:0.093899 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -2.924766, -0.003753, 7.840754 mu:0.093899 unit_bearing:-0.005691 -0.117112 0.993102 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -2.895224, -0.002677, 7.849541 mu:0.093899 unit_bearing:-0.002795 -0.117112 0.993115 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -2.953497, -0.028204, 7.832082 mu:0.093899 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -2.923982, -0.027118, 7.840953 mu:0.093899 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] calculated Z= 0.604369 +[21:42:18.672] update seeds 305 +[21:42:18.672] If point is visible? 0.443783, 0.546040, 8.268300 mu:0.093899 unit_bearing:0.310742 -0.070764 0.947856 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -2.300651, 0.649438, 7.055261 mu:0.102594 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.773144, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -6.423991, 0.665336, 6.008252 mu:0.093899 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -4.585042, 1.334062, 7.094792 mu:0.093899 unit_bearing:-0.170559 0.016108 0.985216 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -4.724642, 1.187312, 7.043647 mu:0.093899 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -2.886183, 1.369186, 7.760034 mu:0.093899 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -2.856562, 1.370245, 7.768657 mu:0.093899 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -2.974808, 1.389021, 7.730529 mu:0.093899 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -2.586744, 1.516862, 7.817742 mu:0.093948 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750912, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -4.162453, 1.404290, 7.283796 mu:0.093899 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -1.589955, 1.589283, 8.027064 mu:0.093899 unit_bearing:0.124596 0.029226 0.991777 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.672] If point is visible? -1.772789, 1.631525, 7.988642 mu:0.093899 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.672] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -0.392374, 0.452821, 0.510660 mu:0.338457 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] If point is visible? -7.209202, 1.266740, 5.253604 mu:0.093899 unit_bearing:-0.455668 0.030903 0.889613 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -7.185716, 1.246935, 5.279411 mu:0.093899 unit_bearing:-0.452936 0.028762 0.891079 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -4.208499, 2.066007, 7.143166 mu:0.093899 unit_bearing:-0.133001 0.083771 0.987569 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -4.207899, 2.088821, 7.138452 mu:0.093899 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -4.106733, 2.570836, 7.065582 mu:0.093899 unit_bearing:-0.124247 0.131709 0.983471 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -4.105796, 2.593469, 7.059802 mu:0.093899 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -2.913660, 2.761436, 7.463416 mu:0.093899 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -3.412573, 2.718563, 7.307128 mu:0.093899 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -3.383496, 2.719853, 7.317357 mu:0.093899 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -3.410600, 2.763773, 7.295027 mu:0.093899 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -0.969399, 2.985476, 7.801180 mu:0.093899 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -1.676555, 2.953423, 7.709320 mu:0.093899 unit_bearing:0.112834 0.159999 0.980647 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -1.646077, 2.953983, 7.714563 mu:0.093899 unit_bearing:0.115719 0.159991 0.980312 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -1.674515, 2.998438, 7.696376 mu:0.093899 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -1.613543, 2.999539, 7.706771 mu:0.093899 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -4.839978, 2.951090, 6.584249 mu:0.093899 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -4.784971, 2.954984, 6.613279 mu:0.093899 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -0.970379, 2.963002, 7.807649 mu:0.093899 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -4.194330, 3.082453, 6.870444 mu:0.093899 unit_bearing:-0.135626 0.181625 0.973970 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -4.166102, 3.084115, 6.883046 mu:0.093899 unit_bearing:-0.132746 0.181635 0.974365 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -0.898112, 3.187742, 7.747043 mu:0.093899 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -4.168660, 3.039269, 6.896698 mu:0.093899 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -0.958864, 3.209653, 7.733765 mu:0.093899 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -0.927942, 3.209888, 7.736965 mu:0.093899 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -1.140543, 3.275045, 7.691522 mu:0.093899 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -1.139366, 3.297386, 7.684366 mu:0.093899 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -1.108565, 3.297695, 7.688095 mu:0.093899 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -1.077746, 3.297990, 7.691736 mu:0.093899 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -1.418052, 3.249266, 7.661054 mu:0.093899 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -7.201721, 3.231505, 4.657251 mu:0.093899 unit_bearing:-0.464359 0.220843 0.857671 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -6.622000, 3.374780, 5.153494 mu:0.093899 unit_bearing:-0.398598 0.228517 0.888200 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -7.059084, 3.273557, 4.784063 mu:0.093899 unit_bearing:-0.448032 0.223311 0.865679 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? 1.372474, 4.300938, 7.299873 mu:0.093899 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.673] If point is visible? -0.537244, 4.422232, 7.302769 mu:0.093899 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] If point is visible? -2.881356, 4.768420, 6.672537 mu:0.093899 unit_bearing:-0.017136 0.341020 0.939900 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] If point is visible? -2.852156, 4.769560, 6.681603 mu:0.093899 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] If point is visible? -5.595070, 4.558299, 5.377390 mu:0.093899 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.673] If point is visible? -4.491474, 5.140478, 5.741129 mu:0.093899 unit_bearing:-0.185504 0.386354 0.903503 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] If point is visible? -4.461205, 5.163653, 5.743585 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] If point is visible? -4.287105, -3.116386, 6.815010 mu:0.093899 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -1.800422, -3.113345, 7.637974 mu:0.093899 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -3.836989, -3.142497, 7.009446 mu:0.093899 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -3.780895, -3.140027, 7.033793 mu:0.093899 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -8.216492, -3.184496, 3.440716 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] If point is visible? -1.685896, -3.063126, 7.674819 mu:0.093899 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? 4.180142, -2.067943, 7.265606 mu:0.093899 unit_bearing:0.612340 -0.302911 0.730263 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? 3.529967, -1.703795, 7.583503 mu:0.093899 unit_bearing:0.563347 -0.272611 0.779951 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -1.431908, -1.038563, 8.121184 mu:0.093899 unit_bearing:0.132803 -0.216765 0.967149 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -0.367904, -1.252936, 8.201561 mu:0.093899 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -0.438521, -1.113577, 8.213626 mu:0.093899 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -0.373466, -1.159421, 8.211971 mu:0.093899 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -0.451298, -0.879796, 8.234946 mu:0.093899 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -3.724123, -0.458341, 7.556181 mu:0.093899 unit_bearing:-0.086659 -0.156223 0.983913 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -3.443318, -0.258402, 7.667799 mu:0.093899 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -1.712594, -0.294897, 8.123012 mu:0.093899 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -3.387045, -0.209172, 7.688791 mu:0.093899 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -3.328799, -0.206748, 7.709009 mu:0.093899 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -2.693409, 0.191395, 7.905306 mu:0.093899 unit_bearing:0.017480 -0.099663 0.994868 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -3.527994, 0.718189, 7.614787 mu:0.093899 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -3.469897, 0.720731, 7.635689 mu:0.093899 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? 0.380792, 0.522908, 8.271159 mu:0.093899 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -2.708063, 1.121166, 7.841648 mu:0.093899 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -2.886253, 1.346106, 7.763108 mu:0.093899 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -4.275606, 1.421088, 7.230221 mu:0.093899 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -4.275896, 1.375046, 7.236796 mu:0.093899 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -1.066604, 1.620725, 8.095236 mu:0.093899 unit_bearing:0.173630 0.031376 0.984311 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -2.944450, 1.528426, 7.719656 mu:0.093899 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -2.511288, 2.412589, 7.669335 mu:0.093899 unit_bearing:0.034851 0.110052 0.993315 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -2.440090, 2.732018, 7.605692 mu:0.093899 unit_bearing:0.040619 0.140550 0.989240 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -3.339459, 2.336584, 7.432315 mu:0.093902 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750821, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -0.963238, 3.120105, 7.761327 mu:0.093899 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -1.022871, 3.164381, 7.740973 mu:0.093899 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.674] If point is visible? -2.498007, 2.775445, 7.578582 mu:0.093899 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.674] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -2.438194, 2.777204, 7.593506 mu:0.093901 unit_bearing:0.040616 0.144903 0.988612 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750816, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -1.020651, 3.209142, 7.727098 mu:0.093899 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -0.476375, 4.008221, 7.485581 mu:0.093899 unit_bearing:0.218440 0.260866 0.940336 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? 1.370915, 4.279502, 7.309587 mu:0.093899 unit_bearing:0.381048 0.288163 0.878501 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -0.508073, 4.400502, 7.314637 mu:0.093899 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? 1.816218, 4.262287, 7.249433 mu:0.093899 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? 1.813246, 4.219550, 7.268792 mu:0.093899 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? 1.876962, 4.216814, 7.258612 mu:0.093899 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -7.251751, 4.571889, 3.808554 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? 2.295470, 5.407695, 6.551733 mu:0.093899 unit_bearing:0.447983 0.401983 0.798574 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? -5.838546, 5.270831, 4.712624 mu:0.093899 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? -4.515746, 5.159358, 5.715224 mu:0.093899 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? -4.461205, 5.163653, 5.743585 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? -5.824178, 5.352897, 4.662935 mu:0.093899 unit_bearing:-0.333276 0.418490 0.844863 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? -1.620589, -3.107898, 7.672632 mu:0.093899 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -0.578299, -0.834854, 8.230902 mu:0.093899 unit_bearing:0.213234 -0.199035 0.956513 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -0.453698, -0.833053, 8.238592 mu:0.093899 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -1.157379, -2.907996, 7.801647 mu:0.093899 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -3.464520, -0.258245, 7.545297 mu:0.094862 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.752079, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -0.057893, -0.423292, 0.138021 mu:0.393253 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? -0.520016, -1.770461, 8.118976 mu:0.093899 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -0.526792, -1.676918, 8.133929 mu:0.093899 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -8.313368, -3.460324, 3.134666 mu:0.093899 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? -3.044209, 0.038568, 7.804206 mu:0.093899 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? 0.381645, 0.476647, 8.273313 mu:0.093899 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -3.272232, -0.157594, 7.729122 mu:0.093899 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -1.841259, -0.110851, 8.103205 mu:0.093899 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -2.826155, 0.978116, 7.822865 mu:0.093899 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -3.158569, -0.059420, 7.767738 mu:0.093899 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -1.600696, -0.011646, 8.146150 mu:0.093899 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -2.945139, 1.066521, 7.778715 mu:0.093899 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -4.556333, 1.450762, 7.091867 mu:0.093899 unit_bearing:-0.167673 0.027018 0.985472 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -4.444928, 1.365404, 7.158858 mu:0.093899 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -1.081454, 3.105344, 7.703366 mu:0.094312 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.752018, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -1.337114, 3.026327, 7.742651 mu:0.093899 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -2.559548, 2.728359, 7.575181 mu:0.093899 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -1.547358, 3.647986, 7.501860 mu:0.093899 unit_bearing:0.121248 0.227106 0.966293 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -1.425286, 3.649800, 7.521121 mu:0.093899 unit_bearing:0.132756 0.227055 0.964791 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -1.740267, 1.163051, 1.433312 mu:0.227953 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 1.006339, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? 1.240809, 4.240780, 7.342458 mu:0.093899 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? 1.876962, 4.216814, 7.258612 mu:0.093899 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] calculated Z= 0.557457 +[21:42:18.675] update seeds 305 +[21:42:18.675] If point is visible? -2.366346, 3.982913, 7.194608 mu:0.093899 unit_bearing:0.040470 0.261837 0.964263 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -1.486802, 4.438396, 7.182819 mu:0.093899 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? -2.373117, 3.894730, 7.229086 mu:0.093900 unit_bearing:0.040484 0.253225 0.966560 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] Z inverse min: 0.750813, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? 2.480908, 5.354477, 6.536786 mu:0.093899 unit_bearing:0.464118 0.397194 0.791727 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? -7.801121, 3.738206, 3.687454 mu:0.093899 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? 2.599568, 5.264663, 6.558154 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? 0.075091, 5.290408, 6.879929 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.125939 y=0.000000 z=-2.362645 +[21:42:18.675] If point is visible? -2608609.722459, 7847758.074771, 16505707.305062 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.125936 y=0.000000 z=-2.362643 +[21:42:18.675] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -2608609.722459, 7847758.074771, 16505707.305062 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.125936 y=0.000000 z=-2.362643 +[21:42:18.675] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:18.675] If point is visible? -1.774984, -2.656566, 3.813804 mu:0.143122 unit_bearing:-0.223120 -0.485109 0.845510 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.675] If point is visible? -1.774172, -2.671579, 3.807576 mu:0.143122 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.675] If point is visible? -4.577424, -2.173026, 2.325162 mu:0.143122 unit_bearing:-0.635373 -0.390455 0.666218 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.675] If point is visible? 0.293400, -2.012295, 4.326307 mu:0.143122 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.675] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 0.392967, -1.981456, 4.332277 mu:0.143122 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? -0.883260, -2.005849, 4.253813 mu:0.143122 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] calculated Z= 0.307269 +[21:42:18.676] update seeds 305 +[21:42:18.676] If point is visible? -4.508599, -2.069570, 2.439141 mu:0.143122 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] If point is visible? -4.492645, -2.069018, 2.454725 mu:0.143122 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] If point is visible? 0.512407, -1.935374, 4.339923 mu:0.143122 unit_bearing:0.108792 -0.391837 0.913580 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 0.591403, -1.858759, 4.356567 mu:0.143122 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 0.611461, -1.858767, 4.355145 mu:0.143122 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? -4.374141, -1.948095, 2.614647 mu:0.143122 unit_bearing:-0.603700 -0.363551 0.709490 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] If point is visible? -4.408014, -1.934784, 2.589032 mu:0.143122 unit_bearing:-0.608739 -0.361214 0.706372 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] If point is visible? -4.359061, -1.932875, 2.634154 mu:0.143122 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? -1.868388, -1.900202, 4.058515 mu:0.143122 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] calculated Z= 0.443136 +[21:42:18.676] update seeds 305 +[21:42:18.676] If point is visible? -4.361571, -1.903677, 2.643101 mu:0.143122 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? -4.345168, -1.903023, 2.658006 mu:0.143122 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? -4.328729, -1.902369, 2.672845 mu:0.143122 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? -4.393005, -1.919568, 2.608635 mu:0.143122 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] If point is visible? -4.346404, -1.888409, 2.662421 mu:0.143122 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? -4.329959, -1.887747, 2.677258 mu:0.143122 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 0.611232, -1.843441, 4.359384 mu:0.143122 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 0.631293, -1.843454, 4.357902 mu:0.143122 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 0.611003, -1.828112, 4.363586 mu:0.143122 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? -4.347632, -1.873789, 2.666799 mu:0.143122 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? -4.331180, -1.873119, 2.681634 mu:0.143122 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? -4.471658, -1.761778, 2.594921 mu:0.143122 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] If point is visible? -1.941341, -1.504159, 4.139914 mu:0.143122 unit_bearing:-0.243014 -0.327092 0.913211 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 1.185729, -1.001636, 4.470586 mu:0.143122 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 1.205885, -1.001845, 4.467399 mu:0.143122 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 1.607954, -0.915047, 4.403875 mu:0.143122 unit_bearing:0.266890 -0.248009 0.931269 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 1.305550, -0.818680, 4.475319 mu:0.143122 unit_bearing:0.224373 -0.235566 0.945603 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 1.305380, -0.787969, 4.478956 mu:0.143122 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.676] If point is visible? 1.325546, -0.788231, 4.475418 mu:0.143122 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.676] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 0.596465, -0.566503, 4.585532 mu:0.143122 unit_bearing:0.124230 -0.201665 0.971544 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 0.596341, -0.551115, 4.586778 mu:0.143122 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 0.817932, -0.398758, 4.578653 mu:0.143122 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 0.474150, -0.458327, 4.600700 mu:0.143122 unit_bearing:0.106990 -0.186563 0.976600 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 0.838277, -0.414289, 4.575685 mu:0.143122 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 0.716278, -0.336547, 4.591326 mu:0.143122 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 0.634853, -0.274584, 4.600479 mu:0.143122 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 2.527058, -0.190105, 4.196161 mu:0.143122 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.519420, -0.077531, 4.594148 mu:0.143122 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.499271, -0.077317, 4.595990 mu:0.143122 unit_bearing:-0.031742 -0.132356 0.990694 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.479118, -0.077110, 4.597774 mu:0.143122 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.720238, -0.126053, 4.571875 mu:0.143122 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.700139, -0.125780, 4.574303 mu:0.143122 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.680034, -0.125513, 4.576672 mu:0.143122 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 0.471971, -0.150947, 4.614242 mu:0.143122 unit_bearing:0.107104 -0.143134 0.983891 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.680175, -0.110159, 4.576916 mu:0.143122 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 2.527079, -0.174937, 4.196576 mu:0.143122 unit_bearing:0.397248 -0.139257 0.907084 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.680314, -0.094806, 4.577127 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 2.427756, -0.110841, 4.233476 mu:0.143122 unit_bearing:0.383428 -0.130795 0.914262 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] calculated Z= 0.442198 +[21:42:18.677] update seeds 305 +[21:42:18.677] If point is visible? -0.459086, -0.061558, 4.599641 mu:0.143122 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.418998, -0.030478, 4.603099 mu:0.143122 unit_bearing:-0.020166 -0.125826 0.991847 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.338624, 0.016247, 4.608968 mu:0.143122 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.318435, 0.016406, 4.610284 mu:0.143122 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.116930, 0.109643, 4.619366 mu:0.143122 unit_bearing:0.023270 -0.106205 0.994072 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.117018, 0.124965, 4.619105 mu:0.143122 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 1.886928, 0.346164, 4.390025 mu:0.143122 unit_bearing:0.307918 -0.068606 0.948936 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 0.079845, 0.142975, -0.399512 mu:0.507919 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 1.322592, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? 1.866782, 0.361901, 4.394423 mu:0.143122 unit_bearing:0.305092 -0.066447 0.950002 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -2.812821, 0.537705, 3.953521 mu:0.143122 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -2.812882, 0.552767, 3.952192 mu:0.143122 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.280872, 0.906437, 4.553448 mu:0.143122 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.258638, 0.906591, 4.554700 mu:0.143122 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.280937, 0.916478, 4.552121 mu:0.143122 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.260717, 0.916618, 4.553263 mu:0.143122 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.361760, 0.946125, 4.542894 mu:0.143122 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.341554, 0.946294, 4.544268 mu:0.143122 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.677] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.677] If point is visible? -0.098744, 1.023378, 4.545443 mu:0.143122 unit_bearing:0.026186 0.024885 0.999347 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -1.206111, 0.962686, 4.428402 mu:0.143122 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -0.078497, 1.023452, 4.546061 mu:0.143122 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] calculated Z= 1.000230 +[21:42:18.678] update seeds 305 +[21:42:18.678] If point is visible? 0.469032, 1.083031, 4.531469 mu:0.143122 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? 0.489326, 1.082895, 4.530450 mu:0.143122 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -1.204191, 1.428795, 4.346210 mu:0.143122 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -1.678220, 1.726640, 4.162931 mu:0.143122 unit_bearing:-0.201942 0.131459 0.970535 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -1.141406, 1.758068, 4.279829 mu:0.143122 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -0.659671, 1.827043, 4.335427 mu:0.143122 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -0.317154, 1.830976, 4.365701 mu:0.143122 unit_bearing:-0.005688 0.142744 0.989743 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -0.317023, 1.845802, 4.361658 mu:0.143122 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? 0.513371, 1.963557, 4.331665 mu:0.143122 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? 0.533630, 1.963361, 4.330520 mu:0.143122 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? 0.553889, 1.963156, 4.329315 mu:0.143122 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? 0.979209, 1.942088, 4.294658 mu:0.143122 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -0.659376, 1.856682, 4.327307 mu:0.143122 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -0.639265, 1.856981, 4.329554 mu:0.143122 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -1.654007, 2.036999, 4.079547 mu:0.143122 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? 0.553992, 1.977907, 4.324964 mu:0.143122 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? -1.197562, 2.051910, 4.183914 mu:0.143122 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.678] If point is visible? 0.980227, 2.118451, 4.240521 mu:0.143122 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.678] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 1.000461, 2.118037, 4.238005 mu:0.143122 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 0.676808, 2.152900, 4.261629 mu:0.143122 unit_bearing:0.135792 0.190290 0.972291 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] calculated Z= 0.482219 +[21:42:18.679] update seeds 305 +[21:42:18.679] If point is visible? 0.838752, 2.150408, 4.246976 mu:0.143122 unit_bearing:0.158807 0.190191 0.968818 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 0.858992, 2.150055, 4.244877 mu:0.143122 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 0.879231, 2.149693, 4.242718 mu:0.143122 unit_bearing:0.164554 0.190164 0.967863 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 1.000372, 2.103379, 4.242702 mu:0.143122 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 0.960083, 2.133509, 4.238248 mu:0.143122 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 1.000552, 2.132687, 4.233274 mu:0.143122 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 0.879331, 2.164337, 4.237922 mu:0.143122 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 0.899568, 2.163965, 4.235703 mu:0.143122 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 2.701974, 2.604400, 3.587190 mu:0.143122 unit_bearing:0.420015 0.266192 0.867600 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] If point is visible? 2.721588, 2.602977, 3.579283 mu:0.143122 unit_bearing:0.422751 0.266127 0.866290 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] If point is visible? 2.720592, 2.757395, 3.509657 mu:0.143122 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] If point is visible? 1.207949, 2.892285, 3.904999 mu:0.143122 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] If point is visible? -0.356672, 3.163279, 3.848647 mu:0.143122 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] If point is visible? -2.305668, 3.077097, 3.419923 mu:0.143122 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] If point is visible? -1.456271, 3.482890, 3.484186 mu:0.143122 unit_bearing:-0.174068 0.392782 0.903007 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] If point is visible? 1.731808, 3.470058, 3.485368 mu:0.143122 unit_bearing:0.281436 0.390939 0.876333 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] If point is visible? -4.406726, -1.949351, 2.584496 mu:0.143122 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] If point is visible? -1.396789, -1.982810, 4.161861 mu:0.143122 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? -1.080945, -2.008487, 4.219819 mu:0.143122 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? -1.041464, -2.007934, 4.227105 mu:0.143122 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 0.393241, -1.996766, 4.327716 mu:0.143122 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 4.205517, -1.511847, 3.104594 mu:0.143122 unit_bearing:0.626651 -0.310126 0.714934 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 1.345953, -0.834554, 4.466305 mu:0.143122 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] calculated Z= 0.498808 +[21:42:18.679] update seeds 305 +[21:42:18.679] If point is visible? 1.305297, -0.772614, 4.480721 mu:0.143122 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 1.345628, -0.773146, 4.473588 mu:0.143122 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 3.774154, -1.230682, 3.467907 mu:0.143122 unit_bearing:0.568316 -0.276522 0.774954 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.679] If point is visible? 0.608731, -0.249386, 0.551324 mu:0.337365 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.679] Z inverse min: 1.167139, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 1.304345, -0.588399, 4.499179 mu:0.143122 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 1.344716, -0.588970, 4.492074 mu:0.143122 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 1.305131, -0.741905, 4.484147 mu:0.143122 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.698765, -0.705524, 4.565095 mu:0.143122 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 2.704814, -0.378320, 4.120080 mu:0.143122 unit_bearing:0.421802 -0.166814 0.891210 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.680314, -0.094806, 4.577127 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.640086, -0.094289, 4.581690 mu:0.143122 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.599839, -0.093796, 4.586018 mu:0.143122 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 2.387918, -0.124686, 4.246997 mu:0.143122 unit_bearing:0.377834 -0.132998 0.916271 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.492428, -0.181732, 4.612464 mu:0.143122 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.410619, -0.058659, 4.618401 mu:0.143122 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 1.850190, 0.343425, 4.330761 mu:0.144500 unit_bearing:0.305085 -0.068616 0.949850 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.833045, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.724276, 0.516603, 4.553258 mu:0.143122 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.684022, 0.517174, 4.558046 mu:0.143122 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 1.743729, 0.294015, 3.918782 mu:0.154012 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.856425, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -1.285988, 0.960707, 4.412527 mu:0.143122 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.056385, 0.186520, -0.671975 mu:0.587442 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 1.323308, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.078517, 1.008337, 4.548283 mu:0.143122 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -3.378183, 0.891227, 3.616166 mu:0.143122 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.321234, 1.037192, 4.532552 mu:0.143122 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.854656, 1.064096, 4.504388 mu:0.143122 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.641472, 1.604273, 4.394339 mu:0.143122 unit_bearing:-0.052020 0.110040 0.992565 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.034403, 1.817568, 4.381997 mu:0.143122 unit_bearing:0.034832 0.140555 0.989460 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.979785, 2.045086, 4.263668 mu:0.143122 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.034169, 1.847223, 4.373940 mu:0.143122 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.939477, 2.075245, 4.259361 mu:0.143122 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.939660, 2.104590, 4.250071 mu:0.143122 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 1.226218, 2.649174, 4.008437 mu:0.143122 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] If point is visible? 2.701288, 2.716860, 3.536985 mu:0.143122 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] If point is visible? 2.701106, 2.744874, 3.524083 mu:0.143122 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] If point is visible? 1.227947, 2.877480, 3.908328 mu:0.143122 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] If point is visible? 2.386219, 2.766657, 3.642031 mu:0.143122 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] If point is visible? -2.584040, 3.546964, 3.012701 mu:0.143122 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] If point is visible? -2.546407, 3.550174, 3.029397 mu:0.143122 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] If point is visible? 1.711833, 3.443769, 3.506322 mu:0.143122 unit_bearing:0.278729 0.386839 0.879014 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] If point is visible? 2.964005, 3.458451, 3.004275 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] If point is visible? 1.146660, -1.170279, 4.449700 mu:0.143122 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.684387, -0.562895, 1.092089 mu:0.282127 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 1.091792, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.433840, -2.027306, 4.316777 mu:0.143122 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 1.304196, -0.557707, 4.501767 mu:0.143122 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.752494, -1.904861, 4.330515 mu:0.143122 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.832668, -1.905010, 4.322482 mu:0.143122 unit_bearing:0.154437 -0.387219 0.908961 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -1.039008, -0.315523, 4.519419 mu:0.143122 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.157810, 0.186030, 4.616206 mu:0.143122 unit_bearing:0.017481 -0.095299 0.995295 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.720796, -0.064651, 4.572651 mu:0.143122 unit_bearing:-0.063574 -0.130150 0.989454 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.640353, -0.063590, 4.582009 mu:0.143122 unit_bearing:-0.052002 -0.130162 0.990128 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.559834, -0.062626, 4.590431 mu:0.143122 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] calculated Z= 1.294839 +[21:42:18.680] update seeds 305 +[21:42:18.680] If point is visible? 0.410619, -0.058659, 4.618401 mu:0.143122 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] calculated Z= 2.256820 +[21:42:18.680] update seeds 305 +[21:42:18.680] If point is visible? 1.866898, 0.225273, 4.400327 mu:0.143122 unit_bearing:0.305019 -0.085959 0.948459 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -0.479726, -0.000379, 4.598148 mu:0.143122 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.572476, 0.001956, 4.610165 mu:0.143122 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -1.445391, 0.956395, 4.377954 mu:0.143122 unit_bearing:-0.167677 0.018291 0.985672 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? -1.365637, 1.018978, 4.386898 mu:0.143122 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.005628, 0.197486, -0.497375 mu:0.532057 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 1.340541, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.043886, 0.742733, 0.393249 mu:0.350219 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] If point is visible? -1.349975, 1.903479, 4.152380 mu:0.143968 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.831948, Z inverse max: 0.000000 +[21:42:18.680] If point is visible? 0.817813, 2.048018, 4.281629 mu:0.143122 unit_bearing:0.155998 0.175042 0.972124 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.680] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? -1.365750, 0.958610, 4.395711 mu:0.143122 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.736415, 1.990394, 4.307070 mu:0.143122 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? -0.065413, 2.637408, 4.104726 mu:0.143122 unit_bearing:0.028938 0.261854 0.964674 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] If point is visible? 1.226014, 2.620473, 4.020331 mu:0.143122 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] If point is visible? -0.066279, 2.579629, 4.127963 mu:0.143122 unit_bearing:0.028948 0.253240 0.966970 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] If point is visible? -1.160457, 3.521713, 3.533292 mu:0.143122 unit_bearing:-0.131356 0.397441 0.908177 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] If point is visible? 2.819058, 2.651885, 3.513919 mu:0.143122 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] If point is visible? -2.618192, 3.597296, 2.961685 mu:0.143122 unit_bearing:-0.344295 0.418148 0.840603 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] If point is visible? 2.964005, 3.458451, 3.004275 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] If point is visible? -2.696531, 3.537007, 2.961124 mu:0.143122 unit_bearing:-0.355554 0.409593 0.840128 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] If point is visible? 2.963035, 3.511411, 2.970291 mu:0.143122 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] If point is visible? 2.346737, 2.740999, 3.668472 mu:0.143122 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] If point is visible? 2.740453, 2.713932, 3.521085 mu:0.143122 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.125943 y=0.000000 z=-2.362592 +[21:42:18.681] If point is visible? 2029134166.747984, 2275362565.975900, 3567830413.225833 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125944 y=0.000000 z=-2.362591 +[21:42:18.681] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 2029134166.747984, 2275362565.975900, 3567830413.225833 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125944 y=0.000000 z=-2.362591 +[21:42:18.681] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.102786, -0.097167, 0.524887 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.371298, 0.126422, 0.534862 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.027885, 0.075446, 0.557942 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? -0.067493, 0.091544, 0.654837 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.285425, -0.043593, 0.493216 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.143669, 0.129698, 0.522192 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.086431, -0.099654, 0.532346 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.008831, -0.187305, 0.625013 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.102786, -0.097167, 0.524887 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.371298, 0.126422, 0.534862 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? -0.067493, 0.091544, 0.654837 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.027885, 0.075446, 0.557942 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.285425, -0.043593, 0.493216 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.143669, 0.129698, 0.522192 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.086431, -0.099654, 0.532346 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.681] If point is visible? 0.008831, -0.187305, 0.625013 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.236494 y=0.000000 z=0.872546 +[21:42:18.681] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.933] add new frame +[21:42:18.933] add key frame +[21:42:18.933] remove key frame +[21:42:18.933] update seed +[21:42:18.933] If point is visible? 34677250521.312294, -2337424665.975772, -12285152054.537468 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] If point is visible? 27343404768.622135, 15836136387.462635, -18985658239.756748 mu:-0.000000 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 27556665081.096134, 15127430753.822453, -19253344312.554913 mu:-0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 27926639871.690849, 14110420313.272402, -19490999022.166084 mu:-0.000000 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 28439215128.274490, 12947895684.483290, -19556667892.417271 mu:-0.000000 unit_bearing:-0.227466 -0.413277 0.881738 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 21739255667.622524, 11751265853.973013, -27353477524.895557 mu:-0.000000 unit_bearing:0.051572 -0.406834 0.912045 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 28695815797.254295, 12324861232.363165, -19584385876.408802 mu:-0.000000 unit_bearing:-0.230590 -0.396593 0.888562 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 25903467847.917233, 12001659815.355013, -23321036297.051472 mu:-0.000000 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 25559523460.789749, 11956399503.123722, -23720360246.438541 mu:-0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 34014652960.559235, 13595302329.601755, -4131749906.618559 mu:-0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] If point is visible? 20827556485.003384, 11408275875.461630, -28195112187.666058 mu:-0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 28671413396.700680, 12403972908.989183, -19570174468.601963 mu:-0.000000 unit_bearing:-0.230553 -0.398677 0.887639 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 20600263509.874783, 11302770576.322142, -28403815579.696293 mu:-0.000000 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 34042837286.704304, 13520632105.107910, -4144629742.301127 mu:-0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] If point is visible? 20161833214.135384, 11012235526.999525, -28829349090.949413 mu:-0.000000 unit_bearing:0.111646 -0.391815 0.913245 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 20308979405.932755, 11109054707.037867, -28688577480.756359 mu:-0.000000 unit_bearing:0.105921 -0.393956 0.913006 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 20539145496.597767, 11214474598.945614, -28482964743.899120 mu:-0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 34232121514.661625, 12542534427.526482, -5454072377.357376 mu:-0.000000 unit_bearing:-0.601749 -0.355740 0.715085 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] If point is visible? 34216438360.401241, 12534495289.215828, -5569739000.323923 mu:-0.000000 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] If point is visible? 34200388943.914658, 12526429447.724457, -5685259900.384849 mu:-0.000000 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] If point is visible? 20015781947.141174, 10587741939.315464, -29088974071.573856 mu:-0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 19930030828.973335, 10579266866.206612, -29150869671.345394 mu:-0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.933] If point is visible? 19300725240.185574, 10272319195.613129, -29679314048.923847 mu:-0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.933] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 19951601593.924736, 10499418190.072979, -29164979519.508419 mu:-0.000000 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 19865635015.306896, 10490957247.381725, -29226641619.224285 mu:-0.000000 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 34242215766.337719, 12458796366.841475, -5581153219.492486 mu:-0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] If point is visible? 34226136319.473957, 12450686207.139881, -5696685384.586851 mu:-0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] If point is visible? 29182254611.423176, 11074551661.723524, -19612509786.082474 mu:-0.000000 unit_bearing:-0.236808 -0.363022 0.901187 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 34571253706.403946, 11834783504.037161, -4864826341.712728 mu:-0.000000 unit_bearing:-0.617730 -0.334735 0.711591 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] If point is visible? 29412175792.589153, 10447596085.499136, -19613053561.428143 mu:-0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 18356850318.778992, 5852356843.504006, -31427315899.175983 mu:-0.000000 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 18264670074.684345, 5844630689.857460, -31482413154.628208 mu:-0.000000 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 17977923591.375378, 4761124455.510362, -31828072139.857456 mu:-0.000000 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 17884505834.659863, 4753608918.802979, -31881779626.857174 mu:-0.000000 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 17897276091.397263, 4673190554.846410, -31886502119.624393 mu:-0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 20455359905.004814, 2851249161.845628, -30534387962.532875 mu:-0.000000 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 20934112810.578842, 2568172680.259629, -30233551375.743172 mu:-0.000000 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 11097737667.298220, 1802703994.025238, -35106846851.713531 mu:-0.000000 unit_bearing:0.427333 -0.164601 0.888984 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 26752990493.204781, 2053520048.628181, -25277673427.944527 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 26680177269.946598, 2044125604.385441, -25355273814.484924 mu:-0.000000 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 26607143748.840202, 2034751871.113130, -25432654309.011600 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 22159333560.992386, 1705139350.831777, -29410145439.876984 mu:-0.000000 unit_bearing:0.104216 -0.143140 0.984200 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 12354138606.190498, 989014897.411832, -34717392294.383522 mu:-0.000000 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 12466614146.609524, 915015731.569407, -34679194004.774292 mu:-0.000000 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25894883653.241905, 1619594011.018896, -26186487635.382664 mu:-0.000000 unit_bearing:-0.028849 -0.130180 0.991071 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25819434124.507950, 1610445210.450843, -26261445249.037182 mu:-0.000000 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25750983547.093189, 1520687735.223082, -26333905407.733398 mu:-0.000000 unit_bearing:-0.023061 -0.128004 0.991506 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25675098261.483829, 1511580913.436631, -26408420461.280697 mu:-0.000000 unit_bearing:-0.020166 -0.128005 0.991568 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 12809417028.910267, 613280506.930654, -34560713842.295654 mu:-0.000000 unit_bearing:0.386213 -0.130770 0.913093 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25689153684.732876, 1350336570.221832, -26403488272.646511 mu:-0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25613046243.589577, 1341249477.281242, -26477785610.172386 mu:-0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 13245715882.312853, 397018708.718414, -34399034954.473404 mu:-0.000000 unit_bearing:0.375118 -0.124412 0.918590 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25543560706.126286, 1251569728.025227, -26549205233.367504 mu:-0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25396972571.136002, 1152894288.257008, -26693910126.409977 mu:-0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25319999302.749588, 1143893850.803355, -26767318898.667545 mu:-0.000000 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 14765280762.458075, -718144899.017874, -33769379188.790554 mu:-0.000000 unit_bearing:0.336066 -0.092305 0.937304 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 15291305421.089678, -1087440133.600608, -33524523432.262012 mu:-0.000000 unit_bearing:0.322012 -0.081552 0.943217 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 24366494532.798138, -1474407072.187887, -27622459825.810398 mu:-0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 24369283572.541237, -1554714931.313235, -27615595204.581429 mu:-0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 33387130255.043316, -662311886.326774, -15612850319.639410 mu:-0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] If point is visible? 29861831981.280762, -2744431253.705532, -21439200233.393337 mu:-0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25345313492.558598, -3559555706.485352, -26530074745.302750 mu:-0.000000 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25259869223.625992, -3569382947.474813, -26610124596.381382 mu:-0.000000 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25345256400.078136, -3612515138.068167, -26522969879.832264 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25267564584.454433, -3621454756.550988, -26595779068.716236 mu:-0.000000 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 28749103729.446823, -3400851155.368188, -22821557024.245235 mu:-0.000000 unit_bearing:-0.135953 0.016121 0.990584 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25652584359.233109, -3736295156.372627, -26208495436.603199 mu:-0.000000 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25575746659.149181, -3745346437.799674, -26282195146.938625 mu:-0.000000 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 28544317283.744678, -3591001876.819990, -23048359489.667561 mu:-0.000000 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 22317947010.412395, -4801877900.218369, -28943935957.942081 mu:-0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 22232552070.016136, -4809722831.191616, -29008281810.666599 mu:-0.000000 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 28500760520.583393, -6281381215.860536, -22520015954.839878 mu:-0.000000 unit_bearing:-0.130096 0.094676 0.986971 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 28433031432.432446, -6291710164.140090, -22602595550.290020 mu:-0.000000 unit_bearing:-0.127210 0.094681 0.987347 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 28588839213.522427, -5954554987.420736, -22497150178.676235 mu:-0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 28284530688.812706, -7328124908.381968, -22476301472.380993 mu:-0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 28277460011.538055, -7406886896.846281, -22459374448.762001 mu:-0.000000 unit_bearing:-0.124262 0.125181 0.984321 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 21292965581.342987, -8904731321.581020, -28743966248.703876 mu:-0.000000 unit_bearing:0.133066 0.144734 0.980482 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 25233334015.712482, -8512090468.963605, -25489672205.615379 mu:-0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 26527870424.333145, -8196866576.646725, -24248374954.189419 mu:-0.000000 unit_bearing:-0.054884 0.140537 0.988553 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 26454400331.050400, -8206426237.641410, -24325285000.910763 mu:-0.000000 unit_bearing:-0.051991 0.140540 0.988709 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 21829737277.792435, -9479608088.350838, -28151373318.820522 mu:-0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 21744034914.040764, -9487137455.441296, -28215091483.470089 mu:-0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 21658128121.423527, -9494630085.287138, -28278573243.392048 mu:-0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 26519903050.243973, -8275490701.177037, -24230377931.530994 mu:-0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 26446436964.272125, -8285051905.741094, -24307285032.654972 mu:-0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 19734382694.566296, -9493718743.634295, -29653392098.535755 mu:-0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 21649141051.235386, -9572878668.782232, -28259067652.679554 mu:-0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 29715057527.922787, -8861297960.546974, -19934717790.618298 mu:-0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 19716888456.343796, -9650027707.736610, -29614548683.175255 mu:-0.000000 unit_bearing:0.181920 0.161923 0.969890 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 19725695708.930164, -9571887893.003275, -29634036340.510731 mu:-0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 29756574909.376663, -9005918094.362659, -19807571980.549393 mu:-0.000000 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 29694668548.294174, -9017249208.854071, -19895127427.014042 mu:-0.000000 unit_bearing:-0.195991 0.177017 0.964496 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 28262486085.181026, -9335756617.641218, -21748005598.083324 mu:-0.000000 unit_bearing:-0.132754 0.179467 0.974766 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 19541677885.281097, -10358489297.805761, -29491096008.162834 mu:-0.000000 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 28272722390.224915, -9257695622.279636, -21768060530.137806 mu:-0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 21022769063.797012, -10475427862.548923, -28411420429.988808 mu:-0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 20229820028.879147, -10538493726.320864, -28958500486.810986 mu:-0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 19782239438.654240, -10572155704.869959, -29253935554.215561 mu:-0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 19712514962.831810, -10423178134.103836, -29354289810.720806 mu:-0.000000 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 19622191551.634247, -10429767187.528292, -29412408503.760769 mu:-0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 20119797879.473572, -10700843329.103401, -28975608780.495762 mu:-0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 20030488629.137875, -10707600806.630293, -29034927744.172462 mu:-0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.934] If point is visible? 10478217721.591948, -14690689720.631742, -32144841075.805759 mu:-0.000000 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.934] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 12126512483.158129, -14807975321.075216, -31505107217.106861 mu:-0.000000 unit_bearing:0.378146 0.294551 0.877636 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 12142616114.175188, -14733226636.446968, -31533936095.231815 mu:-0.000000 unit_bearing:0.378193 0.292443 0.878321 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 12038932952.016348, -14735665731.357784, -31572527103.575356 mu:-0.000000 unit_bearing:0.380955 0.292381 0.877147 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 27782813386.511936, -16595814363.077995, -17652037977.814030 mu:-0.000000 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 27720880296.667530, -16607738534.332054, -17737982838.168606 mu:-0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 20947110114.627842, 11584865048.842592, -28034081017.696163 mu:-0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26241561067.164684, 12047042423.724564, -22916139736.818707 mu:-0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26107029348.934544, 12028875324.854092, -23078765041.307461 mu:-0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 20661022399.284023, 11391058032.577190, -28324303507.359760 mu:-0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 5722781251.820697, 5111493800.664905, -36055826502.309074 mu:-0.000000 unit_bearing:0.543244 -0.256827 0.799328 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 17764994964.965797, 4906920372.717206, -31925339547.593220 mu:-0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 18332088268.604588, 3649776622.379399, -31772848301.605137 mu:-0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 18145745864.754517, 3634913557.444720, -31881335124.491001 mu:-0.000000 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 17958617142.474529, 3620131546.091560, -31988793925.340923 mu:-0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 18003350377.368145, 4600267672.765423, -31837354340.567295 mu:-0.000000 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] calculated Z= 1.711576 +[21:42:18.935] update seeds 305 +[21:42:18.935] If point is visible? 17816303496.747356, 4585288496.659532, -31944556312.349373 mu:-0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 21182443656.872974, 4059806811.745325, -29895188044.977207 mu:-0.000000 unit_bearing:0.127084 -0.208144 0.969807 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 18028292418.050980, 4439397846.877869, -31846077280.014271 mu:-0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 21159198075.087818, 4221121540.901423, -29889307262.396442 mu:-0.000000 unit_bearing:0.127066 -0.212468 0.968871 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 27384039932.260754, 2954796794.914419, -24500688801.236542 mu:-0.000000 unit_bearing:-0.092427 -0.160557 0.982690 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 21972915967.344593, 1850111530.609521, -29540959193.714165 mu:-0.000000 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26607143748.840202, 2034751871.113130, -25432654309.011600 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26475782865.141258, 1854800005.663667, -25583058016.345333 mu:-0.000000 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26328163772.215096, 1836189920.040050, -25736286014.350620 mu:-0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 15904838500.614897, -1370337989.287516, -33227375836.028957 mu:-0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26821048561.592548, -1184766286.530678, -25261193593.184982 mu:-0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26674107571.698158, -1203617123.766009, -25415418743.804295 mu:-0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26826583580.308765, -1345337578.757853, -25247271120.998432 mu:-0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26679637081.059921, -1364196052.987062, -25401499034.544193 mu:-0.000000 unit_bearing:-0.052056 -0.047246 0.997526 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 24875174555.078278, -2865711548.124434, -27053901881.885422 mu:-0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 34674137873.166313, -2494374774.999580, -12263053291.267460 mu:-0.000000 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] If point is visible? 28815236670.211105, -3470352941.308774, -22727494471.243031 mu:-0.000000 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 24553452198.856510, -4179875299.628712, -27176402382.505890 mu:-0.000000 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 34677250521.312294, -2337424665.975772, -12285152054.537468 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] If point is visible? 25345256400.078136, -3612515138.068167, -26522969879.832264 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 20662509311.550850, -4866099086.817780, -30137717357.129093 mu:-0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26417299618.481216, -6963917114.691620, -24749350660.854794 mu:-0.000000 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 24258825558.274593, -7216182705.501510, -26801796741.077450 mu:-0.000000 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26585054031.154678, -8344491997.509408, -24135131536.995731 mu:-0.000000 unit_bearing:-0.057771 0.144886 0.987760 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 19751851695.150551, -10111619001.761292, -29436707265.645599 mu:-0.000000 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 24133846839.332333, -8634867418.096300, -26493333506.036297 mu:-0.000000 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 19892561760.562347, -10409881113.949863, -29237314867.512207 mu:-0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 18146609877.245197, -13427981275.713688, -29142582035.359707 mu:-0.000000 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 17961276391.833065, -13439378507.370955, -29251937962.770714 mu:-0.000000 unit_bearing:0.218399 0.265150 0.939147 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 12246119095.692499, -14730729266.687696, -31495053599.586239 mu:-0.000000 unit_bearing:0.375429 0.292504 0.879485 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 23300199591.164631, -13157388278.429016, -25355158282.911251 mu:-0.000000 unit_bearing:0.040456 0.270440 0.961886 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 12277980035.545818, -14581042941.364750, -31552252088.626537 mu:-0.000000 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 10600330406.300766, -14614626642.308079, -32139475762.074390 mu:-0.000000 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 10387455569.942043, -14617742868.269672, -32207492592.526844 mu:-0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 10418611421.148268, -14468695821.742655, -32264680319.992695 mu:-0.000000 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 17896514593.764832, -14644041006.358175, -28708309724.932766 mu:-0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 16072472174.926264, -16811245625.677933, -28599962894.412663 mu:-0.000000 unit_bearing:0.251194 0.358093 0.899261 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 7908651241.069259, -18409331282.769878, -30942688573.228512 mu:-0.000000 unit_bearing:0.458993 0.393377 0.796605 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 33591020910.364178, -13674045985.859779, -6600302973.274687 mu:-0.000000 unit_bearing:-0.508300 0.346354 0.788460 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] If point is visible? 30536725051.564625, -16719472535.269829, -12118905893.509840 mu:-0.000000 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] If point is visible? 27905940512.602463, -16571818732.309744, -17479517350.987064 mu:-0.000000 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 27782813386.511936, -16595814363.077995, -17652037977.814030 mu:-0.000000 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 30389734508.763374, -16893872391.265308, -12245869952.899494 mu:-0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] If point is visible? 20447630683.268272, 11533172464.963282, -28421480453.994183 mu:-0.000000 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 18006112045.542202, 6720767330.598157, -31456500669.460323 mu:-0.000000 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 25646021784.304531, 938248018.670707, -26463209861.035267 mu:-0.000000 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 34064086933.182407, 13169284460.794353, -5010803024.948616 mu:-0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] If point is visible? 18068257164.232410, 6399480988.962018, -31487853928.072891 mu:-0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26752990493.204781, 2053520048.628181, -25277673427.944527 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 34006943120.727638, 13499017692.244852, -4494948240.098894 mu:-0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] If point is visible? 25182653158.936584, -2349589681.041902, -26818158532.303421 mu:-0.000000 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 19258700726.088062, 10759501800.062193, -29533638215.179001 mu:-0.000000 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 18167788004.499420, 3474001546.410316, -31886721549.221581 mu:-0.000000 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 26194512012.428864, 1656403687.150231, -25884437141.032757 mu:-0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 22374065404.246941, 1237823800.896649, -29270620225.605133 mu:-0.000000 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 15896703434.627478, -1210532877.627841, -33237473564.457001 mu:-0.000000 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 28936447586.883965, -4087134561.242986, -22469480433.835896 mu:-0.000000 unit_bearing:-0.144601 0.035763 0.988844 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 29213076164.620293, -3408210081.917197, -22223422415.848629 mu:-0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 25923033707.565372, 1297119675.650091, -26176593032.649296 mu:-0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 25497647605.861420, -2634325730.503338, -26492083975.553387 mu:-0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 24309311791.557526, -8460512061.210707, -26388961986.728828 mu:-0.000000 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 28889812025.145683, -8468707997.148370, -21273456814.581089 mu:-0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 20857758713.268963, -9716767624.289347, -28799974778.794529 mu:-0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 17804172938.562748, -13297910672.303671, -29412195031.855236 mu:-0.000000 unit_bearing:0.224139 0.260811 0.939010 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 8423678462.213509, -18839795158.230000, -30545113822.522717 mu:-0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] If point is visible? 12515874416.946264, -14425826152.085487, -31530122839.665791 mu:-0.000000 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 10418611421.148268, -14468695821.742655, -32264680319.992695 mu:-0.000000 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.935] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:18.935] If point is visible? 33129228521.151360, -14173935657.931307, -7775216030.859690 mu:-0.000000 unit_bearing:-0.476315 0.355930 0.804014 T_cur_ref: x=0.125978 y=0.000000 z=-2.361378 +[21:42:18.936] If point is visible? -2.789814, -1.055943, 9.355317 mu:0.082507 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=0.125980 y=0.000000 z=-2.361376 +[21:42:18.936] Z inverse min: 0.593824, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -2.177384, 6.006337, 7.910914 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125980 y=0.000000 z=-2.361376 +[21:42:18.936] If point is visible? -2.789814, -1.055943, 9.355317 mu:0.082507 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=0.125980 y=0.000000 z=-2.361376 +[21:42:18.936] Z inverse min: 0.593824, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -2.177384, 6.006337, 7.910914 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125980 y=0.000000 z=-2.361376 +[21:42:18.936] If point is visible? -896618232441.734375, -184549854955.938965, 1664017488583.597656 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.125981 y=0.000000 z=-2.361374 +[21:42:18.936] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -17.049898, 12.738377, 20.672633 mu:0.031817 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.125981 y=0.000000 z=-2.361374 +[21:42:18.936] Z inverse min: 0.508232, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -896618232441.734375, -184549854955.938965, 1664017488583.597656 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.125981 y=0.000000 z=-2.361374 +[21:42:18.936] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -17.049898, 12.738377, 20.672633 mu:0.031817 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.125981 y=0.000000 z=-2.361374 +[21:42:18.936] Z inverse min: 0.508232, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -47.863078, 58.144864, 90.663941 mu:0.008351 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.125983 y=0.000000 z=-2.361373 +[21:42:18.936] Z inverse min: 0.523315, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -86438677428.946243, 229257142262.794312, 375156136876.535339 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.125983 y=0.000000 z=-2.361373 +[21:42:18.936] If point is visible? -47.863078, 58.144864, 90.663941 mu:0.008351 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.125983 y=0.000000 z=-2.361373 +[21:42:18.936] Z inverse min: 0.523315, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -86438677428.946243, 229257142262.794312, 375156136876.535339 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.125983 y=0.000000 z=-2.361373 +[21:42:18.936] If point is visible? -5.380014, 0.400458, -0.186634 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.125985 y=0.000000 z=-2.361370 +[21:42:18.936] If point is visible? -1.040805, 3.037937, 2.600022 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.125985 y=0.000000 z=-2.361370 +[21:42:18.936] If point is visible? -0.970820, 3.037066, 2.616493 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.125985 y=0.000000 z=-2.361370 +[21:42:18.936] If point is visible? -5.379530, 0.425718, -0.190209 mu:0.168536 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.125985 y=0.000000 z=-2.361370 +[21:42:18.936] If point is visible? -5.380014, 0.400458, -0.186634 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.125985 y=0.000000 z=-2.361370 +[21:42:18.936] If point is visible? -0.984447, 2.991554, 2.640971 mu:0.168536 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.125985 y=0.000000 z=-2.361370 +[21:42:18.936] If point is visible? -1.026852, 3.083350, 2.575207 mu:0.168536 unit_bearing:0.442103 0.414388 0.795505 T_cur_ref: x=0.125985 y=0.000000 z=-2.361370 +[21:42:18.936] If point is visible? -1.040805, 3.037937, 2.600022 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.125985 y=0.000000 z=-2.361370 +[21:42:18.936] If point is visible? -0.970820, 3.037066, 2.616493 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.125985 y=0.000000 z=-2.361370 +[21:42:18.936] If point is visible? -55778.349139, -36476.714397, 109007.240736 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.125994 y=0.000000 z=-2.361354 +[21:42:18.936] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -55778.349139, -36476.714397, 109007.240736 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.125994 y=0.000000 z=-2.361354 +[21:42:18.936] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -0.070987, -0.442483, 4.258019 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.126010 y=0.000000 z=-2.361325 +[21:42:18.936] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -0.070987, -0.442483, 4.258019 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.126010 y=0.000000 z=-2.361325 +[21:42:18.936] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -12.452114, 15.860771, 30.469290 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.126013 y=0.000000 z=-2.361319 +[21:42:18.936] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? 2.436456, 19.197576, 31.011382 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126013 y=0.000000 z=-2.361319 +[21:42:18.936] If point is visible? -17.265613, 18.082673, 26.933229 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.126013 y=0.000000 z=-2.361319 +[21:42:18.936] If point is visible? -12.452114, 15.860771, 30.469290 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.126013 y=0.000000 z=-2.361319 +[21:42:18.936] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -17.265613, 18.082673, 26.933229 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.126013 y=0.000000 z=-2.361319 +[21:42:18.936] If point is visible? 2.436456, 19.197576, 31.011382 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126013 y=0.000000 z=-2.361319 +[21:42:18.936] If point is visible? -65390785586.466591, -23901742507.747051, 214641930161.671539 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? 11104398246.121410, -17919591477.839687, 224664164696.732605 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -33664972912.853027, 111761912249.881927, 193117453605.794006 mu:0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.936] calculated Z= 0.225663 +[21:42:18.936] update seeds 305 +[21:42:18.936] If point is visible? -127215923218.498688, -93211181533.139786, 161388323106.558136 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -127340713862.837875, -92731183094.694763, 161566322583.160461 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -127332992375.501617, -90772945223.635559, 162680631257.709564 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -127786642878.814285, -86879519390.142609, 164441264074.961823 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -130519617881.026779, -77216087575.478775, 167094917594.715271 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -69841920261.061829, -65449907006.819855, 204344860872.847504 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -107045388559.237503, -68104733549.407867, 186605027731.135132 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -70971979689.326614, -66004356695.477112, 203776370843.858459 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.936] If point is visible? -193410520649.656433, -75472062244.760468, 88401044344.314957 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] If point is visible? -68707990802.216370, -64895784179.771454, 204905235447.291626 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.936] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -193533230592.749542, -75009287257.339020, 88526277455.299835 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -193244709275.638855, -74972325031.314880, 89185419968.640305 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -134321981676.564804, -66099680389.706200, 168839698557.856903 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -65366078445.743637, -62742950806.593575, 206661569312.714142 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -64379270653.180573, -61204694153.393288, 207431196404.586639 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -63761918547.699730, -61174854214.607407, 207630588481.132385 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -192341501030.979950, -70047638971.892883, 94955155595.659592 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -192035441711.212555, -70006981067.687790, 95602395614.063675 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -191727501093.871704, -69966231967.020889, 96248106616.252670 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -191417686702.078552, -69925393352.218811, 96892285042.393814 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -191106006040.707977, -69884466898.077469, 97534927385.586105 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -59035663366.507744, -59461445853.986710, 209517381679.672058 mu:0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -191530278906.386169, -69457208073.627808, 97006467965.967270 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -191218389746.587189, -69416016224.650314, 97649118955.533585 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -63922851039.219070, -60188986598.633911, 207869096609.691864 mu:0.000000 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] calculated Z= 0.564130 +[21:42:18.937] update seeds 305 +[21:42:18.937] If point is visible? -191753390367.875336, -68520265513.134216, 97231768548.181946 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -191441087674.804321, -68478545328.511108, 97874435365.668503 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -135554368647.352493, -62217852018.017136, 169329142055.134338 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -194763169101.166931, -65069828215.564644, 93550156259.924149 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] If point is visible? -136835899852.310196, -57839114806.132980, 169849873795.345551 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -138152139334.289703, -52962393312.445717, 170374228128.016235 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -48062606610.930786, -31668381845.420612, 218186859721.416199 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -142765074486.697571, -34402276706.468872, 171327240047.968201 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -46078828317.948868, -25638162106.270035, 219403355814.558533 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -45432387771.320648, -25615713629.098858, 219540747185.346039 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -61738507253.229515, -14798043728.755327, 216535865255.588837 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -279.576723, -64.217471, 967.424888 mu:0.000989 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.978844, Z inverse max: 0.000000 +[21:42:18.937] calculated Z= 0.462921 +[21:42:18.937] update seeds 305 +[21:42:18.937] If point is visible? -68401157678.748360, -9609110679.054111, 214819349543.314819 mu:0.000000 unit_bearing:0.130143 -0.158286 0.978779 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -68368319087.274193, -10104287455.970634, 214807082374.478577 mu:0.000000 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -72942251609.827225, -6828220043.593216, 213427293613.489227 mu:0.000000 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -108276842912.142166, -6283730899.971777, 197876341013.963013 mu:0.000000 unit_bearing:-0.060676 -0.134508 0.989053 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -107704208933.979858, -6245996943.767147, 198189800994.402527 mu:0.000000 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -101959507173.308731, -5383021406.371277, 201230435808.349915 mu:0.000000 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.937] If point is visible? -107674775160.429886, -6741003286.103760, 198189575878.663239 mu:0.000000 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.937] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -100320683964.042801, -3296282880.509888, 202097256800.428986 mu:0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -99736061470.992798, -3260926159.958283, 202386982587.647308 mu:0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -107644863327.410553, -7236065311.309441, 198188367661.047150 mu:0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? 0.041458, -0.007795, -0.766451 mu:0.626125 unit_bearing:0.377891 -0.126541 0.917162 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 1.509897, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -99176821029.580170, -2730965883.870788, 202669450864.962799 mu:0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -98029084754.305557, -2166400651.200541, 203233883908.533020 mu:0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -0.938370, -0.023286, -0.138223 mu:0.405700 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] If point is visible? -91681714809.946426, 1666255304.114086, 206179759144.423004 mu:0.000000 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -91106405959.572250, 2193101236.762956, 206429696066.668182 mu:0.000000 unit_bearing:0.026168 -0.101842 0.994456 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -27924053211.460178, 10882725367.802870, 223652006158.740265 mu:0.000000 unit_bearing:0.313565 -0.072921 0.946763 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -27241931295.289742, 10405662101.078310, 223758811432.214325 mu:0.000000 unit_bearing:0.316386 -0.075077 0.945655 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -89681660154.986298, 13633341477.349247, 206614951419.516327 mu:0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -89692275321.400391, 14125464122.251459, 206577281735.148315 mu:0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -164925059205.170013, 11179357548.588949, 153600628674.771210 mu:0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -164933172661.221558, 11665560555.964178, 153555753949.931824 mu:0.000000 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -132986790216.189117, 22892075175.134182, 180855944995.909973 mu:0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -96948440731.670792, 27466265358.815044, 201903468085.713867 mu:0.000000 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -96357422792.778839, 27500408377.213295, 202181554376.063141 mu:0.000000 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -59440864677.789497, 33541480718.665775, 215081749564.218719 mu:0.000000 unit_bearing:0.176509 0.031374 0.983799 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -123208898182.215347, 27132997360.452808, 187087610977.123505 mu:0.000000 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -70154726665.787216, 33644228547.838673, 211813093386.436859 mu:0.000000 unit_bearing:0.127482 0.033591 0.991272 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -62621425384.227371, 32948253096.222973, 214269400565.753052 mu:0.000000 unit_bearing:0.162108 0.029203 0.986341 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -74508331027.820114, 33467095931.758141, 210349396042.420380 mu:0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -2.735210, 1.296970, 5.792456 mu:0.114443 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 1.214287, Z inverse max: 0.000000 +[21:42:18.938] calculated Z= 0.337761 +[21:42:18.938] update seeds 305 +[21:42:18.938] If point is visible? -122354505614.139252, 40789337724.651520, 185159421045.969330 mu:0.000000 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -121802692725.037872, 40833735149.311226, 185513116616.747742 mu:0.000000 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -122850308968.950073, 42196288122.569199, 184514718039.207397 mu:0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -120801252394.739532, 50528846960.848869, 183772411865.467896 mu:0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.938] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.938] If point is visible? -69363237666.907578, 55892489975.651382, 207323846054.353180 mu:0.000000 unit_bearing:0.127327 0.133877 0.982784 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -107017477354.387527, 55853607600.730804, 190646375199.843109 mu:0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -106443225704.947861, 55892378545.204483, 190956246402.772522 mu:0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -97109282136.729294, 56958791391.008369, 195560450307.051117 mu:0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -72075511071.720657, 61996285267.482399, 204646005665.584717 mu:0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -71455240311.621826, 62020285702.813805, 204856142479.165619 mu:0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -70834231503.342072, 62044022875.071762, 205064519580.794739 mu:0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -106954586743.908279, 56812541377.973869, 190398156069.772888 mu:0.000000 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -106380393482.320190, 56851333297.263039, 190708007443.375916 mu:0.000000 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -57054347041.486031, 61545378102.533707, 209464493974.425629 mu:0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -70800484585.416412, 62521293371.168892, 204931172777.010010 mu:0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -57022084314.778969, 62022226435.114296, 209332586203.167664 mu:0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -57626111790.588150, 62481024873.852043, 209030521906.945312 mu:0.000000 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -134600107026.247787, 60224880751.296799, 170804511782.487976 mu:0.000000 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -134073672425.773987, 60276923995.552887, 171199734562.113861 mu:0.000000 unit_bearing:-0.198881 0.172672 0.964692 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -133546235476.264999, 60328706558.182190, 171593287961.302887 mu:0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -121617033680.672989, 62354671787.965363, 179553887017.603973 mu:0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -66659877655.024696, 67892202772.217644, 204610644473.473236 mu:0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -61002121551.136299, 68075438635.439735, 206307736498.036194 mu:0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -57834124993.688644, 68167510440.297691, 207187863603.718842 mu:0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -57236532442.270485, 67710918957.896805, 207503294253.242188 mu:0.000000 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -56600114317.521545, 67728258528.654175, 207672136730.000885 mu:0.000000 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.939] If point is visible? -56637736520.220367, 67253922711.900330, 207815983504.185852 mu:0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.939] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -60292059814.196587, 69042535428.623596, 206195058483.561951 mu:0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -59659223795.347778, 69061142481.403687, 206372822661.779175 mu:0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -7498603824.053861, 91312094703.983917, 206214157175.410095 mu:0.000000 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -47521346375.004379, 93108793409.736618, 199977200066.941071 mu:0.000000 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -147074690930.922058, 94005611241.958206, 143004848382.728241 mu:0.000000 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -124365963092.903641, 106885239734.766815, 155006642016.181061 mu:0.000000 unit_bearing:-0.179828 0.386428 0.904619 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -124273833557.885818, 107332570043.388474, 154771250621.766602 mu:0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -123655630840.811722, 107834790744.996841, 154917233336.581329 mu:0.000000 unit_bearing:-0.176934 0.390653 0.903374 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -149805548089.514709, 109099489938.476822, 128740069035.240448 mu:0.000000 unit_bearing:-0.330763 0.410354 0.849827 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] If point is visible? -72010915592.155350, -67051147240.276222, 203068899655.868134 mu:0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -192999034881.432312, -75898236047.364456, 88933889031.940582 mu:0.000000 unit_bearing:-0.621788 -0.381876 0.683777 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] If point is visible? -69756003706.580078, -65942090074.644913, 204215932340.189697 mu:0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -68536975550.860184, -65880171881.488663, 204648215856.631622 mu:0.000000 unit_bearing:0.097312 -0.400306 0.911200 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -121335588032.717285, -68095741740.416595, 177648673937.599640 mu:0.000000 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -112546355030.759460, -68472900869.752670, 183202582225.135803 mu:0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -111453730909.972122, -68398664069.422699, 183896968267.421906 mu:0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -44738380312.781349, -26088041452.230289, 219627634277.217285 mu:0.000000 unit_bearing:0.230094 -0.233367 0.944773 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] calculated Z= 0.306335 +[21:42:18.940] update seeds 305 +[21:42:18.940] If point is visible? -44643224819.414238, -27077292541.625366, 219527239823.149078 mu:0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -65390785586.466591, -23901742507.747051, 214641930161.671539 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? 11104398246.121410, -17919591477.839687, 224664164696.732605 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -46217151728.623734, -24153983997.348076, 219542629712.729614 mu:0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -47941314450.351494, -19251331305.674805, 219657512800.637360 mu:0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -0.271527, -0.163684, -0.487002 mu:0.520023 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 1.896874, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -44831762813.409500, -25098790251.893970, 219723849613.474121 mu:0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -0.671355, -0.080088, -0.027321 mu:0.405229 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] If point is visible? -108848612053.570511, -6321635544.805914, 197561187727.168365 mu:0.000000 unit_bearing:-0.063569 -0.134505 0.988872 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -52.388875, -3.045451, 94.272940 mu:0.009089 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 1.000588, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -106556355870.964310, -6171041616.647375, 198811638459.573578 mu:0.000000 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] calculated Z= 0.277399 +[21:42:18.940] update seeds 305 +[21:42:18.940] If point is visible? -105405071536.569885, -6096770597.344652, 199426694804.796600 mu:0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -108470114024.268784, 12512754035.968876, 197474230389.986511 mu:0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -107320850736.438522, 12588617847.584642, 198096360431.008209 mu:0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -29923461959.397491, 10843994925.365891, 223395166725.783325 mu:0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -108491466531.863602, 13496724652.392101, 197397685983.254089 mu:0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.940] If point is visible? -178295200815.212799, 21843551937.854843, 136572643393.145157 mu:0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.940] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -93389590755.931015, 22281549270.597538, 204206569969.317230 mu:0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -124299432646.188995, 28020325912.454025, 186233505840.824677 mu:0.000000 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -125404451072.062485, 26955394176.403416, 185648960929.710022 mu:0.000000 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -96950704273.895523, 26977183005.130196, 201968311514.467682 mu:0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -62615268237.300285, 33435238732.262779, 214195749987.109039 mu:0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -105701838148.747116, 48753529158.232658, 193309650883.585754 mu:0.000000 unit_bearing:-0.046230 0.110044 0.992851 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -58619086144.809273, 66251328243.497536, 207588464428.071228 mu:0.000000 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -58545001941.432808, 67200923996.949615, 207303943232.443115 mu:0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? 1860665350.930323, 89767252122.477905, 207018802742.490173 mu:0.000000 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? 3337086557.713893, 90641984317.556534, 206618733057.743713 mu:0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -46941209909.422462, 92659863927.598846, 200322436954.227539 mu:0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -85151390772.010010, 83999571090.675186, 191341890406.491760 mu:0.000000 unit_bearing:0.040463 0.266140 0.963085 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -8907615964.515549, 90876856298.717743, 206350327562.604279 mu:0.000000 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] calculated Z= 0.428822 +[21:42:18.941] update seeds 305 +[21:42:18.941] If point is visible? -28889643758.269993, 101013613731.481354, 199699886436.013947 mu:0.000000 unit_bearing:0.285343 0.336464 0.897425 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -150052939556.010925, 109896657137.460281, 127770287622.163330 mu:0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] If point is visible? 12623203520.978703, 116075337893.915649, 193094735774.573792 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] If point is visible? -95247050098.963760, 1466364570.088095, 204558684832.697693 mu:0.000000 unit_bearing:0.005893 -0.104028 0.994557 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -0.694388, 0.014137, -0.544722 mu:0.501678 unit_bearing:0.017479 -0.104026 0.994421 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 1.685863, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -0.453570, -0.566871, -0.628532 mu:0.522722 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] If point is visible? -108789155202.611618, -7311648289.062314, 197559777859.053680 mu:0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -0.923907, -0.076819, 0.707204 mu:0.308254 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 1.495700, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -70546775710.753143, -5234501025.875678, 214275894010.215271 mu:0.000000 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] calculated Z= 0.400129 +[21:42:18.941] update seeds 305 +[21:42:18.941] If point is visible? -117413625257.119278, -13881163948.040470, 192197190951.301514 mu:0.000000 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -0.579216, -0.539761, 0.701068 mu:0.313621 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] If point is visible? -59176651086.825943, -62445879439.358154, 208607388232.711090 mu:0.000000 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -193323765297.166779, -76894636323.122314, 87358703027.685745 mu:0.000000 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] If point is visible? -0.462148, -0.473314, 0.338374 mu:0.356727 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] If point is visible? -191950430411.877106, -72886611709.505005, 93600109063.998917 mu:0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] If point is visible? -47573768064.003441, -36121345407.236748, 217601450629.824158 mu:0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -104307492299.773392, -5033206377.444115, 200032547856.102020 mu:0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -5.070239, -1.799787, 22.034086 mu:0.039988 unit_bearing:0.224725 -0.190320 0.955655 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 1.067666, Z inverse max: 0.000000 +[21:42:18.941] calculated Z= 0.228503 +[21:42:18.941] update seeds 305 +[21:42:18.941] If point is visible? -192661830518.241211, -74898030776.777939, 90499228536.630737 mu:0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] If point is visible? -4.452327, -1.784889, 19.193414 mu:0.045233 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 1.078860, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -102095876382.428223, -2908654233.619668, 201212271182.343994 mu:0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -98121287773.220352, 21029975680.259262, 202109770488.003082 mu:0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -127585051853.801849, 26774424107.305679, 184183579820.142395 mu:0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -126319735835.921783, 57688655408.940018, 177858791443.267303 mu:0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -106900306496.844177, 47711989001.964584, 192910074631.936035 mu:0.000000 unit_bearing:-0.052023 0.105679 0.993039 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -59959642642.891640, 65263800208.904549, 207518394255.819427 mu:0.000000 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.941] If point is visible? -187338822253.512268, 75793105160.250092, 100389128920.380783 mu:0.000000 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.941] If point is visible? 5758976149.946313, 87852228697.787872, 207767240980.468628 mu:0.000000 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.942] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -65144810395.537270, 63199496771.269447, 206592312549.319366 mu:0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.942] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -33664972912.853027, 111761912249.881927, 193117453605.794006 mu:0.000000 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.942] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:18.942] calculated Z= 0.225663 +[21:42:18.942] update seeds 305 +[21:42:18.942] If point is visible? 12623203520.978703, 116075337893.915649, 193094735774.573792 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.942] If point is visible? 0.053191, 0.631941, -0.909872 mu:0.631025 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.942] If point is visible? 0.149243, 0.645506, -0.872161 mu:0.616064 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.126018 y=0.000000 z=-2.361317 +[21:42:18.942] If point is visible? -5.389088, 12.795682, 25.047185 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.126026 y=0.000000 z=-2.361286 +[21:42:18.942] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -5.389088, 12.795682, 25.047185 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.126026 y=0.000000 z=-2.361286 +[21:42:18.942] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -7.251665, 4.571889, 3.809921 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? 2.599654, 5.264663, 6.559521 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? 0.075177, 5.290408, 6.881296 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -4.696888, -4.179989, 6.164176 mu:0.093899 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -4.701600, -3.995986, 6.249314 mu:0.093899 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -4.705409, -3.973092, 6.257768 mu:0.093899 unit_bearing:-0.220701 -0.468921 0.855222 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -4.746043, -3.720643, 6.347105 mu:0.093899 unit_bearing:-0.221187 -0.446416 0.867058 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -1.745772, -3.064937, 7.664624 mu:0.093899 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -4.851107, -3.377496, 6.427171 mu:0.093899 unit_bearing:-0.227427 -0.415351 0.880773 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -8.303983, -3.415121, 3.178404 mu:0.093899 unit_bearing:-0.624195 -0.381680 0.681690 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.308392, -3.393193, 3.185164 mu:0.093899 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -1.658405, -3.038936, 7.688441 mu:0.093899 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -1.573369, -2.989681, 7.717910 mu:0.093899 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] calculated Z= 0.437463 +[21:42:18.942] update seeds 305 +[21:42:18.942] If point is visible? -1.622055, -2.999474, 7.649579 mu:0.094377 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.752239, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -1.545803, -2.965503, 7.729656 mu:0.093899 unit_bearing:0.105938 -0.391858 0.913906 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -8.312775, -3.371254, 3.191870 mu:0.093899 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -3.727521, -3.114303, 7.065676 mu:0.093899 unit_bearing:-0.108544 -0.398128 0.910885 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -3.696431, -3.136356, 7.071021 mu:0.093899 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -3.555181, -3.130322, 7.129031 mu:0.093899 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -1.407315, -2.844656, 7.786281 mu:0.093899 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -1.377048, -2.843819, 7.791043 mu:0.093899 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -8.212302, -3.206605, 3.435803 mu:0.093899 unit_bearing:-0.608475 -0.365192 0.704552 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -4.955211, -3.009872, 6.500882 mu:0.093899 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -8.201518, -3.160797, 3.476320 mu:0.093899 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.182474, -3.159213, 3.504247 mu:0.093899 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.163354, -3.157626, 3.532088 mu:0.093899 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.216406, -3.184496, 3.442082 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.205561, -3.138658, 3.482493 mu:0.093899 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.167377, -3.135461, 3.538259 mu:0.093899 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.148170, -3.133859, 3.566014 mu:0.093899 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -1.379486, -2.820497, 7.797186 mu:0.093899 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -1.323934, -2.771384, 7.627834 mu:0.095535 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.755446, Z inverse max: 0.000000 +[21:42:18.942] If point is visible? -8.171375, -3.113288, 3.544377 mu:0.093899 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.152158, -3.111673, 3.572131 mu:0.093899 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.132865, -3.110056, 3.599799 mu:0.093899 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.160059, -3.067277, 3.584206 mu:0.093899 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.140747, -3.065635, 3.611872 mu:0.093899 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? -8.324268, -2.901489, 3.434416 mu:0.093899 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] If point is visible? 3.032868, -1.313168, 7.799530 mu:0.093899 unit_bearing:0.525495 -0.238661 0.816637 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.942] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -0.432958, -1.207109, 8.205017 mu:0.093899 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -0.401800, -1.206639, 8.206673 mu:0.093899 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -0.403186, -1.183258, 8.209247 mu:0.093899 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? 2.371817, -0.849179, 8.014245 mu:0.093899 unit_bearing:0.473124 -0.197875 0.858487 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -0.356383, -0.901881, 8.239196 mu:0.093899 unit_bearing:0.233178 -0.205361 0.950502 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -0.613087, -0.373591, 3.629241 mu:0.165358 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.897124, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -1.809301, -0.645959, 8.039363 mu:0.094350 unit_bearing:0.098354 -0.180082 0.978722 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.751942, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -0.427270, -0.253604, 2.011785 mu:0.226489 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.997068, Z inverse max: 0.000000 +[21:42:18.943] calculated Z= 0.426075 +[21:42:18.943] update seeds 305 +[21:42:18.943] If point is visible? -1.367467, -0.497857, 8.171423 mu:0.093899 unit_bearing:0.141639 -0.166930 0.975742 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -1.366424, -0.521255, 8.170439 mu:0.093899 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -1.207446, -0.635106, 8.185506 mu:0.093899 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -0.655736, -0.380766, 3.970262 mu:0.156471 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.880813, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -3.696353, -0.433627, 7.569359 mu:0.093899 unit_bearing:-0.083774 -0.154054 0.984504 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -3.212794, -0.178621, 7.749931 mu:0.093899 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -3.154223, -0.176302, 7.769125 mu:0.093899 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? 1.418356, -0.196760, 8.207891 mu:0.093899 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -1.713429, -0.271510, 8.124849 mu:0.093899 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? 1.451097, -0.220048, 8.203377 mu:0.093899 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -3.502194, -0.237507, 7.648506 mu:0.093899 unit_bearing:-0.063566 -0.136682 0.988573 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -3.473196, -0.236256, 7.658999 mu:0.093899 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -3.444171, -0.235015, 7.669407 mu:0.093899 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -3.069589, -0.079373, 7.797359 mu:0.093899 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -3.040180, -0.078252, 7.806573 mu:0.093899 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -3.011561, -0.053769, 7.815599 mu:0.093899 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -2.924679, -0.003753, 7.842121 mu:0.093899 unit_bearing:-0.005691 -0.117112 0.993102 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -2.895138, -0.002677, 7.850907 mu:0.093899 unit_bearing:-0.002795 -0.117112 0.993115 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.943] If point is visible? -2.953410, -0.028204, 7.833448 mu:0.093899 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.943] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -0.919975, -0.009300, 1.138146 mu:0.273791 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 1.066638, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? 0.443870, 0.546040, 8.269666 mu:0.093899 unit_bearing:0.310742 -0.070764 0.947856 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -2.300565, 0.649438, 7.056628 mu:0.102594 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.773144, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -6.423904, 0.665336, 6.009619 mu:0.093899 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -4.584956, 1.334062, 7.096158 mu:0.093899 unit_bearing:-0.170559 0.016108 0.985216 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -4.724556, 1.187312, 7.045013 mu:0.093899 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -2.886097, 1.369186, 7.761400 mu:0.093899 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -2.856476, 1.370245, 7.770024 mu:0.093899 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -2.974722, 1.389021, 7.731896 mu:0.093899 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -2.586658, 1.516862, 7.819108 mu:0.093948 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750912, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -4.162367, 1.404290, 7.285163 mu:0.093899 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -1.589869, 1.589283, 8.028431 mu:0.093899 unit_bearing:0.124596 0.029226 0.991777 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -1.772702, 1.631525, 7.990008 mu:0.093899 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -0.392288, 0.452821, 0.512027 mu:0.338457 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] If point is visible? -7.209116, 1.266740, 5.254970 mu:0.093899 unit_bearing:-0.455668 0.030903 0.889613 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -7.185630, 1.246935, 5.280778 mu:0.093899 unit_bearing:-0.452936 0.028762 0.891079 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -4.208413, 2.066007, 7.144532 mu:0.093899 unit_bearing:-0.133001 0.083771 0.987569 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -4.207813, 2.088821, 7.139819 mu:0.093899 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -4.106647, 2.570836, 7.066948 mu:0.093899 unit_bearing:-0.124247 0.131709 0.983471 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -4.105710, 2.593469, 7.061169 mu:0.093899 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -2.913574, 2.761436, 7.464783 mu:0.093899 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -3.412487, 2.718563, 7.308495 mu:0.093899 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -3.383410, 2.719853, 7.318723 mu:0.093899 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -3.410513, 2.763773, 7.296393 mu:0.093899 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -0.969313, 2.985476, 7.802547 mu:0.093899 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -1.676469, 2.953423, 7.710687 mu:0.093899 unit_bearing:0.112834 0.159999 0.980647 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -1.645991, 2.953983, 7.715929 mu:0.093899 unit_bearing:0.115719 0.159991 0.980312 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -1.674428, 2.998438, 7.697743 mu:0.093899 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.944] If point is visible? -1.613457, 2.999539, 7.708138 mu:0.093899 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.944] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -4.839892, 2.951090, 6.585615 mu:0.093899 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -4.784885, 2.954984, 6.614645 mu:0.093899 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -0.970293, 2.963002, 7.809016 mu:0.093899 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -4.194244, 3.082453, 6.871810 mu:0.093899 unit_bearing:-0.135626 0.181625 0.973970 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -4.166015, 3.084115, 6.884412 mu:0.093899 unit_bearing:-0.132746 0.181635 0.974365 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -0.898026, 3.187742, 7.748410 mu:0.093899 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -4.168574, 3.039269, 6.898065 mu:0.093899 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -0.958778, 3.209653, 7.735132 mu:0.093899 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -0.927856, 3.209888, 7.738332 mu:0.093899 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -1.140457, 3.275045, 7.692889 mu:0.093899 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -1.139280, 3.297386, 7.685732 mu:0.093899 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -1.108479, 3.297695, 7.689462 mu:0.093899 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -1.077660, 3.297990, 7.693103 mu:0.093899 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -1.417966, 3.249266, 7.662420 mu:0.093899 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -7.201635, 3.231505, 4.658618 mu:0.093899 unit_bearing:-0.464359 0.220843 0.857671 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -6.621914, 3.374780, 5.154861 mu:0.093899 unit_bearing:-0.398598 0.228517 0.888200 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -7.058998, 3.273557, 4.785430 mu:0.093899 unit_bearing:-0.448032 0.223311 0.865679 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? 1.372560, 4.300938, 7.301240 mu:0.093899 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -0.537158, 4.422232, 7.304135 mu:0.093899 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] If point is visible? -2.881270, 4.768420, 6.673904 mu:0.093899 unit_bearing:-0.017136 0.341020 0.939900 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] If point is visible? -2.852070, 4.769560, 6.682969 mu:0.093899 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] If point is visible? -5.594984, 4.558299, 5.378757 mu:0.093899 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] If point is visible? -4.491387, 5.140478, 5.742496 mu:0.093899 unit_bearing:-0.185504 0.386354 0.903503 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] If point is visible? -4.461119, 5.163653, 5.744952 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] If point is visible? -4.287019, -3.116386, 6.816376 mu:0.093899 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -1.800336, -3.113345, 7.639341 mu:0.093899 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] calculated Z= 0.546282 +[21:42:18.945] update seeds 305 +[21:42:18.945] If point is visible? -3.836903, -3.142497, 7.010813 mu:0.093899 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -3.780809, -3.140027, 7.035160 mu:0.093899 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? -8.216406, -3.184496, 3.442082 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] If point is visible? -1.685809, -3.063126, 7.676186 mu:0.093899 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? 4.180229, -2.067943, 7.266973 mu:0.093899 unit_bearing:0.612340 -0.302911 0.730263 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.945] If point is visible? 3.530053, -1.703795, 7.584869 mu:0.093899 unit_bearing:0.563347 -0.272611 0.779951 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.945] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -1.431822, -1.038563, 8.122551 mu:0.093899 unit_bearing:0.132803 -0.216765 0.967149 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -0.367818, -1.252936, 8.202927 mu:0.093899 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -0.438434, -1.113577, 8.214992 mu:0.093899 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -0.373379, -1.159421, 8.213338 mu:0.093899 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -0.451212, -0.879796, 8.236312 mu:0.093899 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -3.724037, -0.458341, 7.557548 mu:0.093899 unit_bearing:-0.086659 -0.156223 0.983913 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -3.443232, -0.258402, 7.669166 mu:0.093899 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -1.712508, -0.294897, 8.124379 mu:0.093899 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] calculated Z= 0.916044 +[21:42:18.946] update seeds 305 +[21:42:18.946] If point is visible? -3.386959, -0.209172, 7.690158 mu:0.093899 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -3.328713, -0.206748, 7.710376 mu:0.093899 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -2.693322, 0.191395, 7.906673 mu:0.093899 unit_bearing:0.017480 -0.099663 0.994868 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -3.527908, 0.718189, 7.616154 mu:0.093899 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -3.469811, 0.720731, 7.637056 mu:0.093899 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? 0.380878, 0.522908, 8.272526 mu:0.093899 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -2.707977, 1.121166, 7.843014 mu:0.093899 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -2.886167, 1.346106, 7.764474 mu:0.093899 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -4.275520, 1.421088, 7.231588 mu:0.093899 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -4.275810, 1.375046, 7.238163 mu:0.093899 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -1.066518, 1.620725, 8.096602 mu:0.093899 unit_bearing:0.173630 0.031376 0.984311 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -2.944364, 1.528426, 7.721023 mu:0.093899 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -2.511202, 2.412589, 7.670701 mu:0.093899 unit_bearing:0.034851 0.110052 0.993315 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -2.440004, 2.732018, 7.607059 mu:0.093899 unit_bearing:0.040619 0.140550 0.989240 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -3.339373, 2.336584, 7.433682 mu:0.093902 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750821, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -0.963152, 3.120105, 7.762694 mu:0.093899 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -1.022785, 3.164381, 7.742340 mu:0.093899 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -2.497921, 2.775445, 7.579948 mu:0.093899 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -2.438108, 2.777204, 7.594872 mu:0.093901 unit_bearing:0.040616 0.144903 0.988612 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750816, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -1.020565, 3.209142, 7.728464 mu:0.093899 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -0.476288, 4.008221, 7.486948 mu:0.093899 unit_bearing:0.218440 0.260866 0.940336 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? 1.371001, 4.279502, 7.310954 mu:0.093899 unit_bearing:0.381048 0.288163 0.878501 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? -0.507987, 4.400502, 7.316004 mu:0.093899 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] If point is visible? 1.816305, 4.262287, 7.250799 mu:0.093899 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.946] If point is visible? 1.813332, 4.219550, 7.270158 mu:0.093899 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.946] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? 1.877048, 4.216814, 7.259978 mu:0.093899 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -7.251665, 4.571889, 3.809921 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? 2.295556, 5.407695, 6.553100 mu:0.093899 unit_bearing:0.447983 0.401983 0.798574 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? -5.838460, 5.270831, 4.713991 mu:0.093899 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? -4.515660, 5.159358, 5.716590 mu:0.093899 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? -4.461119, 5.163653, 5.744952 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? -5.824092, 5.352897, 4.664301 mu:0.093899 unit_bearing:-0.333276 0.418490 0.844863 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? -1.620503, -3.107898, 7.673999 mu:0.093899 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -0.578213, -0.834854, 8.232269 mu:0.093899 unit_bearing:0.213234 -0.199035 0.956513 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -0.453612, -0.833053, 8.239958 mu:0.093899 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -1.157293, -2.907996, 7.803013 mu:0.093899 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -3.464434, -0.258245, 7.546664 mu:0.094862 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.752079, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -0.057807, -0.423292, 0.139387 mu:0.393253 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? -0.519929, -1.770461, 8.120343 mu:0.093899 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -0.526706, -1.676918, 8.135295 mu:0.093899 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -8.313282, -3.460324, 3.136032 mu:0.093899 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? -3.044122, 0.038568, 7.805572 mu:0.093899 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? 0.381732, 0.476647, 8.274679 mu:0.093899 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -3.272146, -0.157594, 7.730489 mu:0.093899 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] calculated Z= 0.342685 +[21:42:18.947] update seeds 305 +[21:42:18.947] If point is visible? -1.841173, -0.110851, 8.104572 mu:0.093899 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -2.826068, 0.978116, 7.824231 mu:0.093899 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -3.158482, -0.059420, 7.769104 mu:0.093899 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -1.600610, -0.011646, 8.147516 mu:0.093899 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] calculated Z= 0.932447 +[21:42:18.947] update seeds 305 +[21:42:18.947] If point is visible? -2.945053, 1.066521, 7.780082 mu:0.093899 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -4.556247, 1.450762, 7.093233 mu:0.093899 unit_bearing:-0.167673 0.027018 0.985472 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -4.444841, 1.365404, 7.160225 mu:0.093899 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -1.081368, 3.105344, 7.704732 mu:0.094312 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.752018, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -1.337028, 3.026327, 7.744017 mu:0.093899 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -2.559462, 2.728359, 7.576548 mu:0.093899 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -1.547271, 3.647986, 7.503226 mu:0.093899 unit_bearing:0.121248 0.227106 0.966293 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -1.425200, 3.649800, 7.522488 mu:0.093899 unit_bearing:0.132756 0.227055 0.964791 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -1.740181, 1.163051, 1.434678 mu:0.227953 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 1.006339, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? 1.240895, 4.240780, 7.343825 mu:0.093899 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] calculated Z= 0.061602 +[21:42:18.947] update seeds 305 +[21:42:18.947] If point is visible? 0.852331, 1.749091, 1.629519 mu:0.226378 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? -2.366260, 3.982913, 7.195975 mu:0.093899 unit_bearing:0.040470 0.261837 0.964263 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -1.486716, 4.438396, 7.184185 mu:0.093899 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? -2.373031, 3.894730, 7.230453 mu:0.093900 unit_bearing:0.040484 0.253225 0.966560 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] Z inverse min: 0.750813, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? 2.480994, 5.354477, 6.538152 mu:0.093899 unit_bearing:0.464118 0.397194 0.791727 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? -7.801035, 3.738206, 3.688821 mu:0.093899 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? 2.599654, 5.264663, 6.559521 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? 0.075177, 5.290408, 6.881296 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.126025 y=0.000000 z=-2.361278 +[21:42:18.947] If point is visible? -2608609.722372, 7847758.074771, 16505707.306429 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.126022 y=0.000000 z=-2.361277 +[21:42:18.947] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -2608609.722372, 7847758.074771, 16505707.306429 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.126022 y=0.000000 z=-2.361277 +[21:42:18.947] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -1.774898, -2.656566, 3.815171 mu:0.143122 unit_bearing:-0.223120 -0.485109 0.845510 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.947] If point is visible? -1.774085, -2.671579, 3.808942 mu:0.143122 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.947] If point is visible? -4.577337, -2.173026, 2.326528 mu:0.143122 unit_bearing:-0.635373 -0.390455 0.666218 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.947] If point is visible? 0.293486, -2.012295, 4.327673 mu:0.143122 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.947] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? 0.393053, -1.981456, 4.333644 mu:0.143122 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.947] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -0.879875, -1.999292, 4.233551 mu:0.143592 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.947] Z inverse min: 0.830910, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? -4.508513, -2.069570, 2.440507 mu:0.143122 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.947] If point is visible? -4.492559, -2.069018, 2.456091 mu:0.143122 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.947] If point is visible? 0.512493, -1.935374, 4.341290 mu:0.143122 unit_bearing:0.108792 -0.391837 0.913580 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.947] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.947] If point is visible? 0.591489, -1.858759, 4.357934 mu:0.143122 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.947] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 0.611548, -1.858767, 4.356512 mu:0.143122 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? -4.374055, -1.948095, 2.616013 mu:0.143122 unit_bearing:-0.603700 -0.363551 0.709490 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] If point is visible? -4.407927, -1.934784, 2.590399 mu:0.143122 unit_bearing:-0.608739 -0.361214 0.706372 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] If point is visible? -4.358975, -1.932875, 2.635520 mu:0.143122 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? -1.425750, -1.478539, 2.635008 mu:0.183939 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.922640, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? -4.361485, -1.903677, 2.644468 mu:0.143122 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? -4.345082, -1.903023, 2.659372 mu:0.143122 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? -4.328643, -1.902369, 2.674211 mu:0.143122 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? -4.392919, -1.919568, 2.610002 mu:0.143122 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] If point is visible? -4.346318, -1.888409, 2.663788 mu:0.143122 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? -4.329873, -1.887747, 2.678624 mu:0.143122 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 0.611318, -1.843441, 4.360750 mu:0.143122 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 0.631380, -1.843454, 4.359268 mu:0.143122 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 0.611090, -1.828112, 4.364952 mu:0.143122 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? -4.347546, -1.873789, 2.668166 mu:0.143122 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? -4.331094, -1.873119, 2.683000 mu:0.143122 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? -4.471572, -1.761778, 2.596288 mu:0.143122 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] If point is visible? -1.941254, -1.504159, 4.141280 mu:0.143122 unit_bearing:-0.243014 -0.327092 0.913211 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 1.185815, -1.001636, 4.471952 mu:0.143122 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 1.205971, -1.001845, 4.468765 mu:0.143122 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 1.608040, -0.915047, 4.405241 mu:0.143122 unit_bearing:0.266890 -0.248009 0.931269 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 1.305636, -0.818680, 4.476686 mu:0.143122 unit_bearing:0.224373 -0.235566 0.945603 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 1.305467, -0.787969, 4.480322 mu:0.143122 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] calculated Z= 0.529975 +[21:42:18.948] update seeds 305 +[21:42:18.948] If point is visible? 1.325632, -0.788231, 4.476785 mu:0.143122 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 0.596552, -0.566503, 4.586898 mu:0.143122 unit_bearing:0.124230 -0.201665 0.971544 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 0.596427, -0.551115, 4.588144 mu:0.143122 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 0.818018, -0.398758, 4.580020 mu:0.143122 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 0.474236, -0.458327, 4.602066 mu:0.143122 unit_bearing:0.106990 -0.186563 0.976600 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 0.838363, -0.414289, 4.577051 mu:0.143122 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 0.716365, -0.336547, 4.592693 mu:0.143122 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 0.634939, -0.274584, 4.601845 mu:0.143122 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.948] If point is visible? 2.527145, -0.190105, 4.197528 mu:0.143122 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.948] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.519334, -0.077531, 4.595515 mu:0.143122 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.499185, -0.077317, 4.597357 mu:0.143122 unit_bearing:-0.031742 -0.132356 0.990694 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.479032, -0.077110, 4.599140 mu:0.143122 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.720152, -0.126053, 4.573241 mu:0.143122 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.700052, -0.125780, 4.575669 mu:0.143122 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.679948, -0.125513, 4.578039 mu:0.143122 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? 0.472058, -0.150947, 4.615609 mu:0.143122 unit_bearing:0.107104 -0.143134 0.983891 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.680089, -0.110159, 4.578283 mu:0.143122 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? 2.527166, -0.174937, 4.197942 mu:0.143122 unit_bearing:0.397248 -0.139257 0.907084 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] calculated Z= 0.379012 +[21:42:18.949] update seeds 305 +[21:42:18.949] If point is visible? -0.680227, -0.094806, 4.578494 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? 1.925529, -0.086653, 2.795416 mu:0.183073 unit_bearing:0.383428 -0.130795 0.914262 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.920920, Z inverse max: 0.000000 +[21:42:18.949] calculated Z= 0.403052 +[21:42:18.949] update seeds 305 +[21:42:18.949] If point is visible? -0.459000, -0.061558, 4.601008 mu:0.143122 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.418912, -0.030478, 4.604465 mu:0.143122 unit_bearing:-0.020166 -0.125826 0.991847 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.338538, 0.016247, 4.610335 mu:0.143122 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.318349, 0.016406, 4.611650 mu:0.143122 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.116843, 0.109643, 4.620732 mu:0.143122 unit_bearing:0.023270 -0.106205 0.994072 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.116932, 0.124965, 4.620472 mu:0.143122 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? 1.887015, 0.346164, 4.391392 mu:0.143122 unit_bearing:0.307918 -0.068606 0.948936 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? 0.079931, 0.142975, -0.398145 mu:0.507919 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 1.322592, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? 1.866868, 0.361901, 4.395789 mu:0.143122 unit_bearing:0.305092 -0.066447 0.950002 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -2.812734, 0.537705, 3.954887 mu:0.143122 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -2.812796, 0.552767, 3.953558 mu:0.143122 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.280786, 0.906437, 4.554815 mu:0.143122 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.258552, 0.906591, 4.556067 mu:0.143122 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.280851, 0.916478, 4.553488 mu:0.143122 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.260631, 0.916618, 4.554629 mu:0.143122 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.361673, 0.946125, 4.544260 mu:0.143122 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.341468, 0.946294, 4.545634 mu:0.143122 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -0.098657, 1.023378, 4.546810 mu:0.143122 unit_bearing:0.026186 0.024885 0.999347 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -1.206025, 0.962686, 4.429769 mu:0.143122 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? 0.074781, 0.256558, -0.629368 mu:0.570937 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 1.218299, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? 0.469118, 1.083031, 4.532835 mu:0.143122 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? 0.489413, 1.082895, 4.531817 mu:0.143122 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.949] If point is visible? -1.204104, 1.428795, 4.347577 mu:0.143122 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.949] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? -1.678134, 1.726640, 4.164297 mu:0.143122 unit_bearing:-0.201942 0.131459 0.970535 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? -1.141319, 1.758068, 4.281196 mu:0.143122 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? -0.659585, 1.827043, 4.336794 mu:0.143122 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? -0.317068, 1.830976, 4.367068 mu:0.143122 unit_bearing:-0.005688 0.142744 0.989743 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? -0.316937, 1.845802, 4.363024 mu:0.143122 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? 0.513458, 1.963557, 4.333032 mu:0.143122 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] calculated Z= 0.493004 +[21:42:18.950] update seeds 305 +[21:42:18.950] If point is visible? 0.533716, 1.963361, 4.331886 mu:0.143122 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? 0.553975, 1.963156, 4.330682 mu:0.143122 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? 0.979295, 1.942088, 4.296024 mu:0.143122 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? -0.659290, 1.856682, 4.328673 mu:0.143122 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? -0.639179, 1.856981, 4.330920 mu:0.143122 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? -1.653921, 2.036999, 4.080913 mu:0.143122 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? 0.554079, 1.977907, 4.326330 mu:0.143122 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? -1.197476, 2.051910, 4.185280 mu:0.143122 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? 0.980313, 2.118451, 4.241888 mu:0.143122 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? 1.000548, 2.118037, 4.239371 mu:0.143122 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? 0.469741, 1.343299, 1.771948 mu:0.229381 unit_bearing:0.135792 0.190290 0.972291 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] If point is visible? 0.838838, 2.150408, 4.248343 mu:0.143122 unit_bearing:0.158807 0.190191 0.968818 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.950] If point is visible? 0.859078, 2.150055, 4.246243 mu:0.143122 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.950] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 0.879317, 2.149693, 4.244084 mu:0.143122 unit_bearing:0.164554 0.190164 0.967863 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 1.000459, 2.103379, 4.244069 mu:0.143122 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 0.960170, 2.133509, 4.239615 mu:0.143122 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 1.000638, 2.132687, 4.234640 mu:0.143122 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 0.879417, 2.164337, 4.239289 mu:0.143122 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 0.899654, 2.163965, 4.237070 mu:0.143122 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 2.702060, 2.604400, 3.588557 mu:0.143122 unit_bearing:0.420015 0.266192 0.867600 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] If point is visible? 2.721674, 2.602977, 3.580650 mu:0.143122 unit_bearing:0.422751 0.266127 0.866290 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] If point is visible? 2.720679, 2.757395, 3.511024 mu:0.143122 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] If point is visible? 1.208035, 2.892285, 3.906365 mu:0.143122 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] If point is visible? -0.356586, 3.163279, 3.850013 mu:0.143122 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] If point is visible? -2.305582, 3.077097, 3.421290 mu:0.143122 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] If point is visible? -1.456185, 3.482890, 3.485553 mu:0.143122 unit_bearing:-0.174068 0.392782 0.903007 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] If point is visible? 1.731894, 3.470058, 3.486734 mu:0.143122 unit_bearing:0.281436 0.390939 0.876333 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] If point is visible? -4.406640, -1.949351, 2.585862 mu:0.143122 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] If point is visible? -1.396702, -1.982810, 4.163228 mu:0.143122 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? -1.080859, -2.008487, 4.221186 mu:0.143122 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? -1.041377, -2.007934, 4.228471 mu:0.143122 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 0.393327, -1.996766, 4.329082 mu:0.143122 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 4.205604, -1.511847, 3.105961 mu:0.143122 unit_bearing:0.626651 -0.310126 0.714934 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 0.846178, -0.492622, 1.669743 mu:0.242464 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 1.029163, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 1.305383, -0.772614, 4.482088 mu:0.143122 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 1.345715, -0.773146, 4.474954 mu:0.143122 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 3.774240, -1.230682, 3.469274 mu:0.143122 unit_bearing:0.568316 -0.276522 0.774954 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 0.608817, -0.249386, 0.552691 mu:0.337365 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 1.167139, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 1.304431, -0.588399, 4.500545 mu:0.143122 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 1.344803, -0.588970, 4.493441 mu:0.143122 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 1.305217, -0.741905, 4.485513 mu:0.143122 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 0.698851, -0.705524, 4.566462 mu:0.143122 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 2.704900, -0.378320, 4.121447 mu:0.143122 unit_bearing:0.421802 -0.166814 0.891210 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? -0.680227, -0.094806, 4.578494 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? -0.640000, -0.094289, 4.583056 mu:0.143122 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? -0.599753, -0.093796, 4.587385 mu:0.143122 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.951] If point is visible? 2.388004, -0.124686, 4.248363 mu:0.143122 unit_bearing:0.377834 -0.132998 0.916271 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.951] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.492514, -0.181732, 4.613830 mu:0.143122 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.410705, -0.058659, 4.619767 mu:0.143122 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 1.850276, 0.343425, 4.332127 mu:0.144500 unit_bearing:0.305085 -0.068616 0.949850 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.833045, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.724190, 0.516603, 4.554625 mu:0.143122 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.683935, 0.517174, 4.559412 mu:0.143122 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 1.743815, 0.294015, 3.920148 mu:0.154012 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.856425, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -1.285902, 0.960707, 4.413893 mu:0.143122 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.056471, 0.186520, -0.670608 mu:0.587442 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 1.323308, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.078430, 1.008337, 4.549650 mu:0.143122 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -3.378097, 0.891227, 3.617533 mu:0.143122 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.321148, 1.037192, 4.533918 mu:0.143122 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.854742, 1.064096, 4.505755 mu:0.143122 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.641386, 1.604273, 4.395706 mu:0.143122 unit_bearing:-0.052020 0.110040 0.992565 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.034317, 1.817568, 4.383363 mu:0.143122 unit_bearing:0.034832 0.140555 0.989460 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.979871, 2.045086, 4.265034 mu:0.143122 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.034083, 1.847223, 4.375307 mu:0.143122 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.939563, 2.075245, 4.260727 mu:0.143122 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.939746, 2.104590, 4.251437 mu:0.143122 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 1.226304, 2.649174, 4.009804 mu:0.143122 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? 2.701375, 2.716860, 3.538352 mu:0.143122 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? 2.701192, 2.744874, 3.525450 mu:0.143122 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? 1.228033, 2.877480, 3.909694 mu:0.143122 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? 2.386305, 2.766657, 3.643398 mu:0.143122 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? -2.583953, 3.546964, 3.014068 mu:0.143122 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? -2.546321, 3.550174, 3.030764 mu:0.143122 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? 1.711919, 3.443769, 3.507688 mu:0.143122 unit_bearing:0.278729 0.386839 0.879014 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? 2.964091, 3.458451, 3.005642 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? 1.146746, -1.170279, 4.451067 mu:0.143122 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.684473, -0.562895, 1.093455 mu:0.282127 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 1.091792, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.433926, -2.027306, 4.318143 mu:0.143122 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 1.304282, -0.557707, 4.503134 mu:0.143122 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] calculated Z= 0.725767 +[21:42:18.952] update seeds 305 +[21:42:18.952] If point is visible? 0.752580, -1.904861, 4.331881 mu:0.143122 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.832754, -1.905010, 4.323849 mu:0.143122 unit_bearing:0.154437 -0.387219 0.908961 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -1.038922, -0.315523, 4.520785 mu:0.143122 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.157724, 0.186030, 4.617572 mu:0.143122 unit_bearing:0.017481 -0.095299 0.995295 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] calculated Z= 0.969643 +[21:42:18.952] update seeds 305 +[21:42:18.952] If point is visible? -0.720710, -0.064651, 4.574017 mu:0.143122 unit_bearing:-0.063574 -0.130150 0.989454 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.640267, -0.063590, 4.583376 mu:0.143122 unit_bearing:-0.052002 -0.130162 0.990128 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.065287, -0.017471, -0.421488 mu:0.513024 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 1.051413, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.245036, -0.024522, 0.557110 mu:0.342364 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.764601, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 1.866984, 0.225273, 4.401693 mu:0.143122 unit_bearing:0.305019 -0.085959 0.948459 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.479640, -0.000379, 4.599515 mu:0.143122 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.572562, 0.001956, 4.611532 mu:0.143122 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] calculated Z= 0.727817 +[21:42:18.952] update seeds 305 +[21:42:18.952] If point is visible? -1.445305, 0.956395, 4.379320 mu:0.143122 unit_bearing:-0.167677 0.018291 0.985672 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -1.365551, 1.018978, 4.388264 mu:0.143122 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.005715, 0.197486, -0.496008 mu:0.532057 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 1.340541, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.043972, 0.742733, 0.394615 mu:0.350219 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? -1.349889, 1.903479, 4.153747 mu:0.143968 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.831948, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.817899, 2.048018, 4.282996 mu:0.143122 unit_bearing:0.155998 0.175042 0.972124 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -1.365664, 0.958610, 4.397077 mu:0.143122 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? 0.736502, 1.990394, 4.308437 mu:0.143122 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:18.952] If point is visible? -0.065327, 2.637408, 4.106093 mu:0.143122 unit_bearing:0.028938 0.261854 0.964674 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? 1.226100, 2.620473, 4.021698 mu:0.143122 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? -0.066193, 2.579629, 4.129329 mu:0.143122 unit_bearing:0.028948 0.253240 0.966970 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? -1.160371, 3.521713, 3.534659 mu:0.143122 unit_bearing:-0.131356 0.397441 0.908177 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? 2.819144, 2.651885, 3.515285 mu:0.143122 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? -2.618106, 3.597296, 2.963052 mu:0.143122 unit_bearing:-0.344295 0.418148 0.840603 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? 2.964091, 3.458451, 3.005642 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? -2.696445, 3.537007, 2.962491 mu:0.143122 unit_bearing:-0.355554 0.409593 0.840128 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.952] If point is visible? 2.963121, 3.511411, 2.971658 mu:0.143122 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.953] If point is visible? 2.346824, 2.740999, 3.669839 mu:0.143122 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.953] If point is visible? 2.740539, 2.713932, 3.522451 mu:0.143122 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.953] If point is visible? 2029134166.748070, 2275362565.975900, 3567830413.227200 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.953] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 2029134166.748070, 2275362565.975900, 3567830413.227200 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126030 y=0.000000 z=-2.361225 +[21:42:18.953] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.102873, -0.097167, 0.526254 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.371385, 0.126422, 0.536228 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.027971, 0.075446, 0.559308 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? -0.067407, 0.091544, 0.656203 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.285512, -0.043593, 0.494583 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.143755, 0.129698, 0.523559 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.086517, -0.099654, 0.533713 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.008918, -0.187305, 0.626380 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.102873, -0.097167, 0.526254 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.371385, 0.126422, 0.536228 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? -0.067407, 0.091544, 0.656203 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.027971, 0.075446, 0.559308 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.285512, -0.043593, 0.494583 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.143755, 0.129698, 0.523559 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.086517, -0.099654, 0.533713 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] If point is visible? 0.008918, -0.187305, 0.626380 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.236580 y=0.000000 z=0.873912 +[21:42:18.953] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:18.953] init seeds +[21:42:18.955] DepthFilter: Initialized 4 new seeds +[21:42:19.204] add new frame +[21:42:19.204] update seed +[21:42:19.204] If point is visible? 34677250521.313202, -2337424665.975772, -12285152054.527485 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] If point is visible? 27343404768.623039, 15836136387.462635, -18985658239.746765 mu:-0.000000 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 27556665081.097038, 15127430753.822453, -19253344312.544930 mu:-0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 27926639871.691753, 14110420313.272402, -19490999022.156101 mu:-0.000000 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 28439215128.275394, 12947895684.483290, -19556667892.407288 mu:-0.000000 unit_bearing:-0.227466 -0.413277 0.881738 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 21739255667.623428, 11751265853.973013, -27353477524.885574 mu:-0.000000 unit_bearing:0.051572 -0.406834 0.912045 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 28695815797.255199, 12324861232.363165, -19584385876.398819 mu:-0.000000 unit_bearing:-0.230590 -0.396593 0.888562 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 25903467847.918137, 12001659815.355013, -23321036297.041489 mu:-0.000000 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 25559523460.790653, 11956399503.123722, -23720360246.428558 mu:-0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 34014652960.560139, 13595302329.601755, -4131749906.608575 mu:-0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] If point is visible? 20827556485.004288, 11408275875.461630, -28195112187.656075 mu:-0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 28671413396.701584, 12403972908.989183, -19570174468.591980 mu:-0.000000 unit_bearing:-0.230553 -0.398677 0.887639 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 20600263509.875687, 11302770576.322142, -28403815579.686310 mu:-0.000000 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 34042837286.705208, 13520632105.107910, -4144629742.291143 mu:-0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] If point is visible? 20161833214.136288, 11012235526.999525, -28829349090.939430 mu:-0.000000 unit_bearing:0.111646 -0.391815 0.913245 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 20308979405.933659, 11109054707.037867, -28688577480.746376 mu:-0.000000 unit_bearing:0.105921 -0.393956 0.913006 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 20539145496.598671, 11214474598.945614, -28482964743.889137 mu:-0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 34232121514.662529, 12542534427.526482, -5454072377.347392 mu:-0.000000 unit_bearing:-0.601749 -0.355740 0.715085 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] If point is visible? 34216438360.402145, 12534495289.215828, -5569739000.313939 mu:-0.000000 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] If point is visible? 34200388943.915562, 12526429447.724457, -5685259900.374865 mu:-0.000000 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] If point is visible? 20015781947.142078, 10587741939.315464, -29088974071.563873 mu:-0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 19930030828.974239, 10579266866.206612, -29150869671.335411 mu:-0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 19300725240.186478, 10272319195.613129, -29679314048.913864 mu:-0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 19951601593.925640, 10499418190.072979, -29164979519.498436 mu:-0.000000 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 19865635015.307800, 10490957247.381725, -29226641619.214302 mu:-0.000000 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.204] If point is visible? 34242215766.338623, 12458796366.841475, -5581153219.482502 mu:-0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] If point is visible? 34226136319.474861, 12450686207.139881, -5696685384.576867 mu:-0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] If point is visible? 29182254611.424080, 11074551661.723524, -19612509786.072491 mu:-0.000000 unit_bearing:-0.236808 -0.363022 0.901187 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.204] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 34571253706.404854, 11834783504.037161, -4864826341.702744 mu:-0.000000 unit_bearing:-0.617730 -0.334735 0.711591 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] If point is visible? 29412175792.590057, 10447596085.499136, -19613053561.418159 mu:-0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 18356850318.779896, 5852356843.504006, -31427315899.166000 mu:-0.000000 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 18264670074.685249, 5844630689.857460, -31482413154.618225 mu:-0.000000 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 17977923591.376282, 4761124455.510362, -31828072139.847473 mu:-0.000000 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 17884505834.660767, 4753608918.802979, -31881779626.847191 mu:-0.000000 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 17897276091.398167, 4673190554.846410, -31886502119.614410 mu:-0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 20455359905.005718, 2851249161.845628, -30534387962.522892 mu:-0.000000 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 20934112810.579746, 2568172680.259629, -30233551375.733189 mu:-0.000000 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 11097737667.299128, 1802703994.025238, -35106846851.703552 mu:-0.000000 unit_bearing:0.427333 -0.164601 0.888984 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 26752990493.205685, 2053520048.628181, -25277673427.934544 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 26680177269.947502, 2044125604.385441, -25355273814.474941 mu:-0.000000 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 26607143748.841106, 2034751871.113130, -25432654309.001617 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 22159333560.993290, 1705139350.831777, -29410145439.867001 mu:-0.000000 unit_bearing:0.104216 -0.143140 0.984200 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 12354138606.191406, 989014897.411832, -34717392294.373543 mu:-0.000000 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 12466614146.610432, 915015731.569407, -34679194004.764313 mu:-0.000000 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25894883653.242809, 1619594011.018896, -26186487635.372681 mu:-0.000000 unit_bearing:-0.028849 -0.130180 0.991071 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25819434124.508854, 1610445210.450843, -26261445249.027199 mu:-0.000000 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25750983547.094093, 1520687735.223082, -26333905407.723415 mu:-0.000000 unit_bearing:-0.023061 -0.128004 0.991506 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25675098261.484734, 1511580913.436631, -26408420461.270714 mu:-0.000000 unit_bearing:-0.020166 -0.128005 0.991568 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 12809417028.911175, 613280506.930654, -34560713842.285675 mu:-0.000000 unit_bearing:0.386213 -0.130770 0.913093 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25689153684.733780, 1350336570.221832, -26403488272.636528 mu:-0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25613046243.590481, 1341249477.281242, -26477785610.162403 mu:-0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 13245715882.313761, 397018708.718414, -34399034954.463425 mu:-0.000000 unit_bearing:0.375118 -0.124412 0.918590 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25543560706.127190, 1251569728.025227, -26549205233.357521 mu:-0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25396972571.136906, 1152894288.257008, -26693910126.399994 mu:-0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25319999302.750492, 1143893850.803355, -26767318898.657562 mu:-0.000000 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 14765280762.458982, -718144899.017874, -33769379188.780571 mu:-0.000000 unit_bearing:0.336066 -0.092305 0.937304 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 15291305421.090586, -1087440133.600608, -33524523432.252029 mu:-0.000000 unit_bearing:0.322012 -0.081552 0.943217 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 24366494532.799042, -1474407072.187887, -27622459825.800415 mu:-0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 24369283572.542141, -1554714931.313235, -27615595204.571445 mu:-0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 33387130255.044220, -662311886.326774, -15612850319.629427 mu:-0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] If point is visible? 29861831981.281666, -2744431253.705532, -21439200233.383354 mu:-0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25345313492.559502, -3559555706.485352, -26530074745.292767 mu:-0.000000 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25259869223.626896, -3569382947.474813, -26610124596.371399 mu:-0.000000 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25345256400.079041, -3612515138.068167, -26522969879.822281 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25267564584.455338, -3621454756.550988, -26595779068.706253 mu:-0.000000 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 28749103729.447727, -3400851155.368188, -22821557024.235252 mu:-0.000000 unit_bearing:-0.135953 0.016121 0.990584 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25652584359.234013, -3736295156.372627, -26208495436.593216 mu:-0.000000 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25575746659.150085, -3745346437.799674, -26282195146.928642 mu:-0.000000 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 28544317283.745583, -3591001876.819990, -23048359489.657578 mu:-0.000000 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 22317947010.413300, -4801877900.218369, -28943935957.932098 mu:-0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 22232552070.017040, -4809722831.191616, -29008281810.656616 mu:-0.000000 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 28500760520.584297, -6281381215.860536, -22520015954.829895 mu:-0.000000 unit_bearing:-0.130096 0.094676 0.986971 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 28433031432.433350, -6291710164.140090, -22602595550.280037 mu:-0.000000 unit_bearing:-0.127210 0.094681 0.987347 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 28588839213.523331, -5954554987.420736, -22497150178.666252 mu:-0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 28284530688.813610, -7328124908.381968, -22476301472.371010 mu:-0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 28277460011.538960, -7406886896.846281, -22459374448.752018 mu:-0.000000 unit_bearing:-0.124262 0.125181 0.984321 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 21292965581.343891, -8904731321.581020, -28743966248.693893 mu:-0.000000 unit_bearing:0.133066 0.144734 0.980482 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 25233334015.713387, -8512090468.963605, -25489672205.605396 mu:-0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 26527870424.334049, -8196866576.646725, -24248374954.179436 mu:-0.000000 unit_bearing:-0.054884 0.140537 0.988553 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 26454400331.051304, -8206426237.641410, -24325285000.900780 mu:-0.000000 unit_bearing:-0.051991 0.140540 0.988709 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 21829737277.793339, -9479608088.350838, -28151373318.810539 mu:-0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 21744034914.041668, -9487137455.441296, -28215091483.460106 mu:-0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 21658128121.424431, -9494630085.287138, -28278573243.382065 mu:-0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 26519903050.244877, -8275490701.177037, -24230377931.521011 mu:-0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 26446436964.273029, -8285051905.741094, -24307285032.644989 mu:-0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 19734382694.567200, -9493718743.634295, -29653392098.525772 mu:-0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 21649141051.236290, -9572878668.782232, -28259067652.669571 mu:-0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 29715057527.923691, -8861297960.546974, -19934717790.608315 mu:-0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 19716888456.344700, -9650027707.736610, -29614548683.165272 mu:-0.000000 unit_bearing:0.181920 0.161923 0.969890 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 19725695708.931068, -9571887893.003275, -29634036340.500748 mu:-0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 29756574909.377567, -9005918094.362659, -19807571980.539410 mu:-0.000000 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 29694668548.295078, -9017249208.854071, -19895127427.004059 mu:-0.000000 unit_bearing:-0.195991 0.177017 0.964496 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 28262486085.181931, -9335756617.641218, -21748005598.073341 mu:-0.000000 unit_bearing:-0.132754 0.179467 0.974766 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 19541677885.282001, -10358489297.805761, -29491096008.152851 mu:-0.000000 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 28272722390.225819, -9257695622.279636, -21768060530.127823 mu:-0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 21022769063.797916, -10475427862.548923, -28411420429.978825 mu:-0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 20229820028.880051, -10538493726.320864, -28958500486.801003 mu:-0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 19782239438.655144, -10572155704.869959, -29253935554.205578 mu:-0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 19712514962.832714, -10423178134.103836, -29354289810.710823 mu:-0.000000 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 19622191551.635151, -10429767187.528292, -29412408503.750786 mu:-0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 20119797879.474476, -10700843329.103401, -28975608780.485779 mu:-0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 20030488629.138779, -10707600806.630293, -29034927744.162479 mu:-0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 10478217721.592855, -14690689720.631742, -32144841075.795776 mu:-0.000000 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 12126512483.159037, -14807975321.075216, -31505107217.096878 mu:-0.000000 unit_bearing:0.378146 0.294551 0.877636 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 12142616114.176096, -14733226636.446968, -31533936095.221832 mu:-0.000000 unit_bearing:0.378193 0.292443 0.878321 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 12038932952.017256, -14735665731.357784, -31572527103.565372 mu:-0.000000 unit_bearing:0.380955 0.292381 0.877147 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 27782813386.512840, -16595814363.077995, -17652037977.804047 mu:-0.000000 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.205] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.205] If point is visible? 27720880296.668434, -16607738534.332054, -17737982838.158623 mu:-0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 20947110114.628746, 11584865048.842592, -28034081017.686180 mu:-0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26241561067.165588, 12047042423.724564, -22916139736.808723 mu:-0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26107029348.935448, 12028875324.854092, -23078765041.297478 mu:-0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 20661022399.284927, 11391058032.577190, -28324303507.349777 mu:-0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 5722781251.821604, 5111493800.664905, -36055826502.299095 mu:-0.000000 unit_bearing:0.543244 -0.256827 0.799328 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 17764994964.966702, 4906920372.717206, -31925339547.583237 mu:-0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 18332088268.605492, 3649776622.379399, -31772848301.595154 mu:-0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 18145745864.755421, 3634913557.444720, -31881335124.481018 mu:-0.000000 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 17958617142.475433, 3620131546.091560, -31988793925.330940 mu:-0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 18003350377.369049, 4600267672.765423, -31837354340.557312 mu:-0.000000 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 17816303496.748260, 4585288496.659532, -31944556312.339390 mu:-0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 21182443656.873878, 4059806811.745325, -29895188044.967224 mu:-0.000000 unit_bearing:0.127084 -0.208144 0.969807 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 18028292418.051884, 4439397846.877869, -31846077280.004288 mu:-0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 21159198075.088722, 4221121540.901423, -29889307262.386459 mu:-0.000000 unit_bearing:0.127066 -0.212468 0.968871 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 27384039932.261658, 2954796794.914419, -24500688801.226559 mu:-0.000000 unit_bearing:-0.092427 -0.160557 0.982690 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 21972915967.345497, 1850111530.609521, -29540959193.704182 mu:-0.000000 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26607143748.841106, 2034751871.113130, -25432654309.001617 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26475782865.142162, 1854800005.663667, -25583058016.335350 mu:-0.000000 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26328163772.216000, 1836189920.040050, -25736286014.340637 mu:-0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 15904838500.615805, -1370337989.287516, -33227375836.018974 mu:-0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26821048561.593452, -1184766286.530678, -25261193593.174999 mu:-0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26674107571.699062, -1203617123.766009, -25415418743.794312 mu:-0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26826583580.309669, -1345337578.757853, -25247271120.988449 mu:-0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26679637081.060825, -1364196052.987062, -25401499034.534210 mu:-0.000000 unit_bearing:-0.052056 -0.047246 0.997526 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 24875174555.079182, -2865711548.124434, -27053901881.875439 mu:-0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 34674137873.167221, -2494374774.999580, -12263053291.257477 mu:-0.000000 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] If point is visible? 28815236670.212009, -3470352941.308774, -22727494471.233047 mu:-0.000000 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 24553452198.857414, -4179875299.628712, -27176402382.495907 mu:-0.000000 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 34677250521.313202, -2337424665.975772, -12285152054.527485 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] If point is visible? 25345256400.079041, -3612515138.068167, -26522969879.822281 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 20662509311.551754, -4866099086.817780, -30137717357.119110 mu:-0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26417299618.482121, -6963917114.691620, -24749350660.844810 mu:-0.000000 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 24258825558.275497, -7216182705.501510, -26801796741.067467 mu:-0.000000 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26585054031.155582, -8344491997.509408, -24135131536.985748 mu:-0.000000 unit_bearing:-0.057771 0.144886 0.987760 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 19751851695.151455, -10111619001.761292, -29436707265.635616 mu:-0.000000 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] calculated Z= 28.240873 +[21:42:19.206] update seeds 305 +[21:42:19.206] If point is visible? 24133846839.333237, -8634867418.096300, -26493333506.026314 mu:-0.000000 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 19892561760.563251, -10409881113.949863, -29237314867.502224 mu:-0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 18146609877.246101, -13427981275.713688, -29142582035.349724 mu:-0.000000 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 17961276391.833969, -13439378507.370955, -29251937962.760731 mu:-0.000000 unit_bearing:0.218399 0.265150 0.939147 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 12246119095.693407, -14730729266.687696, -31495053599.576256 mu:-0.000000 unit_bearing:0.375429 0.292504 0.879485 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 23300199591.165535, -13157388278.429016, -25355158282.901268 mu:-0.000000 unit_bearing:0.040456 0.270440 0.961886 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 12277980035.546726, -14581042941.364750, -31552252088.616554 mu:-0.000000 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 10600330406.301674, -14614626642.308079, -32139475762.064407 mu:-0.000000 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 10387455569.942951, -14617742868.269672, -32207492592.516861 mu:-0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 10418611421.149176, -14468695821.742655, -32264680319.982712 mu:-0.000000 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 17896514593.765736, -14644041006.358175, -28708309724.922783 mu:-0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 16072472174.927172, -16811245625.677933, -28599962894.402679 mu:-0.000000 unit_bearing:0.251194 0.358093 0.899261 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 7908651241.070166, -18409331282.769878, -30942688573.218529 mu:-0.000000 unit_bearing:0.458993 0.393377 0.796605 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 33591020910.365082, -13674045985.859779, -6600302973.264703 mu:-0.000000 unit_bearing:-0.508300 0.346354 0.788460 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] If point is visible? 30536725051.565529, -16719472535.269829, -12118905893.499857 mu:-0.000000 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] If point is visible? 27905940512.603367, -16571818732.309744, -17479517350.977081 mu:-0.000000 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 27782813386.512840, -16595814363.077995, -17652037977.804047 mu:-0.000000 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 30389734508.764278, -16893872391.265308, -12245869952.889511 mu:-0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] If point is visible? 20447630683.269176, 11533172464.963282, -28421480453.984200 mu:-0.000000 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 18006112045.543106, 6720767330.598157, -31456500669.450340 mu:-0.000000 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 25646021784.305435, 938248018.670707, -26463209861.025284 mu:-0.000000 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 34064086933.183311, 13169284460.794353, -5010803024.938632 mu:-0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] If point is visible? 18068257164.233315, 6399480988.962018, -31487853928.062908 mu:-0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26752990493.205685, 2053520048.628181, -25277673427.934544 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 34006943120.728542, 13499017692.244852, -4494948240.088910 mu:-0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] If point is visible? 25182653158.937489, -2349589681.041902, -26818158532.293438 mu:-0.000000 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 19258700726.088966, 10759501800.062193, -29533638215.169018 mu:-0.000000 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 18167788004.500324, 3474001546.410316, -31886721549.211597 mu:-0.000000 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 26194512012.429768, 1656403687.150231, -25884437141.022774 mu:-0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 22374065404.247845, 1237823800.896649, -29270620225.595150 mu:-0.000000 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 15896703434.628386, -1210532877.627841, -33237473564.447018 mu:-0.000000 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 28936447586.884869, -4087134561.242986, -22469480433.825912 mu:-0.000000 unit_bearing:-0.144601 0.035763 0.988844 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 29213076164.621197, -3408210081.917197, -22223422415.838646 mu:-0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 25923033707.566277, 1297119675.650091, -26176593032.639313 mu:-0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 25497647605.862324, -2634325730.503338, -26492083975.543404 mu:-0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 24309311791.558430, -8460512061.210707, -26388961986.718845 mu:-0.000000 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 28889812025.146587, -8468707997.148370, -21273456814.571106 mu:-0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 20857758713.269867, -9716767624.289347, -28799974778.784546 mu:-0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 17804172938.563652, -13297910672.303671, -29412195031.845253 mu:-0.000000 unit_bearing:0.224139 0.260811 0.939010 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 8423678462.214416, -18839795158.230000, -30545113822.512733 mu:-0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] If point is visible? 12515874416.947172, -14425826152.085487, -31530122839.655807 mu:-0.000000 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 10418611421.149176, -14468695821.742655, -32264680319.982712 mu:-0.000000 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? 33129228521.152264, -14173935657.931307, -7775216030.849706 mu:-0.000000 unit_bearing:-0.476315 0.355930 0.804014 T_cur_ref: x=0.126885 y=0.000000 z=-2.351394 +[21:42:19.206] If point is visible? -2.788907, -1.055943, 9.365301 mu:0.082507 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=0.126887 y=0.000000 z=-2.351392 +[21:42:19.206] Z inverse min: 0.593824, Z inverse max: 0.000000 +[21:42:19.206] If point is visible? -2.176477, 6.006337, 7.920898 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126887 y=0.000000 z=-2.351392 +[21:42:19.206] If point is visible? -2.788907, -1.055943, 9.365301 mu:0.082507 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=0.126887 y=0.000000 z=-2.351392 +[21:42:19.206] Z inverse min: 0.593824, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -2.176477, 6.006337, 7.920898 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126887 y=0.000000 z=-2.351392 +[21:42:19.207] If point is visible? -896618232441.733521, -184549854955.938965, 1664017488583.607666 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.126888 y=0.000000 z=-2.351391 +[21:42:19.207] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -17.048991, 12.738377, 20.682616 mu:0.031817 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.126888 y=0.000000 z=-2.351391 +[21:42:19.207] Z inverse min: 0.508232, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -896618232441.733521, -184549854955.938965, 1664017488583.607666 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.126888 y=0.000000 z=-2.351391 +[21:42:19.207] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -17.048991, 12.738377, 20.682616 mu:0.031817 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.126888 y=0.000000 z=-2.351391 +[21:42:19.207] Z inverse min: 0.508232, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -47.862171, 58.144864, 90.673925 mu:0.008351 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.126890 y=0.000000 z=-2.351389 +[21:42:19.207] Z inverse min: 0.523315, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -86438677428.945328, 229257142262.794312, 375156136876.545349 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.126890 y=0.000000 z=-2.351389 +[21:42:19.207] If point is visible? -47.862171, 58.144864, 90.673925 mu:0.008351 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.126890 y=0.000000 z=-2.351389 +[21:42:19.207] Z inverse min: 0.523315, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -86438677428.945328, 229257142262.794312, 375156136876.545349 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.126890 y=0.000000 z=-2.351389 +[21:42:19.207] If point is visible? -5.379107, 0.400458, -0.176650 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.126892 y=0.000000 z=-2.351386 +[21:42:19.207] If point is visible? -1.039898, 3.037937, 2.610006 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.126892 y=0.000000 z=-2.351386 +[21:42:19.207] If point is visible? -0.969913, 3.037066, 2.626477 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.126892 y=0.000000 z=-2.351386 +[21:42:19.207] If point is visible? -5.378623, 0.425718, -0.180225 mu:0.168536 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.126892 y=0.000000 z=-2.351386 +[21:42:19.207] If point is visible? -5.379107, 0.400458, -0.176650 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.126892 y=0.000000 z=-2.351386 +[21:42:19.207] If point is visible? -0.983540, 2.991554, 2.650955 mu:0.168536 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.126892 y=0.000000 z=-2.351386 +[21:42:19.207] If point is visible? -1.025945, 3.083350, 2.585190 mu:0.168536 unit_bearing:0.442103 0.414388 0.795505 T_cur_ref: x=0.126892 y=0.000000 z=-2.351386 +[21:42:19.207] If point is visible? -1.039898, 3.037937, 2.610006 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.126892 y=0.000000 z=-2.351386 +[21:42:19.207] If point is visible? -0.969913, 3.037066, 2.626477 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.126892 y=0.000000 z=-2.351386 +[21:42:19.207] If point is visible? -55778.348232, -36476.714397, 109007.250720 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.126901 y=0.000000 z=-2.351370 +[21:42:19.207] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -55778.348232, -36476.714397, 109007.250720 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.126901 y=0.000000 z=-2.351370 +[21:42:19.207] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -0.070080, -0.442483, 4.268003 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.126917 y=0.000000 z=-2.351341 +[21:42:19.207] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -0.070080, -0.442483, 4.268003 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.126917 y=0.000000 z=-2.351341 +[21:42:19.207] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -12.451207, 15.860771, 30.479274 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.126920 y=0.000000 z=-2.351336 +[21:42:19.207] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? 2.437363, 19.197576, 31.021365 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126920 y=0.000000 z=-2.351336 +[21:42:19.207] If point is visible? -17.264706, 18.082673, 26.943212 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.126920 y=0.000000 z=-2.351336 +[21:42:19.207] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -12.451207, 15.860771, 30.479274 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.126920 y=0.000000 z=-2.351336 +[21:42:19.207] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -17.264706, 18.082673, 26.943212 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.126920 y=0.000000 z=-2.351336 +[21:42:19.207] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? 2.437363, 19.197576, 31.021365 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126920 y=0.000000 z=-2.351336 +[21:42:19.207] If point is visible? -65390785586.465683, -23901742507.747051, 214641930161.681549 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? 11104398246.122316, -17919591477.839687, 224664164696.742615 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -295.453561, 981.276306, 1693.231515 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -127215923218.497787, -93211181533.139786, 161388323106.568146 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -127340713862.836975, -92731183094.694763, 161566322583.170471 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -127332992375.500717, -90772945223.635559, 162680631257.719574 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -127786642878.813385, -86879519390.142609, 164441264074.971832 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -130519617881.025879, -77216087575.478775, 167094917594.725281 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -69841920261.060928, -65449907006.819855, 204344860872.857513 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -107045388559.236603, -68104733549.407867, 186605027731.145142 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -70971979689.325714, -66004356695.477112, 203776370843.868469 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -193410520649.655518, -75472062244.760468, 88401044344.324936 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] If point is visible? -68707990802.215462, -64895784179.771454, 204905235447.301636 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.207] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.207] If point is visible? -193533230592.748627, -75009287257.339020, 88526277455.309814 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -193244709275.637939, -74972325031.314880, 89185419968.650284 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -134321981676.563904, -66099680389.706200, 168839698557.866913 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -65366078445.742729, -62742950806.593575, 206661569312.724152 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -64379270653.179665, -61204694153.393288, 207431196404.596649 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -63761918547.698822, -61174854214.607407, 207630588481.142395 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -192341501030.979034, -70047638971.892883, 94955155595.669571 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -192035441711.211639, -70006981067.687790, 95602395614.073654 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -191727501093.870789, -69966231967.020889, 96248106616.262650 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -191417686702.077637, -69925393352.218811, 96892285042.403793 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -191106006040.707062, -69884466898.077469, 97534927385.596085 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -59035663366.506836, -59461445853.986710, 209517381679.682068 mu:0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -191530278906.385254, -69457208073.627808, 97006467965.977249 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -191218389746.586273, -69416016224.650314, 97649118955.543564 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -0.449112, -0.542390, -0.478133 mu:0.491777 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -191753390367.874420, -68520265513.134216, 97231768548.191925 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -191441087674.803406, -68478545328.511108, 97874435365.678482 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -135554368647.351593, -62217852018.017136, 169329142055.144348 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -194763169101.166016, -65069828215.564644, 93550156259.934128 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] If point is visible? -136835899852.309296, -57839114806.132980, 169849873795.355560 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -138152139334.288788, -52962393312.445717, 170374228128.026245 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -48062606610.929878, -31668381845.420612, 218186859721.426208 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -142765074486.696655, -34402276706.468872, 171327240047.978210 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -46078828317.947960, -25638162106.270035, 219403355814.568542 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -45432387771.319740, -25615713629.098858, 219540747185.356049 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -61738507253.228607, -14798043728.755327, 216535865255.598846 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -0.729077, -0.196531, 0.616597 mu:0.323086 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 1.505610, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -68401157678.747452, -9609110679.054111, 214819349543.324829 mu:0.000000 unit_bearing:0.130143 -0.158286 0.978779 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -68368319087.273285, -10104287455.970634, 214807082374.488586 mu:0.000000 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -72942251609.826324, -6828220043.593216, 213427293613.499237 mu:0.000000 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -108276842912.141266, -6283730899.971777, 197876341013.973022 mu:0.000000 unit_bearing:-0.060676 -0.134508 0.989053 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.208] If point is visible? -107704208933.978958, -6245996943.767147, 198189800994.412537 mu:0.000000 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.208] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -101959507173.307831, -5383021406.371277, 201230435808.359924 mu:0.000000 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -107674775160.428986, -6741003286.103760, 198189575878.673248 mu:0.000000 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -100320683964.041901, -3296282880.509888, 202097256800.438995 mu:0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -99736061470.991898, -3260926159.958283, 202386982587.657318 mu:0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -107644863327.409653, -7236065311.309441, 198188367661.057159 mu:0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? 0.042365, -0.007795, -0.756468 mu:0.626125 unit_bearing:0.377891 -0.126541 0.917162 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 1.509897, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -99176821029.579269, -2730965883.870788, 202669450864.972809 mu:0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -98029084754.304657, -2166400651.200541, 203233883908.543030 mu:0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -0.937463, -0.023286, -0.128239 mu:0.405700 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] If point is visible? -91681714809.945526, 1666255304.114086, 206179759144.433014 mu:0.000000 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -91106405959.571350, 2193101236.762956, 206429696066.678192 mu:0.000000 unit_bearing:0.026168 -0.101842 0.994456 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -27924053211.459270, 10882725367.802870, 223652006158.750275 mu:0.000000 unit_bearing:0.313565 -0.072921 0.946763 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -27241931295.288834, 10405662101.078310, 223758811432.224335 mu:0.000000 unit_bearing:0.316386 -0.075077 0.945655 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -89681660154.985397, 13633341477.349247, 206614951419.526337 mu:0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -89692275321.399490, 14125464122.251459, 206577281735.158325 mu:0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -164925059205.169098, 11179357548.588949, 153600628674.781219 mu:0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -164933172661.220642, 11665560555.964178, 153555753949.941833 mu:0.000000 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -132986790216.188217, 22892075175.134182, 180855944995.919983 mu:0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -96948440731.669891, 27466265358.815044, 201903468085.723877 mu:0.000000 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -96357422792.777939, 27500408377.213295, 202181554376.073151 mu:0.000000 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -59440864677.788589, 33541480718.665775, 215081749564.228729 mu:0.000000 unit_bearing:0.176509 0.031374 0.983799 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -123208898182.214447, 27132997360.452808, 187087610977.133514 mu:0.000000 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.209] If point is visible? -70154726665.786316, 33644228547.838673, 211813093386.446869 mu:0.000000 unit_bearing:0.127482 0.033591 0.991272 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.209] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -62621425384.226463, 32948253096.222973, 214269400565.763062 mu:0.000000 unit_bearing:0.162108 0.029203 0.986341 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -74508331027.819214, 33467095931.758141, 210349396042.430389 mu:0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -1.009805, 0.515270, 0.888059 mu:0.288060 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 1.549039, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -122354505614.138351, 40789337724.651520, 185159421045.979340 mu:0.000000 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -121802692725.036972, 40833735149.311226, 185513116616.757751 mu:0.000000 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -122850308968.949173, 42196288122.569199, 184514718039.217407 mu:0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -120801252394.738632, 50528846960.848869, 183772411865.477905 mu:0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -69363237666.906677, 55892489975.651382, 207323846054.363190 mu:0.000000 unit_bearing:0.127327 0.133877 0.982784 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -107017477354.386627, 55853607600.730804, 190646375199.853119 mu:0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -106443225704.946960, 55892378545.204483, 190956246402.782532 mu:0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -97109282136.728394, 56958791391.008369, 195560450307.061127 mu:0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -72075511071.719757, 61996285267.482399, 204646005665.594727 mu:0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -71455240311.620926, 62020285702.813805, 204856142479.175629 mu:0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -70834231503.341171, 62044022875.071762, 205064519580.804749 mu:0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -106954586743.907379, 56812541377.973869, 190398156069.782898 mu:0.000000 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -106380393482.319290, 56851333297.263039, 190708007443.385925 mu:0.000000 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -57054347041.485123, 61545378102.533707, 209464493974.435638 mu:0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -70800484585.415512, 62521293371.168892, 204931172777.020020 mu:0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -57022084314.778061, 62022226435.114296, 209332586203.177673 mu:0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -57626111790.587242, 62481024873.852043, 209030521906.955322 mu:0.000000 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -134600107026.246887, 60224880751.296799, 170804511782.497986 mu:0.000000 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -134073672425.773087, 60276923995.552887, 171199734562.123871 mu:0.000000 unit_bearing:-0.198881 0.172672 0.964692 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -133546235476.264099, 60328706558.182190, 171593287961.312897 mu:0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -121617033680.672089, 62354671787.965363, 179553887017.613983 mu:0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.210] If point is visible? -66659877655.023788, 67892202772.217644, 204610644473.483246 mu:0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.210] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -61002121551.135391, 68075438635.439735, 206307736498.046204 mu:0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -57834124993.687737, 68167510440.297691, 207187863603.728851 mu:0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -57236532442.269577, 67710918957.896805, 207503294253.252197 mu:0.000000 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -56600114317.520638, 67728258528.654175, 207672136730.010895 mu:0.000000 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -56637736520.219460, 67253922711.900330, 207815983504.195862 mu:0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -60292059814.195679, 69042535428.623596, 206195058483.571960 mu:0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -59659223795.346870, 69061142481.403687, 206372822661.789185 mu:0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -7498603824.052954, 91312094703.983917, 206214157175.420105 mu:0.000000 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -47521346375.003471, 93108793409.736618, 199977200066.951080 mu:0.000000 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -147074690930.921143, 94005611241.958206, 143004848382.738251 mu:0.000000 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -124365963092.902740, 106885239734.766815, 155006642016.191071 mu:0.000000 unit_bearing:-0.179828 0.386428 0.904619 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -124273833557.884918, 107332570043.388474, 154771250621.776611 mu:0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -123655630840.810822, 107834790744.996841, 154917233336.591339 mu:0.000000 unit_bearing:-0.176934 0.390653 0.903374 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -149805548089.513794, 109099489938.476822, 128740069035.250427 mu:0.000000 unit_bearing:-0.330763 0.410354 0.849827 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] If point is visible? -72010915592.154449, -67051147240.276222, 203068899655.878143 mu:0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -192999034881.431396, -75898236047.364456, 88933889031.950562 mu:0.000000 unit_bearing:-0.621788 -0.381876 0.683777 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] If point is visible? -69756003706.579178, -65942090074.644913, 204215932340.199707 mu:0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -68536975550.859276, -65880171881.488663, 204648215856.641632 mu:0.000000 unit_bearing:0.097312 -0.400306 0.911200 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -121335588032.716385, -68095741740.416595, 177648673937.609650 mu:0.000000 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -112546355030.758560, -68472900869.752670, 183202582225.145813 mu:0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -111453730909.971222, -68398664069.422699, 183896968267.431915 mu:0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -5.365138, -3.202556, 24.610055 mu:0.036100 unit_bearing:0.230094 -0.233367 0.944773 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 1.059740, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -44643224819.413330, -27077292541.625366, 219527239823.159088 mu:0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -65390785586.465683, -23901742507.747051, 214641930161.681549 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? 11104398246.122316, -17919591477.839687, 224664164696.742615 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -46217151728.622826, -24153983997.348076, 219542629712.739624 mu:0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.211] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.211] If point is visible? -47941314450.350586, -19251331305.674805, 219657512800.647369 mu:0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -0.270620, -0.163684, -0.477018 mu:0.520023 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 1.896874, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -44831762813.408592, -25098790251.893970, 219723849613.484131 mu:0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -0.670448, -0.080088, -0.017337 mu:0.405229 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] If point is visible? -108848612053.569611, -6321635544.805914, 197561187727.178375 mu:0.000000 unit_bearing:-0.063569 -0.134505 0.988872 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -52.387968, -3.045451, 94.282923 mu:0.009089 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 1.000588, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -49.847320, -2.894179, 90.890046 mu:0.009449 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 1.001436, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -105405071536.568985, -6096770597.344652, 199426694804.806610 mu:0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -108470114024.267883, 12512754035.968876, 197474230389.996521 mu:0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -107320850736.437622, 12588617847.584642, 198096360431.018219 mu:0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -29923461959.396584, 10843994925.365891, 223395166725.793335 mu:0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -108491466531.862701, 13496724652.392101, 197397685983.264099 mu:0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -178295200815.211884, 21843551937.854843, 136572643393.155136 mu:0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -93389590755.930115, 22281549270.597538, 204206569969.327240 mu:0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -124299432646.188095, 28020325912.454025, 186233505840.834686 mu:0.000000 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -125404451072.061584, 26955394176.403416, 185648960929.720032 mu:0.000000 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -96950704273.894623, 26977183005.130196, 201968311514.477692 mu:0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -62615268237.299377, 33435238732.262779, 214195749987.119049 mu:0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -105701838148.746216, 48753529158.232658, 193309650883.595764 mu:0.000000 unit_bearing:-0.046230 0.110044 0.992851 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -58619086144.808365, 66251328243.497536, 207588464428.081238 mu:0.000000 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -58545001941.431900, 67200923996.949615, 207303943232.453125 mu:0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? 1860665350.931230, 89767252122.477905, 207018802742.500183 mu:0.000000 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? 3337086557.714800, 90641984317.556534, 206618733057.753723 mu:0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -46941209909.421555, 92659863927.598846, 200322436954.237549 mu:0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.212] If point is visible? -85151390772.009109, 83999571090.675186, 191341890406.501770 mu:0.000000 unit_bearing:0.040463 0.266140 0.963085 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.212] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -0.035908, 1.661248, 1.420794 mu:0.242427 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? -28889643758.269085, 101013613731.481354, 199699886436.023956 mu:0.000000 unit_bearing:0.285343 0.336464 0.897425 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -150052939556.010010, 109896657137.460281, 127770287622.173309 mu:0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? 12623203520.979609, 116075337893.915649, 193094735774.583801 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? -95247050098.962860, 1466364570.088095, 204558684832.707703 mu:0.000000 unit_bearing:0.005893 -0.104028 0.994557 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -0.693481, 0.014137, -0.534738 mu:0.501678 unit_bearing:0.017479 -0.104026 0.994421 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 1.685863, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -0.452663, -0.566871, -0.618548 mu:0.522722 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? -108789155202.610718, -7311648289.062314, 197559777859.063690 mu:0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -0.923000, -0.076819, 0.717188 mu:0.308254 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 1.495700, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -1.611329, -0.128977, 2.928367 mu:0.179857 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 1.317837, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -117413625257.118378, -13881163948.040470, 192197190951.311523 mu:0.000000 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -0.578309, -0.539761, 0.711052 mu:0.313621 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? -59176651086.825035, -62445879439.358154, 208607388232.721100 mu:0.000000 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] calculated Z= 0.738016 +[21:42:19.213] update seeds 305 +[21:42:19.213] If point is visible? -193323765297.165863, -76894636323.122314, 87358703027.695724 mu:0.000000 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? -0.461241, -0.473314, 0.348358 mu:0.356727 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? -191950430411.876190, -72886611709.505005, 93600109064.008896 mu:0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? -47573768064.002533, -36121345407.236748, 217601450629.834167 mu:0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -104307492299.772491, -5033206377.444115, 200032547856.112030 mu:0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -3.996965, -1.428359, 17.009518 mu:0.050386 unit_bearing:0.224725 -0.190320 0.955655 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 1.091736, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -192661830518.240295, -74898030776.777939, 90499228536.640717 mu:0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? -4.451420, -1.784889, 19.203397 mu:0.045233 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 1.078860, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -102095876382.427322, -2908654233.619668, 201212271182.354004 mu:0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -98121287773.219452, 21029975680.259262, 202109770488.013092 mu:0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -127585051853.800949, 26774424107.305679, 184183579820.152405 mu:0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -126319735835.920883, 57688655408.940018, 177858791443.277313 mu:0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -106900306496.843277, 47711989001.964584, 192910074631.946045 mu:0.000000 unit_bearing:-0.052023 0.105679 0.993039 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -59959642642.890732, 65263800208.904549, 207518394255.829437 mu:0.000000 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -187338822253.511353, 75793105160.250092, 100389128920.390762 mu:0.000000 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? 5758976149.947220, 87852228697.787872, 207767240980.478638 mu:0.000000 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] calculated Z= 0.081148 +[21:42:19.213] update seeds 305 +[21:42:19.213] If point is visible? -65144810395.536362, 63199496771.269447, 206592312549.329376 mu:0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -295.453561, 981.276306, 1693.231515 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? 12623203520.979609, 116075337893.915649, 193094735774.583801 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? 0.054098, 0.631941, -0.899888 mu:0.631025 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? 0.150150, 0.645506, -0.862177 mu:0.616064 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.126925 y=0.000000 z=-2.351333 +[21:42:19.213] If point is visible? -5.388181, 12.795682, 25.057169 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.126933 y=0.000000 z=-2.351302 +[21:42:19.213] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -5.388181, 12.795682, 25.057169 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.126933 y=0.000000 z=-2.351302 +[21:42:19.213] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -7.250758, 4.571889, 3.819904 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] If point is visible? 2.600561, 5.264663, 6.569505 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] If point is visible? 0.076084, 5.290408, 6.891279 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] If point is visible? -4.695981, -4.179989, 6.174160 mu:0.093899 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -4.700693, -3.995986, 6.259298 mu:0.093899 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -4.704502, -3.973092, 6.267751 mu:0.093899 unit_bearing:-0.220701 -0.468921 0.855222 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -4.745136, -3.720643, 6.357089 mu:0.093899 unit_bearing:-0.221187 -0.446416 0.867058 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -1.744865, -3.064937, 7.674607 mu:0.093899 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -4.850200, -3.377496, 6.437155 mu:0.093899 unit_bearing:-0.227427 -0.415351 0.880773 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.213] If point is visible? -8.303076, -3.415121, 3.188388 mu:0.093899 unit_bearing:-0.624195 -0.381680 0.681690 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] If point is visible? -8.307485, -3.393193, 3.195147 mu:0.093899 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] If point is visible? -1.657498, -3.038936, 7.698424 mu:0.093899 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.213] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -1.301502, -2.512992, 6.120821 mu:0.111711 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.794395, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -1.621148, -2.999474, 7.659563 mu:0.094377 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.752239, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -1.544896, -2.965503, 7.739640 mu:0.093899 unit_bearing:0.105938 -0.391858 0.913906 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -8.311868, -3.371254, 3.201854 mu:0.093899 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -3.726614, -3.114303, 7.075660 mu:0.093899 unit_bearing:-0.108544 -0.398128 0.910885 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -3.695524, -3.136356, 7.081005 mu:0.093899 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -3.554274, -3.130322, 7.139015 mu:0.093899 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -1.406408, -2.844656, 7.796265 mu:0.093899 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -1.376141, -2.843819, 7.801027 mu:0.093899 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -8.211395, -3.206605, 3.445787 mu:0.093899 unit_bearing:-0.608475 -0.365192 0.704552 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -4.954304, -3.009872, 6.510866 mu:0.093899 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -8.200611, -3.160797, 3.486304 mu:0.093899 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -8.181567, -3.159213, 3.514230 mu:0.093899 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -8.162447, -3.157626, 3.542072 mu:0.093899 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -8.215499, -3.184496, 3.452066 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -8.204654, -3.138658, 3.492477 mu:0.093899 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -8.166470, -3.135461, 3.548242 mu:0.093899 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -8.147263, -3.133859, 3.575998 mu:0.093899 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -1.378579, -2.820497, 7.807170 mu:0.093899 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -1.323027, -2.771384, 7.637818 mu:0.095535 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.755446, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -8.170468, -3.113288, 3.554360 mu:0.093899 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -8.151251, -3.111673, 3.582114 mu:0.093899 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -8.131958, -3.110056, 3.609783 mu:0.093899 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -8.159152, -3.067277, 3.594190 mu:0.093899 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -8.139840, -3.065635, 3.621856 mu:0.093899 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? -8.323361, -2.901489, 3.444400 mu:0.093899 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] If point is visible? 3.033775, -1.313168, 7.809514 mu:0.093899 unit_bearing:0.525495 -0.238661 0.816637 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -0.432051, -1.207109, 8.215001 mu:0.093899 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -0.400893, -1.206639, 8.216657 mu:0.093899 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -0.402279, -1.183258, 8.219231 mu:0.093899 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? 2.372724, -0.849179, 8.024229 mu:0.093899 unit_bearing:0.473124 -0.197875 0.858487 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -0.355476, -0.901881, 8.249180 mu:0.093899 unit_bearing:0.233178 -0.205361 0.950502 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -0.612180, -0.373591, 3.639225 mu:0.165358 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.897124, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -1.808394, -0.645959, 8.049347 mu:0.094350 unit_bearing:0.098354 -0.180082 0.978722 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.751942, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -0.252029, -0.173697, 0.643888 mu:0.330682 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 1.194255, Z inverse max: 0.000000 +[21:42:19.214] calculated Z= 0.198427 +[21:42:19.214] update seeds 305 +[21:42:19.214] If point is visible? -1.366560, -0.497857, 8.181406 mu:0.093899 unit_bearing:0.141639 -0.166930 0.975742 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -1.365517, -0.521255, 8.180422 mu:0.093899 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -1.206539, -0.635106, 8.195490 mu:0.093899 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -0.654829, -0.380766, 3.980246 mu:0.156471 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.880813, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -3.695446, -0.433627, 7.579343 mu:0.093899 unit_bearing:-0.083774 -0.154054 0.984504 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.214] If point is visible? -3.211887, -0.178621, 7.759914 mu:0.093899 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.214] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -3.153316, -0.176302, 7.779108 mu:0.093899 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? 1.419263, -0.196760, 8.217875 mu:0.093899 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -1.712522, -0.271510, 8.134833 mu:0.093899 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? 1.452004, -0.220048, 8.213361 mu:0.093899 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -3.501287, -0.237507, 7.658490 mu:0.093899 unit_bearing:-0.063566 -0.136682 0.988573 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -3.472289, -0.236256, 7.668983 mu:0.093899 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -3.443264, -0.235015, 7.679390 mu:0.093899 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -3.068682, -0.079373, 7.807343 mu:0.093899 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -3.039273, -0.078252, 7.816556 mu:0.093899 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -3.010654, -0.053769, 7.825583 mu:0.093899 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -2.923772, -0.003753, 7.852105 mu:0.093899 unit_bearing:-0.005691 -0.117112 0.993102 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -2.894231, -0.002677, 7.860891 mu:0.093899 unit_bearing:-0.002795 -0.117112 0.993115 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -2.952503, -0.028204, 7.843432 mu:0.093899 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -0.919068, -0.009300, 1.148130 mu:0.273791 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 1.066638, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? 0.444777, 0.546040, 8.279650 mu:0.093899 unit_bearing:0.310742 -0.070764 0.947856 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -2.299658, 0.649438, 7.066612 mu:0.102594 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.773144, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -6.422997, 0.665336, 6.019603 mu:0.093899 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -4.584049, 1.334062, 7.106142 mu:0.093899 unit_bearing:-0.170559 0.016108 0.985216 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -4.723649, 1.187312, 7.054997 mu:0.093899 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -2.885190, 1.369186, 7.771384 mu:0.093899 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -2.855569, 1.370245, 7.780008 mu:0.093899 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -2.973815, 1.389021, 7.741879 mu:0.093899 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -2.585751, 1.516862, 7.829092 mu:0.093948 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750912, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -4.161460, 1.404290, 7.295147 mu:0.093899 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -1.588962, 1.589283, 8.038415 mu:0.093899 unit_bearing:0.124596 0.029226 0.991777 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.215] If point is visible? -1.771795, 1.631525, 7.999992 mu:0.093899 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.215] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -0.391381, 0.452821, 0.522011 mu:0.338457 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] If point is visible? -7.208209, 1.266740, 5.264954 mu:0.093899 unit_bearing:-0.455668 0.030903 0.889613 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -7.184723, 1.246935, 5.290762 mu:0.093899 unit_bearing:-0.452936 0.028762 0.891079 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -4.207506, 2.066007, 7.154516 mu:0.093899 unit_bearing:-0.133001 0.083771 0.987569 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -4.206906, 2.088821, 7.149802 mu:0.093899 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -4.105740, 2.570836, 7.076932 mu:0.093899 unit_bearing:-0.124247 0.131709 0.983471 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -4.104803, 2.593469, 7.071152 mu:0.093899 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -2.912667, 2.761436, 7.474767 mu:0.093899 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -3.411580, 2.718563, 7.318479 mu:0.093899 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -3.382503, 2.719853, 7.328707 mu:0.093899 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -3.409606, 2.763773, 7.306377 mu:0.093899 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -0.968406, 2.985476, 7.812531 mu:0.093899 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -1.675562, 2.953423, 7.720670 mu:0.093899 unit_bearing:0.112834 0.159999 0.980647 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -1.645084, 2.953983, 7.725913 mu:0.093899 unit_bearing:0.115719 0.159991 0.980312 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -1.673521, 2.998438, 7.707727 mu:0.093899 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -1.612550, 2.999539, 7.718121 mu:0.093899 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -4.838985, 2.951090, 6.595599 mu:0.093899 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -4.783978, 2.954984, 6.624629 mu:0.093899 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -0.969386, 2.963002, 7.818999 mu:0.093899 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -4.193337, 3.082453, 6.881794 mu:0.093899 unit_bearing:-0.135626 0.181625 0.973970 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -4.165108, 3.084115, 6.894396 mu:0.093899 unit_bearing:-0.132746 0.181635 0.974365 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -0.897119, 3.187742, 7.758393 mu:0.093899 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -4.167667, 3.039269, 6.908048 mu:0.093899 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -0.957871, 3.209653, 7.745116 mu:0.093899 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -0.926949, 3.209888, 7.748316 mu:0.093899 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -1.139550, 3.275045, 7.702872 mu:0.093899 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -1.138373, 3.297386, 7.695716 mu:0.093899 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -1.107572, 3.297695, 7.699446 mu:0.093899 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -1.076753, 3.297990, 7.703086 mu:0.093899 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.216] If point is visible? -1.417059, 3.249266, 7.672404 mu:0.093899 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.216] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -7.200728, 3.231505, 4.668601 mu:0.093899 unit_bearing:-0.464359 0.220843 0.857671 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -6.621007, 3.374780, 5.164844 mu:0.093899 unit_bearing:-0.398598 0.228517 0.888200 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -7.058091, 3.273557, 4.795414 mu:0.093899 unit_bearing:-0.448032 0.223311 0.865679 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? 1.373467, 4.300938, 7.311223 mu:0.093899 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -0.536251, 4.422232, 7.314119 mu:0.093899 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] If point is visible? -2.880363, 4.768420, 6.683888 mu:0.093899 unit_bearing:-0.017136 0.341020 0.939900 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] If point is visible? -2.851163, 4.769560, 6.692953 mu:0.093899 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] If point is visible? -5.594077, 4.558299, 5.388740 mu:0.093899 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] If point is visible? -4.490480, 5.140478, 5.752480 mu:0.093899 unit_bearing:-0.185504 0.386354 0.903503 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] If point is visible? -4.460212, 5.163653, 5.754936 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] If point is visible? -4.286112, -3.116386, 6.826360 mu:0.093899 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -0.805214, -1.506515, 2.487900 mu:0.194051 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.948779, Z inverse max: 0.000000 +[21:42:19.217] calculated Z= 0.410547 +[21:42:19.217] update seeds 305 +[21:42:19.217] If point is visible? -3.835996, -3.142497, 7.020796 mu:0.093899 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -3.779902, -3.140027, 7.045143 mu:0.093899 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -8.215499, -3.184496, 3.452066 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] If point is visible? -1.684902, -3.063126, 7.686170 mu:0.093899 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? 4.181135, -2.067943, 7.276957 mu:0.093899 unit_bearing:0.612340 -0.302911 0.730263 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? 3.530960, -1.703795, 7.594853 mu:0.093899 unit_bearing:0.563347 -0.272611 0.779951 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -1.430915, -1.038563, 8.132534 mu:0.093899 unit_bearing:0.132803 -0.216765 0.967149 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -0.366911, -1.252936, 8.212911 mu:0.093899 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -0.437527, -1.113577, 8.224976 mu:0.093899 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -0.372472, -1.159421, 8.223322 mu:0.093899 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -0.450305, -0.879796, 8.246296 mu:0.093899 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -3.723130, -0.458341, 7.567532 mu:0.093899 unit_bearing:-0.086659 -0.156223 0.983913 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -3.442325, -0.258402, 7.679149 mu:0.093899 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.217] If point is visible? -0.233543, -0.057820, -0.295405 mu:0.478915 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.217] Z inverse min: 1.186204, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -3.386052, -0.209172, 7.700141 mu:0.093899 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -3.327806, -0.206748, 7.720359 mu:0.093899 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -2.692415, 0.191395, 7.916656 mu:0.093899 unit_bearing:0.017480 -0.099663 0.994868 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -3.527001, 0.718189, 7.626137 mu:0.093899 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -3.468904, 0.720731, 7.647039 mu:0.093899 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? 0.381785, 0.522908, 8.282510 mu:0.093899 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -2.707070, 1.121166, 7.852998 mu:0.093899 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -2.885260, 1.346106, 7.774458 mu:0.093899 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -4.274613, 1.421088, 7.241571 mu:0.093899 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -4.274903, 1.375046, 7.248146 mu:0.093899 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -1.065611, 1.620725, 8.106586 mu:0.093899 unit_bearing:0.173630 0.031376 0.984311 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] calculated Z= 0.789617 +[21:42:19.218] update seeds 305 +[21:42:19.218] If point is visible? -2.943457, 1.528426, 7.731006 mu:0.093899 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -2.510295, 2.412589, 7.680685 mu:0.093899 unit_bearing:0.034851 0.110052 0.993315 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -2.439097, 2.732018, 7.617043 mu:0.093899 unit_bearing:0.040619 0.140550 0.989240 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -3.338466, 2.336584, 7.443666 mu:0.093902 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750821, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -0.962245, 3.120105, 7.772677 mu:0.093899 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -1.021878, 3.164381, 7.752324 mu:0.093899 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -2.497014, 2.775445, 7.589932 mu:0.093899 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -2.437201, 2.777204, 7.604856 mu:0.093901 unit_bearing:0.040616 0.144903 0.988612 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750816, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -1.019658, 3.209142, 7.738448 mu:0.093899 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? -0.475381, 4.008221, 7.496931 mu:0.093899 unit_bearing:0.218440 0.260866 0.940336 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.218] If point is visible? 1.371908, 4.279502, 7.320938 mu:0.093899 unit_bearing:0.381048 0.288163 0.878501 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.218] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -0.507080, 4.400502, 7.325987 mu:0.093899 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] If point is visible? 1.817212, 4.262287, 7.260783 mu:0.093899 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? 1.814239, 4.219550, 7.280142 mu:0.093899 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? 1.877955, 4.216814, 7.269962 mu:0.093899 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -7.250758, 4.571889, 3.819904 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] If point is visible? 2.296463, 5.407695, 6.563084 mu:0.093899 unit_bearing:0.447983 0.401983 0.798574 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] If point is visible? -5.837553, 5.270831, 4.723975 mu:0.093899 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] If point is visible? -4.514753, 5.159358, 5.726574 mu:0.093899 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] If point is visible? -4.460212, 5.163653, 5.754936 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] If point is visible? -5.823185, 5.352897, 4.674285 mu:0.093899 unit_bearing:-0.333276 0.418490 0.844863 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] If point is visible? -1.619596, -3.107898, 7.683982 mu:0.093899 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -0.577306, -0.834854, 8.242252 mu:0.093899 unit_bearing:0.213234 -0.199035 0.956513 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] calculated Z= 0.489644 +[21:42:19.219] update seeds 305 +[21:42:19.219] If point is visible? -0.452705, -0.833053, 8.249942 mu:0.093899 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] calculated Z= 0.535704 +[21:42:19.219] update seeds 305 +[21:42:19.219] If point is visible? -1.156386, -2.907996, 7.812997 mu:0.093899 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -3.463527, -0.258245, 7.556647 mu:0.094862 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.752079, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -0.056900, -0.423292, 0.149371 mu:0.393253 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] If point is visible? -0.519022, -1.770461, 8.130327 mu:0.093899 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -0.525799, -1.676918, 8.145279 mu:0.093899 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -8.312375, -3.460324, 3.146016 mu:0.093899 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] If point is visible? -3.043215, 0.038568, 7.815556 mu:0.093899 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? 0.382639, 0.476647, 8.284663 mu:0.093899 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -3.238464, -0.156074, 7.643138 mu:0.094814 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.753451, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -1.840266, -0.110851, 8.114555 mu:0.093899 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -2.825161, 0.978116, 7.834215 mu:0.093899 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -3.157575, -0.059420, 7.779088 mu:0.093899 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -0.209666, -0.002270, -0.302660 mu:0.481672 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 1.180870, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -2.944146, 1.066521, 7.790066 mu:0.093899 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -4.555340, 1.450762, 7.103217 mu:0.093899 unit_bearing:-0.167673 0.027018 0.985472 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -4.443934, 1.365404, 7.170208 mu:0.093899 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -1.080461, 3.105344, 7.714716 mu:0.094312 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.752018, Z inverse max: 0.000000 +[21:42:19.219] If point is visible? -1.336121, 3.026327, 7.754001 mu:0.093899 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.219] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -2.558555, 2.728359, 7.586531 mu:0.093899 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -1.546364, 3.647986, 7.513210 mu:0.093899 unit_bearing:0.121248 0.227106 0.966293 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -1.424293, 3.649800, 7.532472 mu:0.093899 unit_bearing:0.132756 0.227055 0.964791 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -1.739274, 1.163051, 1.444662 mu:0.227953 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] Z inverse min: 1.006339, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? 1.238024, 4.226409, 7.320920 mu:0.094219 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] Z inverse min: 0.751198, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? 0.853238, 1.749091, 1.639503 mu:0.226378 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] If point is visible? -2.365353, 3.982913, 7.205959 mu:0.093899 unit_bearing:0.040470 0.261837 0.964263 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -1.485809, 4.438396, 7.194169 mu:0.093899 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] If point is visible? -2.372124, 3.894730, 7.240436 mu:0.093900 unit_bearing:0.040484 0.253225 0.966560 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] Z inverse min: 0.750813, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? 2.481901, 5.354477, 6.548136 mu:0.093899 unit_bearing:0.464118 0.397194 0.791727 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] If point is visible? -7.800128, 3.738206, 3.698804 mu:0.093899 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] If point is visible? 2.600561, 5.264663, 6.569505 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] If point is visible? 0.076084, 5.290408, 6.891279 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.126932 y=0.000000 z=-2.351295 +[21:42:19.220] If point is visible? -2608609.721466, 7847758.074771, 16505707.316412 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.126929 y=0.000000 z=-2.351293 +[21:42:19.220] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -2608609.721466, 7847758.074771, 16505707.316412 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.126929 y=0.000000 z=-2.351293 +[21:42:19.220] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -1.773991, -2.656566, 3.825155 mu:0.143122 unit_bearing:-0.223120 -0.485109 0.845510 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] If point is visible? -1.773178, -2.671579, 3.818926 mu:0.143122 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] If point is visible? -4.576430, -2.173026, 2.336512 mu:0.143122 unit_bearing:-0.635373 -0.390455 0.666218 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] If point is visible? 0.294393, -2.012295, 4.337657 mu:0.143122 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? 0.393960, -1.981456, 4.343627 mu:0.143122 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -0.878968, -1.999292, 4.243534 mu:0.143592 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.830910, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -4.507606, -2.069570, 2.450491 mu:0.143122 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] If point is visible? -4.491652, -2.069018, 2.466075 mu:0.143122 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] If point is visible? 0.513400, -1.935374, 4.351274 mu:0.143122 unit_bearing:0.108792 -0.391837 0.913580 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? 0.592396, -1.858759, 4.367918 mu:0.143122 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? 0.612455, -1.858767, 4.366496 mu:0.143122 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -4.373148, -1.948095, 2.625997 mu:0.143122 unit_bearing:-0.603700 -0.363551 0.709490 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -4.407020, -1.934784, 2.600383 mu:0.143122 unit_bearing:-0.608739 -0.361214 0.706372 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] If point is visible? -4.358068, -1.932875, 2.645504 mu:0.143122 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -1.424843, -1.478539, 2.644992 mu:0.183939 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.922640, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -4.360578, -1.903677, 2.654451 mu:0.143122 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -4.344175, -1.903023, 2.669356 mu:0.143122 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -4.327736, -1.902369, 2.684195 mu:0.143122 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -4.392012, -1.919568, 2.619986 mu:0.143122 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] If point is visible? -4.345411, -1.888409, 2.673771 mu:0.143122 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? -4.328966, -1.887747, 2.688608 mu:0.143122 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? 0.612225, -1.843441, 4.370734 mu:0.143122 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? 0.632287, -1.843454, 4.369252 mu:0.143122 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.220] If point is visible? 0.611997, -1.828112, 4.374936 mu:0.143122 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.220] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? -4.346639, -1.873789, 2.678150 mu:0.143122 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? -4.330187, -1.873119, 2.692984 mu:0.143122 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? -4.470665, -1.761778, 2.606272 mu:0.143122 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] If point is visible? -1.940347, -1.504159, 4.151264 mu:0.143122 unit_bearing:-0.243014 -0.327092 0.913211 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 1.186722, -1.001636, 4.481936 mu:0.143122 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 1.206878, -1.001845, 4.478749 mu:0.143122 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 1.608947, -0.915047, 4.415225 mu:0.143122 unit_bearing:0.266890 -0.248009 0.931269 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 1.306543, -0.818680, 4.486669 mu:0.143122 unit_bearing:0.224373 -0.235566 0.945603 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 0.745706, -0.413393, 1.238049 mu:0.272805 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 1.074886, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 1.326539, -0.788231, 4.486769 mu:0.143122 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 0.597459, -0.566503, 4.596882 mu:0.143122 unit_bearing:0.124230 -0.201665 0.971544 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 0.597334, -0.551115, 4.598128 mu:0.143122 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 0.818925, -0.398758, 4.590003 mu:0.143122 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 0.475143, -0.458327, 4.612050 mu:0.143122 unit_bearing:0.106990 -0.186563 0.976600 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 0.839270, -0.414289, 4.587035 mu:0.143122 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 0.717272, -0.336547, 4.602677 mu:0.143122 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 0.635846, -0.274584, 4.611829 mu:0.143122 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 2.528052, -0.190105, 4.207512 mu:0.143122 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] calculated Z= 0.297725 +[21:42:19.221] update seeds 305 +[21:42:19.221] If point is visible? -0.518427, -0.077531, 4.605498 mu:0.143122 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? -0.498278, -0.077317, 4.607341 mu:0.143122 unit_bearing:-0.031742 -0.132356 0.990694 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? -0.478125, -0.077110, 4.609124 mu:0.143122 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? -0.719245, -0.126053, 4.583225 mu:0.143122 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? -0.699145, -0.125780, 4.585653 mu:0.143122 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? -0.679041, -0.125513, 4.588022 mu:0.143122 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 0.472965, -0.150947, 4.625593 mu:0.143122 unit_bearing:0.107104 -0.143134 0.983891 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? -0.679182, -0.110159, 4.588267 mu:0.143122 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.221] If point is visible? 2.410076, -0.166341, 3.885595 mu:0.150519 unit_bearing:0.397248 -0.139257 0.907084 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.221] Z inverse min: 0.848931, Z inverse max: 0.000000 +[21:42:19.221] calculated Z= 0.292346 +[21:42:19.221] update seeds 305 +[21:42:19.221] If point is visible? -0.679320, -0.094806, 4.588477 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? 1.640897, -0.072903, 1.987161 mu:0.217602 unit_bearing:0.383428 -0.130795 0.914262 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 1.000742, Z inverse max: 0.000000 +[21:42:19.222] calculated Z= 0.316966 +[21:42:19.222] update seeds 305 +[21:42:19.222] If point is visible? -0.458093, -0.061558, 4.610991 mu:0.143122 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.418005, -0.030478, 4.614449 mu:0.143122 unit_bearing:-0.020166 -0.125826 0.991847 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.337631, 0.016247, 4.620319 mu:0.143122 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.317442, 0.016406, 4.621634 mu:0.143122 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.115936, 0.109643, 4.630716 mu:0.143122 unit_bearing:0.023270 -0.106205 0.994072 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.116025, 0.124965, 4.630455 mu:0.143122 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? 1.887922, 0.346164, 4.401376 mu:0.143122 unit_bearing:0.307918 -0.068606 0.948936 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? 0.080838, 0.142975, -0.388161 mu:0.507919 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 1.322592, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? 1.867775, 0.361901, 4.405773 mu:0.143122 unit_bearing:0.305092 -0.066447 0.950002 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -2.811827, 0.537705, 3.964871 mu:0.143122 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -2.811889, 0.552767, 3.963542 mu:0.143122 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.279879, 0.906437, 4.564798 mu:0.143122 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.257645, 0.906591, 4.566050 mu:0.143122 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.279944, 0.916478, 4.563471 mu:0.143122 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.259724, 0.916618, 4.564613 mu:0.143122 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.360766, 0.946125, 4.554244 mu:0.143122 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.340561, 0.946294, 4.555618 mu:0.143122 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -0.097750, 1.023378, 4.556794 mu:0.143122 unit_bearing:0.026186 0.024885 0.999347 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -1.205118, 0.962686, 4.439753 mu:0.143122 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? 0.075688, 0.256558, -0.619384 mu:0.570937 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 1.218299, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? 0.470025, 1.083031, 4.542819 mu:0.143122 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? 0.490320, 1.082895, 4.541800 mu:0.143122 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.222] If point is visible? -1.203197, 1.428795, 4.357561 mu:0.143122 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.222] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? -1.677227, 1.726640, 4.174281 mu:0.143122 unit_bearing:-0.201942 0.131459 0.970535 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] calculated Z= 0.284939 +[21:42:19.223] update seeds 305 +[21:42:19.223] If point is visible? -1.140412, 1.758068, 4.291180 mu:0.143122 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? -0.658678, 1.827043, 4.346778 mu:0.143122 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? -0.316161, 1.830976, 4.377052 mu:0.143122 unit_bearing:-0.005688 0.142744 0.989743 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? -0.316030, 1.845802, 4.373008 mu:0.143122 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? 0.370698, 1.235429, 1.860645 mu:0.227474 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] If point is visible? 0.534623, 1.963361, 4.341870 mu:0.143122 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? 0.554882, 1.963156, 4.340665 mu:0.143122 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? 0.980202, 1.942088, 4.306008 mu:0.143122 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? -0.658383, 1.856682, 4.338657 mu:0.143122 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? -0.638272, 1.856981, 4.340904 mu:0.143122 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? -1.653014, 2.036999, 4.090897 mu:0.143122 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? 0.554986, 1.977907, 4.336314 mu:0.143122 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? -1.196569, 2.051910, 4.195264 mu:0.143122 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.223] If point is visible? 0.981220, 2.118451, 4.251872 mu:0.143122 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.223] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? 1.001455, 2.118037, 4.249355 mu:0.143122 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? 0.470648, 1.343299, 1.781932 mu:0.229381 unit_bearing:0.135792 0.190290 0.972291 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] If point is visible? 0.839745, 2.150408, 4.258326 mu:0.143122 unit_bearing:0.158807 0.190191 0.968818 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? 0.859985, 2.150055, 4.256227 mu:0.143122 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? 0.880224, 2.149693, 4.254068 mu:0.143122 unit_bearing:0.164554 0.190164 0.967863 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? 1.001366, 2.103379, 4.254052 mu:0.143122 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? 0.961077, 2.133509, 4.249598 mu:0.143122 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? 1.001545, 2.132687, 4.244624 mu:0.143122 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? 0.880324, 2.164337, 4.249273 mu:0.143122 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? 0.900561, 2.163965, 4.247053 mu:0.143122 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? 2.702967, 2.604400, 3.598540 mu:0.143122 unit_bearing:0.420015 0.266192 0.867600 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] If point is visible? 2.722581, 2.602977, 3.590633 mu:0.143122 unit_bearing:0.422751 0.266127 0.866290 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] If point is visible? 2.721586, 2.757395, 3.521007 mu:0.143122 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] If point is visible? 1.208942, 2.892285, 3.916349 mu:0.143122 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] If point is visible? -0.355679, 3.163279, 3.859997 mu:0.143122 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] If point is visible? -2.304675, 3.077097, 3.431273 mu:0.143122 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] If point is visible? -1.455278, 3.482890, 3.495536 mu:0.143122 unit_bearing:-0.174068 0.392782 0.903007 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] If point is visible? 1.732801, 3.470058, 3.496718 mu:0.143122 unit_bearing:0.281436 0.390939 0.876333 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] If point is visible? -4.405733, -1.949351, 2.595846 mu:0.143122 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] If point is visible? -1.395795, -1.982810, 4.173212 mu:0.143122 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? -1.079952, -2.008487, 4.231170 mu:0.143122 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? -1.040470, -2.007934, 4.238455 mu:0.143122 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.224] If point is visible? 0.394234, -1.996766, 4.339066 mu:0.143122 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.224] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 4.206511, -1.511847, 3.115944 mu:0.143122 unit_bearing:0.626651 -0.310126 0.714934 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 0.847085, -0.492622, 1.679726 mu:0.242464 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 1.029163, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 1.306290, -0.772614, 4.492071 mu:0.143122 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 1.346622, -0.773146, 4.484938 mu:0.143122 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 3.775147, -1.230682, 3.479258 mu:0.143122 unit_bearing:0.568316 -0.276522 0.774954 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 0.609724, -0.249386, 0.562675 mu:0.337365 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 1.167139, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 1.305338, -0.588399, 4.510529 mu:0.143122 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 1.345710, -0.588970, 4.503424 mu:0.143122 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 1.306124, -0.741905, 4.495497 mu:0.143122 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 0.699758, -0.705524, 4.576446 mu:0.143122 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 2.705807, -0.378320, 4.131431 mu:0.143122 unit_bearing:0.421802 -0.166814 0.891210 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? -0.679320, -0.094806, 4.588477 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? -0.639093, -0.094289, 4.593040 mu:0.143122 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? -0.598846, -0.093796, 4.597368 mu:0.143122 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 2.388911, -0.124686, 4.258347 mu:0.143122 unit_bearing:0.377834 -0.132998 0.916271 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] calculated Z= 0.324305 +[21:42:19.225] update seeds 305 +[21:42:19.225] If point is visible? 0.493421, -0.181732, 4.623814 mu:0.143122 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 0.411612, -0.058659, 4.629751 mu:0.143122 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 1.851183, 0.343425, 4.342111 mu:0.144500 unit_bearing:0.305085 -0.068616 0.949850 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.833045, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? -0.723283, 0.516603, 4.564609 mu:0.143122 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? -0.683028, 0.517174, 4.569396 mu:0.143122 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 1.744722, 0.294015, 3.930132 mu:0.154012 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.856425, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? -1.284995, 0.960707, 4.423877 mu:0.143122 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 0.057378, 0.186520, -0.660624 mu:0.587442 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 1.323308, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? -0.077523, 1.008337, 4.559633 mu:0.143122 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? -3.377190, 0.891227, 3.627517 mu:0.143122 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? -0.320241, 1.037192, 4.543902 mu:0.143122 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? 0.855649, 1.064096, 4.515739 mu:0.143122 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? -0.640479, 1.604273, 4.405690 mu:0.143122 unit_bearing:-0.052020 0.110040 0.992565 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.225] If point is visible? -0.033410, 1.817568, 4.393347 mu:0.143122 unit_bearing:0.034832 0.140555 0.989460 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.225] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 0.980778, 2.045086, 4.275018 mu:0.143122 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? -0.033176, 1.847223, 4.385291 mu:0.143122 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] calculated Z= 0.165752 +[21:42:19.226] update seeds 305 +[21:42:19.226] If point is visible? 0.940470, 2.075245, 4.270711 mu:0.143122 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 0.940653, 2.104590, 4.261421 mu:0.143122 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 1.227211, 2.649174, 4.019787 mu:0.143122 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 2.702282, 2.716860, 3.548335 mu:0.143122 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 2.702099, 2.744874, 3.535433 mu:0.143122 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 1.228940, 2.877480, 3.919678 mu:0.143122 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 2.387212, 2.766657, 3.653382 mu:0.143122 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? -2.583046, 3.546964, 3.024051 mu:0.143122 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? -2.545414, 3.550174, 3.040747 mu:0.143122 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 1.712826, 3.443769, 3.517672 mu:0.143122 unit_bearing:0.278729 0.386839 0.879014 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 2.964998, 3.458451, 3.015626 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 1.147653, -1.170279, 4.461050 mu:0.143122 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 0.685380, -0.562895, 1.103439 mu:0.282127 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 1.091792, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 0.434833, -2.027306, 4.328127 mu:0.143122 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] calculated Z= 0.349475 +[21:42:19.226] update seeds 305 +[21:42:19.226] If point is visible? 0.469023, -0.161921, -0.358289 mu:0.492958 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 1.296941, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 0.753487, -1.904861, 4.341865 mu:0.143122 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 0.833661, -1.905010, 4.333832 mu:0.143122 unit_bearing:0.154437 -0.387219 0.908961 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? -1.038015, -0.315523, 4.530769 mu:0.143122 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 0.052963, 0.048497, -0.531902 mu:0.549001 unit_bearing:0.017481 -0.095299 0.995295 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 1.216491, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? -0.719803, -0.064651, 4.584001 mu:0.143122 unit_bearing:-0.063574 -0.130150 0.989454 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? -0.639360, -0.063590, 4.593359 mu:0.143122 unit_bearing:-0.052002 -0.130162 0.990128 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? -0.064380, -0.017471, -0.411504 mu:0.513024 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 1.051413, Z inverse max: 0.000000 +[21:42:19.226] calculated Z= 3.727082 +[21:42:19.226] update seeds 305 +[21:42:19.226] If point is visible? 0.245943, -0.024522, 0.567094 mu:0.342364 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.764601, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 1.867891, 0.225273, 4.411677 mu:0.143122 unit_bearing:0.305019 -0.085959 0.948459 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? -0.478733, -0.000379, 4.609498 mu:0.143122 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 0.256305, 0.000567, -0.331117 mu:0.494007 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 1.295599, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? -1.444398, 0.956395, 4.389304 mu:0.143122 unit_bearing:-0.167677 0.018291 0.985672 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? -1.364644, 1.018978, 4.398248 mu:0.143122 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] calculated Z= 0.114136 +[21:42:19.226] update seeds 305 +[21:42:19.226] If point is visible? 0.006622, 0.197486, -0.486024 mu:0.532057 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 1.340541, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 0.044879, 0.742733, 0.404599 mu:0.350219 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? -1.348982, 1.903479, 4.163730 mu:0.143968 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.831948, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 0.818806, 2.048018, 4.292980 mu:0.143122 unit_bearing:0.155998 0.175042 0.972124 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? -1.364757, 0.958610, 4.407061 mu:0.143122 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 0.737409, 1.990394, 4.318421 mu:0.143122 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:19.226] calculated Z= 0.100337 +[21:42:19.226] update seeds 305 +[21:42:19.226] If point is visible? -0.064420, 2.637408, 4.116076 mu:0.143122 unit_bearing:0.028938 0.261854 0.964674 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 1.227007, 2.620473, 4.031681 mu:0.143122 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? -0.065286, 2.579629, 4.139313 mu:0.143122 unit_bearing:0.028948 0.253240 0.966970 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? -1.159464, 3.521713, 3.544642 mu:0.143122 unit_bearing:-0.131356 0.397441 0.908177 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 2.820051, 2.651885, 3.525269 mu:0.143122 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? -2.617199, 3.597296, 2.973035 mu:0.143122 unit_bearing:-0.344295 0.418148 0.840603 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 2.964998, 3.458451, 3.015626 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? -2.695538, 3.537007, 2.972475 mu:0.143122 unit_bearing:-0.355554 0.409593 0.840128 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 2.964028, 3.511411, 2.981641 mu:0.143122 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 2.347731, 2.740999, 3.679823 mu:0.143122 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 2.741446, 2.713932, 3.532435 mu:0.143122 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.126937 y=0.000000 z=-2.351242 +[21:42:19.226] If point is visible? 2029134166.748977, 2275362565.975900, 3567830413.237184 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126937 y=0.000000 z=-2.351241 +[21:42:19.226] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:19.226] If point is visible? 2029134166.748977, 2275362565.975900, 3567830413.237184 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.126937 y=0.000000 z=-2.351241 +[21:42:19.226] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.103780, -0.097167, 0.536237 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.372292, 0.126422, 0.546212 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.028878, 0.075446, 0.569292 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? -0.066500, 0.091544, 0.666187 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.286419, -0.043593, 0.504567 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.144662, 0.129698, 0.533542 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.087424, -0.099654, 0.543696 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.009825, -0.187305, 0.636364 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.103780, -0.097167, 0.536237 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.372292, 0.126422, 0.546212 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? -0.066500, 0.091544, 0.666187 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.028878, 0.075446, 0.569292 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.286419, -0.043593, 0.504567 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.144662, 0.129698, 0.533542 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.087424, -0.099654, 0.543696 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? 0.009825, -0.187305, 0.636364 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.237487 y=0.000000 z=0.883896 +[21:42:19.227] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:19.227] If point is visible? -0.183406, -0.486674, -1.043361 mu:0.851146 unit_bearing:0.223694 -0.301881 0.926730 T_cur_ref: x=0.000907 y=0.000000 z=0.009984 +[21:42:19.227] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:19.227] If point is visible? 0.741387, -0.515232, -0.742734 mu:0.851146 unit_bearing:-0.579369 -0.357190 0.732630 T_cur_ref: x=0.000907 y=0.000000 z=0.009984 +[21:42:19.227] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:19.227] If point is visible? -0.018820, 0.094486, -1.160931 mu:0.851146 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.000907 y=0.000000 z=0.009984 +[21:42:19.227] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:19.227] If point is visible? 0.169873, 0.147851, -1.143250 mu:0.851146 unit_bearing:-0.074901 0.244529 0.966745 T_cur_ref: x=0.000907 y=0.000000 z=0.009984 +[21:42:19.227] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:20.280] add new frame +[21:42:20.280] update seed +[21:42:20.280] If point is visible? 34677250521.314789, -2337424665.975772, -12285152054.455627 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] If point is visible? 27343404768.624626, 15836136387.462635, -18985658239.674908 mu:-0.000000 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 27556665081.098625, 15127430753.822453, -19253344312.473072 mu:-0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 27926639871.693340, 14110420313.272402, -19490999022.084244 mu:-0.000000 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 28439215128.276981, 12947895684.483290, -19556667892.335430 mu:-0.000000 unit_bearing:-0.227466 -0.413277 0.881738 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 21739255667.625015, 11751265853.973013, -27353477524.813717 mu:-0.000000 unit_bearing:0.051572 -0.406834 0.912045 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 28695815797.256786, 12324861232.363165, -19584385876.326962 mu:-0.000000 unit_bearing:-0.230590 -0.396593 0.888562 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25903467847.919724, 12001659815.355013, -23321036296.969631 mu:-0.000000 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25559523460.792240, 11956399503.123722, -23720360246.356701 mu:-0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 34014652960.561726, 13595302329.601755, -4131749906.536718 mu:-0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] If point is visible? 20827556485.005875, 11408275875.461630, -28195112187.584217 mu:-0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 28671413396.703171, 12403972908.989183, -19570174468.520123 mu:-0.000000 unit_bearing:-0.230553 -0.398677 0.887639 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 20600263509.877274, 11302770576.322142, -28403815579.614452 mu:-0.000000 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 34042837286.706795, 13520632105.107910, -4144629742.219286 mu:-0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] If point is visible? 20161833214.137875, 11012235526.999525, -28829349090.867573 mu:-0.000000 unit_bearing:0.111646 -0.391815 0.913245 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 20308979405.935246, 11109054707.037867, -28688577480.674519 mu:-0.000000 unit_bearing:0.105921 -0.393956 0.913006 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 20539145496.600258, 11214474598.945614, -28482964743.817280 mu:-0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 34232121514.664116, 12542534427.526482, -5454072377.275535 mu:-0.000000 unit_bearing:-0.601749 -0.355740 0.715085 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] If point is visible? 34216438360.403732, 12534495289.215828, -5569739000.242082 mu:-0.000000 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] If point is visible? 34200388943.917149, 12526429447.724457, -5685259900.303007 mu:-0.000000 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] If point is visible? 20015781947.143665, 10587741939.315464, -29088974071.492016 mu:-0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 19930030828.975826, 10579266866.206612, -29150869671.263554 mu:-0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 19300725240.188065, 10272319195.613129, -29679314048.842007 mu:-0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 19951601593.927227, 10499418190.072979, -29164979519.426579 mu:-0.000000 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 19865635015.309387, 10490957247.381725, -29226641619.142445 mu:-0.000000 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 34242215766.340210, 12458796366.841475, -5581153219.410645 mu:-0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] If point is visible? 34226136319.476448, 12450686207.139881, -5696685384.505010 mu:-0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] If point is visible? 29182254611.425667, 11074551661.723524, -19612509786.000633 mu:-0.000000 unit_bearing:-0.236808 -0.363022 0.901187 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 34571253706.406441, 11834783504.037161, -4864826341.630886 mu:-0.000000 unit_bearing:-0.617730 -0.334735 0.711591 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] If point is visible? 29412175792.591644, 10447596085.499136, -19613053561.346302 mu:-0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 18356850318.781483, 5852356843.504006, -31427315899.094143 mu:-0.000000 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 18264670074.686836, 5844630689.857460, -31482413154.546368 mu:-0.000000 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 17977923591.377869, 4761124455.510362, -31828072139.775616 mu:-0.000000 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 17884505834.662354, 4753608918.802979, -31881779626.775333 mu:-0.000000 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 17897276091.399754, 4673190554.846410, -31886502119.542553 mu:-0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 20455359905.007305, 2851249161.845628, -30534387962.451035 mu:-0.000000 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 20934112810.581333, 2568172680.259629, -30233551375.661331 mu:-0.000000 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 11097737667.300713, 1802703994.025238, -35106846851.631691 mu:-0.000000 unit_bearing:0.427333 -0.164601 0.888984 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 26752990493.207272, 2053520048.628181, -25277673427.862686 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 26680177269.949089, 2044125604.385441, -25355273814.403084 mu:-0.000000 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 26607143748.842693, 2034751871.113130, -25432654308.929760 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 22159333560.994877, 1705139350.831777, -29410145439.795143 mu:-0.000000 unit_bearing:0.104216 -0.143140 0.984200 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 12354138606.192991, 989014897.411832, -34717392294.301682 mu:-0.000000 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 12466614146.612017, 915015731.569407, -34679194004.692451 mu:-0.000000 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25894883653.244396, 1619594011.018896, -26186487635.300823 mu:-0.000000 unit_bearing:-0.028849 -0.130180 0.991071 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25819434124.510441, 1610445210.450843, -26261445248.955341 mu:-0.000000 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25750983547.095680, 1520687735.223082, -26333905407.651558 mu:-0.000000 unit_bearing:-0.023061 -0.128004 0.991506 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25675098261.486320, 1511580913.436631, -26408420461.198856 mu:-0.000000 unit_bearing:-0.020166 -0.128005 0.991568 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 12809417028.912760, 613280506.930654, -34560713842.213814 mu:-0.000000 unit_bearing:0.386213 -0.130770 0.913093 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25689153684.735367, 1350336570.221832, -26403488272.564671 mu:-0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25613046243.592068, 1341249477.281242, -26477785610.090546 mu:-0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 13245715882.315346, 397018708.718414, -34399034954.391563 mu:-0.000000 unit_bearing:0.375118 -0.124412 0.918590 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25543560706.128777, 1251569728.025227, -26549205233.285664 mu:-0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25396972571.138493, 1152894288.257008, -26693910126.328136 mu:-0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25319999302.752079, 1143893850.803355, -26767318898.585705 mu:-0.000000 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 14765280762.460567, -718144899.017874, -33769379188.708714 mu:-0.000000 unit_bearing:0.336066 -0.092305 0.937304 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 15291305421.092171, -1087440133.600608, -33524523432.180172 mu:-0.000000 unit_bearing:0.322012 -0.081552 0.943217 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 24366494532.800629, -1474407072.187887, -27622459825.728558 mu:-0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 24369283572.543728, -1554714931.313235, -27615595204.499588 mu:-0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 33387130255.045807, -662311886.326774, -15612850319.557570 mu:-0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] If point is visible? 29861831981.283253, -2744431253.705532, -21439200233.311497 mu:-0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25345313492.561089, -3559555706.485352, -26530074745.220909 mu:-0.000000 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25259869223.628483, -3569382947.474813, -26610124596.299541 mu:-0.000000 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25345256400.080627, -3612515138.068167, -26522969879.750423 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25267564584.456924, -3621454756.550988, -26595779068.634396 mu:-0.000000 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 28749103729.449314, -3400851155.368188, -22821557024.163395 mu:-0.000000 unit_bearing:-0.135953 0.016121 0.990584 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25652584359.235600, -3736295156.372627, -26208495436.521358 mu:-0.000000 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.280] If point is visible? 25575746659.151672, -3745346437.799674, -26282195146.856785 mu:-0.000000 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.280] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 28544317283.747169, -3591001876.819990, -23048359489.585720 mu:-0.000000 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 22317947010.414886, -4801877900.218369, -28943935957.860241 mu:-0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 22232552070.018627, -4809722831.191616, -29008281810.584759 mu:-0.000000 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 28500760520.585884, -6281381215.860536, -22520015954.758038 mu:-0.000000 unit_bearing:-0.130096 0.094676 0.986971 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 28433031432.434937, -6291710164.140090, -22602595550.208179 mu:-0.000000 unit_bearing:-0.127210 0.094681 0.987347 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 28588839213.524918, -5954554987.420736, -22497150178.594395 mu:-0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 28284530688.815197, -7328124908.381968, -22476301472.299152 mu:-0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 28277460011.540546, -7406886896.846281, -22459374448.680161 mu:-0.000000 unit_bearing:-0.124262 0.125181 0.984321 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 21292965581.345478, -8904731321.581020, -28743966248.622036 mu:-0.000000 unit_bearing:0.133066 0.144734 0.980482 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 25233334015.714973, -8512090468.963605, -25489672205.533539 mu:-0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26527870424.335636, -8196866576.646725, -24248374954.107578 mu:-0.000000 unit_bearing:-0.054884 0.140537 0.988553 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26454400331.052891, -8206426237.641410, -24325285000.828922 mu:-0.000000 unit_bearing:-0.051991 0.140540 0.988709 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 21829737277.794926, -9479608088.350838, -28151373318.738682 mu:-0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 21744034914.043255, -9487137455.441296, -28215091483.388248 mu:-0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 21658128121.426018, -9494630085.287138, -28278573243.310207 mu:-0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26519903050.246464, -8275490701.177037, -24230377931.449154 mu:-0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26446436964.274616, -8285051905.741094, -24307285032.573132 mu:-0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 19734382694.568787, -9493718743.634295, -29653392098.453915 mu:-0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 21649141051.237877, -9572878668.782232, -28259067652.597713 mu:-0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 29715057527.925278, -8861297960.546974, -19934717790.536457 mu:-0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 19716888456.346287, -9650027707.736610, -29614548683.093414 mu:-0.000000 unit_bearing:0.181920 0.161923 0.969890 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 19725695708.932655, -9571887893.003275, -29634036340.428890 mu:-0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 29756574909.379154, -9005918094.362659, -19807571980.467552 mu:-0.000000 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 29694668548.296665, -9017249208.854071, -19895127426.932201 mu:-0.000000 unit_bearing:-0.195991 0.177017 0.964496 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 28262486085.183517, -9335756617.641218, -21748005598.001484 mu:-0.000000 unit_bearing:-0.132754 0.179467 0.974766 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 19541677885.283588, -10358489297.805761, -29491096008.080994 mu:-0.000000 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 28272722390.227406, -9257695622.279636, -21768060530.055965 mu:-0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 21022769063.799503, -10475427862.548923, -28411420429.906967 mu:-0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 20229820028.881638, -10538493726.320864, -28958500486.729145 mu:-0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 19782239438.656731, -10572155704.869959, -29253935554.133720 mu:-0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 19712514962.834301, -10423178134.103836, -29354289810.638966 mu:-0.000000 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 19622191551.636738, -10429767187.528292, -29412408503.678928 mu:-0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 20119797879.476063, -10700843329.103401, -28975608780.413921 mu:-0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 20030488629.140366, -10707600806.630293, -29034927744.090622 mu:-0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 10478217721.594440, -14690689720.631742, -32144841075.723919 mu:-0.000000 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 12126512483.160622, -14807975321.075216, -31505107217.025021 mu:-0.000000 unit_bearing:0.378146 0.294551 0.877636 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 12142616114.177681, -14733226636.446968, -31533936095.149975 mu:-0.000000 unit_bearing:0.378193 0.292443 0.878321 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 12038932952.018841, -14735665731.357784, -31572527103.493515 mu:-0.000000 unit_bearing:0.380955 0.292381 0.877147 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 27782813386.514427, -16595814363.077995, -17652037977.732189 mu:-0.000000 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 27720880296.670021, -16607738534.332054, -17737982838.086765 mu:-0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 20947110114.630333, 11584865048.842592, -28034081017.614323 mu:-0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26241561067.167175, 12047042423.724564, -22916139736.736866 mu:-0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26107029348.937035, 12028875324.854092, -23078765041.225620 mu:-0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 20661022399.286514, 11391058032.577190, -28324303507.277920 mu:-0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 5722781251.823189, 5111493800.664905, -36055826502.227234 mu:-0.000000 unit_bearing:0.543244 -0.256827 0.799328 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 17764994964.968288, 4906920372.717206, -31925339547.511379 mu:-0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 18332088268.607079, 3649776622.379399, -31772848301.523296 mu:-0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 18145745864.757008, 3634913557.444720, -31881335124.409161 mu:-0.000000 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 17958617142.477020, 3620131546.091560, -31988793925.259083 mu:-0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 18003350377.370636, 4600267672.765423, -31837354340.485455 mu:-0.000000 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 17816303496.749847, 4585288496.659532, -31944556312.267532 mu:-0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] calculated Z= 1.729867 +[21:42:20.281] update seeds 305 +[21:42:20.281] If point is visible? 21182443656.875465, 4059806811.745325, -29895188044.895367 mu:-0.000000 unit_bearing:0.127084 -0.208144 0.969807 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 18028292418.053471, 4439397846.877869, -31846077279.932430 mu:-0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 21159198075.090309, 4221121540.901423, -29889307262.314602 mu:-0.000000 unit_bearing:0.127066 -0.212468 0.968871 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 27384039932.263245, 2954796794.914419, -24500688801.154701 mu:-0.000000 unit_bearing:-0.092427 -0.160557 0.982690 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 21972915967.347084, 1850111530.609521, -29540959193.632324 mu:-0.000000 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26607143748.842693, 2034751871.113130, -25432654308.929760 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26475782865.143749, 1854800005.663667, -25583058016.263493 mu:-0.000000 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26328163772.217587, 1836189920.040050, -25736286014.268780 mu:-0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 15904838500.617390, -1370337989.287516, -33227375835.947117 mu:-0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26821048561.595039, -1184766286.530678, -25261193593.103142 mu:-0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26674107571.700649, -1203617123.766009, -25415418743.722454 mu:-0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26826583580.311256, -1345337578.757853, -25247271120.916592 mu:-0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26679637081.062412, -1364196052.987062, -25401499034.462353 mu:-0.000000 unit_bearing:-0.052056 -0.047246 0.997526 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 24875174555.080769, -2865711548.124434, -27053901881.803581 mu:-0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 34674137873.168808, -2494374774.999580, -12263053291.185619 mu:-0.000000 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] If point is visible? 28815236670.213596, -3470352941.308774, -22727494471.161190 mu:-0.000000 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 24553452198.859001, -4179875299.628712, -27176402382.424049 mu:-0.000000 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 34677250521.314789, -2337424665.975772, -12285152054.455627 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] If point is visible? 25345256400.080627, -3612515138.068167, -26522969879.750423 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 20662509311.553341, -4866099086.817780, -30137717357.047253 mu:-0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26417299618.483707, -6963917114.691620, -24749350660.772953 mu:-0.000000 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 24258825558.277084, -7216182705.501510, -26801796740.995609 mu:-0.000000 unit_bearing:0.034853 0.105690 0.993788 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 26585054031.157169, -8344491997.509408, -24135131536.913891 mu:-0.000000 unit_bearing:-0.057771 0.144886 0.987760 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 19751851695.153042, -10111619001.761292, -29436707265.563759 mu:-0.000000 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 24133846839.334824, -8634867418.096300, -26493333505.954456 mu:-0.000000 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.281] If point is visible? 19892561760.564838, -10409881113.949863, -29237314867.430367 mu:-0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.281] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 18146609877.247688, -13427981275.713688, -29142582035.277866 mu:-0.000000 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 17961276391.835556, -13439378507.370955, -29251937962.688873 mu:-0.000000 unit_bearing:0.218399 0.265150 0.939147 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 12246119095.694992, -14730729266.687696, -31495053599.504398 mu:-0.000000 unit_bearing:0.375429 0.292504 0.879485 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 23300199591.167122, -13157388278.429016, -25355158282.829411 mu:-0.000000 unit_bearing:0.040456 0.270440 0.961886 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 12277980035.548311, -14581042941.364750, -31552252088.544697 mu:-0.000000 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 10600330406.303259, -14614626642.308079, -32139475761.992550 mu:-0.000000 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 10387455569.944536, -14617742868.269672, -32207492592.445004 mu:-0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 10418611421.150761, -14468695821.742655, -32264680319.910854 mu:-0.000000 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 17896514593.767323, -14644041006.358175, -28708309724.850925 mu:-0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 16072472174.928757, -16811245625.677933, -28599962894.330822 mu:-0.000000 unit_bearing:0.251194 0.358093 0.899261 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 7908651241.071751, -18409331282.769878, -30942688573.146671 mu:-0.000000 unit_bearing:0.458993 0.393377 0.796605 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 33591020910.366669, -13674045985.859779, -6600302973.192845 mu:-0.000000 unit_bearing:-0.508300 0.346354 0.788460 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] If point is visible? 30536725051.567116, -16719472535.269829, -12118905893.427999 mu:-0.000000 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] If point is visible? 27905940512.604954, -16571818732.309744, -17479517350.905224 mu:-0.000000 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 27782813386.514427, -16595814363.077995, -17652037977.732189 mu:-0.000000 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 30389734508.765865, -16893872391.265308, -12245869952.817654 mu:-0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] If point is visible? 20447630683.270763, 11533172464.963282, -28421480453.912342 mu:-0.000000 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 18006112045.544693, 6720767330.598157, -31456500669.378483 mu:-0.000000 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 25646021784.307022, 938248018.670707, -26463209860.953426 mu:-0.000000 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 34064086933.184898, 13169284460.794353, -5010803024.866775 mu:-0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] If point is visible? 18068257164.234901, 6399480988.962018, -31487853927.991051 mu:-0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 26752990493.207272, 2053520048.628181, -25277673427.862686 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 34006943120.730129, 13499017692.244852, -4494948240.017053 mu:-0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] If point is visible? 25182653158.939075, -2349589681.041902, -26818158532.221581 mu:-0.000000 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 19258700726.090553, 10759501800.062193, -29533638215.097160 mu:-0.000000 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 18167788004.501911, 3474001546.410316, -31886721549.139740 mu:-0.000000 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 26194512012.431355, 1656403687.150231, -25884437140.950916 mu:-0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 22374065404.249432, 1237823800.896649, -29270620225.523293 mu:-0.000000 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 15896703434.629971, -1210532877.627841, -33237473564.375160 mu:-0.000000 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 28936447586.886456, -4087134561.242986, -22469480433.754055 mu:-0.000000 unit_bearing:-0.144601 0.035763 0.988844 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 29213076164.622784, -3408210081.917197, -22223422415.766788 mu:-0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 25923033707.567863, 1297119675.650091, -26176593032.567455 mu:-0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 25497647605.863911, -2634325730.503338, -26492083975.471546 mu:-0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 24309311791.560017, -8460512061.210707, -26388961986.646988 mu:-0.000000 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 28889812025.148174, -8468707997.148370, -21273456814.499249 mu:-0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 20857758713.271454, -9716767624.289347, -28799974778.712688 mu:-0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 17804172938.565239, -13297910672.303671, -29412195031.773396 mu:-0.000000 unit_bearing:0.224139 0.260811 0.939010 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 8423678462.216001, -18839795158.230000, -30545113822.440876 mu:-0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] If point is visible? 12515874416.948757, -14425826152.085487, -31530122839.583950 mu:-0.000000 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 10418611421.150761, -14468695821.742655, -32264680319.910854 mu:-0.000000 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? 33129228521.153851, -14173935657.931307, -7775216030.777848 mu:-0.000000 unit_bearing:-0.476315 0.355930 0.804014 T_cur_ref: x=0.128471 y=0.000000 z=-2.279537 +[21:42:20.282] If point is visible? -2.787322, -1.055943, 9.437158 mu:0.082507 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=0.128472 y=0.000000 z=-2.279535 +[21:42:20.282] Z inverse min: 0.593824, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? -2.174892, 6.006337, 7.992755 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128472 y=0.000000 z=-2.279535 +[21:42:20.282] If point is visible? -2.787322, -1.055943, 9.437158 mu:0.082507 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=0.128472 y=0.000000 z=-2.279535 +[21:42:20.282] Z inverse min: 0.593824, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? -2.174892, 6.006337, 7.992755 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128472 y=0.000000 z=-2.279535 +[21:42:20.282] If point is visible? -896618232441.731934, -184549854955.938965, 1664017488583.679443 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.128473 y=0.000000 z=-2.279533 +[21:42:20.282] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? -17.047406, 12.738377, 20.754474 mu:0.031817 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.128473 y=0.000000 z=-2.279533 +[21:42:20.282] Z inverse min: 0.508232, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? -896618232441.731934, -184549854955.938965, 1664017488583.679443 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.128473 y=0.000000 z=-2.279533 +[21:42:20.282] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? -17.047406, 12.738377, 20.754474 mu:0.031817 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.128473 y=0.000000 z=-2.279533 +[21:42:20.282] Z inverse min: 0.508232, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? -47.860586, 58.144864, 90.745782 mu:0.008351 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128475 y=0.000000 z=-2.279532 +[21:42:20.282] Z inverse min: 0.523315, Z inverse max: 0.000000 +[21:42:20.282] calculated Z= 0.620734 +[21:42:20.282] update seeds 305 +[21:42:20.282] If point is visible? -86438677428.943741, 229257142262.794312, 375156136876.617188 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128475 y=0.000000 z=-2.279532 +[21:42:20.282] If point is visible? -47.860586, 58.144864, 90.745782 mu:0.008351 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128475 y=0.000000 z=-2.279532 +[21:42:20.282] Z inverse min: 0.523315, Z inverse max: 0.000000 +[21:42:20.282] calculated Z= 0.620734 +[21:42:20.282] update seeds 305 +[21:42:20.282] If point is visible? -86438677428.943741, 229257142262.794312, 375156136876.617188 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128475 y=0.000000 z=-2.279532 +[21:42:20.282] If point is visible? -5.377522, 0.400458, -0.104793 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128477 y=0.000000 z=-2.279529 +[21:42:20.282] If point is visible? -1.038313, 3.037937, 2.681863 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128477 y=0.000000 z=-2.279529 +[21:42:20.282] If point is visible? -0.968328, 3.037066, 2.698334 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128477 y=0.000000 z=-2.279529 +[21:42:20.282] If point is visible? -5.377038, 0.425718, -0.108368 mu:0.168536 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.128477 y=0.000000 z=-2.279529 +[21:42:20.282] If point is visible? -5.377522, 0.400458, -0.104793 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128477 y=0.000000 z=-2.279529 +[21:42:20.282] If point is visible? -0.981955, 2.991554, 2.722812 mu:0.168536 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.128477 y=0.000000 z=-2.279529 +[21:42:20.282] If point is visible? -1.024360, 3.083350, 2.657048 mu:0.168536 unit_bearing:0.442103 0.414388 0.795505 T_cur_ref: x=0.128477 y=0.000000 z=-2.279529 +[21:42:20.282] If point is visible? -1.038313, 3.037937, 2.681863 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128477 y=0.000000 z=-2.279529 +[21:42:20.282] If point is visible? -0.968328, 3.037066, 2.698334 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128477 y=0.000000 z=-2.279529 +[21:42:20.282] If point is visible? -55778.346647, -36476.714397, 109007.322577 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128486 y=0.000000 z=-2.279513 +[21:42:20.282] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? -55778.346647, -36476.714397, 109007.322577 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128486 y=0.000000 z=-2.279513 +[21:42:20.282] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:20.282] If point is visible? -0.068495, -0.442483, 4.339860 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.128502 y=0.000000 z=-2.279484 +[21:42:20.282] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -0.068495, -0.442483, 4.339860 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.128502 y=0.000000 z=-2.279484 +[21:42:20.283] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -12.449622, 15.860771, 30.551131 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128505 y=0.000000 z=-2.279478 +[21:42:20.283] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? 2.438948, 19.197576, 31.093223 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128505 y=0.000000 z=-2.279478 +[21:42:20.283] If point is visible? -17.263121, 18.082673, 27.015070 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.128505 y=0.000000 z=-2.279478 +[21:42:20.283] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -12.449622, 15.860771, 30.551131 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128505 y=0.000000 z=-2.279478 +[21:42:20.283] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -17.263121, 18.082673, 27.015070 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.128505 y=0.000000 z=-2.279478 +[21:42:20.283] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? 2.438948, 19.197576, 31.093223 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128505 y=0.000000 z=-2.279478 +[21:42:20.283] If point is visible? -65390785586.464096, -23901742507.747051, 214641930161.753387 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? 11104398246.123901, -17919591477.839687, 224664164696.814453 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -295.451975, 981.276306, 1693.303372 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -127215923218.496201, -93211181533.139786, 161388323106.639984 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -127340713862.835388, -92731183094.694763, 161566322583.242310 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -127332992375.499130, -90772945223.635559, 162680631257.791412 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -127786642878.811798, -86879519390.142609, 164441264075.043671 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -130519617881.024292, -77216087575.478775, 167094917594.797119 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -69841920261.059341, -65449907006.819855, 204344860872.929352 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -107045388559.235016, -68104733549.407867, 186605027731.216980 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -70971979689.324127, -66004356695.477112, 203776370843.940308 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -193410520649.653931, -75472062244.760468, 88401044344.396790 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -68707990802.213875, -64895784179.771454, 204905235447.373474 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -193533230592.747040, -75009287257.339020, 88526277455.381668 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -193244709275.636353, -74972325031.314880, 89185419968.722137 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -134321981676.562317, -66099680389.706200, 168839698557.938751 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -65366078445.741142, -62742950806.593575, 206661569312.795990 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -64379270653.178078, -61204694153.393288, 207431196404.668488 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -63761918547.697235, -61174854214.607407, 207630588481.214233 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -192341501030.977448, -70047638971.892883, 94955155595.741425 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -192035441711.210052, -70006981067.687790, 95602395614.145508 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -191727501093.869202, -69966231967.020889, 96248106616.334503 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -191417686702.076050, -69925393352.218811, 96892285042.475647 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -191106006040.705475, -69884466898.077469, 97534927385.667938 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -59035663366.505249, -59461445853.986710, 209517381679.753906 mu:0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -191530278906.383667, -69457208073.627808, 97006467966.049103 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -191218389746.584686, -69416016224.650314, 97649118955.615417 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -0.447527, -0.542390, -0.406276 mu:0.491777 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -191753390367.872833, -68520265513.134216, 97231768548.263779 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -191441087674.801819, -68478545328.511108, 97874435365.750336 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -135554368647.350006, -62217852018.017136, 169329142055.216187 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -194763169101.164429, -65069828215.564644, 93550156260.005981 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] If point is visible? -136835899852.307709, -57839114806.132980, 169849873795.427399 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -138152139334.287201, -52962393312.445717, 170374228128.098083 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.283] If point is visible? -48062606610.928291, -31668381845.420612, 218186859721.498047 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.283] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -142765074486.695068, -34402276706.468872, 171327240048.050049 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -46078828317.946373, -25638162106.270035, 219403355814.640381 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -45432387771.318153, -25615713629.098858, 219540747185.427887 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -61738507253.227020, -14798043728.755327, 216535865255.670685 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -0.727491, -0.196531, 0.688455 mu:0.323086 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 1.505610, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -68401157678.745865, -9609110679.054111, 214819349543.396667 mu:0.000000 unit_bearing:0.130143 -0.158286 0.978779 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -68368319087.271698, -10104287455.970634, 214807082374.560425 mu:0.000000 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -72942251609.824738, -6828220043.593216, 213427293613.571075 mu:0.000000 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -108276842912.139679, -6283730899.971777, 197876341014.044861 mu:0.000000 unit_bearing:-0.060676 -0.134508 0.989053 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -107704208933.977371, -6245996943.767147, 198189800994.484375 mu:0.000000 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -101959507173.306244, -5383021406.371277, 201230435808.431763 mu:0.000000 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -107674775160.427399, -6741003286.103760, 198189575878.745087 mu:0.000000 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] calculated Z= 0.257591 +[21:42:20.284] update seeds 305 +[21:42:20.284] If point is visible? -100320683964.040314, -3296282880.509888, 202097256800.510834 mu:0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -99736061470.990311, -3260926159.958283, 202386982587.729156 mu:0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -107644863327.408066, -7236065311.309441, 198188367661.128998 mu:0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? 0.043950, -0.007795, -0.684610 mu:0.626125 unit_bearing:0.377891 -0.126541 0.917162 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 1.509897, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -99176821029.577682, -2730965883.870788, 202669450865.044647 mu:0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -98029084754.303070, -2166400651.200541, 203233883908.614868 mu:0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -0.935877, -0.023286, -0.056382 mu:0.405700 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] If point is visible? -91681714809.943939, 1666255304.114086, 206179759144.504852 mu:0.000000 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -91106405959.569763, 2193101236.762956, 206429696066.750031 mu:0.000000 unit_bearing:0.026168 -0.101842 0.994456 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -27924053211.457687, 10882725367.802870, 223652006158.822113 mu:0.000000 unit_bearing:0.313565 -0.072921 0.946763 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -27241931295.287251, 10405662101.078310, 223758811432.296173 mu:0.000000 unit_bearing:0.316386 -0.075077 0.945655 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -89681660154.983810, 13633341477.349247, 206614951419.598175 mu:0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -89692275321.397903, 14125464122.251459, 206577281735.230164 mu:0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.284] If point is visible? -164925059205.167511, 11179357548.588949, 153600628674.853058 mu:0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.284] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -164933172661.219055, 11665560555.964178, 153555753950.013672 mu:0.000000 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -132986790216.186630, 22892075175.134182, 180855944995.991821 mu:0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -96948440731.668304, 27466265358.815044, 201903468085.795715 mu:0.000000 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -96357422792.776352, 27500408377.213295, 202181554376.144989 mu:0.000000 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -59440864677.787003, 33541480718.665775, 215081749564.300568 mu:0.000000 unit_bearing:0.176509 0.031374 0.983799 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -123208898182.212860, 27132997360.452808, 187087610977.205353 mu:0.000000 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -70154726665.784729, 33644228547.838673, 211813093386.518707 mu:0.000000 unit_bearing:0.127482 0.033591 0.991272 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -62621425384.224876, 32948253096.222973, 214269400565.834900 mu:0.000000 unit_bearing:0.162108 0.029203 0.986341 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -74508331027.817627, 33467095931.758141, 210349396042.502228 mu:0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -1.008220, 0.515270, 0.959916 mu:0.288060 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 1.549039, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -122354505614.136765, 40789337724.651520, 185159421046.051178 mu:0.000000 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -121802692725.035385, 40833735149.311226, 185513116616.829590 mu:0.000000 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -122850308968.947586, 42196288122.569199, 184514718039.289246 mu:0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -120801252394.737045, 50528846960.848869, 183772411865.549744 mu:0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -69363237666.905090, 55892489975.651382, 207323846054.435028 mu:0.000000 unit_bearing:0.127327 0.133877 0.982784 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -107017477354.385040, 55853607600.730804, 190646375199.924957 mu:0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -106443225704.945374, 55892378545.204483, 190956246402.854370 mu:0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -97109282136.726807, 56958791391.008369, 195560450307.132965 mu:0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -72075511071.718170, 61996285267.482399, 204646005665.666565 mu:0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -71455240311.619339, 62020285702.813805, 204856142479.247467 mu:0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -70834231503.339584, 62044022875.071762, 205064519580.876587 mu:0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -106954586743.905792, 56812541377.973869, 190398156069.854736 mu:0.000000 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -106380393482.317703, 56851333297.263039, 190708007443.457764 mu:0.000000 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -57054347041.483536, 61545378102.533707, 209464493974.507477 mu:0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -70800484585.413925, 62521293371.168892, 204931172777.091858 mu:0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -57022084314.776474, 62022226435.114296, 209332586203.249512 mu:0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.285] If point is visible? -57626111790.585655, 62481024873.852043, 209030521907.027161 mu:0.000000 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.285] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -134600107026.245300, 60224880751.296799, 170804511782.569824 mu:0.000000 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -134073672425.771500, 60276923995.552887, 171199734562.195709 mu:0.000000 unit_bearing:-0.198881 0.172672 0.964692 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -133546235476.262512, 60328706558.182190, 171593287961.384735 mu:0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -121617033680.670502, 62354671787.965363, 179553887017.685822 mu:0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -66659877655.022202, 67892202772.217644, 204610644473.555084 mu:0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -61002121551.133804, 68075438635.439735, 206307736498.118042 mu:0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -57834124993.686150, 68167510440.297691, 207187863603.800690 mu:0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -57236532442.267990, 67710918957.896805, 207503294253.324036 mu:0.000000 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -56600114317.519051, 67728258528.654175, 207672136730.082733 mu:0.000000 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -56637736520.217873, 67253922711.900330, 207815983504.267700 mu:0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -60292059814.194092, 69042535428.623596, 206195058483.643799 mu:0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -59659223795.345284, 69061142481.403687, 206372822661.861023 mu:0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -7498603824.051369, 91312094703.983917, 206214157175.491943 mu:0.000000 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -47521346375.001884, 93108793409.736618, 199977200067.022919 mu:0.000000 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -147074690930.919556, 94005611241.958206, 143004848382.810089 mu:0.000000 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -124365963092.901154, 106885239734.766815, 155006642016.262909 mu:0.000000 unit_bearing:-0.179828 0.386428 0.904619 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -124273833557.883331, 107332570043.388474, 154771250621.848450 mu:0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -123655630840.809235, 107834790744.996841, 154917233336.663177 mu:0.000000 unit_bearing:-0.176934 0.390653 0.903374 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -149805548089.512207, 109099489938.476822, 128740069035.322281 mu:0.000000 unit_bearing:-0.330763 0.410354 0.849827 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] If point is visible? -72010915592.152863, -67051147240.276222, 203068899655.949982 mu:0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -192999034881.429810, -75898236047.364456, 88933889032.022415 mu:0.000000 unit_bearing:-0.621788 -0.381876 0.683777 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] If point is visible? -69756003706.577591, -65942090074.644913, 204215932340.271545 mu:0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -68536975550.857689, -65880171881.488663, 204648215856.713470 mu:0.000000 unit_bearing:0.097312 -0.400306 0.911200 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -121335588032.714798, -68095741740.416595, 177648673937.681488 mu:0.000000 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -112546355030.756973, -68472900869.752670, 183202582225.217651 mu:0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.286] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.286] If point is visible? -111453730909.969635, -68398664069.422699, 183896968267.503754 mu:0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -5.363553, -3.202556, 24.681912 mu:0.036100 unit_bearing:0.230094 -0.233367 0.944773 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 1.059740, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -44643224819.411743, -27077292541.625366, 219527239823.230927 mu:0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -65390785586.464096, -23901742507.747051, 214641930161.753387 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? 11104398246.123901, -17919591477.839687, 224664164696.814453 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -46217151728.621239, -24153983997.348076, 219542629712.811462 mu:0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -47941314450.348999, -19251331305.674805, 219657512800.719208 mu:0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -0.269035, -0.163684, -0.405161 mu:0.520023 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 1.896874, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -44831762813.407005, -25098790251.893970, 219723849613.555969 mu:0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -0.668863, -0.080088, 0.054520 mu:0.405229 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] If point is visible? -108848612053.568024, -6321635544.805914, 197561187727.250214 mu:0.000000 unit_bearing:-0.063569 -0.134505 0.988872 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] calculated Z= 0.245360 +[21:42:20.287] update seeds 305 +[21:42:20.287] If point is visible? -52.386383, -3.045451, 94.354781 mu:0.009089 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 1.000588, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -49.845735, -2.894179, 90.961903 mu:0.009449 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 1.001436, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -105405071536.567398, -6096770597.344652, 199426694804.878448 mu:0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -108470114024.266296, 12512754035.968876, 197474230390.068359 mu:0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -107320850736.436035, 12588617847.584642, 198096360431.090057 mu:0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -29923461959.395000, 10843994925.365891, 223395166725.865173 mu:0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -108491466531.861115, 13496724652.392101, 197397685983.335938 mu:0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -178295200815.210297, 21843551937.854843, 136572643393.226990 mu:0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -93389590755.928528, 22281549270.597538, 204206569969.399078 mu:0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -124299432646.186508, 28020325912.454025, 186233505840.906525 mu:0.000000 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -125404451072.059998, 26955394176.403416, 185648960929.791870 mu:0.000000 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -96950704273.893036, 26977183005.130196, 201968311514.549530 mu:0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -62615268237.297791, 33435238732.262779, 214195749987.190887 mu:0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -105701838148.744629, 48753529158.232658, 193309650883.667603 mu:0.000000 unit_bearing:-0.046230 0.110044 0.992851 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -58619086144.806778, 66251328243.497536, 207588464428.153076 mu:0.000000 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -58545001941.430313, 67200923996.949615, 207303943232.524963 mu:0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? 1860665350.932815, 89767252122.477905, 207018802742.572021 mu:0.000000 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? 3337086557.716385, 90641984317.556534, 206618733057.825562 mu:0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -46941209909.419968, 92659863927.598846, 200322436954.309387 mu:0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.287] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.287] If point is visible? -85151390772.007523, 83999571090.675186, 191341890406.573608 mu:0.000000 unit_bearing:0.040463 0.266140 0.963085 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -0.034323, 1.661248, 1.492651 mu:0.242427 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? -28889643758.267502, 101013613731.481354, 199699886436.095795 mu:0.000000 unit_bearing:0.285343 0.336464 0.897425 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -150052939556.008423, 109896657137.460281, 127770287622.245163 mu:0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? 12623203520.981194, 116075337893.915649, 193094735774.655640 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? -95247050098.961273, 1466364570.088095, 204558684832.779541 mu:0.000000 unit_bearing:0.005893 -0.104028 0.994557 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -0.691896, 0.014137, -0.462881 mu:0.501678 unit_bearing:0.017479 -0.104026 0.994421 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 1.685863, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -0.451078, -0.566871, -0.546691 mu:0.522722 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? -108789155202.609131, -7311648289.062314, 197559777859.135529 mu:0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -0.921414, -0.076819, 0.789045 mu:0.308254 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 1.495700, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -1.609744, -0.128977, 3.000224 mu:0.179857 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 1.317837, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -117413625257.116791, -13881163948.040470, 192197190951.383362 mu:0.000000 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -0.576724, -0.539761, 0.782909 mu:0.313621 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 1.508032, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -0.340399, -0.494814, -0.626495 mu:0.559274 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? -193323765297.164276, -76894636323.122314, 87358703027.767578 mu:0.000000 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? -0.459655, -0.473314, 0.420215 mu:0.356727 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? -191950430411.874603, -72886611709.505005, 93600109064.080750 mu:0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? -47573768064.000946, -36121345407.236748, 217601450629.906006 mu:0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -104307492299.770905, -5033206377.444115, 200032547856.183868 mu:0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -3.995380, -1.428359, 17.081376 mu:0.050386 unit_bearing:0.224725 -0.190320 0.955655 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 1.091736, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -192661830518.238708, -74898030776.777939, 90499228536.712570 mu:0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? -4.449835, -1.784889, 19.275255 mu:0.045233 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 1.078860, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -102095876382.425735, -2908654233.619668, 201212271182.425842 mu:0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -98121287773.217865, 21029975680.259262, 202109770488.084930 mu:0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -127585051853.799362, 26774424107.305679, 184183579820.224243 mu:0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -126319735835.919296, 57688655408.940018, 177858791443.349152 mu:0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -106900306496.841690, 47711989001.964584, 192910074632.017883 mu:0.000000 unit_bearing:-0.052023 0.105679 0.993039 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -59959642642.889145, 65263800208.904549, 207518394255.901276 mu:0.000000 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -187338822253.509766, 75793105160.250092, 100389128920.462616 mu:0.000000 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? 169.572947, 2584.846868, 6110.786863 mu:0.000151 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976838, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -65144810395.534775, 63199496771.269447, 206592312549.401215 mu:0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -295.451975, 981.276306, 1693.303372 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? 12623203520.981194, 116075337893.915649, 193094735774.655640 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? 0.055683, 0.631941, -0.828031 mu:0.631025 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? 0.151735, 0.645506, -0.790320 mu:0.616064 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128510 y=0.000000 z=-2.279476 +[21:42:20.288] If point is visible? -5.386596, 12.795682, 25.129026 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128518 y=0.000000 z=-2.279445 +[21:42:20.288] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -5.386596, 12.795682, 25.129026 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128518 y=0.000000 z=-2.279445 +[21:42:20.288] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -7.249172, 4.571889, 3.891762 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] If point is visible? 2.602146, 5.264663, 6.641362 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] If point is visible? 0.077669, 5.290408, 6.963137 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] If point is visible? -4.694396, -4.179989, 6.246017 mu:0.093899 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -4.699108, -3.995986, 6.331155 mu:0.093899 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -4.702917, -3.973092, 6.339609 mu:0.093899 unit_bearing:-0.220701 -0.468921 0.855222 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -4.743550, -3.720643, 6.428946 mu:0.093899 unit_bearing:-0.221187 -0.446416 0.867058 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -1.743279, -3.064937, 7.746465 mu:0.093899 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -4.848615, -3.377496, 6.509012 mu:0.093899 unit_bearing:-0.227427 -0.415351 0.880773 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -8.301490, -3.415121, 3.260245 mu:0.093899 unit_bearing:-0.624195 -0.381680 0.681690 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] If point is visible? -8.305900, -3.393193, 3.267005 mu:0.093899 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] If point is visible? -1.655913, -3.038936, 7.770281 mu:0.093899 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -1.299917, -2.512992, 6.192678 mu:0.111711 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.794395, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -1.619562, -2.999474, 7.731420 mu:0.094377 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.752239, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -1.543311, -2.965503, 7.811497 mu:0.093899 unit_bearing:0.105938 -0.391858 0.913906 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -8.310283, -3.371254, 3.273711 mu:0.093899 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] If point is visible? -3.725029, -3.114303, 7.147517 mu:0.093899 unit_bearing:-0.108544 -0.398128 0.910885 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -3.693939, -3.136356, 7.152862 mu:0.093899 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -3.552689, -3.130322, 7.210872 mu:0.093899 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.288] If point is visible? -1.404823, -2.844656, 7.868122 mu:0.093899 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.288] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -1.374556, -2.843819, 7.872884 mu:0.093899 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] calculated Z= 0.697869 +[21:42:20.289] update seeds 305 +[21:42:20.289] If point is visible? -8.209810, -3.206605, 3.517644 mu:0.093899 unit_bearing:-0.608475 -0.365192 0.704552 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -4.952718, -3.009872, 6.582723 mu:0.093899 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -8.199026, -3.160797, 3.558161 mu:0.093899 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -8.179982, -3.159213, 3.586088 mu:0.093899 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -8.160861, -3.157626, 3.613929 mu:0.093899 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -8.213914, -3.184496, 3.523923 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -8.203069, -3.138658, 3.564334 mu:0.093899 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -8.164885, -3.135461, 3.620100 mu:0.093899 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -8.145678, -3.133859, 3.647855 mu:0.093899 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -1.376994, -2.820497, 7.879027 mu:0.093899 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -1.321442, -2.771384, 7.709675 mu:0.095535 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.755446, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -8.168883, -3.113288, 3.626218 mu:0.093899 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -8.149666, -3.111673, 3.653972 mu:0.093899 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -8.130373, -3.110056, 3.681640 mu:0.093899 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -8.157567, -3.067277, 3.666047 mu:0.093899 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -8.138255, -3.065635, 3.693713 mu:0.093899 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? -8.321776, -2.901489, 3.516257 mu:0.093899 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] If point is visible? 3.035360, -1.313168, 7.881371 mu:0.093899 unit_bearing:0.525495 -0.238661 0.816637 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -0.430466, -1.207109, 8.286858 mu:0.093899 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -0.399307, -1.206639, 8.288514 mu:0.093899 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -0.400694, -1.183258, 8.291088 mu:0.093899 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? 2.374309, -0.849179, 8.096086 mu:0.093899 unit_bearing:0.473124 -0.197875 0.858487 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -0.353890, -0.901881, 8.321037 mu:0.093899 unit_bearing:0.233178 -0.205361 0.950502 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -0.610595, -0.373591, 3.711082 mu:0.165358 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.897124, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -1.806808, -0.645959, 8.121204 mu:0.094350 unit_bearing:0.098354 -0.180082 0.978722 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.751942, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -0.213355, -0.156698, 0.422611 mu:0.366556 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 1.242740, Z inverse max: 0.000000 +[21:42:20.289] calculated Z= 1.086541 +[21:42:20.289] update seeds 305 +[21:42:20.289] If point is visible? -1.364975, -0.497857, 8.253264 mu:0.093899 unit_bearing:0.141639 -0.166930 0.975742 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -1.363932, -0.521255, 8.252280 mu:0.093899 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -1.204954, -0.635106, 8.267347 mu:0.093899 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -0.653244, -0.380766, 4.052103 mu:0.156471 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.880813, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -3.693860, -0.433627, 7.651200 mu:0.093899 unit_bearing:-0.083774 -0.154054 0.984504 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -3.210302, -0.178621, 7.831772 mu:0.093899 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -3.151730, -0.176302, 7.850966 mu:0.093899 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? 1.420848, -0.196760, 8.289732 mu:0.093899 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -1.710937, -0.271510, 8.206690 mu:0.093899 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? 1.453589, -0.220048, 8.285218 mu:0.093899 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -3.499702, -0.237507, 7.730347 mu:0.093899 unit_bearing:-0.063566 -0.136682 0.988573 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] calculated Z= 0.371716 +[21:42:20.289] update seeds 305 +[21:42:20.289] If point is visible? -3.470704, -0.236256, 7.740840 mu:0.093899 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.289] If point is visible? -3.441679, -0.235015, 7.751247 mu:0.093899 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.289] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -3.067097, -0.079373, 7.879200 mu:0.093899 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -3.037688, -0.078252, 7.888414 mu:0.093899 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -3.009069, -0.053769, 7.897440 mu:0.093899 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -2.922187, -0.003753, 7.923962 mu:0.093899 unit_bearing:-0.005691 -0.117112 0.993102 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -2.892645, -0.002677, 7.932748 mu:0.093899 unit_bearing:-0.002795 -0.117112 0.993115 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -2.950918, -0.028204, 7.915289 mu:0.093899 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -0.917483, -0.009300, 1.219987 mu:0.273791 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 1.066638, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? 0.446362, 0.546040, 8.351507 mu:0.093899 unit_bearing:0.310742 -0.070764 0.947856 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -2.298073, 0.649438, 7.138469 mu:0.102594 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.773144, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -6.421412, 0.665336, 6.091460 mu:0.093899 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -4.582464, 1.334062, 7.177999 mu:0.093899 unit_bearing:-0.170559 0.016108 0.985216 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -4.722064, 1.187312, 7.126854 mu:0.093899 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -2.883604, 1.369186, 7.843241 mu:0.093899 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -2.853984, 1.370245, 7.851865 mu:0.093899 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -2.972230, 1.389021, 7.813737 mu:0.093899 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -2.584166, 1.516862, 7.900949 mu:0.093948 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750912, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -4.159875, 1.404290, 7.367004 mu:0.093899 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -1.587376, 1.589283, 8.110272 mu:0.093899 unit_bearing:0.124596 0.029226 0.991777 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -1.770210, 1.631525, 8.071849 mu:0.093899 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -0.389796, 0.452821, 0.593868 mu:0.338457 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] If point is visible? -7.206624, 1.266740, 5.336811 mu:0.093899 unit_bearing:-0.455668 0.030903 0.889613 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -7.183138, 1.246935, 5.362619 mu:0.093899 unit_bearing:-0.452936 0.028762 0.891079 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -4.205920, 2.066007, 7.226373 mu:0.093899 unit_bearing:-0.133001 0.083771 0.987569 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -4.205321, 2.088821, 7.221659 mu:0.093899 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -4.104155, 2.570836, 7.148789 mu:0.093899 unit_bearing:-0.124247 0.131709 0.983471 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -4.103218, 2.593469, 7.143010 mu:0.093899 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -2.911081, 2.761436, 7.546624 mu:0.093899 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -3.409995, 2.718563, 7.390336 mu:0.093899 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -3.380918, 2.719853, 7.400564 mu:0.093899 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -3.408021, 2.763773, 7.378234 mu:0.093899 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -0.966821, 2.985476, 7.884388 mu:0.093899 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.290] If point is visible? -1.673977, 2.953423, 7.792528 mu:0.093899 unit_bearing:0.112834 0.159999 0.980647 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.290] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -1.643499, 2.953983, 7.797770 mu:0.093899 unit_bearing:0.115719 0.159991 0.980312 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -1.671936, 2.998438, 7.779584 mu:0.093899 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -1.610965, 2.999539, 7.789979 mu:0.093899 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -4.837400, 2.951090, 6.667456 mu:0.093899 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -4.782393, 2.954984, 6.696486 mu:0.093899 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -0.967801, 2.963002, 7.890856 mu:0.093899 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -4.191752, 3.082453, 6.953651 mu:0.093899 unit_bearing:-0.135626 0.181625 0.973970 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -4.163523, 3.084115, 6.966253 mu:0.093899 unit_bearing:-0.132746 0.181635 0.974365 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -0.895534, 3.187742, 7.830251 mu:0.093899 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -4.166082, 3.039269, 6.979906 mu:0.093899 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -0.956285, 3.209653, 7.816973 mu:0.093899 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -0.925364, 3.209888, 7.820173 mu:0.093899 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -1.137965, 3.275045, 7.774730 mu:0.093899 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -1.136787, 3.297386, 7.767573 mu:0.093899 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -1.105987, 3.297695, 7.771303 mu:0.093899 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -1.075167, 3.297990, 7.774944 mu:0.093899 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -1.415474, 3.249266, 7.744261 mu:0.093899 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -7.199143, 3.231505, 4.740459 mu:0.093899 unit_bearing:-0.464359 0.220843 0.857671 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -6.619422, 3.374780, 5.236702 mu:0.093899 unit_bearing:-0.398598 0.228517 0.888200 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -7.056506, 3.273557, 4.867271 mu:0.093899 unit_bearing:-0.448032 0.223311 0.865679 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? 1.375053, 4.300938, 7.383081 mu:0.093899 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -0.534666, 4.422232, 7.385976 mu:0.093899 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] If point is visible? -2.878778, 4.768420, 6.755745 mu:0.093899 unit_bearing:-0.017136 0.341020 0.939900 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] If point is visible? -2.849577, 4.769560, 6.764810 mu:0.093899 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] If point is visible? -5.592492, 4.558299, 5.460597 mu:0.093899 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] If point is visible? -4.488895, 5.140478, 5.824337 mu:0.093899 unit_bearing:-0.185504 0.386354 0.903503 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] If point is visible? -4.458627, 5.163653, 5.826793 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] If point is visible? -4.284527, -3.116386, 6.898217 mu:0.093899 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -0.627402, -1.221701, 1.644884 mu:0.239290 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] If point is visible? -3.834410, -3.142497, 7.092654 mu:0.093899 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -3.778316, -3.140027, 7.117001 mu:0.093899 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] calculated Z= 0.688044 +[21:42:20.291] update seeds 305 +[21:42:20.291] If point is visible? -8.213914, -3.184496, 3.523923 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] If point is visible? -1.683317, -3.063126, 7.758027 mu:0.093899 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? 4.182721, -2.067943, 7.348814 mu:0.093899 unit_bearing:0.612340 -0.302911 0.730263 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? 3.532545, -1.703795, 7.666710 mu:0.093899 unit_bearing:0.563347 -0.272611 0.779951 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -1.429330, -1.038563, 8.204392 mu:0.093899 unit_bearing:0.132803 -0.216765 0.967149 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -0.365326, -1.252936, 8.284768 mu:0.093899 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -0.435942, -1.113577, 8.296833 mu:0.093899 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -0.370887, -1.159421, 8.295179 mu:0.093899 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -0.448720, -0.879796, 8.318153 mu:0.093899 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -3.721545, -0.458341, 7.639389 mu:0.093899 unit_bearing:-0.086659 -0.156223 0.983913 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -3.440739, -0.258402, 7.751007 mu:0.093899 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -0.231958, -0.057820, -0.223547 mu:0.478915 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 1.186204, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -3.384466, -0.209172, 7.771998 mu:0.093899 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -3.326220, -0.206748, 7.792217 mu:0.093899 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -2.690830, 0.191395, 7.988514 mu:0.093899 unit_bearing:0.017480 -0.099663 0.994868 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.291] If point is visible? -3.525416, 0.718189, 7.697994 mu:0.093899 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.291] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -3.467319, 0.720731, 7.718896 mu:0.093899 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? 0.383370, 0.522908, 8.354367 mu:0.093899 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -2.705485, 1.121166, 7.924855 mu:0.093899 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -2.883675, 1.346106, 7.846315 mu:0.093899 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -4.273028, 1.421088, 7.313429 mu:0.093899 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -4.273318, 1.375046, 7.320004 mu:0.093899 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -0.142535, 0.368374, 0.097533 mu:0.413126 unit_bearing:0.173630 0.031376 0.984311 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] If point is visible? -2.941872, 1.528426, 7.802864 mu:0.093899 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -2.508710, 2.412589, 7.752542 mu:0.093899 unit_bearing:0.034851 0.110052 0.993315 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -2.437512, 2.732018, 7.688900 mu:0.093899 unit_bearing:0.040619 0.140550 0.989240 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -3.336881, 2.336584, 7.515523 mu:0.093902 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750821, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -0.960660, 3.120105, 7.844535 mu:0.093899 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -1.020293, 3.164381, 7.824181 mu:0.093899 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -2.495429, 2.775445, 7.661789 mu:0.093899 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -2.435615, 2.777204, 7.676713 mu:0.093901 unit_bearing:0.040616 0.144903 0.988612 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750816, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -1.018072, 3.209142, 7.810305 mu:0.093899 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -0.473796, 4.008221, 7.568789 mu:0.093899 unit_bearing:0.218440 0.260866 0.940336 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? 1.373493, 4.279502, 7.392795 mu:0.093899 unit_bearing:0.381048 0.288163 0.878501 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -0.505495, 4.400502, 7.397845 mu:0.093899 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] If point is visible? 1.818797, 4.262287, 7.332640 mu:0.093899 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? 1.815824, 4.219550, 7.351999 mu:0.093899 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? 1.879540, 4.216814, 7.341819 mu:0.093899 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -7.249172, 4.571889, 3.891762 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] If point is visible? 2.298049, 5.407695, 6.634941 mu:0.093899 unit_bearing:0.447983 0.401983 0.798574 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] If point is visible? -5.835968, 5.270831, 4.795832 mu:0.093899 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] If point is visible? -4.513167, 5.159358, 5.798431 mu:0.093899 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] If point is visible? -4.458627, 5.163653, 5.826793 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] If point is visible? -5.821600, 5.352897, 4.746142 mu:0.093899 unit_bearing:-0.333276 0.418490 0.844863 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] If point is visible? -1.618010, -3.107898, 7.755840 mu:0.093899 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -0.301902, -0.510250, 4.195168 mu:0.153635 unit_bearing:0.213234 -0.199035 0.956513 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.872691, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -0.158918, -0.413102, 2.977602 mu:0.189355 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.934054, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -1.154801, -2.907996, 7.884854 mu:0.093899 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -3.461941, -0.258245, 7.628505 mu:0.094862 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.752079, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -0.055315, -0.423292, 0.221228 mu:0.393253 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] If point is visible? -0.517437, -1.770461, 8.202184 mu:0.093899 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -0.524213, -1.676918, 8.217136 mu:0.093899 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -8.310790, -3.460324, 3.217873 mu:0.093899 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] If point is visible? -3.041630, 0.038568, 7.887413 mu:0.093899 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? 0.384224, 0.476647, 8.356520 mu:0.093899 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -3.236878, -0.156074, 7.714995 mu:0.094814 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.753451, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -1.838680, -0.110851, 8.186413 mu:0.093899 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -2.823576, 0.978116, 7.906072 mu:0.093899 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -3.155990, -0.059420, 7.850945 mu:0.093899 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.292] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.292] If point is visible? -0.208081, -0.002270, -0.230803 mu:0.481672 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 1.180870, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -2.942560, 1.066521, 7.861923 mu:0.093899 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.553755, 1.450762, 7.175074 mu:0.093899 unit_bearing:-0.167673 0.027018 0.985472 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.442349, 1.365404, 7.242066 mu:0.093899 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -1.078876, 3.105344, 7.786573 mu:0.094312 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 0.752018, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -1.334535, 3.026327, 7.825858 mu:0.093899 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -2.556970, 2.728359, 7.658389 mu:0.093899 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -1.544779, 3.647986, 7.585067 mu:0.093899 unit_bearing:0.121248 0.227106 0.966293 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -1.422707, 3.649800, 7.604329 mu:0.093899 unit_bearing:0.132756 0.227055 0.964791 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -1.737689, 1.163051, 1.516519 mu:0.227953 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 1.006339, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? 1.239609, 4.226409, 7.392777 mu:0.094219 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 0.751198, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? 0.854824, 1.749091, 1.711360 mu:0.226378 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] If point is visible? -2.363768, 3.982913, 7.277816 mu:0.093899 unit_bearing:0.040470 0.261837 0.964263 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -1.484224, 4.438396, 7.266026 mu:0.093899 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] If point is visible? -2.370538, 3.894730, 7.312294 mu:0.093900 unit_bearing:0.040484 0.253225 0.966560 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] Z inverse min: 0.750813, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? 2.483486, 5.354477, 6.619993 mu:0.093899 unit_bearing:0.464118 0.397194 0.791727 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] If point is visible? -7.798543, 3.738206, 3.770662 mu:0.093899 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] If point is visible? 2.602146, 5.264663, 6.641362 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] If point is visible? 0.077669, 5.290408, 6.963137 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128518 y=0.000000 z=-2.279437 +[21:42:20.293] If point is visible? -2608609.719880, 7847758.074771, 16505707.388270 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.128514 y=0.000000 z=-2.279436 +[21:42:20.293] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -2608609.719880, 7847758.074771, 16505707.388270 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.128514 y=0.000000 z=-2.279436 +[21:42:20.293] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -1.772405, -2.656566, 3.897012 mu:0.143122 unit_bearing:-0.223120 -0.485109 0.845510 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] If point is visible? -1.771593, -2.671579, 3.890783 mu:0.143122 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] If point is visible? -4.574845, -2.173026, 2.408369 mu:0.143122 unit_bearing:-0.635373 -0.390455 0.666218 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] If point is visible? 0.295979, -2.012295, 4.409514 mu:0.143122 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? 0.395545, -1.981456, 4.415485 mu:0.143122 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -0.877382, -1.999292, 4.315392 mu:0.143592 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.830910, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.506020, -2.069570, 2.522348 mu:0.143122 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] If point is visible? -4.490067, -2.069018, 2.537932 mu:0.143122 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] If point is visible? 0.514986, -1.935374, 4.423131 mu:0.143122 unit_bearing:0.108792 -0.391837 0.913580 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? 0.593981, -1.858759, 4.439775 mu:0.143122 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? 0.614040, -1.858767, 4.438353 mu:0.143122 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.371563, -1.948095, 2.697854 mu:0.143122 unit_bearing:-0.603700 -0.363551 0.709490 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.405435, -1.934784, 2.672240 mu:0.143122 unit_bearing:-0.608739 -0.361214 0.706372 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.356483, -1.932875, 2.717361 mu:0.143122 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -1.423258, -1.478539, 2.716849 mu:0.183939 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.922640, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.358993, -1.903677, 2.726309 mu:0.143122 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.342590, -1.903023, 2.741213 mu:0.143122 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.326151, -1.902369, 2.756052 mu:0.143122 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.390427, -1.919568, 2.691843 mu:0.143122 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.343826, -1.888409, 2.745629 mu:0.143122 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? -4.327381, -1.887747, 2.760465 mu:0.143122 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? 0.613810, -1.843441, 4.442591 mu:0.143122 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.293] If point is visible? 0.633872, -1.843454, 4.441109 mu:0.143122 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.293] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 0.613582, -1.828112, 4.446793 mu:0.143122 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? -4.345054, -1.873789, 2.750007 mu:0.143122 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? -4.328602, -1.873119, 2.764841 mu:0.143122 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? -4.469079, -1.761778, 2.678129 mu:0.143122 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] If point is visible? -1.938762, -1.504159, 4.223121 mu:0.143122 unit_bearing:-0.243014 -0.327092 0.913211 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 1.188307, -1.001636, 4.553793 mu:0.143122 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 1.208463, -1.001845, 4.550606 mu:0.143122 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 1.610532, -0.915047, 4.487082 mu:0.143122 unit_bearing:0.266890 -0.248009 0.931269 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 1.308129, -0.818680, 4.558527 mu:0.143122 unit_bearing:0.224373 -0.235566 0.945603 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 0.747292, -0.413393, 1.309907 mu:0.272805 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 1.074886, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 1.328125, -0.788231, 4.558626 mu:0.143122 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 0.599044, -0.566503, 4.668739 mu:0.143122 unit_bearing:0.124230 -0.201665 0.971544 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 0.598920, -0.551115, 4.669985 mu:0.143122 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 0.820510, -0.398758, 4.661861 mu:0.143122 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 0.476728, -0.458327, 4.683907 mu:0.143122 unit_bearing:0.106990 -0.186563 0.976600 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 0.840855, -0.414289, 4.658892 mu:0.143122 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 0.718857, -0.336547, 4.674534 mu:0.143122 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 0.637431, -0.274584, 4.683686 mu:0.143122 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 2.526749, -0.189876, 4.271480 mu:0.143294 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.830049, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? -0.516842, -0.077531, 4.677356 mu:0.143122 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? -0.496693, -0.077317, 4.679198 mu:0.143122 unit_bearing:-0.031742 -0.132356 0.990694 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? -0.476540, -0.077110, 4.680981 mu:0.143122 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? -0.717660, -0.126053, 4.655082 mu:0.143122 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? -0.697560, -0.125780, 4.657510 mu:0.143122 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? -0.677455, -0.125513, 4.659880 mu:0.143122 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 0.474550, -0.150947, 4.697450 mu:0.143122 unit_bearing:0.107104 -0.143134 0.983891 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? -0.677596, -0.110159, 4.660124 mu:0.143122 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? 2.408953, -0.166143, 3.950055 mu:0.150698 unit_bearing:0.397248 -0.139257 0.907084 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.849484, Z inverse max: 0.000000 +[21:42:20.294] If point is visible? -0.677735, -0.094806, 4.660335 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.294] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? 1.607784, -0.071232, 1.959586 mu:0.222706 unit_bearing:0.383428 -0.130795 0.914262 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 1.014335, Z inverse max: 0.000000 +[21:42:20.295] calculated Z= 0.517915 +[21:42:20.295] update seeds 305 +[21:42:20.295] If point is visible? -0.456508, -0.061558, 4.682849 mu:0.143122 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.416420, -0.030478, 4.686306 mu:0.143122 unit_bearing:-0.020166 -0.125826 0.991847 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.336045, 0.016247, 4.692176 mu:0.143122 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.315856, 0.016406, 4.693491 mu:0.143122 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.114351, 0.109643, 4.702573 mu:0.143122 unit_bearing:0.023270 -0.106205 0.994072 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.114440, 0.124965, 4.702313 mu:0.143122 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? 1.889507, 0.346164, 4.473233 mu:0.143122 unit_bearing:0.307918 -0.068606 0.948936 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? 0.082423, 0.142975, -0.316304 mu:0.507919 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 1.322592, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? 1.869361, 0.361901, 4.477630 mu:0.143122 unit_bearing:0.305092 -0.066447 0.950002 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -2.810242, 0.537705, 4.036728 mu:0.143122 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -2.810303, 0.552767, 4.035399 mu:0.143122 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.278294, 0.906437, 4.636656 mu:0.143122 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.256059, 0.906591, 4.637908 mu:0.143122 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.278359, 0.916478, 4.635329 mu:0.143122 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.258139, 0.916618, 4.636470 mu:0.143122 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.359181, 0.946125, 4.626101 mu:0.143122 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.338976, 0.946294, 4.627475 mu:0.143122 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.096165, 1.023378, 4.628651 mu:0.143122 unit_bearing:0.026186 0.024885 0.999347 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -1.203532, 0.962686, 4.511610 mu:0.143122 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? 0.077273, 0.256558, -0.547527 mu:0.570937 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 1.218299, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? 0.471610, 1.083031, 4.614676 mu:0.143122 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? 0.491905, 1.082895, 4.613658 mu:0.143122 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -1.201612, 1.428795, 4.429418 mu:0.143122 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -1.674363, 1.725417, 4.241515 mu:0.143224 unit_bearing:-0.201942 0.131459 0.970535 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829830, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -1.138827, 1.758068, 4.363037 mu:0.143122 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.657093, 1.827043, 4.418635 mu:0.143122 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.295] If point is visible? -0.314575, 1.830976, 4.448909 mu:0.143122 unit_bearing:-0.005688 0.142744 0.989743 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.295] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? -0.314445, 1.845802, 4.444865 mu:0.143122 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.372283, 1.235429, 1.932503 mu:0.227474 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] If point is visible? 0.536208, 1.963361, 4.413727 mu:0.143122 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.556467, 1.963156, 4.412523 mu:0.143122 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.981787, 1.942088, 4.377865 mu:0.143122 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? -0.656798, 1.856682, 4.410514 mu:0.143122 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] calculated Z= 0.969454 +[21:42:20.296] update seeds 305 +[21:42:20.296] If point is visible? -0.636687, 1.856981, 4.412761 mu:0.143122 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] calculated Z= 0.967435 +[21:42:20.296] update seeds 305 +[21:42:20.296] If point is visible? -1.651429, 2.036999, 4.162754 mu:0.143122 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.556571, 1.977907, 4.408171 mu:0.143122 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? -1.194984, 2.051910, 4.267121 mu:0.143122 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.982805, 2.118451, 4.323729 mu:0.143122 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 1.003040, 2.118037, 4.321212 mu:0.143122 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.472233, 1.343299, 1.853789 mu:0.229381 unit_bearing:0.135792 0.190290 0.972291 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] If point is visible? 0.841330, 2.150408, 4.330184 mu:0.143122 unit_bearing:0.158807 0.190191 0.968818 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.861570, 2.150055, 4.328084 mu:0.143122 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.881809, 2.149693, 4.325925 mu:0.143122 unit_bearing:0.164554 0.190164 0.967863 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 1.002951, 2.103379, 4.325910 mu:0.143122 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.962662, 2.133509, 4.321456 mu:0.143122 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 1.003130, 2.132687, 4.316481 mu:0.143122 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.881910, 2.164337, 4.321130 mu:0.143122 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.902147, 2.163965, 4.318911 mu:0.143122 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 2.704552, 2.604400, 3.670398 mu:0.143122 unit_bearing:0.420015 0.266192 0.867600 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] If point is visible? 2.724166, 2.602977, 3.662491 mu:0.143122 unit_bearing:0.422751 0.266127 0.866290 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] If point is visible? 2.723171, 2.757395, 3.592865 mu:0.143122 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] If point is visible? 1.210527, 2.892285, 3.988206 mu:0.143122 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] If point is visible? -0.354094, 3.163279, 3.931854 mu:0.143122 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] If point is visible? -2.303090, 3.077097, 3.503131 mu:0.143122 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] If point is visible? -1.453692, 3.482890, 3.567394 mu:0.143122 unit_bearing:-0.174068 0.392782 0.903007 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] If point is visible? 1.734386, 3.470058, 3.568575 mu:0.143122 unit_bearing:0.281436 0.390939 0.876333 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] If point is visible? -4.404148, -1.949351, 2.667703 mu:0.143122 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? -1.394210, -1.982810, 4.245069 mu:0.143122 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? -1.078367, -2.008487, 4.303027 mu:0.143122 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? -1.038885, -2.007934, 4.310312 mu:0.143122 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.395819, -1.996766, 4.410923 mu:0.143122 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 4.208096, -1.511847, 3.187802 mu:0.143122 unit_bearing:0.626651 -0.310126 0.714934 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 0.848670, -0.492622, 1.751584 mu:0.242464 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 1.029163, Z inverse max: 0.000000 +[21:42:20.296] calculated Z= 0.522683 +[21:42:20.296] update seeds 305 +[21:42:20.296] If point is visible? 1.307875, -0.772614, 4.563929 mu:0.143122 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 1.348207, -0.773146, 4.556795 mu:0.143122 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.296] If point is visible? 3.776732, -1.230682, 3.551115 mu:0.143122 unit_bearing:0.568316 -0.276522 0.774954 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.296] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.611309, -0.249386, 0.634532 mu:0.337365 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 1.167139, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 1.306923, -0.588399, 4.582386 mu:0.143122 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 1.347295, -0.588970, 4.575282 mu:0.143122 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 1.307710, -0.741905, 4.567354 mu:0.143122 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.701343, -0.705524, 4.648303 mu:0.143122 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 2.707392, -0.378320, 4.203288 mu:0.143122 unit_bearing:0.421802 -0.166814 0.891210 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.677735, -0.094806, 4.660335 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.637507, -0.094289, 4.664897 mu:0.143122 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.597261, -0.093796, 4.669226 mu:0.143122 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 2.378298, -0.124014, 4.294561 mu:0.143898 unit_bearing:0.377834 -0.132998 0.916271 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.831789, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.495006, -0.181732, 4.695671 mu:0.143122 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.413198, -0.058659, 4.701608 mu:0.143122 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 1.852768, 0.343425, 4.413968 mu:0.144500 unit_bearing:0.305085 -0.068616 0.949850 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.833045, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.721698, 0.516603, 4.636466 mu:0.143122 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.681443, 0.517174, 4.641253 mu:0.143122 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 1.746307, 0.294015, 4.001989 mu:0.154012 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.856425, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -1.283409, 0.960707, 4.495734 mu:0.143122 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.058963, 0.186520, -0.588767 mu:0.587442 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 1.323308, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.075938, 1.008337, 4.631491 mu:0.143122 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -3.375605, 0.891227, 3.699374 mu:0.143122 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.318655, 1.037192, 4.615759 mu:0.143122 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.857234, 1.064096, 4.587596 mu:0.143122 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.638894, 1.604273, 4.477547 mu:0.143122 unit_bearing:-0.052020 0.110040 0.992565 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.031825, 1.817568, 4.465204 mu:0.143122 unit_bearing:0.034832 0.140555 0.989460 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.982363, 2.045086, 4.346875 mu:0.143122 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.031587, 1.847180, 4.456991 mu:0.143125 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829522, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.942056, 2.075245, 4.342568 mu:0.143122 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.942239, 2.104590, 4.333278 mu:0.143122 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 1.228797, 2.649174, 4.091644 mu:0.143122 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] If point is visible? 2.703867, 2.716860, 3.620193 mu:0.143122 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] If point is visible? 2.703685, 2.744874, 3.607290 mu:0.143122 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] If point is visible? 1.230525, 2.877480, 3.991535 mu:0.143122 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] If point is visible? 2.388797, 2.766657, 3.725239 mu:0.143122 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] If point is visible? -2.581461, 3.546964, 3.095909 mu:0.143122 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] If point is visible? -2.543829, 3.550174, 3.112605 mu:0.143122 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] If point is visible? 1.714411, 3.443769, 3.589529 mu:0.143122 unit_bearing:0.278729 0.386839 0.879014 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] If point is visible? 2.966583, 3.458451, 3.087483 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] If point is visible? 1.149238, -1.170279, 4.532908 mu:0.143122 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.686966, -0.562895, 1.175296 mu:0.282127 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 1.091792, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.430927, -1.991149, 4.280855 mu:0.145721 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.836683, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.470608, -0.161921, -0.286432 mu:0.492958 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] If point is visible? 0.755072, -1.904861, 4.413722 mu:0.143122 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.835246, -1.905010, 4.405690 mu:0.143122 unit_bearing:0.154437 -0.387219 0.908961 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -1.036429, -0.315523, 4.602626 mu:0.143122 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.054549, 0.048497, -0.460045 mu:0.549001 unit_bearing:0.017481 -0.095299 0.995295 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 1.216491, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.718218, -0.064651, 4.655858 mu:0.143122 unit_bearing:-0.063574 -0.130150 0.989454 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.637775, -0.063590, 4.665217 mu:0.143122 unit_bearing:-0.052002 -0.130162 0.990128 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.158798, -0.026238, 0.633719 mu:0.341605 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.656856, Z inverse max: 0.026354 +[21:42:20.297] If point is visible? 0.247528, -0.024522, 0.638951 mu:0.342364 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.764601, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 1.869476, 0.225273, 4.483534 mu:0.143122 unit_bearing:0.305019 -0.085959 0.948459 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -0.477148, -0.000379, 4.681356 mu:0.143122 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.257890, 0.000567, -0.259260 mu:0.494007 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 1.295599, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -1.442813, 0.956395, 4.461161 mu:0.143122 unit_bearing:-0.167677 0.018291 0.985672 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? -1.348602, 1.009102, 4.404688 mu:0.144523 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.297] Z inverse min: 0.831446, Z inverse max: 0.000000 +[21:42:20.297] If point is visible? 0.008207, 0.197486, -0.414167 mu:0.532057 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] Z inverse min: 1.340541, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.046465, 0.742733, 0.476456 mu:0.350219 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? -1.347396, 1.903479, 4.235588 mu:0.143968 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] Z inverse min: 0.831948, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.820391, 2.048018, 4.364837 mu:0.143122 unit_bearing:0.155998 0.175042 0.972124 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? -1.363171, 0.958610, 4.478918 mu:0.143122 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.738677, 1.989361, 4.386817 mu:0.143196 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] Z inverse min: 0.829631, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? -0.062834, 2.637408, 4.187934 mu:0.143122 unit_bearing:0.028938 0.261854 0.964674 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? 1.228593, 2.620473, 4.103539 mu:0.143122 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? -0.063701, 2.579629, 4.211170 mu:0.143122 unit_bearing:0.028948 0.253240 0.966970 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? -1.157879, 3.521713, 3.616500 mu:0.143122 unit_bearing:-0.131356 0.397441 0.908177 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? 2.821636, 2.651885, 3.597126 mu:0.143122 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? -2.615613, 3.597296, 3.044892 mu:0.143122 unit_bearing:-0.344295 0.418148 0.840603 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? 2.966583, 3.458451, 3.087483 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? -2.693953, 3.537007, 3.044332 mu:0.143122 unit_bearing:-0.355554 0.409593 0.840128 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? 2.965614, 3.511411, 3.053499 mu:0.143122 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? 2.349316, 2.740999, 3.751680 mu:0.143122 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? 2.743031, 2.713932, 3.604292 mu:0.143122 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] If point is visible? 2029134166.750562, 2275362565.975900, 3567830413.309041 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 2029134166.750562, 2275362565.975900, 3567830413.309041 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128522 y=0.000000 z=-2.279384 +[21:42:20.298] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.105365, -0.097167, 0.608095 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.373877, 0.126422, 0.618069 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.030463, 0.075446, 0.641149 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? -0.064915, 0.091544, 0.738044 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.288004, -0.043593, 0.576424 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] calculated Z= 0.373903 +[21:42:20.298] update seeds 305 +[21:42:20.298] If point is visible? 0.146248, 0.129698, 0.605400 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.089010, -0.099654, 0.615554 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] calculated Z= 0.779960 +[21:42:20.298] update seeds 305 +[21:42:20.298] If point is visible? 0.011410, -0.187305, 0.708221 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.105365, -0.097167, 0.608095 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.373877, 0.126422, 0.618069 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? -0.064915, 0.091544, 0.738044 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.030463, 0.075446, 0.641149 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.288004, -0.043593, 0.576424 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] calculated Z= 0.373903 +[21:42:20.298] update seeds 305 +[21:42:20.298] If point is visible? 0.146248, 0.129698, 0.605400 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? 0.089010, -0.099654, 0.615554 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] calculated Z= 0.779960 +[21:42:20.298] update seeds 305 +[21:42:20.298] If point is visible? 0.011410, -0.187305, 0.708221 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.239072 y=0.000000 z=0.955753 +[21:42:20.298] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.298] If point is visible? -0.181821, -0.486674, -0.971504 mu:0.851146 unit_bearing:0.223694 -0.301881 0.926730 T_cur_ref: x=0.002492 y=0.000000 z=0.081841 +[21:42:20.298] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:20.298] If point is visible? 0.742972, -0.515232, -0.670876 mu:0.851146 unit_bearing:-0.579369 -0.357190 0.732630 T_cur_ref: x=0.002492 y=0.000000 z=0.081841 +[21:42:20.298] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:20.298] If point is visible? -0.017234, 0.094486, -1.089073 mu:0.851146 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.002492 y=0.000000 z=0.081841 +[21:42:20.298] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:20.298] If point is visible? 0.171458, 0.147851, -1.071393 mu:0.851146 unit_bearing:-0.074901 0.244529 0.966745 T_cur_ref: x=0.002492 y=0.000000 z=0.081841 +[21:42:20.298] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:20.551] add new frame +[21:42:20.551] update seed +[21:42:20.551] If point is visible? 34677250521.314507, -2337424665.975772, -12285152054.446018 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.551] If point is visible? 27343404768.624344, 15836136387.462635, -18985658239.665298 mu:-0.000000 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.551] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.551] add key frame +[21:42:20.551] remove key frame +[21:42:20.551] init seeds +[21:42:20.551] update seed +[21:42:20.551] If point is visible? 34677250521.314507, -2337424665.975772, -12285152054.446018 mu:-0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.551] If point is visible? 27343404768.624344, 15836136387.462635, -18985658239.665298 mu:-0.000000 unit_bearing:-0.223022 -0.489155 0.843201 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 27556665081.098343, 15127430753.822453, -19253344312.463463 mu:-0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 27926639871.693058, 14110420313.272402, -19490999022.074635 mu:-0.000000 unit_bearing:-0.221229 -0.444361 0.868102 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 28439215128.276699, 12947895684.483290, -19556667892.325821 mu:-0.000000 unit_bearing:-0.227466 -0.413277 0.881738 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 21739255667.624733, 11751265853.973013, -27353477524.804108 mu:-0.000000 unit_bearing:0.051572 -0.406834 0.912045 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 28695815797.256504, 12324861232.363165, -19584385876.317352 mu:-0.000000 unit_bearing:-0.230590 -0.396593 0.888562 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25903467847.919441, 12001659815.355013, -23321036296.960022 mu:-0.000000 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25559523460.791958, 11956399503.123722, -23720360246.347092 mu:-0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 34014652960.561443, 13595302329.601755, -4131749906.527109 mu:-0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] If point is visible? 20827556485.005592, 11408275875.461630, -28195112187.574608 mu:-0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 28671413396.702888, 12403972908.989183, -19570174468.510513 mu:-0.000000 unit_bearing:-0.230553 -0.398677 0.887639 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 20600263509.876991, 11302770576.322142, -28403815579.604843 mu:-0.000000 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 34042837286.706512, 13520632105.107910, -4144629742.209678 mu:-0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] If point is visible? 20161833214.137592, 11012235526.999525, -28829349090.857964 mu:-0.000000 unit_bearing:0.111646 -0.391815 0.913245 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 20308979405.934963, 11109054707.037867, -28688577480.664909 mu:-0.000000 unit_bearing:0.105921 -0.393956 0.913006 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 20539145496.599976, 11214474598.945614, -28482964743.807671 mu:-0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 34232121514.663834, 12542534427.526482, -5454072377.265926 mu:-0.000000 unit_bearing:-0.601749 -0.355740 0.715085 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] If point is visible? 34216438360.403450, 12534495289.215828, -5569739000.232473 mu:-0.000000 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] If point is visible? 34200388943.916866, 12526429447.724457, -5685259900.293399 mu:-0.000000 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] If point is visible? 20015781947.143383, 10587741939.315464, -29088974071.482407 mu:-0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 19930030828.975544, 10579266866.206612, -29150869671.253944 mu:-0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 19300725240.187782, 10272319195.613129, -29679314048.832397 mu:-0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 19951601593.926945, 10499418190.072979, -29164979519.416969 mu:-0.000000 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 19865635015.309105, 10490957247.381725, -29226641619.132835 mu:-0.000000 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 34242215766.339928, 12458796366.841475, -5581153219.401036 mu:-0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] If point is visible? 34226136319.476166, 12450686207.139881, -5696685384.495401 mu:-0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] If point is visible? 29182254611.425385, 11074551661.723524, -19612509785.991024 mu:-0.000000 unit_bearing:-0.236808 -0.363022 0.901187 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 34571253706.406158, 11834783504.037161, -4864826341.621278 mu:-0.000000 unit_bearing:-0.617730 -0.334735 0.711591 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] If point is visible? 29412175792.591362, 10447596085.499136, -19613053561.336693 mu:-0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 18356850318.781200, 5852356843.504006, -31427315899.084534 mu:-0.000000 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 18264670074.686554, 5844630689.857460, -31482413154.536758 mu:-0.000000 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 17977923591.377586, 4761124455.510362, -31828072139.766006 mu:-0.000000 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 17884505834.662071, 4753608918.802979, -31881779626.765724 mu:-0.000000 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 17897276091.399471, 4673190554.846410, -31886502119.532944 mu:-0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 20455359905.007023, 2851249161.845628, -30534387962.441425 mu:-0.000000 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 20934112810.581051, 2568172680.259629, -30233551375.651722 mu:-0.000000 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 11097737667.300430, 1802703994.025238, -35106846851.622086 mu:-0.000000 unit_bearing:0.427333 -0.164601 0.888984 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 26752990493.206989, 2053520048.628181, -25277673427.853077 mu:-0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 26680177269.948807, 2044125604.385441, -25355273814.393475 mu:-0.000000 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 26607143748.842411, 2034751871.113130, -25432654308.920151 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 22159333560.994595, 1705139350.831777, -29410145439.785534 mu:-0.000000 unit_bearing:0.104216 -0.143140 0.984200 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 12354138606.192709, 989014897.411832, -34717392294.292076 mu:-0.000000 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 12466614146.611734, 915015731.569407, -34679194004.682846 mu:-0.000000 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25894883653.244114, 1619594011.018896, -26186487635.291214 mu:-0.000000 unit_bearing:-0.028849 -0.130180 0.991071 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25819434124.510159, 1610445210.450843, -26261445248.945732 mu:-0.000000 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25750983547.095398, 1520687735.223082, -26333905407.641949 mu:-0.000000 unit_bearing:-0.023061 -0.128004 0.991506 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25675098261.486038, 1511580913.436631, -26408420461.189247 mu:-0.000000 unit_bearing:-0.020166 -0.128005 0.991568 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 12809417028.912477, 613280506.930654, -34560713842.204208 mu:-0.000000 unit_bearing:0.386213 -0.130770 0.913093 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25689153684.735085, 1350336570.221832, -26403488272.555061 mu:-0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25613046243.591785, 1341249477.281242, -26477785610.080936 mu:-0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 13245715882.315063, 397018708.718414, -34399034954.381958 mu:-0.000000 unit_bearing:0.375118 -0.124412 0.918590 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25543560706.128494, 1251569728.025227, -26549205233.276054 mu:-0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25396972571.138210, 1152894288.257008, -26693910126.318527 mu:-0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25319999302.751797, 1143893850.803355, -26767318898.576096 mu:-0.000000 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 14765280762.460285, -718144899.017874, -33769379188.699104 mu:-0.000000 unit_bearing:0.336066 -0.092305 0.937304 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 15291305421.091888, -1087440133.600608, -33524523432.170563 mu:-0.000000 unit_bearing:0.322012 -0.081552 0.943217 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 24366494532.800346, -1474407072.187887, -27622459825.718948 mu:-0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 24369283572.543446, -1554714931.313235, -27615595204.489979 mu:-0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 33387130255.045525, -662311886.326774, -15612850319.547960 mu:-0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] If point is visible? 29861831981.282970, -2744431253.705532, -21439200233.301888 mu:-0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25345313492.560806, -3559555706.485352, -26530074745.211300 mu:-0.000000 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25259869223.628201, -3569382947.474813, -26610124596.289932 mu:-0.000000 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25345256400.080345, -3612515138.068167, -26522969879.740814 mu:-0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25267564584.456642, -3621454756.550988, -26595779068.624786 mu:-0.000000 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 28749103729.449032, -3400851155.368188, -22821557024.153786 mu:-0.000000 unit_bearing:-0.135953 0.016121 0.990584 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25652584359.235317, -3736295156.372627, -26208495436.511749 mu:-0.000000 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 25575746659.151390, -3745346437.799674, -26282195146.847176 mu:-0.000000 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 28544317283.746887, -3591001876.819990, -23048359489.576111 mu:-0.000000 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.552] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.552] If point is visible? 22317947010.414604, -4801877900.218369, -28943935957.850632 mu:-0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 22232552070.018345, -4809722831.191616, -29008281810.575150 mu:-0.000000 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 28500760520.585602, -6281381215.860536, -22520015954.748428 mu:-0.000000 unit_bearing:-0.130096 0.094676 0.986971 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 28433031432.434654, -6291710164.140090, -22602595550.198570 mu:-0.000000 unit_bearing:-0.127210 0.094681 0.987347 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 28588839213.524635, -5954554987.420736, -22497150178.584785 mu:-0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 28284530688.814915, -7328124908.381968, -22476301472.289543 mu:-0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 28277460011.540264, -7406886896.846281, -22459374448.670551 mu:-0.000000 unit_bearing:-0.124262 0.125181 0.984321 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 21292965581.345196, -8904731321.581020, -28743966248.612427 mu:-0.000000 unit_bearing:0.133066 0.144734 0.980482 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 25233334015.714691, -8512090468.963605, -25489672205.523930 mu:-0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 26527870424.335354, -8196866576.646725, -24248374954.097969 mu:-0.000000 unit_bearing:-0.054884 0.140537 0.988553 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 26454400331.052608, -8206426237.641410, -24325285000.819313 mu:-0.000000 unit_bearing:-0.051991 0.140540 0.988709 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 21829737277.794643, -9479608088.350838, -28151373318.729073 mu:-0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 21744034914.042973, -9487137455.441296, -28215091483.378639 mu:-0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 21658128121.425735, -9494630085.287138, -28278573243.300598 mu:-0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 26519903050.246181, -8275490701.177037, -24230377931.439545 mu:-0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 26446436964.274334, -8285051905.741094, -24307285032.563522 mu:-0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 19734382694.568504, -9493718743.634295, -29653392098.444305 mu:-0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 21649141051.237595, -9572878668.782232, -28259067652.588104 mu:-0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 29715057527.924995, -8861297960.546974, -19934717790.526848 mu:-0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 19716888456.346004, -9650027707.736610, -29614548683.083805 mu:-0.000000 unit_bearing:0.181920 0.161923 0.969890 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 19725695708.932373, -9571887893.003275, -29634036340.419281 mu:-0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 29756574909.378872, -9005918094.362659, -19807571980.457943 mu:-0.000000 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 29694668548.296383, -9017249208.854071, -19895127426.922592 mu:-0.000000 unit_bearing:-0.195991 0.177017 0.964496 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 28262486085.183235, -9335756617.641218, -21748005597.991875 mu:-0.000000 unit_bearing:-0.132754 0.179467 0.974766 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 19541677885.283306, -10358489297.805761, -29491096008.071384 mu:-0.000000 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 28272722390.227123, -9257695622.279636, -21768060530.046356 mu:-0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 21022769063.799221, -10475427862.548923, -28411420429.897358 mu:-0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 20229820028.881355, -10538493726.320864, -28958500486.719536 mu:-0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 19782239438.656448, -10572155704.869959, -29253935554.124111 mu:-0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 19712514962.834019, -10423178134.103836, -29354289810.629356 mu:-0.000000 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 19622191551.636456, -10429767187.528292, -29412408503.669319 mu:-0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 20119797879.475780, -10700843329.103401, -28975608780.404312 mu:-0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 20030488629.140083, -10707600806.630293, -29034927744.081013 mu:-0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 10478217721.594158, -14690689720.631742, -32144841075.714310 mu:-0.000000 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 12126512483.160339, -14807975321.075216, -31505107217.015411 mu:-0.000000 unit_bearing:0.378146 0.294551 0.877636 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 12142616114.177399, -14733226636.446968, -31533936095.140366 mu:-0.000000 unit_bearing:0.378193 0.292443 0.878321 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 12038932952.018559, -14735665731.357784, -31572527103.483906 mu:-0.000000 unit_bearing:0.380955 0.292381 0.877147 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 27782813386.514145, -16595814363.077995, -17652037977.722580 mu:-0.000000 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 27720880296.669739, -16607738534.332054, -17737982838.077156 mu:-0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 20947110114.630051, 11584865048.842592, -28034081017.604713 mu:-0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 26241561067.166893, 12047042423.724564, -22916139736.727257 mu:-0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 26107029348.936752, 12028875324.854092, -23078765041.216011 mu:-0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 20661022399.286232, 11391058032.577190, -28324303507.268311 mu:-0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 5722781251.822908, 5111493800.664905, -36055826502.217628 mu:-0.000000 unit_bearing:0.543244 -0.256827 0.799328 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 17764994964.968006, 4906920372.717206, -31925339547.501770 mu:-0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 18332088268.606796, 3649776622.379399, -31772848301.513687 mu:-0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 18145745864.756725, 3634913557.444720, -31881335124.399551 mu:-0.000000 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 17958617142.476738, 3620131546.091560, -31988793925.249474 mu:-0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 18003350377.370354, 4600267672.765423, -31837354340.475845 mu:-0.000000 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 17816303496.749565, 4585288496.659532, -31944556312.257923 mu:-0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 21182443656.875183, 4059806811.745325, -29895188044.885757 mu:-0.000000 unit_bearing:0.127084 -0.208144 0.969807 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 18028292418.053188, 4439397846.877869, -31846077279.922821 mu:-0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 21159198075.090027, 4221121540.901423, -29889307262.304993 mu:-0.000000 unit_bearing:0.127066 -0.212468 0.968871 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 27384039932.262962, 2954796794.914419, -24500688801.145092 mu:-0.000000 unit_bearing:-0.092427 -0.160557 0.982690 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.553] If point is visible? 21972915967.346802, 1850111530.609521, -29540959193.622715 mu:-0.000000 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.553] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] If point is visible? 26607143748.842411, 2034751871.113130, -25432654308.920151 mu:-0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] If point is visible? 26475782865.143467, 1854800005.663667, -25583058016.253883 mu:-0.000000 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] If point is visible? 26328163772.217304, 1836189920.040050, -25736286014.259171 mu:-0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] If point is visible? 15904838500.617107, -1370337989.287516, -33227375835.937508 mu:-0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] If point is visible? 26821048561.594757, -1184766286.530678, -25261193593.093533 mu:-0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] If point is visible? 26674107571.700367, -1203617123.766009, -25415418743.712845 mu:-0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] If point is visible? 26826583580.310974, -1345337578.757853, -25247271120.906982 mu:-0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] If point is visible? 26679637081.062130, -1364196052.987062, -25401499034.452744 mu:-0.000000 unit_bearing:-0.052056 -0.047246 0.997526 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] If point is visible? 24875174555.080486, -2865711548.124434, -27053901881.793972 mu:-0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] If point is visible? 34674137873.168526, -2494374774.999580, -12263053291.176010 mu:-0.000000 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] If point is visible? 28815236670.213314, -3470352941.308774, -22727494471.151581 mu:-0.000000 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] If point is visible? 24553452198.858719, -4179875299.628712, -27176402382.414440 mu:-0.000000 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=0.128190 y=0.000000 z=-2.269928 +[21:42:20.554] Z inverse min: -0.000000, Z inverse max: 0.000000 +[21:42:20.554] init seeds +[21:42:20.554] DepthFilter: Initialized 3 new seeds +[21:42:20.555] DepthFilter: Initialized 3 new seeds +[21:42:20.833] add new frame +[21:42:20.833] add key frame +[21:42:20.833] remove key frame +[21:42:20.833] update seed +[21:42:20.833] If point is visible? -2.787514, -1.055943, 9.448150 mu:0.082507 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=0.128280 y=0.000000 z=-2.268543 +[21:42:20.833] Z inverse min: 0.593824, Z inverse max: 0.000000 +[21:42:20.833] If point is visible? -2.175084, 6.006337, 8.003747 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128280 y=0.000000 z=-2.268543 +[21:42:20.833] If point is visible? -2.787514, -1.055943, 9.448150 mu:0.082507 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=0.128280 y=0.000000 z=-2.268543 +[21:42:20.833] Z inverse min: 0.593824, Z inverse max: 0.000000 +[21:42:20.833] If point is visible? -2.175084, 6.006337, 8.003747 mu:0.082506 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128280 y=0.000000 z=-2.268543 +[21:42:20.833] If point is visible? -896618232441.732056, -184549854955.938965, 1664017488583.690430 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.128281 y=0.000000 z=-2.268542 +[21:42:20.833] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:20.833] If point is visible? -17.047598, 12.738377, 20.765465 mu:0.031817 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.128281 y=0.000000 z=-2.268542 +[21:42:20.833] Z inverse min: 0.508232, Z inverse max: 0.000000 +[21:42:20.833] If point is visible? -896618232441.732056, -184549854955.938965, 1664017488583.690430 mu:0.000000 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.128281 y=0.000000 z=-2.268542 +[21:42:20.833] Z inverse min: 0.436584, Z inverse max: 0.000000 +[21:42:20.833] If point is visible? -17.047598, 12.738377, 20.765465 mu:0.031817 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.128281 y=0.000000 z=-2.268542 +[21:42:20.833] Z inverse min: 0.508232, Z inverse max: 0.000000 +[21:42:20.833] If point is visible? -13.573277, 16.601186, 24.291511 mu:0.029251 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128283 y=0.000000 z=-2.268540 +[21:42:20.833] If point is visible? -86438677428.943939, 229257142262.794312, 375156136876.628174 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128283 y=0.000000 z=-2.268540 +[21:42:20.833] If point is visible? -13.573277, 16.601186, 24.291511 mu:0.029251 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128283 y=0.000000 z=-2.268540 +[21:42:20.833] If point is visible? -86438677428.943939, 229257142262.794312, 375156136876.628174 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128283 y=0.000000 z=-2.268540 +[21:42:20.833] If point is visible? -5.377714, 0.400458, -0.093801 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128285 y=0.000000 z=-2.268537 +[21:42:20.833] If point is visible? -1.038505, 3.037937, 2.692855 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128285 y=0.000000 z=-2.268537 +[21:42:20.833] If point is visible? -0.968520, 3.037066, 2.709326 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128285 y=0.000000 z=-2.268537 +[21:42:20.833] If point is visible? -5.377230, 0.425718, -0.097376 mu:0.168536 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.128285 y=0.000000 z=-2.268537 +[21:42:20.833] If point is visible? -5.377714, 0.400458, -0.093801 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128285 y=0.000000 z=-2.268537 +[21:42:20.833] If point is visible? -0.982147, 2.991554, 2.733804 mu:0.168536 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.128285 y=0.000000 z=-2.268537 +[21:42:20.833] If point is visible? -1.024552, 3.083350, 2.668039 mu:0.168536 unit_bearing:0.442103 0.414388 0.795505 T_cur_ref: x=0.128285 y=0.000000 z=-2.268537 +[21:42:20.833] If point is visible? -1.038505, 3.037937, 2.692855 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128285 y=0.000000 z=-2.268537 +[21:42:20.833] If point is visible? -0.968520, 3.037066, 2.709326 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128285 y=0.000000 z=-2.268537 +[21:42:20.833] If point is visible? -55778.346839, -36476.714397, 109007.333569 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128294 y=0.000000 z=-2.268521 +[21:42:20.833] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:20.833] calculated Z= 0.438433 +[21:42:20.833] update seeds 305 +[21:42:20.833] If point is visible? -55778.346839, -36476.714397, 109007.333569 mu:0.000008 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128294 y=0.000000 z=-2.268521 +[21:42:20.833] Z inverse min: 0.478629, Z inverse max: 0.000000 +[21:42:20.833] calculated Z= 0.438433 +[21:42:20.833] update seeds 305 +[21:42:20.833] If point is visible? -0.068687, -0.442483, 4.350852 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.128310 y=0.000000 z=-2.268492 +[21:42:20.833] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:20.833] If point is visible? -0.068687, -0.442483, 4.350852 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.128310 y=0.000000 z=-2.268492 +[21:42:20.833] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:20.833] If point is visible? -12.449814, 15.860771, 30.562123 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128313 y=0.000000 z=-2.268487 +[21:42:20.833] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? 2.438756, 19.197576, 31.104214 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128313 y=0.000000 z=-2.268487 +[21:42:20.834] If point is visible? -17.263313, 18.082673, 27.026061 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.128313 y=0.000000 z=-2.268487 +[21:42:20.834] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -12.449814, 15.860771, 30.562123 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128313 y=0.000000 z=-2.268487 +[21:42:20.834] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -17.263313, 18.082673, 27.026061 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.128313 y=0.000000 z=-2.268487 +[21:42:20.834] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? 2.438756, 19.197576, 31.104214 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128313 y=0.000000 z=-2.268487 +[21:42:20.834] If point is visible? -65390785586.464287, -23901742507.747051, 214641930161.764374 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? 11104398246.123709, -17919591477.839687, 224664164696.825439 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -295.452168, 981.276306, 1693.314364 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -127215923218.496399, -93211181533.139786, 161388323106.650970 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -127340713862.835587, -92731183094.694763, 161566322583.253296 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -127332992375.499329, -90772945223.635559, 162680631257.802399 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -127786642878.811996, -86879519390.142609, 164441264075.054657 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -130519617881.024490, -77216087575.478775, 167094917594.808105 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -69841920261.059540, -65449907006.819855, 204344860872.940338 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -107045388559.235214, -68104733549.407867, 186605027731.227966 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -70971979689.324326, -66004356695.477112, 203776370843.951294 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -193410520649.654114, -75472062244.760468, 88401044344.407791 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -68707990802.214066, -64895784179.771454, 204905235447.384460 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -193533230592.747223, -75009287257.339020, 88526277455.392670 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -193244709275.636536, -74972325031.314880, 89185419968.733139 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -134321981676.562515, -66099680389.706200, 168839698557.949738 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -65366078445.741333, -62742950806.593575, 206661569312.806976 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -64379270653.178268, -61204694153.393288, 207431196404.679474 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -63761918547.697426, -61174854214.607407, 207630588481.225220 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -192341501030.977631, -70047638971.892883, 94955155595.752426 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -192035441711.210236, -70006981067.687790, 95602395614.156509 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -191727501093.869385, -69966231967.020889, 96248106616.345505 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -191417686702.076233, -69925393352.218811, 96892285042.486649 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -191106006040.705658, -69884466898.077469, 97534927385.678940 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -59035663366.505440, -59461445853.986710, 209517381679.764893 mu:0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -191530278906.383850, -69457208073.627808, 97006467966.060104 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -191218389746.584869, -69416016224.650314, 97649118955.626419 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -0.447719, -0.542390, -0.395284 mu:0.491777 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -191753390367.873016, -68520265513.134216, 97231768548.274780 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -191441087674.802002, -68478545328.511108, 97874435365.761337 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -135554368647.350204, -62217852018.017136, 169329142055.227173 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -194763169101.164612, -65069828215.564644, 93550156260.016983 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] If point is visible? -136835899852.307907, -57839114806.132980, 169849873795.438385 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -138152139334.287384, -52962393312.445717, 170374228128.109070 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -48062606610.928482, -31668381845.420612, 218186859721.509033 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -142765074486.695251, -34402276706.468872, 171327240048.061035 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -46078828317.946564, -25638162106.270035, 219403355814.651367 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.834] If point is visible? -45432387771.318344, -25615713629.098858, 219540747185.438873 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.834] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -61738507253.227211, -14798043728.755327, 216535865255.681671 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -0.727684, -0.196531, 0.699446 mu:0.323086 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 1.505610, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -68401157678.746056, -9609110679.054111, 214819349543.407654 mu:0.000000 unit_bearing:0.130143 -0.158286 0.978779 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -68368319087.271889, -10104287455.970634, 214807082374.571411 mu:0.000000 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -72942251609.824936, -6828220043.593216, 213427293613.582062 mu:0.000000 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -108276842912.139877, -6283730899.971777, 197876341014.055847 mu:0.000000 unit_bearing:-0.060676 -0.134508 0.989053 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -107704208933.977570, -6245996943.767147, 198189800994.495361 mu:0.000000 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -101959507173.306442, -5383021406.371277, 201230435808.442749 mu:0.000000 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -147.759979, -9.258580, 269.939364 mu:0.003227 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.985528, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -100320683964.040512, -3296282880.509888, 202097256800.521820 mu:0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -99736061470.990509, -3260926159.958283, 202386982587.740143 mu:0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -107644863327.408264, -7236065311.309441, 198188367661.139984 mu:0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? 0.043758, -0.007795, -0.673619 mu:0.626125 unit_bearing:0.377891 -0.126541 0.917162 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 1.509897, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -99176821029.577881, -2730965883.870788, 202669450865.055634 mu:0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -98029084754.303268, -2166400651.200541, 203233883908.625854 mu:0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -0.936070, -0.023286, -0.045390 mu:0.405700 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] If point is visible? -91681714809.944138, 1666255304.114086, 206179759144.515839 mu:0.000000 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -91106405959.569962, 2193101236.762956, 206429696066.761017 mu:0.000000 unit_bearing:0.026168 -0.101842 0.994456 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -27924053211.457878, 10882725367.802870, 223652006158.833099 mu:0.000000 unit_bearing:0.313565 -0.072921 0.946763 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -27241931295.287441, 10405662101.078310, 223758811432.307159 mu:0.000000 unit_bearing:0.316386 -0.075077 0.945655 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -89681660154.984009, 13633341477.349247, 206614951419.609161 mu:0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -89692275321.398102, 14125464122.251459, 206577281735.241150 mu:0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -164925059205.167694, 11179357548.588949, 153600628674.864044 mu:0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -164933172661.219238, 11665560555.964178, 153555753950.024658 mu:0.000000 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -132986790216.186829, 22892075175.134182, 180855944996.002808 mu:0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.835] If point is visible? -96948440731.668503, 27466265358.815044, 201903468085.806702 mu:0.000000 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.835] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -96357422792.776550, 27500408377.213295, 202181554376.155975 mu:0.000000 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -59440864677.787193, 33541480718.665775, 215081749564.311554 mu:0.000000 unit_bearing:0.176509 0.031374 0.983799 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -123208898182.213058, 27132997360.452808, 187087610977.216339 mu:0.000000 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -70154726665.784927, 33644228547.838673, 211813093386.529694 mu:0.000000 unit_bearing:0.127482 0.033591 0.991272 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -62621425384.225067, 32948253096.222973, 214269400565.845886 mu:0.000000 unit_bearing:0.162108 0.029203 0.986341 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -74508331027.817825, 33467095931.758141, 210349396042.513214 mu:0.000000 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] calculated Z= 0.460375 +[21:42:20.836] update seeds 305 +[21:42:20.836] If point is visible? -1.008412, 0.515270, 0.970908 mu:0.288060 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 1.549039, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -122354505614.136963, 40789337724.651520, 185159421046.062164 mu:0.000000 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -121802692725.035583, 40833735149.311226, 185513116616.840576 mu:0.000000 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -122850308968.947784, 42196288122.569199, 184514718039.300232 mu:0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -120801252394.737244, 50528846960.848869, 183772411865.560730 mu:0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -69363237666.905289, 55892489975.651382, 207323846054.446014 mu:0.000000 unit_bearing:0.127327 0.133877 0.982784 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -107017477354.385239, 55853607600.730804, 190646375199.935944 mu:0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -106443225704.945572, 55892378545.204483, 190956246402.865356 mu:0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -97109282136.727005, 56958791391.008369, 195560450307.143951 mu:0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -72075511071.718369, 61996285267.482399, 204646005665.677551 mu:0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -71455240311.619537, 62020285702.813805, 204856142479.258453 mu:0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -70834231503.339783, 62044022875.071762, 205064519580.887573 mu:0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -106954586743.905991, 56812541377.973869, 190398156069.865723 mu:0.000000 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -106380393482.317902, 56851333297.263039, 190708007443.468750 mu:0.000000 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -57054347041.483727, 61545378102.533707, 209464493974.518463 mu:0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -70800484585.414124, 62521293371.168892, 204931172777.102844 mu:0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -57022084314.776665, 62022226435.114296, 209332586203.260498 mu:0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -57626111790.585846, 62481024873.852043, 209030521907.038147 mu:0.000000 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -134600107026.245499, 60224880751.296799, 170804511782.580811 mu:0.000000 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -134073672425.771698, 60276923995.552887, 171199734562.206696 mu:0.000000 unit_bearing:-0.198881 0.172672 0.964692 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -133546235476.262711, 60328706558.182190, 171593287961.395721 mu:0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -121617033680.670700, 62354671787.965363, 179553887017.696808 mu:0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.836] If point is visible? -66659877655.022392, 67892202772.217644, 204610644473.566071 mu:0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.836] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -61002121551.133995, 68075438635.439735, 206307736498.129028 mu:0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -57834124993.686340, 68167510440.297691, 207187863603.811676 mu:0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -57236532442.268181, 67710918957.896805, 207503294253.335022 mu:0.000000 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -56600114317.519241, 67728258528.654175, 207672136730.093719 mu:0.000000 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -56637736520.218063, 67253922711.900330, 207815983504.278687 mu:0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -60292059814.194283, 69042535428.623596, 206195058483.654785 mu:0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -59659223795.345474, 69061142481.403687, 206372822661.872009 mu:0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -7498603824.051560, 91312094703.983917, 206214157175.502930 mu:0.000000 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -47521346375.002075, 93108793409.736618, 199977200067.033905 mu:0.000000 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -147074690930.919739, 94005611241.958206, 143004848382.821075 mu:0.000000 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -124365963092.901352, 106885239734.766815, 155006642016.273895 mu:0.000000 unit_bearing:-0.179828 0.386428 0.904619 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -124273833557.883530, 107332570043.388474, 154771250621.859436 mu:0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -123655630840.809433, 107834790744.996841, 154917233336.674164 mu:0.000000 unit_bearing:-0.176934 0.390653 0.903374 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -149805548089.512390, 109099489938.476822, 128740069035.333282 mu:0.000000 unit_bearing:-0.330763 0.410354 0.849827 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] If point is visible? -72010915592.153061, -67051147240.276222, 203068899655.960968 mu:0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -192999034881.429993, -75898236047.364456, 88933889032.033417 mu:0.000000 unit_bearing:-0.621788 -0.381876 0.683777 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] If point is visible? -69756003706.577789, -65942090074.644913, 204215932340.282532 mu:0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -68536975550.857880, -65880171881.488663, 204648215856.724457 mu:0.000000 unit_bearing:0.097312 -0.400306 0.911200 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -121335588032.714996, -68095741740.416595, 177648673937.692474 mu:0.000000 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -112546355030.757172, -68472900869.752670, 183202582225.228638 mu:0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -111453730909.969833, -68398664069.422699, 183896968267.514740 mu:0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -5.363745, -3.202556, 24.692904 mu:0.036100 unit_bearing:0.230094 -0.233367 0.944773 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 1.059740, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -44643224819.411934, -27077292541.625366, 219527239823.241913 mu:0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -65390785586.464287, -23901742507.747051, 214641930161.764374 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? 11104398246.123709, -17919591477.839687, 224664164696.825439 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -46217151728.621429, -24153983997.348076, 219542629712.822449 mu:0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -47941314450.349190, -19251331305.674805, 219657512800.730194 mu:0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -0.269227, -0.163684, -0.394169 mu:0.520023 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 1.896874, Z inverse max: 0.000000 +[21:42:20.837] calculated Z= 0.391521 +[21:42:20.837] update seeds 305 +[21:42:20.837] If point is visible? -44831762813.407196, -25098790251.893970, 219723849613.566956 mu:0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.837] If point is visible? -0.669055, -0.080088, 0.065512 mu:0.405229 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.837] If point is visible? -289.667755, -16.830579, 523.713935 mu:0.001665 unit_bearing:-0.063569 -0.134505 0.988872 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.981344, Z inverse max: 0.000000 +[21:42:20.838] calculated Z= 0.295159 +[21:42:20.838] update seeds 305 +[21:42:20.838] If point is visible? -52.386575, -3.045451, 94.365772 mu:0.009089 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 1.000588, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -49.845927, -2.894179, 90.972895 mu:0.009449 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 1.001436, Z inverse max: 0.000000 +[21:42:20.838] calculated Z= 0.791619 +[21:42:20.838] update seeds 305 +[21:42:20.838] If point is visible? -105405071536.567596, -6096770597.344652, 199426694804.889435 mu:0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -108470114024.266495, 12512754035.968876, 197474230390.079346 mu:0.000000 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] calculated Z= 0.305916 +[21:42:20.838] update seeds 305 +[21:42:20.838] If point is visible? -107320850736.436234, 12588617847.584642, 198096360431.101044 mu:0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -29923461959.395191, 10843994925.365891, 223395166725.876160 mu:0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -108491466531.861313, 13496724652.392101, 197397685983.346924 mu:0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -178295200815.210480, 21843551937.854843, 136572643393.237991 mu:0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -93389590755.928726, 22281549270.597538, 204206569969.410065 mu:0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -124299432646.186707, 28020325912.454025, 186233505840.917511 mu:0.000000 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -125404451072.060196, 26955394176.403416, 185648960929.802856 mu:0.000000 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -96950704273.893234, 26977183005.130196, 201968311514.560516 mu:0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -62615268237.297981, 33435238732.262779, 214195749987.201874 mu:0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -105701838148.744827, 48753529158.232658, 193309650883.678589 mu:0.000000 unit_bearing:-0.046230 0.110044 0.992851 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -58619086144.806969, 66251328243.497536, 207588464428.164062 mu:0.000000 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -58545001941.430504, 67200923996.949615, 207303943232.535950 mu:0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? 1860665350.932623, 89767252122.477905, 207018802742.583008 mu:0.000000 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? 3337086557.716193, 90641984317.556534, 206618733057.836548 mu:0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -46941209909.420158, 92659863927.598846, 200322436954.320374 mu:0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -85151390772.007721, 83999571090.675186, 191341890406.584595 mu:0.000000 unit_bearing:0.040463 0.266140 0.963085 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -0.034515, 1.661248, 1.503643 mu:0.242427 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] If point is visible? -28889643758.267693, 101013613731.481354, 199699886436.106781 mu:0.000000 unit_bearing:0.285343 0.336464 0.897425 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -150052939556.008606, 109896657137.460281, 127770287622.256165 mu:0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] If point is visible? 12623203520.981001, 116075337893.915649, 193094735774.666626 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] If point is visible? -95247050098.961472, 1466364570.088095, 204558684832.790527 mu:0.000000 unit_bearing:0.005893 -0.104028 0.994557 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -0.692088, 0.014137, -0.451889 mu:0.501678 unit_bearing:0.017479 -0.104026 0.994421 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 1.685863, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -0.451270, -0.566871, -0.535699 mu:0.522722 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] If point is visible? -108789155202.609329, -7311648289.062314, 197559777859.146515 mu:0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -0.921607, -0.076819, 0.800037 mu:0.308254 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 1.495700, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -1.609936, -0.128977, 3.011216 mu:0.179857 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 1.317837, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -117413625257.116989, -13881163948.040470, 192197190951.394348 mu:0.000000 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -0.576916, -0.539761, 0.793901 mu:0.313621 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 1.508032, Z inverse max: 0.000000 +[21:42:20.838] If point is visible? -0.340591, -0.494814, -0.615503 mu:0.559274 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] If point is visible? -193323765297.164459, -76894636323.122314, 87358703027.778580 mu:0.000000 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] If point is visible? -0.459848, -0.473314, 0.431207 mu:0.356727 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] If point is visible? -191950430411.874786, -72886611709.505005, 93600109064.091751 mu:0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] If point is visible? -47573768064.001137, -36121345407.236748, 217601450629.916992 mu:0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.838] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -104307492299.771103, -5033206377.444115, 200032547856.194855 mu:0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -3.995572, -1.428359, 17.092367 mu:0.050386 unit_bearing:0.224725 -0.190320 0.955655 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 1.091736, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -192661830518.238892, -74898030776.777939, 90499228536.723572 mu:0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] If point is visible? -4.450027, -1.784889, 19.286246 mu:0.045233 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 1.078860, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -102095876382.425934, -2908654233.619668, 201212271182.436829 mu:0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -98121287773.218063, 21029975680.259262, 202109770488.095917 mu:0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -127585051853.799561, 26774424107.305679, 184183579820.235229 mu:0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -126319735835.919495, 57688655408.940018, 177858791443.360138 mu:0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -106900306496.841888, 47711989001.964584, 192910074632.028870 mu:0.000000 unit_bearing:-0.052023 0.105679 0.993039 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -59959642642.889336, 65263800208.904549, 207518394255.912262 mu:0.000000 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -187338822253.509949, 75793105160.250092, 100389128920.473618 mu:0.000000 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] If point is visible? 169.572755, 2584.846868, 6110.797855 mu:0.000151 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 0.976838, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -65144810395.534966, 63199496771.269447, 206592312549.412201 mu:0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -295.452168, 981.276306, 1693.314364 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? 12623203520.981001, 116075337893.915649, 193094735774.666626 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] If point is visible? 0.055491, 0.631941, -0.817039 mu:0.631025 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] If point is visible? 0.151543, 0.645506, -0.779328 mu:0.616064 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128318 y=0.000000 z=-2.268484 +[21:42:20.839] If point is visible? -5.386788, 12.795682, 25.140018 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128326 y=0.000000 z=-2.268453 +[21:42:20.839] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -5.386788, 12.795682, 25.140018 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128326 y=0.000000 z=-2.268453 +[21:42:20.839] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -7.249365, 4.571889, 3.902753 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? 2.601954, 5.264663, 6.652354 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? 0.077477, 5.290408, 6.974128 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -4.694588, -4.179989, 6.257009 mu:0.093899 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -4.699300, -3.995986, 6.342147 mu:0.093899 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -4.703109, -3.973092, 6.350600 mu:0.093899 unit_bearing:-0.220701 -0.468921 0.855222 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -4.743743, -3.720643, 6.439938 mu:0.093899 unit_bearing:-0.221187 -0.446416 0.867058 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -1.743472, -3.064937, 7.757456 mu:0.093899 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -4.848807, -3.377496, 6.520004 mu:0.093899 unit_bearing:-0.227427 -0.415351 0.880773 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -8.301683, -3.415121, 3.271237 mu:0.093899 unit_bearing:-0.624195 -0.381680 0.681690 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.306092, -3.393193, 3.277996 mu:0.093899 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -1.656105, -3.038936, 7.781273 mu:0.093899 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -1.300109, -2.512992, 6.203670 mu:0.111711 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.794395, Z inverse max: 0.000000 +[21:42:20.839] calculated Z= 0.709792 +[21:42:20.839] update seeds 305 +[21:42:20.839] If point is visible? -1.619755, -2.999474, 7.742412 mu:0.094377 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.752239, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -1.543503, -2.965503, 7.822489 mu:0.093899 unit_bearing:0.105938 -0.391858 0.913906 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] calculated Z= 0.698703 +[21:42:20.839] update seeds 305 +[21:42:20.839] If point is visible? -8.310475, -3.371254, 3.284703 mu:0.093899 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -3.725221, -3.114303, 7.158509 mu:0.093899 unit_bearing:-0.108544 -0.398128 0.910885 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -3.694131, -3.136356, 7.163854 mu:0.093899 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -3.552881, -3.130322, 7.221864 mu:0.093899 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -1.405015, -2.844656, 7.879114 mu:0.093899 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -0.299129, -0.808745, 0.618742 mu:0.330182 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.210002, -3.206605, 3.528636 mu:0.093899 unit_bearing:-0.608475 -0.365192 0.704552 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -4.952911, -3.009872, 6.593715 mu:0.093899 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -8.199218, -3.160797, 3.569153 mu:0.093899 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.180174, -3.159213, 3.597079 mu:0.093899 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.161054, -3.157626, 3.624921 mu:0.093899 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.214106, -3.184496, 3.534915 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.203261, -3.138658, 3.575326 mu:0.093899 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.165077, -3.135461, 3.631091 mu:0.093899 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.145870, -3.133859, 3.658847 mu:0.093899 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -1.377186, -2.820497, 7.890019 mu:0.093899 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -1.321634, -2.771384, 7.720667 mu:0.095535 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.755446, Z inverse max: 0.000000 +[21:42:20.839] If point is visible? -8.169075, -3.113288, 3.637209 mu:0.093899 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.149858, -3.111673, 3.664963 mu:0.093899 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.130565, -3.110056, 3.692632 mu:0.093899 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.157759, -3.067277, 3.677039 mu:0.093899 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.138447, -3.065635, 3.704705 mu:0.093899 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? -8.321968, -2.901489, 3.527249 mu:0.093899 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] If point is visible? 3.035168, -1.313168, 7.892363 mu:0.093899 unit_bearing:0.525495 -0.238661 0.816637 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.839] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -0.430658, -1.207109, 8.297850 mu:0.093899 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -0.399500, -1.206639, 8.299506 mu:0.093899 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -0.400886, -1.183258, 8.302080 mu:0.093899 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? 2.374117, -0.849179, 8.107078 mu:0.093899 unit_bearing:0.473124 -0.197875 0.858487 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -0.354083, -0.901881, 8.332029 mu:0.093899 unit_bearing:0.233178 -0.205361 0.950502 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -0.610787, -0.373591, 3.722074 mu:0.165358 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.897124, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -1.807001, -0.645959, 8.132196 mu:0.094350 unit_bearing:0.098354 -0.180082 0.978722 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.751942, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -0.063283, -0.087824, -0.754037 mu:0.654019 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 1.321620, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -1.365167, -0.497857, 8.264255 mu:0.093899 unit_bearing:0.141639 -0.166930 0.975742 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -1.364124, -0.521255, 8.263271 mu:0.093899 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -1.205146, -0.635106, 8.278339 mu:0.093899 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -0.653436, -0.380766, 4.063095 mu:0.156471 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.880813, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -3.694053, -0.433627, 7.662192 mu:0.093899 unit_bearing:-0.083774 -0.154054 0.984504 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -3.210494, -0.178621, 7.842763 mu:0.093899 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -3.151923, -0.176302, 7.861957 mu:0.093899 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? 1.420656, -0.196760, 8.300724 mu:0.093899 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -1.711129, -0.271510, 8.217682 mu:0.093899 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? 1.453397, -0.220048, 8.296210 mu:0.093899 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -3.413986, -0.231883, 7.504329 mu:0.096177 unit_bearing:-0.063566 -0.136682 0.988573 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.757116, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -3.470896, -0.236256, 7.751832 mu:0.093899 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -3.441871, -0.235015, 7.762239 mu:0.093899 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -3.067289, -0.079373, 7.890192 mu:0.093899 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -3.037880, -0.078252, 7.899405 mu:0.093899 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] calculated Z= 0.071056 +[21:42:20.840] update seeds 305 +[21:42:20.840] If point is visible? -3.009261, -0.053769, 7.908432 mu:0.093899 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -2.922379, -0.003753, 7.934954 mu:0.093899 unit_bearing:-0.005691 -0.117112 0.993102 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -2.892838, -0.002677, 7.943740 mu:0.093899 unit_bearing:-0.002795 -0.117112 0.993115 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -2.951110, -0.028204, 7.926281 mu:0.093899 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -0.917675, -0.009300, 1.230979 mu:0.273791 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 1.066638, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? 0.446170, 0.546040, 8.362499 mu:0.093899 unit_bearing:0.310742 -0.070764 0.947856 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.840] If point is visible? -2.298265, 0.649438, 7.149461 mu:0.102594 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.840] Z inverse min: 0.773144, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -6.421604, 0.665336, 6.102452 mu:0.093899 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -4.582656, 1.334062, 7.188991 mu:0.093899 unit_bearing:-0.170559 0.016108 0.985216 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -4.722256, 1.187312, 7.137846 mu:0.093899 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -2.883797, 1.369186, 7.854233 mu:0.093899 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -2.854176, 1.370245, 7.862857 mu:0.093899 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -2.972422, 1.389021, 7.824728 mu:0.093899 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -2.584358, 1.516862, 7.911941 mu:0.093948 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750912, Z inverse max: 0.000000 +[21:42:20.841] calculated Z= 0.577199 +[21:42:20.841] update seeds 305 +[21:42:20.841] If point is visible? -4.160067, 1.404290, 7.377996 mu:0.093899 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -1.587569, 1.589283, 8.121264 mu:0.093899 unit_bearing:0.124596 0.029226 0.991777 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -1.770402, 1.631525, 8.082841 mu:0.093899 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -0.389988, 0.452821, 0.604860 mu:0.338457 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] If point is visible? -7.206816, 1.266740, 5.347803 mu:0.093899 unit_bearing:-0.455668 0.030903 0.889613 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -7.183330, 1.246935, 5.373611 mu:0.093899 unit_bearing:-0.452936 0.028762 0.891079 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -4.206113, 2.066007, 7.237365 mu:0.093899 unit_bearing:-0.133001 0.083771 0.987569 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -4.205513, 2.088821, 7.232651 mu:0.093899 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -4.104347, 2.570836, 7.159781 mu:0.093899 unit_bearing:-0.124247 0.131709 0.983471 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -4.103410, 2.593469, 7.154001 mu:0.093899 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -2.911274, 2.761436, 7.557616 mu:0.093899 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -3.410187, 2.718563, 7.401328 mu:0.093899 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -3.381110, 2.719853, 7.411556 mu:0.093899 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -3.408213, 2.763773, 7.389226 mu:0.093899 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -0.967013, 2.985476, 7.895380 mu:0.093899 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -1.674169, 2.953423, 7.803519 mu:0.093899 unit_bearing:0.112834 0.159999 0.980647 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -1.643691, 2.953983, 7.808762 mu:0.093899 unit_bearing:0.115719 0.159991 0.980312 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -1.672128, 2.998438, 7.790576 mu:0.093899 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -1.611157, 2.999539, 7.800970 mu:0.093899 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -4.837592, 2.951090, 6.678448 mu:0.093899 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -4.782585, 2.954984, 6.707478 mu:0.093899 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -0.967993, 2.963002, 7.901848 mu:0.093899 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -4.191944, 3.082453, 6.964643 mu:0.093899 unit_bearing:-0.135626 0.181625 0.973970 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -4.163715, 3.084115, 6.977245 mu:0.093899 unit_bearing:-0.132746 0.181635 0.974365 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -0.895726, 3.187742, 7.841242 mu:0.093899 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -4.166274, 3.039269, 6.990897 mu:0.093899 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -0.956478, 3.209653, 7.827965 mu:0.093899 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -0.925556, 3.209888, 7.831165 mu:0.093899 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -1.138157, 3.275045, 7.785721 mu:0.093899 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -1.136979, 3.297386, 7.778565 mu:0.093899 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -1.106179, 3.297695, 7.782295 mu:0.093899 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -1.075360, 3.297990, 7.785935 mu:0.093899 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -1.415666, 3.249266, 7.755253 mu:0.093899 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.841] If point is visible? -7.199335, 3.231505, 4.751450 mu:0.093899 unit_bearing:-0.464359 0.220843 0.857671 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.841] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -6.619614, 3.374780, 5.247693 mu:0.093899 unit_bearing:-0.398598 0.228517 0.888200 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -7.056698, 3.273557, 4.878263 mu:0.093899 unit_bearing:-0.448032 0.223311 0.865679 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? 1.374860, 4.300938, 7.394072 mu:0.093899 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -0.534858, 4.422232, 7.396968 mu:0.093899 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] If point is visible? -2.878970, 4.768420, 6.766737 mu:0.093899 unit_bearing:-0.017136 0.341020 0.939900 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] If point is visible? -2.849770, 4.769560, 6.775802 mu:0.093899 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] If point is visible? -5.592684, 4.558299, 5.471589 mu:0.093899 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] If point is visible? -4.489087, 5.140478, 5.835329 mu:0.093899 unit_bearing:-0.185504 0.386354 0.903503 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] If point is visible? -4.458819, 5.163653, 5.837785 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] If point is visible? -4.284719, -3.116386, 6.909209 mu:0.093899 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -0.627594, -1.221701, 1.655876 mu:0.239290 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] If point is visible? -3.834603, -3.142497, 7.103645 mu:0.093899 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -1.013183, -0.917461, 0.477028 mu:0.321372 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] If point is visible? -8.214106, -3.184496, 3.534915 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] If point is visible? -1.683509, -3.063126, 7.769019 mu:0.093899 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] calculated Z= 0.738711 +[21:42:20.842] update seeds 305 +[21:42:20.842] If point is visible? 4.182529, -2.067943, 7.359806 mu:0.093899 unit_bearing:0.612340 -0.302911 0.730263 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? 3.532353, -1.703795, 7.677702 mu:0.093899 unit_bearing:0.563347 -0.272611 0.779951 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -1.429522, -1.038563, 8.215383 mu:0.093899 unit_bearing:0.132803 -0.216765 0.967149 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -0.365518, -1.252936, 8.295760 mu:0.093899 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -0.436134, -1.113577, 8.307825 mu:0.093899 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -0.371079, -1.159421, 8.306171 mu:0.093899 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -0.448912, -0.879796, 8.329145 mu:0.093899 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -3.721737, -0.458341, 7.650381 mu:0.093899 unit_bearing:-0.086659 -0.156223 0.983913 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -3.440932, -0.258402, 7.761998 mu:0.093899 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -0.232150, -0.057820, -0.212556 mu:0.478915 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 1.186204, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -3.384659, -0.209172, 7.782990 mu:0.093899 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -3.326413, -0.206748, 7.803208 mu:0.093899 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -2.691022, 0.191395, 7.999505 mu:0.093899 unit_bearing:0.017480 -0.099663 0.994868 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -3.525608, 0.718189, 7.708986 mu:0.093899 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] calculated Z= 0.435252 +[21:42:20.842] update seeds 305 +[21:42:20.842] If point is visible? -3.467511, 0.720731, 7.729888 mu:0.093899 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? 0.383178, 0.522908, 8.365359 mu:0.093899 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -2.705677, 1.121166, 7.935847 mu:0.093899 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -2.883867, 1.346106, 7.857307 mu:0.093899 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -4.273220, 1.421088, 7.324420 mu:0.093899 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -4.273510, 1.375046, 7.330995 mu:0.093899 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -0.142728, 0.368374, 0.108525 mu:0.413126 unit_bearing:0.173630 0.031376 0.984311 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] If point is visible? -2.942064, 1.528426, 7.813855 mu:0.093899 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -2.508902, 2.412589, 7.763534 mu:0.093899 unit_bearing:0.034851 0.110052 0.993315 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -2.437704, 2.732018, 7.699892 mu:0.093899 unit_bearing:0.040619 0.140550 0.989240 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -3.337073, 2.336584, 7.526515 mu:0.093902 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750821, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -0.960852, 3.120105, 7.855526 mu:0.093899 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -1.020485, 3.164381, 7.835173 mu:0.093899 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.842] If point is visible? -2.495621, 2.775445, 7.672781 mu:0.093899 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.842] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -2.435808, 2.777204, 7.687705 mu:0.093901 unit_bearing:0.040616 0.144903 0.988612 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750816, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -1.018265, 3.209142, 7.821297 mu:0.093899 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -0.473988, 4.008221, 7.579780 mu:0.093899 unit_bearing:0.218440 0.260866 0.940336 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? 1.373301, 4.279502, 7.403787 mu:0.093899 unit_bearing:0.381048 0.288163 0.878501 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -0.505687, 4.400502, 7.408836 mu:0.093899 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? 1.818605, 4.262287, 7.343632 mu:0.093899 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? 1.815632, 4.219550, 7.362991 mu:0.093899 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? 1.879348, 4.216814, 7.352811 mu:0.093899 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -7.249365, 4.571889, 3.902753 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? 2.297857, 5.407695, 6.645933 mu:0.093899 unit_bearing:0.447983 0.401983 0.798574 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? -5.836160, 5.270831, 4.806824 mu:0.093899 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? -4.513359, 5.159358, 5.809423 mu:0.093899 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? -4.458819, 5.163653, 5.837785 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? -5.821792, 5.352897, 4.757134 mu:0.093899 unit_bearing:-0.333276 0.418490 0.844863 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? -1.618203, -3.107898, 7.766831 mu:0.093899 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] calculated Z= 0.743931 +[21:42:20.843] update seeds 305 +[21:42:20.843] If point is visible? -0.302094, -0.510250, 4.206160 mu:0.153635 unit_bearing:0.213234 -0.199035 0.956513 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.872691, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -0.159110, -0.413102, 2.988594 mu:0.189355 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.934054, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -1.154993, -2.907996, 7.895846 mu:0.093899 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -3.462134, -0.258245, 7.639496 mu:0.094862 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.752079, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -0.055507, -0.423292, 0.232220 mu:0.393253 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? -0.517629, -1.770461, 8.213176 mu:0.093899 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -0.524406, -1.676918, 8.228128 mu:0.093899 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -8.310982, -3.460324, 3.228865 mu:0.093899 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? -3.041822, 0.038568, 7.898405 mu:0.093899 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? 0.384032, 0.476647, 8.367512 mu:0.093899 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -3.237071, -0.156074, 7.725987 mu:0.094814 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.753451, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -1.838873, -0.110851, 8.197404 mu:0.093899 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -2.823768, 0.978116, 7.917064 mu:0.093899 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -3.156182, -0.059420, 7.861937 mu:0.093899 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -0.208273, -0.002270, -0.219811 mu:0.481672 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 1.180870, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -2.942753, 1.066521, 7.872915 mu:0.093899 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -4.553947, 1.450762, 7.186066 mu:0.093899 unit_bearing:-0.167673 0.027018 0.985472 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -4.442541, 1.365404, 7.253057 mu:0.093899 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -1.079068, 3.105344, 7.797565 mu:0.094312 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.752018, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -1.334728, 3.026327, 7.836850 mu:0.093899 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -2.557162, 2.728359, 7.669380 mu:0.093899 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -1.544971, 3.647986, 7.596059 mu:0.093899 unit_bearing:0.121248 0.227106 0.966293 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -1.422900, 3.649800, 7.615321 mu:0.093899 unit_bearing:0.132756 0.227055 0.964791 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -1.737881, 1.163051, 1.527511 mu:0.227953 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 1.006339, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? 1.239417, 4.226409, 7.403769 mu:0.094219 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.751198, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? 0.854631, 1.749091, 1.722352 mu:0.226378 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? -2.363960, 3.982913, 7.288808 mu:0.093899 unit_bearing:0.040470 0.261837 0.964263 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -1.484416, 4.438396, 7.277018 mu:0.093899 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? -2.370731, 3.894730, 7.323285 mu:0.093900 unit_bearing:0.040484 0.253225 0.966560 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] Z inverse min: 0.750813, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? 2.483294, 5.354477, 6.630985 mu:0.093899 unit_bearing:0.464118 0.397194 0.791727 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? -7.798735, 3.738206, 3.781653 mu:0.093899 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? 2.601954, 5.264663, 6.652354 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? 0.077477, 5.290408, 6.974128 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128326 y=0.000000 z=-2.268446 +[21:42:20.843] If point is visible? -2608609.720072, 7847758.074771, 16505707.399261 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.128322 y=0.000000 z=-2.268444 +[21:42:20.843] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -2608609.720072, 7847758.074771, 16505707.399261 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.128322 y=0.000000 z=-2.268444 +[21:42:20.843] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:20.843] If point is visible? -1.772598, -2.656566, 3.908004 mu:0.143122 unit_bearing:-0.223120 -0.485109 0.845510 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.843] If point is visible? -1.771785, -2.671579, 3.901775 mu:0.143122 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.843] If point is visible? -4.575037, -2.173026, 2.419361 mu:0.143122 unit_bearing:-0.635373 -0.390455 0.666218 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] If point is visible? 0.295786, -2.012295, 4.420506 mu:0.143122 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? 0.395353, -1.981456, 4.426476 mu:0.143122 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -0.877575, -1.999292, 4.326383 mu:0.143592 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.830910, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.506213, -2.069570, 2.533340 mu:0.143122 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] If point is visible? -4.490259, -2.069018, 2.548924 mu:0.143122 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] If point is visible? 0.514794, -1.935374, 4.434123 mu:0.143122 unit_bearing:0.108792 -0.391837 0.913580 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? 0.593789, -1.858759, 4.450767 mu:0.143122 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? 0.613848, -1.858767, 4.449345 mu:0.143122 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.371755, -1.948095, 2.708846 mu:0.143122 unit_bearing:-0.603700 -0.363551 0.709490 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.405627, -1.934784, 2.683232 mu:0.143122 unit_bearing:-0.608739 -0.361214 0.706372 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.356675, -1.932875, 2.728353 mu:0.143122 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -1.423450, -1.478539, 2.727841 mu:0.183939 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.922640, Z inverse max: 0.000000 +[21:42:20.844] calculated Z= 0.256996 +[21:42:20.844] update seeds 305 +[21:42:20.844] If point is visible? -4.359185, -1.903677, 2.737300 mu:0.143122 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.342782, -1.903023, 2.752205 mu:0.143122 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.326343, -1.902369, 2.767044 mu:0.143122 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.390619, -1.919568, 2.702835 mu:0.143122 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.344018, -1.888409, 2.756620 mu:0.143122 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.327573, -1.887747, 2.771457 mu:0.143122 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? 0.613618, -1.843441, 4.453583 mu:0.143122 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? 0.633680, -1.843454, 4.452101 mu:0.143122 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? 0.613390, -1.828112, 4.457785 mu:0.143122 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.345246, -1.873789, 2.760999 mu:0.143122 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.328794, -1.873119, 2.775833 mu:0.143122 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? -4.469272, -1.761778, 2.689121 mu:0.143122 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] If point is visible? -1.938954, -1.504159, 4.234113 mu:0.143122 unit_bearing:-0.243014 -0.327092 0.913211 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] calculated Z= 0.526262 +[21:42:20.844] update seeds 305 +[21:42:20.844] If point is visible? 1.188115, -1.001636, 4.564785 mu:0.143122 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? 1.208271, -1.001845, 4.561598 mu:0.143122 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? 1.610340, -0.915047, 4.498074 mu:0.143122 unit_bearing:0.266890 -0.248009 0.931269 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.844] If point is visible? 1.307936, -0.818680, 4.569518 mu:0.143122 unit_bearing:0.224373 -0.235566 0.945603 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.844] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 0.747099, -0.413393, 1.320898 mu:0.272805 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 1.074886, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 1.327932, -0.788231, 4.569618 mu:0.143122 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 0.598852, -0.566503, 4.679731 mu:0.143122 unit_bearing:0.124230 -0.201665 0.971544 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 0.598727, -0.551115, 4.680977 mu:0.143122 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 0.820318, -0.398758, 4.672852 mu:0.143122 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 0.476536, -0.458327, 4.694899 mu:0.143122 unit_bearing:0.106990 -0.186563 0.976600 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 0.840663, -0.414289, 4.669884 mu:0.143122 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 0.718665, -0.336547, 4.685526 mu:0.143122 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 0.637239, -0.274584, 4.694678 mu:0.143122 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 2.526557, -0.189876, 4.282472 mu:0.143294 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.830049, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.517034, -0.077531, 4.688347 mu:0.143122 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.496885, -0.077317, 4.690190 mu:0.143122 unit_bearing:-0.031742 -0.132356 0.990694 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.476732, -0.077110, 4.691973 mu:0.143122 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.717852, -0.126053, 4.666074 mu:0.143122 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.697752, -0.125780, 4.668502 mu:0.143122 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.677648, -0.125513, 4.670871 mu:0.143122 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 0.474358, -0.150947, 4.708442 mu:0.143122 unit_bearing:0.107104 -0.143134 0.983891 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.677789, -0.110159, 4.671116 mu:0.143122 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 2.408761, -0.166143, 3.961046 mu:0.150698 unit_bearing:0.397248 -0.139257 0.907084 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.849484, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.677927, -0.094806, 4.671326 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 0.877287, -0.036065, -0.122183 mu:0.439865 unit_bearing:0.383428 -0.130795 0.914262 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] If point is visible? -0.456700, -0.061558, 4.693840 mu:0.143122 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.416612, -0.030478, 4.697298 mu:0.143122 unit_bearing:-0.020166 -0.125826 0.991847 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.336238, 0.016247, 4.703168 mu:0.143122 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.316049, 0.016406, 4.704483 mu:0.143122 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.114543, 0.109643, 4.713565 mu:0.143122 unit_bearing:0.023270 -0.106205 0.994072 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.114632, 0.124965, 4.713304 mu:0.143122 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 1.889315, 0.346164, 4.484225 mu:0.143122 unit_bearing:0.307918 -0.068606 0.948936 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 0.082231, 0.142975, -0.305312 mu:0.507919 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 1.322592, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? 1.869169, 0.361901, 4.488622 mu:0.143122 unit_bearing:0.305092 -0.066447 0.950002 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -2.810434, 0.537705, 4.047720 mu:0.143122 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -2.810496, 0.552767, 4.046391 mu:0.143122 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.278486, 0.906437, 4.647647 mu:0.143122 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.256252, 0.906591, 4.648899 mu:0.143122 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.845] If point is visible? -0.278551, 0.916478, 4.646320 mu:0.143122 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.845] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -0.258331, 0.916618, 4.647462 mu:0.143122 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -0.359373, 0.946125, 4.637093 mu:0.143122 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -0.339168, 0.946294, 4.638467 mu:0.143122 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -0.096357, 1.023378, 4.639643 mu:0.143122 unit_bearing:0.026186 0.024885 0.999347 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -1.203725, 0.962686, 4.522602 mu:0.143122 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? 0.077081, 0.256558, -0.536535 mu:0.570937 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 1.218299, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? 0.471418, 1.083031, 4.625668 mu:0.143122 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? 0.491713, 1.082895, 4.624649 mu:0.143122 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -1.201804, 1.428795, 4.440410 mu:0.143122 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -1.674555, 1.725417, 4.252507 mu:0.143224 unit_bearing:-0.201942 0.131459 0.970535 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829830, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -1.139019, 1.758068, 4.374029 mu:0.143122 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -0.657285, 1.827043, 4.429627 mu:0.143122 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -0.314768, 1.830976, 4.459901 mu:0.143122 unit_bearing:-0.005688 0.142744 0.989743 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -0.314637, 1.845802, 4.455857 mu:0.143122 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? 0.372091, 1.235429, 1.943494 mu:0.227474 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] If point is visible? 0.536016, 1.963361, 4.424719 mu:0.143122 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? 0.556275, 1.963156, 4.423514 mu:0.143122 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] calculated Z= 0.376878 +[21:42:20.846] update seeds 305 +[21:42:20.846] If point is visible? 0.981595, 1.942088, 4.388857 mu:0.143122 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? -0.087467, 0.510195, -0.430086 mu:0.520845 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] If point is visible? -0.081929, 0.510247, -0.429575 mu:0.520875 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] If point is visible? -1.651621, 2.036999, 4.173746 mu:0.143122 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.846] If point is visible? 0.556379, 1.977907, 4.419163 mu:0.143122 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.846] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? -1.195176, 2.051910, 4.278113 mu:0.143122 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.982613, 2.118451, 4.334721 mu:0.143122 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 1.002848, 2.118037, 4.332204 mu:0.143122 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.472041, 1.343299, 1.864781 mu:0.229381 unit_bearing:0.135792 0.190290 0.972291 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] If point is visible? 0.841138, 2.150408, 4.341175 mu:0.143122 unit_bearing:0.158807 0.190191 0.968818 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.861378, 2.150055, 4.339076 mu:0.143122 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.881617, 2.149693, 4.336917 mu:0.143122 unit_bearing:0.164554 0.190164 0.967863 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 1.002759, 2.103379, 4.336901 mu:0.143122 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.962470, 2.133509, 4.332447 mu:0.143122 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 1.002938, 2.132687, 4.327473 mu:0.143122 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.881718, 2.164337, 4.332122 mu:0.143122 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.901954, 2.163965, 4.329902 mu:0.143122 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 2.704360, 2.604400, 3.681389 mu:0.143122 unit_bearing:0.420015 0.266192 0.867600 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] If point is visible? 2.723974, 2.602977, 3.673482 mu:0.143122 unit_bearing:0.422751 0.266127 0.866290 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] If point is visible? 2.722979, 2.757395, 3.603856 mu:0.143122 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] If point is visible? 1.210335, 2.892285, 3.999198 mu:0.143122 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] If point is visible? -0.354286, 3.163279, 3.942846 mu:0.143122 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] If point is visible? -2.303282, 3.077097, 3.514122 mu:0.143122 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] If point is visible? -1.453885, 3.482890, 3.578385 mu:0.143122 unit_bearing:-0.174068 0.392782 0.903007 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] If point is visible? 1.734194, 3.470058, 3.579567 mu:0.143122 unit_bearing:0.281436 0.390939 0.876333 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] If point is visible? -4.404340, -1.949351, 2.678695 mu:0.143122 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? -1.394402, -1.982810, 4.256061 mu:0.143122 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? -1.078559, -2.008487, 4.314019 mu:0.143122 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? -1.039077, -2.007934, 4.321304 mu:0.143122 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.395627, -1.996766, 4.421915 mu:0.143122 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 4.207904, -1.511847, 3.198793 mu:0.143122 unit_bearing:0.626651 -0.310126 0.714934 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.499271, -0.253745, -0.192080 mu:0.470722 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] If point is visible? 1.307683, -0.772614, 4.574920 mu:0.143122 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 1.348015, -0.773146, 4.567787 mu:0.143122 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 3.776540, -1.230682, 3.562107 mu:0.143122 unit_bearing:0.568316 -0.276522 0.774954 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] calculated Z= 0.548798 +[21:42:20.847] update seeds 305 +[21:42:20.847] If point is visible? 0.611117, -0.249386, 0.645524 mu:0.337365 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 1.167139, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 1.306731, -0.588399, 4.593378 mu:0.143122 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 1.347103, -0.588970, 4.586273 mu:0.143122 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 1.307517, -0.741905, 4.578346 mu:0.143122 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.701151, -0.705524, 4.659295 mu:0.143122 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 2.707200, -0.378320, 4.214280 mu:0.143122 unit_bearing:0.421802 -0.166814 0.891210 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? -0.677927, -0.094806, 4.671326 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? -0.637700, -0.094289, 4.675889 mu:0.143122 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? -0.597453, -0.093796, 4.680217 mu:0.143122 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 2.378106, -0.124014, 4.305553 mu:0.143898 unit_bearing:0.377834 -0.132998 0.916271 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.831789, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.494814, -0.181732, 4.706663 mu:0.143122 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 0.413006, -0.058659, 4.712600 mu:0.143122 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 1.852576, 0.343425, 4.424960 mu:0.144500 unit_bearing:0.305085 -0.068616 0.949850 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.833045, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? -0.721890, 0.516603, 4.647458 mu:0.143122 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? -0.681635, 0.517174, 4.652245 mu:0.143122 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? 1.746115, 0.294015, 4.012981 mu:0.154012 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.856425, Z inverse max: 0.000000 +[21:42:20.847] If point is visible? -1.283602, 0.960707, 4.506726 mu:0.143122 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.847] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.058771, 0.186520, -0.577775 mu:0.587442 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 1.323308, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -0.076130, 1.008337, 4.642482 mu:0.143122 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -3.375797, 0.891227, 3.710366 mu:0.143122 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -0.318847, 1.037192, 4.626751 mu:0.143122 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.857042, 1.064096, 4.598588 mu:0.143122 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -0.639086, 1.604273, 4.488539 mu:0.143122 unit_bearing:-0.052020 0.110040 0.992565 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -0.032017, 1.817568, 4.476196 mu:0.143122 unit_bearing:0.034832 0.140555 0.989460 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.982171, 2.045086, 4.357867 mu:0.143122 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -0.031779, 1.847180, 4.467983 mu:0.143125 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829522, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.941863, 2.075245, 4.353560 mu:0.143122 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.942046, 2.104590, 4.344270 mu:0.143122 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 1.228604, 2.649174, 4.102636 mu:0.143122 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 2.703675, 2.716860, 3.631184 mu:0.143122 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 2.703493, 2.744874, 3.618282 mu:0.143122 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 1.230333, 2.877480, 4.002527 mu:0.143122 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 2.388605, 2.766657, 3.736231 mu:0.143122 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? -2.581653, 3.546964, 3.106900 mu:0.143122 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? -2.544021, 3.550174, 3.123596 mu:0.143122 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 1.714219, 3.443769, 3.600521 mu:0.143122 unit_bearing:0.278729 0.386839 0.879014 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 2.966391, 3.458451, 3.098475 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 1.149046, -1.170279, 4.543899 mu:0.143122 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.686773, -0.562895, 1.186288 mu:0.282127 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 1.091792, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.430735, -1.991149, 4.291847 mu:0.145721 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.836683, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.470416, -0.161921, -0.275440 mu:0.492958 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 0.754880, -1.904861, 4.424714 mu:0.143122 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.835054, -1.905010, 4.416681 mu:0.143122 unit_bearing:0.154437 -0.387219 0.908961 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -1.036622, -0.315523, 4.613618 mu:0.143122 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.054357, 0.048497, -0.449053 mu:0.549001 unit_bearing:0.017481 -0.095299 0.995295 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 1.216491, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -0.718410, -0.064651, 4.666850 mu:0.143122 unit_bearing:-0.063574 -0.130150 0.989454 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -0.637967, -0.063590, 4.676208 mu:0.143122 unit_bearing:-0.052002 -0.130162 0.990128 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -0.158990, -0.026238, 0.644711 mu:0.341605 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.656856, Z inverse max: 0.026354 +[21:42:20.848] If point is visible? 0.247336, -0.024522, 0.649943 mu:0.342364 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.764601, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 1.869284, 0.225273, 4.494526 mu:0.143122 unit_bearing:0.305019 -0.085959 0.948459 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -0.477340, -0.000379, 4.692347 mu:0.143122 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.257698, 0.000567, -0.248268 mu:0.494007 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 1.295599, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -1.443005, 0.956395, 4.472153 mu:0.143122 unit_bearing:-0.167677 0.018291 0.985672 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -1.348794, 1.009102, 4.415680 mu:0.144523 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.831446, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.008015, 0.197486, -0.403175 mu:0.532057 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 1.340541, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.046272, 0.742733, 0.487448 mu:0.350219 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? -1.347589, 1.903479, 4.246579 mu:0.143968 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.831948, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.820199, 2.048018, 4.375829 mu:0.143122 unit_bearing:0.155998 0.175042 0.972124 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -1.363364, 0.958610, 4.489910 mu:0.143122 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.738485, 1.989361, 4.397809 mu:0.143196 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] Z inverse min: 0.829631, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -0.063027, 2.637408, 4.198925 mu:0.143122 unit_bearing:0.028938 0.261854 0.964674 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 1.228401, 2.620473, 4.114530 mu:0.143122 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? -0.063893, 2.579629, 4.222162 mu:0.143122 unit_bearing:0.028948 0.253240 0.966970 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? -1.158071, 3.521713, 3.627491 mu:0.143122 unit_bearing:-0.131356 0.397441 0.908177 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 2.821444, 2.651885, 3.608118 mu:0.143122 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? -2.615806, 3.597296, 3.055884 mu:0.143122 unit_bearing:-0.344295 0.418148 0.840603 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 2.966391, 3.458451, 3.098475 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? -2.694145, 3.537007, 3.055324 mu:0.143122 unit_bearing:-0.355554 0.409593 0.840128 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 2.965422, 3.511411, 3.064490 mu:0.143122 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 2.349124, 2.740999, 3.762672 mu:0.143122 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 2.742839, 2.713932, 3.615284 mu:0.143122 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128330 y=0.000000 z=-2.268393 +[21:42:20.848] If point is visible? 2029134166.750370, 2275362565.975900, 3567830413.320033 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128330 y=0.000000 z=-2.268392 +[21:42:20.848] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 2029134166.750370, 2275362565.975900, 3567830413.320033 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128330 y=0.000000 z=-2.268392 +[21:42:20.848] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.105173, -0.097167, 0.619086 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.848] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.373685, 0.126422, 0.629061 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.848] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? 0.030271, 0.075446, 0.652141 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.848] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.848] If point is visible? -0.065107, 0.091544, 0.749036 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.848] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.287812, -0.043593, 0.587416 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.146055, 0.129698, 0.616391 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.088818, -0.099654, 0.626545 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.011218, -0.187305, 0.719213 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.105173, -0.097167, 0.619086 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.373685, 0.126422, 0.629061 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? -0.065107, 0.091544, 0.749036 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.030271, 0.075446, 0.652141 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.287812, -0.043593, 0.587416 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.146055, 0.129698, 0.616391 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.088818, -0.099654, 0.626545 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.011218, -0.187305, 0.719213 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.238880 y=0.000000 z=0.966745 +[21:42:20.849] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? -0.182013, -0.486674, -0.960512 mu:0.851146 unit_bearing:0.223694 -0.301881 0.926730 T_cur_ref: x=0.002300 y=0.000000 z=0.092833 +[21:42:20.849] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:20.849] If point is visible? 0.742780, -0.515232, -0.659885 mu:0.851146 unit_bearing:-0.579369 -0.357190 0.732630 T_cur_ref: x=0.002300 y=0.000000 z=0.092833 +[21:42:20.849] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:20.849] If point is visible? -0.017427, 0.094486, -1.078082 mu:0.851146 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.002300 y=0.000000 z=0.092833 +[21:42:20.849] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:20.849] If point is visible? 0.171266, 0.147851, -1.060401 mu:0.851146 unit_bearing:-0.074901 0.244529 0.966745 T_cur_ref: x=0.002300 y=0.000000 z=0.092833 +[21:42:20.849] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:20.849] If point is visible? 0.213430, -0.222238, 0.777818 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.000089 y=0.000000 z=0.001383 +[21:42:20.849] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? -0.066882, -0.096895, 0.828354 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.000089 y=0.000000 z=0.001383 +[21:42:20.849] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? -0.076939, -0.214684, 0.804957 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.000089 y=0.000000 z=0.001383 +[21:42:20.849] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? 0.213430, -0.222238, 0.777818 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.000089 y=0.000000 z=0.001383 +[21:42:20.849] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? -0.066882, -0.096895, 0.828354 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.000089 y=0.000000 z=0.001383 +[21:42:20.849] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:20.849] If point is visible? -0.076939, -0.214684, 0.804957 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.000089 y=0.000000 z=0.001383 +[21:42:20.849] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:20.849] init seeds +[21:42:20.851] DepthFilter: Initialized 0 new seeds +[21:42:21.123] add new frame +[21:42:21.123] update seed +[21:42:21.123] If point is visible? -2.787255, -1.055943, 9.449874 mu:0.082507 unit_bearing:0.470296 -0.204286 0.858539 T_cur_ref: x=0.128539 y=0.000000 z=-2.266819 +[21:42:21.123] Z inverse min: 0.593824, Z inverse max: 0.000000 +[21:42:21.123] add key frame +[21:42:21.123] remove key frame +[21:42:21.123] init seeds +[21:42:21.123] update seed +[21:42:21.123] init seeds +[21:42:21.125] DepthFilter: Initialized 3 new seeds +[21:42:21.126] DepthFilter: Initialized 182 new seeds +[21:42:21.394] add new frame +[21:42:21.394] add key frame +[21:42:21.394] remove key frame +[21:42:21.394] update seed +[21:42:21.394] If point is visible? -13.573282, 16.601186, 24.303696 mu:0.029251 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128277 y=0.000000 z=-2.256354 +[21:42:21.394] If point is visible? -86438677428.943939, 229257142262.794312, 375156136876.640381 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128277 y=0.000000 z=-2.256354 +[21:42:21.394] If point is visible? -13.573282, 16.601186, 24.303696 mu:0.029251 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128277 y=0.000000 z=-2.256354 +[21:42:21.394] If point is visible? -86438677428.943939, 229257142262.794312, 375156136876.640381 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128277 y=0.000000 z=-2.256354 +[21:42:21.394] If point is visible? -5.377719, 0.400458, -0.081616 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128280 y=0.000000 z=-2.256352 +[21:42:21.394] If point is visible? -1.038510, 3.037937, 2.705040 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128280 y=0.000000 z=-2.256352 +[21:42:21.394] If point is visible? -0.968525, 3.037066, 2.721511 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128280 y=0.000000 z=-2.256352 +[21:42:21.394] If point is visible? -5.377235, 0.425718, -0.085190 mu:0.168536 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.128280 y=0.000000 z=-2.256352 +[21:42:21.394] If point is visible? -5.377719, 0.400458, -0.081616 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128280 y=0.000000 z=-2.256352 +[21:42:21.394] If point is visible? -0.982152, 2.991554, 2.745989 mu:0.168536 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.128280 y=0.000000 z=-2.256352 +[21:42:21.394] If point is visible? -1.024557, 3.083350, 2.680225 mu:0.168536 unit_bearing:0.442103 0.414388 0.795505 T_cur_ref: x=0.128280 y=0.000000 z=-2.256352 +[21:42:21.394] If point is visible? -1.038510, 3.037937, 2.705040 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128280 y=0.000000 z=-2.256352 +[21:42:21.394] If point is visible? -0.968525, 3.037066, 2.721511 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128280 y=0.000000 z=-2.256352 +[21:42:21.394] If point is visible? -7770.107898, -5081.398972, 15183.356983 mu:0.000056 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128289 y=0.000000 z=-2.256336 +[21:42:21.394] Z inverse min: 0.478786, Z inverse max: 0.000000 +[21:42:21.394] If point is visible? -7770.107898, -5081.398972, 15183.356983 mu:0.000056 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128289 y=0.000000 z=-2.256336 +[21:42:21.394] Z inverse min: 0.478786, Z inverse max: 0.000000 +[21:42:21.394] If point is visible? -0.068692, -0.442483, 4.363037 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.128305 y=0.000000 z=-2.256306 +[21:42:21.394] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -0.068692, -0.442483, 4.363037 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.128305 y=0.000000 z=-2.256306 +[21:42:21.395] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -12.449819, 15.860771, 30.574308 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128308 y=0.000000 z=-2.256301 +[21:42:21.395] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? 2.438751, 19.197576, 31.116400 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128308 y=0.000000 z=-2.256301 +[21:42:21.395] If point is visible? -17.263318, 18.082673, 27.038247 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.128308 y=0.000000 z=-2.256301 +[21:42:21.395] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -12.449819, 15.860771, 30.574308 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128308 y=0.000000 z=-2.256301 +[21:42:21.395] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -17.263318, 18.082673, 27.038247 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.128308 y=0.000000 z=-2.256301 +[21:42:21.395] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? 2.438751, 19.197576, 31.116400 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128308 y=0.000000 z=-2.256301 +[21:42:21.395] If point is visible? -65390785586.464294, -23901742507.747051, 214641930161.776581 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? 11104398246.123705, -17919591477.839687, 224664164696.837646 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -295.452173, 981.276306, 1693.326549 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -127215923218.496399, -93211181533.139786, 161388323106.663177 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -127340713862.835587, -92731183094.694763, 161566322583.265503 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -127332992375.499329, -90772945223.635559, 162680631257.814606 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -127786642878.811996, -86879519390.142609, 164441264075.066864 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -130519617881.024490, -77216087575.478775, 167094917594.820312 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -69841920261.059540, -65449907006.819855, 204344860872.952545 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -107045388559.235214, -68104733549.407867, 186605027731.240173 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -70971979689.324326, -66004356695.477112, 203776370843.963501 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -193410520649.654114, -75472062244.760468, 88401044344.419968 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] If point is visible? -68707990802.214073, -64895784179.771454, 204905235447.396667 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -193533230592.747223, -75009287257.339020, 88526277455.404846 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] If point is visible? -193244709275.636536, -74972325031.314880, 89185419968.745316 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] If point is visible? -134321981676.562515, -66099680389.706200, 168839698557.961945 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -65366078445.741341, -62742950806.593575, 206661569312.819183 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.395] If point is visible? -64379270653.178276, -61204694153.393288, 207431196404.691681 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.395] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -63761918547.697433, -61174854214.607407, 207630588481.237427 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -192341501030.977631, -70047638971.892883, 94955155595.764603 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] If point is visible? -192035441711.210236, -70006981067.687790, 95602395614.168686 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] If point is visible? -191727501093.869385, -69966231967.020889, 96248106616.357681 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] If point is visible? -191417686702.076233, -69925393352.218811, 96892285042.498825 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] If point is visible? -191106006040.705658, -69884466898.077469, 97534927385.691116 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] If point is visible? -59035663366.505447, -59461445853.986710, 209517381679.777100 mu:0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -191530278906.383850, -69457208073.627808, 97006467966.072281 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] If point is visible? -191218389746.584869, -69416016224.650314, 97649118955.638596 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] If point is visible? -0.447724, -0.542390, -0.383098 mu:0.491777 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] If point is visible? -191753390367.873016, -68520265513.134216, 97231768548.286957 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] If point is visible? -191441087674.802002, -68478545328.511108, 97874435365.773514 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] If point is visible? -135554368647.350204, -62217852018.017136, 169329142055.239380 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -194763169101.164612, -65069828215.564644, 93550156260.029160 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] If point is visible? -136835899852.307907, -57839114806.132980, 169849873795.450592 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -138152139334.287384, -52962393312.445717, 170374228128.121277 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -48062606610.928490, -31668381845.420612, 218186859721.521240 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -142765074486.695251, -34402276706.468872, 171327240048.073242 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -46078828317.946571, -25638162106.270035, 219403355814.663574 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -45432387771.318352, -25615713629.098858, 219540747185.451080 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -61738507253.227219, -14798043728.755327, 216535865255.693878 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -0.727689, -0.196531, 0.711632 mu:0.323086 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 1.505610, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -68401157678.746063, -9609110679.054111, 214819349543.419861 mu:0.000000 unit_bearing:0.130143 -0.158286 0.978779 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -68368319087.271896, -10104287455.970634, 214807082374.583618 mu:0.000000 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -72942251609.824936, -6828220043.593216, 213427293613.594269 mu:0.000000 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -108276842912.139877, -6283730899.971777, 197876341014.068054 mu:0.000000 unit_bearing:-0.060676 -0.134508 0.989053 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] calculated Z= 0.321846 +[21:42:21.396] update seeds 305 +[21:42:21.396] If point is visible? -107704208933.977570, -6245996943.767147, 198189800994.507568 mu:0.000000 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -101959507173.306442, -5383021406.371277, 201230435808.454956 mu:0.000000 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.396] If point is visible? -147.759985, -9.258580, 269.951550 mu:0.003227 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.396] Z inverse min: 0.985528, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -100320683964.040512, -3296282880.509888, 202097256800.534027 mu:0.000000 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -99736061470.990509, -3260926159.958283, 202386982587.752350 mu:0.000000 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -107644863327.408264, -7236065311.309441, 198188367661.152191 mu:0.000000 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? 0.043753, -0.007795, -0.661433 mu:0.626125 unit_bearing:0.377891 -0.126541 0.917162 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 1.509897, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -99176821029.577881, -2730965883.870788, 202669450865.067841 mu:0.000000 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -98029084754.303268, -2166400651.200541, 203233883908.638062 mu:0.000000 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -0.936075, -0.023286, -0.033205 mu:0.405700 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] If point is visible? -91681714809.944138, 1666255304.114086, 206179759144.528046 mu:0.000000 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -91106405959.569962, 2193101236.762956, 206429696066.773224 mu:0.000000 unit_bearing:0.026168 -0.101842 0.994456 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -27924053211.457886, 10882725367.802870, 223652006158.845306 mu:0.000000 unit_bearing:0.313565 -0.072921 0.946763 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -27241931295.287449, 10405662101.078310, 223758811432.319366 mu:0.000000 unit_bearing:0.316386 -0.075077 0.945655 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -89681660154.984009, 13633341477.349247, 206614951419.621368 mu:0.000000 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -89692275321.398102, 14125464122.251459, 206577281735.253357 mu:0.000000 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -164925059205.167694, 11179357548.588949, 153600628674.876251 mu:0.000000 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -164933172661.219238, 11665560555.964178, 153555753950.036865 mu:0.000000 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -132986790216.186829, 22892075175.134182, 180855944996.015015 mu:0.000000 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -96948440731.668503, 27466265358.815044, 201903468085.818909 mu:0.000000 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -96357422792.776550, 27500408377.213295, 202181554376.168182 mu:0.000000 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -59440864677.787201, 33541480718.665775, 215081749564.323761 mu:0.000000 unit_bearing:0.176509 0.031374 0.983799 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -123208898182.213058, 27132997360.452808, 187087610977.228546 mu:0.000000 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.397] If point is visible? -70154726665.784927, 33644228547.838673, 211813093386.541901 mu:0.000000 unit_bearing:0.127482 0.033591 0.991272 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.397] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -62621425384.225075, 32948253096.222973, 214269400565.858093 mu:0.000000 unit_bearing:0.162108 0.029203 0.986341 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -1.148979, 0.573724, 1.349708 mu:0.258510 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 1.412621, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -1.008417, 0.515270, 0.983093 mu:0.288060 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 1.549039, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -122354505614.136963, 40789337724.651520, 185159421046.074371 mu:0.000000 unit_bearing:-0.130121 0.079415 0.988313 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -121802692725.035583, 40833735149.311226, 185513116616.852783 mu:0.000000 unit_bearing:-0.127234 0.079419 0.988688 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -122850308968.947784, 42196288122.569199, 184514718039.312439 mu:0.000000 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -120801252394.737244, 50528846960.848869, 183772411865.572937 mu:0.000000 unit_bearing:-0.124267 0.123004 0.984595 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -69363237666.905289, 55892489975.651382, 207323846054.458221 mu:0.000000 unit_bearing:0.127327 0.133877 0.982784 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -107017477354.385239, 55853607600.730804, 190646375199.948151 mu:0.000000 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -106443225704.945572, 55892378545.204483, 190956246402.877563 mu:0.000000 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -97109282136.727005, 56958791391.008369, 195560450307.156158 mu:0.000000 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -72075511071.718369, 61996285267.482399, 204646005665.689758 mu:0.000000 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -71455240311.619537, 62020285702.813805, 204856142479.270660 mu:0.000000 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -70834231503.339783, 62044022875.071762, 205064519580.899780 mu:0.000000 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -106954586743.905991, 56812541377.973869, 190398156069.877930 mu:0.000000 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -106380393482.317902, 56851333297.263039, 190708007443.480957 mu:0.000000 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -57054347041.483734, 61545378102.533707, 209464493974.530670 mu:0.000000 unit_bearing:0.181940 0.157586 0.970600 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -70800484585.414124, 62521293371.168892, 204931172777.115051 mu:0.000000 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -57022084314.776672, 62022226435.114296, 209332586203.272705 mu:0.000000 unit_bearing:0.181930 0.159754 0.970247 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.398] If point is visible? -57626111790.585854, 62481024873.852043, 209030521907.050354 mu:0.000000 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.398] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -134600107026.245499, 60224880751.296799, 170804511782.593018 mu:0.000000 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -134073672425.771698, 60276923995.552887, 171199734562.218903 mu:0.000000 unit_bearing:-0.198881 0.172672 0.964692 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -133546235476.262711, 60328706558.182190, 171593287961.407928 mu:0.000000 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -121617033680.670700, 62354671787.965363, 179553887017.709015 mu:0.000000 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -66659877655.022400, 67892202772.217644, 204610644473.578278 mu:0.000000 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -61002121551.134003, 68075438635.439735, 206307736498.141235 mu:0.000000 unit_bearing:0.161691 0.188013 0.968766 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -57834124993.686348, 68167510440.297691, 207187863603.823883 mu:0.000000 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -57236532442.268188, 67710918957.896805, 207503294253.347229 mu:0.000000 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -56600114317.519249, 67728258528.654175, 207672136730.105927 mu:0.000000 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -56637736520.218071, 67253922711.900330, 207815983504.290894 mu:0.000000 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -60292059814.194290, 69042535428.623596, 206195058483.666992 mu:0.000000 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -59659223795.345482, 69061142481.403687, 206372822661.884216 mu:0.000000 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -7498603824.051565, 91312094703.983917, 206214157175.515137 mu:0.000000 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.399] If point is visible? -47521346375.002083, 93108793409.736618, 199977200067.046112 mu:0.000000 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.399] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -147074690930.919739, 94005611241.958206, 143004848382.833282 mu:0.000000 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -124365963092.901352, 106885239734.766815, 155006642016.286102 mu:0.000000 unit_bearing:-0.179828 0.386428 0.904619 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -124273833557.883530, 107332570043.388474, 154771250621.871643 mu:0.000000 unit_bearing:-0.179800 0.388523 0.903726 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -123655630840.809433, 107834790744.996841, 154917233336.686371 mu:0.000000 unit_bearing:-0.176934 0.390653 0.903374 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -149805548089.512390, 109099489938.476822, 128740069035.345459 mu:0.000000 unit_bearing:-0.330763 0.410354 0.849827 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] If point is visible? -72010915592.153061, -67051147240.276222, 203068899655.973175 mu:0.000000 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -192999034881.429993, -75898236047.364456, 88933889032.045593 mu:0.000000 unit_bearing:-0.621788 -0.381876 0.683777 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] If point is visible? -69756003706.577789, -65942090074.644913, 204215932340.294739 mu:0.000000 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -68536975550.857887, -65880171881.488663, 204648215856.736664 mu:0.000000 unit_bearing:0.097312 -0.400306 0.911200 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -121335588032.714996, -68095741740.416595, 177648673937.704681 mu:0.000000 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -112546355030.757172, -68472900869.752670, 183202582225.240845 mu:0.000000 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -111453730909.969833, -68398664069.422699, 183896968267.526947 mu:0.000000 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] calculated Z= 0.497874 +[21:42:21.400] update seeds 305 +[21:42:21.400] If point is visible? -5.363750, -3.202556, 24.705089 mu:0.036100 unit_bearing:0.230094 -0.233367 0.944773 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 1.059740, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -44643224819.411942, -27077292541.625366, 219527239823.254120 mu:0.000000 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -65390785586.464294, -23901742507.747051, 214641930161.776581 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? 11104398246.123705, -17919591477.839687, 224664164696.837646 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -46217151728.621437, -24153983997.348076, 219542629712.834656 mu:0.000000 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -47941314450.349197, -19251331305.674805, 219657512800.742401 mu:0.000000 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -0.062248, -0.078461, -1.357858 mu:1.084866 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 2.560879, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -44831762813.407204, -25098790251.893970, 219723849613.579163 mu:0.000000 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -0.669060, -0.080088, 0.077697 mu:0.405229 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] If point is visible? -28.639891, -1.670780, 49.958243 mu:0.016768 unit_bearing:-0.063569 -0.134505 0.988872 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 1.019384, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -52.386580, -3.045451, 94.377958 mu:0.009089 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 1.000588, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -0.764877, -0.051728, -0.589796 mu:0.528687 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 1.507359, Z inverse max: 0.000000 +[21:42:21.400] If point is visible? -105405071536.567596, -6096770597.344652, 199426694804.901642 mu:0.000000 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.400] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -23.077688, 2.676968, 39.991163 mu:0.020714 unit_bearing:-0.057847 -0.051613 0.996990 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 1.027515, Z inverse max: 0.000000 +[21:42:21.401] calculated Z= 0.325836 +[21:42:21.401] update seeds 305 +[21:42:21.401] If point is visible? -107320850736.436234, 12588617847.584642, 198096360431.113251 mu:0.000000 unit_bearing:-0.052054 -0.051615 0.997309 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -29923461959.395199, 10843994925.365891, 223395166725.888367 mu:0.000000 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -108491466531.861313, 13496724652.392101, 197397685983.359131 mu:0.000000 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -178295200815.210480, 21843551937.854843, 136572643393.250168 mu:0.000000 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -93389590755.928726, 22281549270.597538, 204206569969.422272 mu:0.000000 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -124299432646.186707, 28020325912.454025, 186233505840.929718 mu:0.000000 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -125404451072.060196, 26955394176.403416, 185648960929.815063 mu:0.000000 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -96950704273.893234, 26977183005.130196, 201968311514.572723 mu:0.000000 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -62615268237.297989, 33435238732.262779, 214195749987.214081 mu:0.000000 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -105701838148.744827, 48753529158.232658, 193309650883.690796 mu:0.000000 unit_bearing:-0.046230 0.110044 0.992851 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -58619086144.806976, 66251328243.497536, 207588464428.176270 mu:0.000000 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -58545001941.430511, 67200923996.949615, 207303943232.548157 mu:0.000000 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? 1860665350.932618, 89767252122.477905, 207018802742.595215 mu:0.000000 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? 3337086557.716188, 90641984317.556534, 206618733057.848755 mu:0.000000 unit_bearing:0.424970 0.287106 0.858470 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -46941209909.420166, 92659863927.598846, 200322436954.332581 mu:0.000000 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -85151390772.007721, 83999571090.675186, 191341890406.596802 mu:0.000000 unit_bearing:0.040463 0.266140 0.963085 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.401] If point is visible? -0.034520, 1.661248, 1.515828 mu:0.242427 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] If point is visible? -28889643758.267700, 101013613731.481354, 199699886436.118988 mu:0.000000 unit_bearing:0.285343 0.336464 0.897425 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.401] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] calculated Z= 0.882899 +[21:42:21.402] update seeds 305 +[21:42:21.402] If point is visible? -150052939556.008606, 109896657137.460281, 127770287622.268341 mu:0.000000 unit_bearing:-0.333401 0.414384 0.846835 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? 12623203520.980997, 116075337893.915649, 193094735774.678833 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? -95247050098.961472, 1466364570.088095, 204558684832.802734 mu:0.000000 unit_bearing:0.005893 -0.104028 0.994557 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -0.692093, 0.014137, -0.439703 mu:0.501678 unit_bearing:0.017479 -0.104026 0.994421 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 1.685863, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -0.451275, -0.566871, -0.523514 mu:0.522722 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? -108789155202.609329, -7311648289.062314, 197559777859.158722 mu:0.000000 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -0.921612, -0.076819, 0.812222 mu:0.308254 unit_bearing:0.110000 -0.138777 0.984195 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 1.495700, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -1.609941, -0.128977, 3.023401 mu:0.179857 unit_bearing:0.121545 -0.138750 0.982840 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 1.317837, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -117413625257.116989, -13881163948.040470, 192197190951.406555 mu:0.000000 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -0.576921, -0.539761, 0.806086 mu:0.313621 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 1.508032, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -0.340596, -0.494814, -0.603318 mu:0.559274 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? -193323765297.164459, -76894636323.122314, 87358703027.790756 mu:0.000000 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? -0.459853, -0.473314, 0.443392 mu:0.356727 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? -191950430411.874786, -72886611709.505005, 93600109064.103928 mu:0.000000 unit_bearing:-0.608072 -0.371150 0.701781 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? -47573768064.001144, -36121345407.236748, 217601450629.929199 mu:0.000000 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -104307492299.771103, -5033206377.444115, 200032547856.207062 mu:0.000000 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -3.995577, -1.428359, 17.104553 mu:0.050386 unit_bearing:0.224725 -0.190320 0.955655 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 1.091736, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -192661830518.238892, -74898030776.777939, 90499228536.735748 mu:0.000000 unit_bearing:-0.617247 -0.378322 0.689839 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? -4.450032, -1.784889, 19.298432 mu:0.045233 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 1.078860, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -102095876382.425934, -2908654233.619668, 201212271182.449036 mu:0.000000 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -98121287773.218063, 21029975680.259262, 202109770488.108124 mu:0.000000 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -127585051853.799561, 26774424107.305679, 184183579820.247437 mu:0.000000 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -126319735835.919495, 57688655408.940018, 177858791443.372345 mu:0.000000 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -106900306496.841888, 47711989001.964584, 192910074632.041077 mu:0.000000 unit_bearing:-0.052023 0.105679 0.993039 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] calculated Z= 0.280319 +[21:42:21.402] update seeds 305 +[21:42:21.402] If point is visible? -59959642642.889343, 65263800208.904549, 207518394255.924469 mu:0.000000 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -187338822253.509949, 75793105160.250092, 100389128920.485794 mu:0.000000 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? 169.572750, 2584.846868, 6110.810041 mu:0.000151 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976838, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -65144810395.534973, 63199496771.269447, 206592312549.424408 mu:0.000000 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -295.452173, 981.276306, 1693.326549 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? 12623203520.980997, 116075337893.915649, 193094735774.678833 mu:0.000000 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? 0.055486, 0.631941, -0.804854 mu:0.631025 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? 0.151538, 0.645506, -0.767143 mu:0.616064 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128313 y=0.000000 z=-2.256299 +[21:42:21.402] If point is visible? -5.386794, 12.795682, 25.152203 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128321 y=0.000000 z=-2.256267 +[21:42:21.402] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -5.386794, 12.795682, 25.152203 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128321 y=0.000000 z=-2.256267 +[21:42:21.402] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:21.402] If point is visible? -7.249370, 4.571889, 3.914939 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.402] If point is visible? 2.601949, 5.264663, 6.664539 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.402] If point is visible? 0.077472, 5.290408, 6.986314 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.402] If point is visible? -4.694593, -4.179989, 6.269194 mu:0.093899 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.402] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -4.699305, -3.995986, 6.354332 mu:0.093899 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -4.703115, -3.973092, 6.362786 mu:0.093899 unit_bearing:-0.220701 -0.468921 0.855222 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -4.743748, -3.720643, 6.452123 mu:0.093899 unit_bearing:-0.221187 -0.446416 0.867058 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -1.743477, -3.064937, 7.769642 mu:0.093899 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -4.848812, -3.377496, 6.532189 mu:0.093899 unit_bearing:-0.227427 -0.415351 0.880773 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -8.301688, -3.415121, 3.283422 mu:0.093899 unit_bearing:-0.624195 -0.381680 0.681690 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.306097, -3.393193, 3.290182 mu:0.093899 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -1.656110, -3.038936, 7.793459 mu:0.093899 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -0.298929, -0.751644, 0.277778 mu:0.373487 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -1.619760, -2.999474, 7.754597 mu:0.094377 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.752239, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -0.365734, -0.876358, 0.725788 mu:0.317745 unit_bearing:0.105938 -0.391858 0.913906 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.310480, -3.371254, 3.296888 mu:0.093899 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -3.725227, -3.114303, 7.170694 mu:0.093899 unit_bearing:-0.108544 -0.398128 0.910885 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -3.694136, -3.136356, 7.176039 mu:0.093899 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -3.552886, -3.130322, 7.234049 mu:0.093899 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -1.405020, -2.844656, 7.891300 mu:0.093899 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -0.299134, -0.808745, 0.630927 mu:0.330182 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.210007, -3.206605, 3.540821 mu:0.093899 unit_bearing:-0.608475 -0.365192 0.704552 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -4.952916, -3.009872, 6.605900 mu:0.093899 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -8.199223, -3.160797, 3.581338 mu:0.093899 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.180179, -3.159213, 3.609265 mu:0.093899 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.161059, -3.157626, 3.637106 mu:0.093899 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.214111, -3.184496, 3.547100 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.203266, -3.138658, 3.587511 mu:0.093899 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.165082, -3.135461, 3.643277 mu:0.093899 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.145875, -3.133859, 3.671032 mu:0.093899 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -1.377191, -2.820497, 7.902204 mu:0.093899 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -1.321639, -2.771384, 7.732852 mu:0.095535 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.755446, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -8.169080, -3.113288, 3.649395 mu:0.093899 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.149863, -3.111673, 3.677149 mu:0.093899 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.130571, -3.110056, 3.704817 mu:0.093899 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.157765, -3.067277, 3.689224 mu:0.093899 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.138452, -3.065635, 3.716891 mu:0.093899 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? -8.321973, -2.901489, 3.539434 mu:0.093899 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] If point is visible? 3.035162, -1.313168, 7.904548 mu:0.093899 unit_bearing:0.525495 -0.238661 0.816637 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -0.430663, -1.207109, 8.310035 mu:0.093899 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -0.399505, -1.206639, 8.311691 mu:0.093899 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -0.400891, -1.183258, 8.314265 mu:0.093899 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? 2.374112, -0.849179, 8.119263 mu:0.093899 unit_bearing:0.473124 -0.197875 0.858487 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.403] If point is visible? -0.354088, -0.901881, 8.344215 mu:0.093899 unit_bearing:0.233178 -0.205361 0.950502 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.403] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -0.610792, -0.373591, 3.734259 mu:0.165358 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.897124, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -1.807006, -0.645959, 8.144381 mu:0.094350 unit_bearing:0.098354 -0.180082 0.978722 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.751942, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -0.063288, -0.087824, -0.741851 mu:0.654019 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 1.321620, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -1.365172, -0.497857, 8.276441 mu:0.093899 unit_bearing:0.141639 -0.166930 0.975742 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -1.364129, -0.521255, 8.275457 mu:0.093899 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -1.205151, -0.635106, 8.290524 mu:0.093899 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -0.653441, -0.380766, 4.075280 mu:0.156471 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.880813, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -3.694058, -0.433627, 7.674378 mu:0.093899 unit_bearing:-0.083774 -0.154054 0.984504 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -3.210500, -0.178621, 7.854949 mu:0.093899 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -3.151928, -0.176302, 7.874143 mu:0.093899 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? 1.420650, -0.196760, 8.312909 mu:0.093899 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -1.711134, -0.271510, 8.229867 mu:0.093899 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? 1.453391, -0.220048, 8.308395 mu:0.093899 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -3.413991, -0.231883, 7.516514 mu:0.096177 unit_bearing:-0.063566 -0.136682 0.988573 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.757116, Z inverse max: 0.000000 +[21:42:21.404] calculated Z= 0.475738 +[21:42:21.404] update seeds 305 +[21:42:21.404] If point is visible? -3.470901, -0.236256, 7.764017 mu:0.093899 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -3.441876, -0.235015, 7.774425 mu:0.093899 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -3.067294, -0.079373, 7.902377 mu:0.093899 unit_bearing:-0.020167 -0.123647 0.992121 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.404] If point is visible? -2.964052, -0.076428, 7.674487 mu:0.096141 unit_bearing:-0.017272 -0.123648 0.992176 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.404] Z inverse min: 0.753241, Z inverse max: 0.000000 +[21:42:21.404] calculated Z= 0.078141 +[21:42:21.404] update seeds 305 +[21:42:21.405] If point is visible? -3.009266, -0.053769, 7.920617 mu:0.093899 unit_bearing:-0.014377 -0.121470 0.992491 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -2.922385, -0.003753, 7.947139 mu:0.093899 unit_bearing:-0.005691 -0.117112 0.993102 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -2.892843, -0.002677, 7.955926 mu:0.093899 unit_bearing:-0.002795 -0.117112 0.993115 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -2.951116, -0.028204, 7.938466 mu:0.093899 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -0.917680, -0.009300, 1.243165 mu:0.273791 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 1.066638, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? 0.446165, 0.546040, 8.374685 mu:0.093899 unit_bearing:0.310742 -0.070764 0.947856 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -2.298270, 0.649438, 7.161646 mu:0.102594 unit_bearing:0.034874 -0.051621 0.998058 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.773144, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -6.421609, 0.665336, 6.114637 mu:0.093899 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -4.582661, 1.334062, 7.201176 mu:0.093899 unit_bearing:-0.170559 0.016108 0.985216 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -4.722261, 1.187312, 7.150032 mu:0.093899 unit_bearing:-0.184955 0.003016 0.982742 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -2.883802, 1.369186, 7.866418 mu:0.093899 unit_bearing:0.000101 0.011769 0.999931 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -2.854181, 1.370245, 7.875042 mu:0.093899 unit_bearing:0.002999 0.011769 0.999926 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -2.972427, 1.389021, 7.836914 mu:0.093899 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -1.122894, 0.699646, 2.439401 mu:0.203682 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.958282, Z inverse max: 0.000000 +[21:42:21.405] calculated Z= 0.552480 +[21:42:21.405] update seeds 305 +[21:42:21.405] If point is visible? -4.160072, 1.404290, 7.390181 mu:0.093899 unit_bearing:-0.127288 0.020491 0.991654 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -1.587574, 1.589283, 8.133449 mu:0.093899 unit_bearing:0.124596 0.029226 0.991777 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -1.770407, 1.631525, 8.095026 mu:0.093899 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -0.389993, 0.452821, 0.617045 mu:0.338457 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] If point is visible? -7.206821, 1.266740, 5.359988 mu:0.093899 unit_bearing:-0.455668 0.030903 0.889613 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.405] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.405] If point is visible? -7.183335, 1.246935, 5.385796 mu:0.093899 unit_bearing:-0.452936 0.028762 0.891079 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -4.206118, 2.066007, 7.249550 mu:0.093899 unit_bearing:-0.133001 0.083771 0.987569 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -4.205518, 2.088821, 7.244837 mu:0.093899 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -4.104352, 2.570836, 7.171967 mu:0.093899 unit_bearing:-0.124247 0.131709 0.983471 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -4.103415, 2.593469, 7.166187 mu:0.093899 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -2.911279, 2.761436, 7.569801 mu:0.093899 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -3.410192, 2.718563, 7.413513 mu:0.093899 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -3.381115, 2.719853, 7.423741 mu:0.093899 unit_bearing:-0.051989 0.142716 0.988397 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -3.408218, 2.763773, 7.401412 mu:0.093899 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -0.967018, 2.985476, 7.907565 mu:0.093899 unit_bearing:0.179049 0.161935 0.970422 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -1.674174, 2.953423, 7.815705 mu:0.093899 unit_bearing:0.112834 0.159999 0.980647 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -1.643696, 2.953983, 7.820948 mu:0.093899 unit_bearing:0.115719 0.159991 0.980312 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -1.672134, 2.998438, 7.802761 mu:0.093899 unit_bearing:0.112823 0.164343 0.979930 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -1.611162, 2.999539, 7.813156 mu:0.093899 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -4.837597, 2.951090, 6.690633 mu:0.093899 unit_bearing:-0.201747 0.172657 0.964100 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -4.782590, 2.954984, 6.719663 mu:0.093899 unit_bearing:-0.196014 0.172687 0.965276 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -0.967998, 2.963002, 7.914034 mu:0.093899 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -4.191949, 3.082453, 6.976828 mu:0.093899 unit_bearing:-0.135626 0.181625 0.973970 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -4.163721, 3.084115, 6.989430 mu:0.093899 unit_bearing:-0.132746 0.181635 0.974365 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -0.895731, 3.187742, 7.853428 mu:0.093899 unit_bearing:0.184696 0.181406 0.965908 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -4.166279, 3.039269, 7.003083 mu:0.093899 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -0.956483, 3.209653, 7.840150 mu:0.093899 unit_bearing:0.178946 0.183600 0.966576 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -0.925561, 3.209888, 7.843350 mu:0.093899 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -1.138162, 3.275045, 7.797907 mu:0.093899 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -1.136985, 3.297386, 7.790750 mu:0.093899 unit_bearing:0.161671 0.192342 0.967919 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -1.106184, 3.297695, 7.794480 mu:0.093899 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -1.075365, 3.297990, 7.798121 mu:0.093899 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -1.415671, 3.249266, 7.767439 mu:0.093899 unit_bearing:0.135801 0.188124 0.972711 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -7.199340, 3.231505, 4.763636 mu:0.093899 unit_bearing:-0.464359 0.220843 0.857671 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -6.619619, 3.374780, 5.259879 mu:0.093899 unit_bearing:-0.398598 0.228517 0.888200 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -7.056703, 3.273557, 4.890448 mu:0.093899 unit_bearing:-0.448032 0.223311 0.865679 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? 1.374855, 4.300938, 7.406258 mu:0.093899 unit_bearing:0.381002 0.290272 0.877827 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] If point is visible? -0.534863, 4.422232, 7.409153 mu:0.093899 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] If point is visible? -2.878975, 4.768420, 6.778922 mu:0.093899 unit_bearing:-0.017136 0.341020 0.939900 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] If point is visible? -2.849775, 4.769560, 6.787987 mu:0.093899 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] If point is visible? -5.592689, 4.558299, 5.483775 mu:0.093899 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] If point is visible? -4.489092, 5.140478, 5.847514 mu:0.093899 unit_bearing:-0.185504 0.386354 0.903503 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] If point is visible? -4.458824, 5.163653, 5.849970 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] If point is visible? -4.284724, -3.116386, 6.921395 mu:0.093899 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.406] calculated Z= 0.856463 +[21:42:21.406] update seeds 305 +[21:42:21.406] If point is visible? -0.627599, -1.221701, 1.668061 mu:0.239290 unit_bearing:0.080153 -0.404604 0.910973 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] If point is visible? -3.834608, -3.142497, 7.115831 mu:0.093899 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.406] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -1.013188, -0.917461, 0.489214 mu:0.321372 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] If point is visible? -8.214111, -3.184496, 3.547100 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] If point is visible? -0.359356, -0.824475, 0.445438 mu:0.348859 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] If point is visible? 4.182523, -2.067943, 7.371991 mu:0.093899 unit_bearing:0.612340 -0.302911 0.730263 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? 3.532348, -1.703795, 7.689887 mu:0.093899 unit_bearing:0.563347 -0.272611 0.779951 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -1.429527, -1.038563, 8.227569 mu:0.093899 unit_bearing:0.132803 -0.216765 0.967149 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -0.365523, -1.252936, 8.307946 mu:0.093899 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -0.436139, -1.113577, 8.320011 mu:0.093899 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -0.371084, -1.159421, 8.318356 mu:0.093899 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -0.448917, -0.879796, 8.341330 mu:0.093899 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -3.721742, -0.458341, 7.662566 mu:0.093899 unit_bearing:-0.086659 -0.156223 0.983913 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -3.440937, -0.258402, 7.774184 mu:0.093899 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -0.232155, -0.057820, -0.200370 mu:0.478915 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 1.186204, Z inverse max: 0.000000 +[21:42:21.407] calculated Z= 0.288043 +[21:42:21.407] update seeds 305 +[21:42:21.407] If point is visible? -3.384664, -0.209172, 7.795176 mu:0.093899 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -3.326418, -0.206748, 7.815394 mu:0.093899 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -2.691027, 0.191395, 8.011691 mu:0.093899 unit_bearing:0.017480 -0.099663 0.994868 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -3.066837, 0.628016, 6.468438 mu:0.107382 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.784084, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -3.467516, 0.720731, 7.742074 mu:0.093899 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? 0.383173, 0.522908, 8.377544 mu:0.093899 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -2.705682, 1.121166, 7.948032 mu:0.093899 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -2.883872, 1.346106, 7.869493 mu:0.093899 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -4.273225, 1.421088, 7.336606 mu:0.093899 unit_bearing:-0.138837 0.022669 0.990056 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -4.273515, 1.375046, 7.343181 mu:0.093899 unit_bearing:-0.138839 0.018303 0.990146 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -0.142733, 0.368374, 0.120710 mu:0.413126 unit_bearing:0.173630 0.031376 0.984311 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] If point is visible? -2.942069, 1.528426, 7.826041 mu:0.093899 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.407] If point is visible? -2.508907, 2.412589, 7.775719 mu:0.093899 unit_bearing:0.034851 0.110052 0.993315 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.407] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -2.437709, 2.732018, 7.712077 mu:0.093899 unit_bearing:0.040619 0.140550 0.989240 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -3.337078, 2.336584, 7.538700 mu:0.093902 unit_bearing:-0.046234 0.105683 0.993324 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750821, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -0.960857, 3.120105, 7.867712 mu:0.093899 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -1.020490, 3.164381, 7.847358 mu:0.093899 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -2.495626, 2.775445, 7.684966 mu:0.093899 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -2.435813, 2.777204, 7.699890 mu:0.093901 unit_bearing:0.040616 0.144903 0.988612 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750816, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -1.018270, 3.209142, 7.833483 mu:0.093899 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -0.473994, 4.008221, 7.591966 mu:0.093899 unit_bearing:0.218440 0.260866 0.940336 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? 1.373296, 4.279502, 7.415972 mu:0.093899 unit_bearing:0.381048 0.288163 0.878501 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -0.505692, 4.400502, 7.421022 mu:0.093899 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] If point is visible? 1.818600, 4.262287, 7.355818 mu:0.093899 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? 1.815627, 4.219550, 7.375176 mu:0.093899 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? 1.879343, 4.216814, 7.364996 mu:0.093899 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -7.249370, 4.571889, 3.914939 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] If point is visible? 2.297851, 5.407695, 6.658118 mu:0.093899 unit_bearing:0.447983 0.401983 0.798574 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] If point is visible? -5.836165, 5.270831, 4.819009 mu:0.093899 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] If point is visible? -4.513365, 5.159358, 5.821608 mu:0.093899 unit_bearing:-0.188312 0.388410 0.902040 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] If point is visible? -4.458824, 5.163653, 5.849970 mu:0.093899 unit_bearing:-0.182639 0.388486 0.903173 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] If point is visible? -5.821797, 5.352897, 4.769320 mu:0.093899 unit_bearing:-0.333276 0.418490 0.844863 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] If point is visible? -0.336855, -0.827766, 0.416562 mu:0.352551 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] If point is visible? -0.302099, -0.510250, 4.218346 mu:0.153635 unit_bearing:0.213234 -0.199035 0.956513 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.872691, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -0.159115, -0.413102, 3.000779 mu:0.189355 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.934054, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -1.154998, -2.907996, 7.908031 mu:0.093899 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -3.462139, -0.258245, 7.651682 mu:0.094862 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.752079, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -0.055512, -0.423292, 0.244405 mu:0.393253 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] If point is visible? -0.517635, -1.770461, 8.225361 mu:0.093899 unit_bearing:0.212502 -0.284952 0.934690 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.408] If point is visible? -0.524411, -1.676918, 8.240314 mu:0.093899 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.408] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -8.310987, -3.460324, 3.241050 mu:0.093899 unit_bearing:-0.626296 -0.385408 0.677653 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] If point is visible? -3.041827, 0.038568, 7.910590 mu:0.093899 unit_bearing:-0.017275 -0.112749 0.993473 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? 0.384027, 0.476647, 8.379697 mu:0.093899 unit_bearing:0.305054 -0.077289 0.949194 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -3.237076, -0.156074, 7.738172 mu:0.094814 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.753451, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -1.838878, -0.110851, 8.209590 mu:0.093899 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -2.823774, 0.978116, 7.929249 mu:0.093899 unit_bearing:0.005898 -0.025397 0.999660 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -3.156187, -0.059420, 7.874122 mu:0.093899 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -0.208278, -0.002270, -0.207626 mu:0.481672 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 1.180870, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -2.942758, 1.066521, 7.885100 mu:0.093899 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -4.553952, 1.450762, 7.198251 mu:0.093899 unit_bearing:-0.167673 0.027018 0.985472 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -4.442547, 1.365404, 7.265243 mu:0.093899 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -1.079073, 3.105344, 7.809750 mu:0.094312 unit_bearing:0.167498 0.174992 0.970217 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.752018, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -1.334733, 3.026327, 7.849035 mu:0.093899 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -2.557167, 2.728359, 7.681566 mu:0.093899 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -1.544976, 3.647986, 7.608244 mu:0.093899 unit_bearing:0.121248 0.227106 0.966293 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -1.422905, 3.649800, 7.627506 mu:0.093899 unit_bearing:0.132756 0.227055 0.964791 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -1.737886, 1.163051, 1.539697 mu:0.227953 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 1.006339, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? 1.239412, 4.226409, 7.415954 mu:0.094219 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.751198, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? 0.854626, 1.749091, 1.734537 mu:0.226378 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] If point is visible? -2.363965, 3.982913, 7.300993 mu:0.093899 unit_bearing:0.040470 0.261837 0.964263 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -1.484421, 4.438396, 7.289204 mu:0.093899 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] If point is visible? -2.370736, 3.894730, 7.335471 mu:0.093900 unit_bearing:0.040484 0.253225 0.966560 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] Z inverse min: 0.750813, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? 2.483289, 5.354477, 6.643171 mu:0.093899 unit_bearing:0.464118 0.397194 0.791727 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] If point is visible? -7.798740, 3.738206, 3.793839 mu:0.093899 unit_bearing:-0.542276 0.279165 0.792467 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] If point is visible? 2.601949, 5.264663, 6.664539 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] If point is visible? 0.077472, 5.290408, 6.986314 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128320 y=0.000000 z=-2.256260 +[21:42:21.409] If point is visible? -2608609.720078, 7847758.074771, 16505707.411447 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.128317 y=0.000000 z=-2.256258 +[21:42:21.409] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -2608609.720078, 7847758.074771, 16505707.411447 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.128317 y=0.000000 z=-2.256258 +[21:42:21.409] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? -1.772603, -2.656566, 3.920189 mu:0.143122 unit_bearing:-0.223120 -0.485109 0.845510 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.409] If point is visible? -1.771791, -2.671579, 3.913960 mu:0.143122 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.409] If point is visible? -4.575043, -2.173026, 2.431546 mu:0.143122 unit_bearing:-0.635373 -0.390455 0.666218 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.409] If point is visible? 0.295781, -2.012295, 4.432691 mu:0.143122 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.409] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.409] If point is visible? 0.395348, -1.981456, 4.438662 mu:0.143122 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.409] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -0.877580, -1.999292, 4.338569 mu:0.143592 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.830910, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.506218, -2.069570, 2.545526 mu:0.143122 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] If point is visible? -4.490264, -2.069018, 2.561110 mu:0.143122 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] If point is visible? 0.514788, -1.935374, 4.446308 mu:0.143122 unit_bearing:0.108792 -0.391837 0.913580 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? 0.593784, -1.858759, 4.462952 mu:0.143122 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? 0.613842, -1.858767, 4.461530 mu:0.143122 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.371760, -1.948095, 2.721031 mu:0.143122 unit_bearing:-0.603700 -0.363551 0.709490 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.405633, -1.934784, 2.695417 mu:0.143122 unit_bearing:-0.608739 -0.361214 0.706372 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.356680, -1.932875, 2.740538 mu:0.143122 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -1.422987, -1.478092, 2.738517 mu:0.183995 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.922816, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.359190, -1.903677, 2.749486 mu:0.143122 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.342787, -1.903023, 2.764390 mu:0.143122 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.326348, -1.902369, 2.779229 mu:0.143122 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.390624, -1.919568, 2.715020 mu:0.143122 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.344023, -1.888409, 2.768806 mu:0.143122 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.327578, -1.887747, 2.783642 mu:0.143122 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? 0.613613, -1.843441, 4.465769 mu:0.143122 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? 0.633675, -1.843454, 4.464287 mu:0.143122 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? 0.613385, -1.828112, 4.469970 mu:0.143122 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.345251, -1.873789, 2.773184 mu:0.143122 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.328799, -1.873119, 2.788018 mu:0.143122 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.410] If point is visible? -4.469277, -1.761778, 2.701306 mu:0.143122 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] If point is visible? -1.085202, -0.882964, 1.560861 mu:0.243813 unit_bearing:-0.243014 -0.327092 0.913211 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.410] Z inverse min: 1.024845, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 1.188110, -1.001636, 4.576971 mu:0.143122 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 1.208266, -1.001845, 4.573783 mu:0.143122 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 1.610335, -0.915047, 4.510260 mu:0.143122 unit_bearing:0.266890 -0.248009 0.931269 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 1.307931, -0.818680, 4.581704 mu:0.143122 unit_bearing:0.224373 -0.235566 0.945603 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 0.747094, -0.413393, 1.333084 mu:0.272805 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 1.074886, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 1.327927, -0.788231, 4.581803 mu:0.143122 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 0.598846, -0.566503, 4.691916 mu:0.143122 unit_bearing:0.124230 -0.201665 0.971544 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 0.598722, -0.551115, 4.693162 mu:0.143122 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 0.820313, -0.398758, 4.685038 mu:0.143122 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 0.476531, -0.458327, 4.707084 mu:0.143122 unit_bearing:0.106990 -0.186563 0.976600 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 0.840658, -0.414289, 4.682070 mu:0.143122 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 0.718660, -0.336547, 4.697711 mu:0.143122 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 0.637234, -0.274584, 4.706863 mu:0.143122 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? 2.526552, -0.189876, 4.294658 mu:0.143294 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.830049, Z inverse max: 0.000000 +[21:42:21.411] calculated Z= 0.322419 +[21:42:21.411] update seeds 305 +[21:42:21.411] If point is visible? -0.517039, -0.077531, 4.700533 mu:0.143122 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? -0.496890, -0.077317, 4.702375 mu:0.143122 unit_bearing:-0.031742 -0.132356 0.990694 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? -0.476737, -0.077110, 4.704159 mu:0.143122 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? -0.717857, -0.126053, 4.678259 mu:0.143122 unit_bearing:-0.063563 -0.138859 0.988270 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.411] If point is visible? -0.697757, -0.125780, 4.680687 mu:0.143122 unit_bearing:-0.060671 -0.138862 0.988451 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.411] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.677653, -0.125513, 4.683057 mu:0.143122 unit_bearing:-0.057778 -0.138866 0.988624 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? 0.474352, -0.150947, 4.720627 mu:0.143122 unit_bearing:0.107104 -0.143134 0.983891 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.677794, -0.110159, 4.683301 mu:0.143122 unit_bearing:-0.057781 -0.136689 0.988927 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? 2.408756, -0.166143, 3.973232 mu:0.150698 unit_bearing:0.397248 -0.139257 0.907084 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.849484, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.677932, -0.094806, 4.683512 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? 0.877281, -0.036065, -0.109998 mu:0.439865 unit_bearing:0.383428 -0.130795 0.914262 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] If point is visible? -0.456705, -0.061558, 4.706026 mu:0.143122 unit_bearing:-0.025954 -0.130181 0.991150 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.416617, -0.030478, 4.709484 mu:0.143122 unit_bearing:-0.020166 -0.125826 0.991847 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.336243, 0.016247, 4.715353 mu:0.143122 unit_bearing:-0.008586 -0.119291 0.992822 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.316054, 0.016406, 4.716669 mu:0.143122 unit_bearing:-0.005691 -0.119292 0.992843 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.114548, 0.109643, 4.725750 mu:0.143122 unit_bearing:0.023270 -0.106205 0.994072 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.114637, 0.124965, 4.725490 mu:0.143122 unit_bearing:0.023271 -0.104024 0.994302 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? 1.889310, 0.346164, 4.496410 mu:0.143122 unit_bearing:0.307918 -0.068606 0.948936 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? 0.082226, 0.142975, -0.293127 mu:0.507919 unit_bearing:0.034875 -0.049436 0.998168 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 1.322592, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? 1.869163, 0.361901, 4.500807 mu:0.143122 unit_bearing:0.305092 -0.066447 0.950002 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -2.810439, 0.537705, 4.059905 mu:0.143122 unit_bearing:-0.366997 -0.033783 0.929609 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -2.810501, 0.552767, 4.058576 mu:0.143122 unit_bearing:-0.367001 -0.031620 0.929683 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.278491, 0.906437, 4.659833 mu:0.143122 unit_bearing:0.000111 0.008133 0.999967 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.256257, 0.906591, 4.661085 mu:0.143122 unit_bearing:0.003298 0.008133 0.999961 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.278556, 0.916478, 4.658506 mu:0.143122 unit_bearing:0.000101 0.009583 0.999954 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.258336, 0.916618, 4.659647 mu:0.143122 unit_bearing:0.002999 0.009583 0.999950 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.359378, 0.946125, 4.649278 mu:0.143122 unit_bearing:-0.011493 0.013955 0.999837 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.339173, 0.946294, 4.650653 mu:0.143122 unit_bearing:-0.008595 0.013955 0.999866 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.412] If point is visible? -0.096362, 1.023378, 4.651828 mu:0.143122 unit_bearing:0.026186 0.024885 0.999347 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.412] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? -1.203730, 0.962686, 4.534787 mu:0.143122 unit_bearing:-0.133065 0.018305 0.990938 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? 0.077076, 0.256558, -0.524350 mu:0.570937 unit_bearing:0.029084 0.024885 0.999267 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 1.218299, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? 0.471413, 1.083031, 4.637853 mu:0.143122 unit_bearing:0.107253 0.033603 0.993664 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? 0.491707, 1.082895, 4.636835 mu:0.143122 unit_bearing:0.110144 0.033601 0.993347 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? -1.201809, 1.428795, 4.452595 mu:0.143122 unit_bearing:-0.132997 0.085952 0.987382 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? -1.674560, 1.725417, 4.264692 mu:0.143224 unit_bearing:-0.201942 0.131459 0.970535 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.829830, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? -1.139024, 1.758068, 4.386214 mu:0.143122 unit_bearing:-0.124242 0.133885 0.983178 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? -0.657290, 1.827043, 4.441812 mu:0.143122 unit_bearing:-0.054882 0.142713 0.988241 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? -0.314773, 1.830976, 4.472086 mu:0.143122 unit_bearing:-0.005688 0.142744 0.989743 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? -0.314642, 1.845802, 4.468043 mu:0.143122 unit_bearing:-0.005688 0.144920 0.989427 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? 0.372086, 1.235429, 1.955680 mu:0.227474 unit_bearing:0.112829 0.162171 0.980291 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] If point is visible? 0.536011, 1.963361, 4.436904 mu:0.143122 unit_bearing:0.115713 0.162163 0.979956 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? 0.539639, 1.886861, 4.175630 mu:0.148909 unit_bearing:0.118598 0.162155 0.979612 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.844696, Z inverse max: 0.000000 +[21:42:21.413] If point is visible? 0.981590, 1.942088, 4.401042 mu:0.143122 unit_bearing:0.179058 0.159767 0.970779 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.413] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? -0.087472, 0.510195, -0.417900 mu:0.520845 unit_bearing:-0.054876 0.147065 0.987603 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? -0.081934, 0.510247, -0.417389 mu:0.520875 unit_bearing:-0.051984 0.147068 0.987759 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? -1.651626, 2.036999, 4.185931 mu:0.143122 unit_bearing:-0.198857 0.177002 0.963912 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 0.556374, 1.977907, 4.431348 mu:0.143122 unit_bearing:0.118592 0.164327 0.979251 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? -1.195181, 2.051910, 4.290298 mu:0.143122 unit_bearing:-0.132761 0.177299 0.975161 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 0.982608, 2.118451, 4.346906 mu:0.143122 unit_bearing:0.178934 0.185764 0.966165 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 1.002843, 2.118037, 4.344390 mu:0.143122 unit_bearing:0.181804 0.185749 0.965632 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 0.472036, 1.343299, 1.876967 mu:0.229381 unit_bearing:0.135792 0.190290 0.972291 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? 0.841133, 2.150408, 4.353361 mu:0.143122 unit_bearing:0.158807 0.190191 0.968818 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 0.861373, 2.150055, 4.351261 mu:0.143122 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 0.881612, 2.149693, 4.349102 mu:0.143122 unit_bearing:0.164554 0.190164 0.967863 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 1.002753, 2.103379, 4.349087 mu:0.143122 unit_bearing:0.181816 0.183585 0.966043 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 0.962465, 2.133509, 4.344633 mu:0.143122 unit_bearing:0.176053 0.187943 0.966273 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 1.002933, 2.132687, 4.339659 mu:0.143122 unit_bearing:0.181793 0.187913 0.965215 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 0.881712, 2.164337, 4.344307 mu:0.143122 unit_bearing:0.164544 0.192328 0.967437 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 0.901949, 2.163965, 4.342088 mu:0.143122 unit_bearing:0.167416 0.192314 0.966947 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 2.704355, 2.604400, 3.693575 mu:0.143122 unit_bearing:0.420015 0.266192 0.867600 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? 2.723969, 2.602977, 3.685668 mu:0.143122 unit_bearing:0.422751 0.266127 0.866290 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? 2.722973, 2.757395, 3.616042 mu:0.143122 unit_bearing:0.422188 0.289278 0.859113 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? 1.210330, 2.892285, 4.011383 mu:0.143122 unit_bearing:0.209478 0.301544 0.930156 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? -0.354291, 3.163279, 3.955032 mu:0.143122 unit_bearing:-0.014264 0.341023 0.939947 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? -2.303287, 3.077097, 3.526308 mu:0.143122 unit_bearing:-0.296374 0.336258 0.893920 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? -1.453890, 3.482890, 3.590571 mu:0.143122 unit_bearing:-0.174068 0.392782 0.903007 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? 1.734189, 3.470058, 3.591752 mu:0.143122 unit_bearing:0.281436 0.390939 0.876333 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? -4.404345, -1.949351, 2.690880 mu:0.143122 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? -1.394407, -1.982810, 4.268246 mu:0.143122 unit_bearing:-0.165515 -0.395469 0.903443 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? -1.078564, -2.008487, 4.326204 mu:0.143122 unit_bearing:-0.119933 -0.400128 0.908578 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? -1.039083, -2.007934, 4.333489 mu:0.143122 unit_bearing:-0.114231 -0.400176 0.909291 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 0.395622, -1.996766, 4.434101 mu:0.143122 unit_bearing:0.091602 -0.400345 0.911775 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 4.207898, -1.511847, 3.210979 mu:0.143122 unit_bearing:0.626651 -0.310126 0.714934 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] calculated Z= 0.535518 +[21:42:21.414] update seeds 305 +[21:42:21.414] If point is visible? 0.499266, -0.253745, -0.179895 mu:0.470722 unit_bearing:0.230055 -0.237664 0.943711 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? 1.307678, -0.772614, 4.587106 mu:0.143122 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 1.348010, -0.773146, 4.579972 mu:0.143122 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.414] If point is visible? 2.077467, -0.657521, 0.858875 mu:0.267882 unit_bearing:0.568316 -0.276522 0.774954 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.414] If point is visible? 0.611112, -0.249386, 0.657709 mu:0.337365 unit_bearing:0.218921 -0.203311 0.954326 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 1.167139, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 1.306726, -0.588399, 4.605563 mu:0.143122 unit_bearing:0.224633 -0.203269 0.953007 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 1.347098, -0.588970, 4.598459 mu:0.143122 unit_bearing:0.230342 -0.203227 0.951652 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 1.307512, -0.741905, 4.590532 mu:0.143122 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 0.701146, -0.705524, 4.671480 mu:0.143122 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 2.707195, -0.378320, 4.226465 mu:0.143122 unit_bearing:0.421802 -0.166814 0.891210 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? -0.677932, -0.094806, 4.683512 mu:0.143122 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? -0.637705, -0.094289, 4.688074 mu:0.143122 unit_bearing:-0.051997 -0.134518 0.989546 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? -0.597458, -0.093796, 4.692403 mu:0.143122 unit_bearing:-0.046211 -0.134523 0.989832 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 2.378101, -0.124014, 4.317738 mu:0.143898 unit_bearing:0.377834 -0.132998 0.916271 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.831789, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 0.494809, -0.181732, 4.718848 mu:0.143122 unit_bearing:0.109980 -0.147476 0.982932 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 0.413000, -0.058659, 4.724785 mu:0.143122 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 1.852571, 0.343425, 4.437145 mu:0.144500 unit_bearing:0.305085 -0.068616 0.949850 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.833045, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? -0.721895, 0.516603, 4.659643 mu:0.143122 unit_bearing:-0.063640 -0.047241 0.996854 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? -0.681640, 0.517174, 4.664430 mu:0.143122 unit_bearing:-0.057849 -0.047244 0.997207 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 1.746110, 0.294015, 4.025166 mu:0.154012 unit_bearing:0.305070 -0.072953 0.949532 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.856425, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? -1.283607, 0.960707, 4.518911 mu:0.143122 unit_bearing:-0.144611 0.018301 0.989319 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 0.058766, 0.186520, -0.565590 mu:0.587442 unit_bearing:0.017492 -0.012280 0.999772 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 1.323308, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? -0.076135, 1.008337, 4.654668 mu:0.143122 unit_bearing:0.029084 0.022699 0.999319 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? -3.375802, 0.891227, 3.722551 mu:0.143122 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? -0.318853, 1.037192, 4.638936 mu:0.143122 unit_bearing:-0.005696 0.027072 0.999617 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 0.857037, 1.064096, 4.610773 mu:0.143122 unit_bearing:0.162107 0.031385 0.986274 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? -0.639091, 1.604273, 4.500724 mu:0.143122 unit_bearing:-0.052020 0.110040 0.992565 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? -0.032022, 1.817568, 4.488381 mu:0.143122 unit_bearing:0.034832 0.140555 0.989460 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] If point is visible? 0.982166, 2.045086, 4.370052 mu:0.143122 unit_bearing:0.178988 0.174939 0.968173 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.415] calculated Z= 0.166502 +[21:42:21.415] update seeds 305 +[21:42:21.415] If point is visible? -0.031784, 1.847180, 4.480168 mu:0.143125 unit_bearing:0.034829 0.144908 0.988832 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.415] Z inverse min: 0.829522, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.941858, 2.075245, 4.365745 mu:0.143122 unit_bearing:0.173224 0.179298 0.968424 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.942041, 2.104590, 4.356455 mu:0.143122 unit_bearing:0.173203 0.183629 0.967616 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 1.228599, 2.649174, 4.114822 mu:0.143122 unit_bearing:0.212698 0.265205 0.940439 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 2.703669, 2.716860, 3.643370 mu:0.143122 unit_bearing:0.419616 0.283043 0.862444 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 2.703487, 2.744874, 3.630468 mu:0.143122 unit_bearing:0.419511 0.287247 0.861104 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 1.230328, 2.877480, 4.014712 mu:0.143122 unit_bearing:0.212348 0.299383 0.930203 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 2.388600, 2.766657, 3.748416 mu:0.143122 unit_bearing:0.375520 0.288284 0.880839 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? -2.581658, 3.546964, 3.119086 mu:0.143122 unit_bearing:-0.339044 0.410108 0.846676 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? -2.544026, 3.550174, 3.135782 mu:0.143122 unit_bearing:-0.333525 0.410273 0.848786 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 1.714214, 3.443769, 3.612706 mu:0.143122 unit_bearing:0.278729 0.386839 0.879014 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 2.966386, 3.458451, 3.110660 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 1.149041, -1.170279, 4.556085 mu:0.143122 unit_bearing:0.201101 -0.285066 0.937174 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.686768, -0.562895, 1.198473 mu:0.282127 unit_bearing:0.212589 -0.276405 0.937233 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 1.091792, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.430730, -1.991149, 4.304033 mu:0.145721 unit_bearing:0.097281 -0.404492 0.909353 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.836683, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.470410, -0.161921, -0.263255 mu:0.492958 unit_bearing:0.224665 -0.198955 0.953909 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 0.754875, -1.904861, 4.436899 mu:0.143122 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.835049, -1.905010, 4.428867 mu:0.143122 unit_bearing:0.154437 -0.387219 0.908961 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? -1.036627, -0.315523, 4.625804 mu:0.143122 unit_bearing:-0.109736 -0.164859 0.980194 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.054351, 0.048497, -0.436867 mu:0.549001 unit_bearing:0.017481 -0.095299 0.995295 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 1.216491, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? -0.718415, -0.064651, 4.679035 mu:0.143122 unit_bearing:-0.063574 -0.130150 0.989454 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? -0.637972, -0.063590, 4.688394 mu:0.143122 unit_bearing:-0.052002 -0.130162 0.990128 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? -0.158995, -0.026238, 0.656896 mu:0.341605 unit_bearing:-0.040427 -0.130172 0.990667 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.656856, Z inverse max: 0.026354 +[21:42:21.416] If point is visible? 0.247330, -0.024522, 0.662129 mu:0.342364 unit_bearing:0.098466 -0.130097 0.986600 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.764601, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 1.869279, 0.225273, 4.506711 mu:0.143122 unit_bearing:0.305019 -0.085959 0.948459 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? -0.477345, -0.000379, 4.704533 mu:0.143122 unit_bearing:-0.028854 -0.121464 0.992176 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.257692, 0.000567, -0.236083 mu:0.494007 unit_bearing:0.121585 -0.121342 0.985136 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 1.295599, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? -1.443010, 0.956395, 4.484338 mu:0.143122 unit_bearing:-0.167677 0.018291 0.985672 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? -1.348800, 1.009102, 4.427865 mu:0.144523 unit_bearing:-0.156144 0.027025 0.987364 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.831446, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.008010, 0.197486, -0.390990 mu:0.532057 unit_bearing:-0.005696 -0.016653 0.999845 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 1.340541, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.046267, 0.742733, 0.499633 mu:0.350219 unit_bearing:0.029044 0.140558 0.989646 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? -1.347594, 1.903479, 4.258765 mu:0.143968 unit_bearing:-0.155866 0.157691 0.975110 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.831948, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.820194, 2.048018, 4.388014 mu:0.143122 unit_bearing:0.155998 0.175042 0.972124 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? -1.363369, 0.958610, 4.502096 mu:0.143122 unit_bearing:-0.156149 0.018296 0.987564 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.738480, 1.989361, 4.409994 mu:0.143196 unit_bearing:0.144520 0.166412 0.975408 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] Z inverse min: 0.829631, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? -0.063032, 2.637408, 4.211111 mu:0.143122 unit_bearing:0.028938 0.261854 0.964674 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 1.228395, 2.620473, 4.126716 mu:0.143122 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? -0.063898, 2.579629, 4.234348 mu:0.143122 unit_bearing:0.028948 0.253240 0.966970 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? -1.158076, 3.521713, 3.639677 mu:0.143122 unit_bearing:-0.131356 0.397441 0.908177 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 2.821439, 2.651885, 3.620303 mu:0.143122 unit_bearing:0.436185 0.274215 0.857058 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? -2.615811, 3.597296, 3.068070 mu:0.143122 unit_bearing:-0.344295 0.418148 0.840603 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 2.966386, 3.458451, 3.110660 mu:0.143122 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? -2.694150, 3.537007, 3.067509 mu:0.143122 unit_bearing:-0.355554 0.409593 0.840128 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 2.965416, 3.511411, 3.076676 mu:0.143122 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 2.349119, 2.740999, 3.774857 mu:0.143122 unit_bearing:0.370072 0.284178 0.884471 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 2.742834, 2.713932, 3.627469 mu:0.143122 unit_bearing:0.425077 0.282904 0.859811 T_cur_ref: x=0.128324 y=0.000000 z=-2.256207 +[21:42:21.416] If point is visible? 2029134166.750365, 2275362565.975900, 3567830413.332218 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128325 y=0.000000 z=-2.256206 +[21:42:21.416] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 2029134166.750365, 2275362565.975900, 3567830413.332218 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128325 y=0.000000 z=-2.256206 +[21:42:21.416] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:21.416] If point is visible? 0.105168, -0.097167, 0.631272 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.416] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.373680, 0.126422, 0.641246 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.030266, 0.075446, 0.664327 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? -0.065112, 0.091544, 0.761221 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.287807, -0.043593, 0.599601 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.146050, 0.129698, 0.628577 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.088812, -0.099654, 0.638731 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.011213, -0.187305, 0.731398 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.105168, -0.097167, 0.631272 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.373680, 0.126422, 0.641246 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? -0.065112, 0.091544, 0.761221 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.030266, 0.075446, 0.664327 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.287807, -0.043593, 0.599601 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.146050, 0.129698, 0.628577 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.088812, -0.099654, 0.638731 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.011213, -0.187305, 0.731398 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.238875 y=0.000000 z=0.978931 +[21:42:21.417] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? -0.182018, -0.486674, -0.948326 mu:0.851146 unit_bearing:0.223694 -0.301881 0.926730 T_cur_ref: x=0.002295 y=0.000000 z=0.105018 +[21:42:21.417] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:21.417] If point is visible? 0.742775, -0.515232, -0.647699 mu:0.851146 unit_bearing:-0.579369 -0.357190 0.732630 T_cur_ref: x=0.002295 y=0.000000 z=0.105018 +[21:42:21.417] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:21.417] If point is visible? -0.017432, 0.094486, -1.065896 mu:0.851146 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.002295 y=0.000000 z=0.105018 +[21:42:21.417] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:21.417] If point is visible? 0.171260, 0.147851, -1.048216 mu:0.851146 unit_bearing:-0.074901 0.244529 0.966745 T_cur_ref: x=0.002295 y=0.000000 z=0.105018 +[21:42:21.417] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:21.417] calculated Z= 3.363506 +[21:42:21.417] update seeds 305 +[21:42:21.417] If point is visible? 0.213424, -0.222238, 0.790003 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.000084 y=0.000000 z=0.013568 +[21:42:21.417] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? -0.066887, -0.096895, 0.840539 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.000084 y=0.000000 z=0.013568 +[21:42:21.417] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? -0.076945, -0.214684, 0.817143 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.000084 y=0.000000 z=0.013568 +[21:42:21.417] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:21.417] If point is visible? 0.213424, -0.222238, 0.790003 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.000084 y=0.000000 z=0.013568 +[21:42:21.417] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.066887, -0.096895, 0.840539 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.000084 y=0.000000 z=0.013568 +[21:42:21.418] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.076945, -0.214684, 0.817143 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.000084 y=0.000000 z=0.013568 +[21:42:21.418] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.049665, -0.001137, 0.131843 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.009127, -0.015193, 0.140330 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.009132, -0.016349, 0.140189 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.009999, 0.067683, 0.122262 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.033115, 0.057899, 0.123194 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.043205, 0.054614, 0.121585 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.043202, 0.054876, 0.121457 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.036169, 0.053527, 0.124403 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.033231, 0.053135, 0.125482 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.043974, 0.051670, 0.122688 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.044356, 0.050322, 0.123150 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.044744, 0.048439, 0.123821 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.051174, 0.049425, 0.120400 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.051182, 0.049159, 0.120515 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.031840, 0.048913, 0.127730 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.051189, 0.048893, 0.120630 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.021601, 0.047061, 0.130899 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.021224, 0.047071, 0.130961 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.051997, 0.045639, 0.121641 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.040730, 0.046610, 0.125883 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.031893, 0.045941, 0.128912 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.040386, 0.045550, 0.126426 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.045508, 0.045453, 0.124751 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.045511, 0.045185, 0.124856 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.040024, 0.045299, 0.126651 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.040391, 0.045280, 0.126530 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.015180, 0.045856, 0.132321 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.014423, 0.045598, 0.132508 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.032273, 0.045384, 0.129023 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.040029, 0.045028, 0.126754 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.032657, 0.044554, 0.129231 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.033028, 0.044539, 0.129133 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.010635, 0.044295, 0.133366 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.011393, 0.044557, 0.133205 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.006846, 0.044064, 0.133710 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.039667, 0.044777, 0.126976 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.040034, 0.044758, 0.126857 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.034154, 0.043677, 0.129132 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.033033, 0.044267, 0.129234 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? 0.033404, 0.044252, 0.129135 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.046275, 0.041910, 0.125794 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.418] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.418] If point is visible? -0.008737, 0.043224, 0.133892 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.008358, 0.043228, 0.133916 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.007979, 0.043232, 0.133938 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.034529, 0.043389, 0.129129 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.056877, 0.040363, 0.121551 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.056874, 0.040631, 0.121455 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.033408, 0.043980, 0.129234 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.007978, 0.042958, 0.134034 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.006459, 0.042150, 0.134397 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.006458, 0.041875, 0.134491 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.045584, 0.034882, 0.128379 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.009840, 0.031599, 0.137288 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.065273, 0.025064, 0.121461 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.065271, 0.025338, 0.121400 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.014452, 0.025942, 0.138076 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.068469, 0.023163, 0.119945 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.019362, 0.025295, 0.137544 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.014458, 0.023971, 0.138460 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.025010, 0.023761, 0.136841 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.066716, 0.020838, 0.121480 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.064229, 0.020201, 0.123048 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.064230, 0.019925, 0.123096 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.024641, 0.021798, 0.137267 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.014460, 0.023125, 0.138616 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.071989, 0.019855, 0.118334 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.074764, 0.018789, 0.116631 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.068489, 0.019324, 0.120676 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.067784, 0.019104, 0.121147 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.023520, 0.018150, 0.138054 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.025023, 0.018114, 0.137770 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.013332, 0.019183, 0.139389 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.013711, 0.019178, 0.139349 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.014089, 0.019172, 0.139308 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.016359, 0.016870, 0.139357 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.025024, 0.017831, 0.137810 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.025400, 0.016972, 0.137852 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] calculated Z= 0.985185 +[21:42:21.419] update seeds 305 +[21:42:21.419] If point is visible? 0.013712, 0.018043, 0.139513 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.014090, 0.018038, 0.139472 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.014469, 0.016046, 0.139692 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.013334, 0.014069, 0.140046 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.013712, 0.014064, 0.140007 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.014090, 0.014059, 0.139966 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.026526, 0.014958, 0.137873 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.028025, 0.014635, 0.137586 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.026523, 0.011830, 0.138202 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.013333, 0.012929, 0.140165 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.013711, 0.012925, 0.140125 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.014089, 0.012920, 0.140085 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.028386, 0.007790, 0.138108 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.014836, 0.007768, 0.140410 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? -0.018561, 0.006016, 0.140092 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.034337, 0.003336, 0.136821 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.419] If point is visible? 0.036194, 0.003279, 0.136299 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.419] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.059133, 0.000878, 0.127279 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.030597, 0.001437, 0.137822 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.030968, 0.001141, 0.137734 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.014060, 0.002043, 0.140714 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.014438, 0.002038, 0.140672 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.014048, -0.000257, 0.140731 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.029082, -0.001393, 0.138180 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.029456, -0.001403, 0.138093 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.014037, -0.002272, 0.140713 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.014415, -0.002276, 0.140671 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.014792, -0.002281, 0.140627 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.029080, -0.001681, 0.138177 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.028701, -0.002246, 0.138254 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.028699, -0.002533, 0.138250 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.036889, -0.002470, 0.136114 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.027560, -0.004520, 0.138448 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.027557, -0.004807, 0.138438 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.044052, -0.013772, 0.133214 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.007627, -0.018077, 0.140054 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.009235, -0.036260, 0.136079 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.008860, -0.036259, 0.136106 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.008861, -0.036546, 0.136022 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.038794, -0.035548, 0.130403 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.044146, -0.037939, 0.127779 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.043796, -0.037648, 0.128005 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.019653, -0.049240, 0.130269 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.006983, 0.065664, 0.123679 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.006232, 0.065672, 0.123716 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.007742, 0.066688, 0.123031 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.005477, 0.065162, 0.124048 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.036556, 0.052711, 0.124658 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.033595, 0.053384, 0.125260 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.034333, 0.053350, 0.125056 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.035807, 0.053279, 0.124634 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.035057, 0.053847, 0.124602 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.004623, 0.052487, 0.130467 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.051990, 0.045907, 0.121534 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.006082, 0.042701, 0.134227 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.033774, 0.044237, 0.129035 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.034515, 0.044205, 0.128831 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.033024, 0.044811, 0.129032 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.033765, 0.044780, 0.128833 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.045954, 0.034861, 0.128242 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.009838, 0.030482, 0.137561 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.009080, 0.031048, 0.137479 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.018940, 0.006582, 0.140011 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.018941, 0.006010, 0.140038 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.018182, 0.006021, 0.140145 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.028723, 0.000625, 0.138268 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.029471, 0.000606, 0.138096 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.036198, 0.003850, 0.136282 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.018941, 0.005437, 0.140064 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? -0.018183, 0.005449, 0.140170 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.035401, -0.002999, 0.136533 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.420] If point is visible? 0.026447, -0.003344, 0.138721 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.420] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.029475, 0.001180, 0.138091 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.045158, -0.014090, 0.132777 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.044424, -0.013497, 0.133111 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.007627, -0.018077, 0.140054 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.056007, -0.042434, 0.120951 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.060061, -0.044197, 0.118084 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.034345, 0.052818, 0.125299 mu:-7.630447 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.035820, 0.052747, 0.124876 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.038883, 0.047244, 0.126266 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.013748, 0.068120, 0.121605 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.007607, 0.044877, 0.133373 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.032996, 0.046437, 0.128412 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.034477, 0.046374, 0.128010 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.035956, 0.046307, 0.127589 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.034320, 0.053882, 0.124811 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.010746, 0.067155, 0.122512 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.035976, 0.045225, 0.128005 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.032891, 0.051817, 0.126180 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.010598, 0.030473, 0.137504 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.045219, 0.033806, 0.128831 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.010596, 0.029355, 0.137767 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.068490, 0.019049, 0.120723 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.025727, 0.000694, 0.138910 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.027201, -0.002786, 0.138575 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.015107, -0.010650, 0.140174 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.049665, -0.001137, 0.131843 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.034658, -0.002977, 0.136741 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.015117, -0.009495, 0.140263 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.015182, -0.000271, 0.140602 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.016691, -0.000292, 0.140413 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.074475, -0.012718, 0.117360 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.009127, -0.015193, 0.140330 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? -0.009132, -0.016349, 0.140189 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.016685, -0.001443, 0.140407 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.024211, -0.001572, 0.139200 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] If point is visible? 0.025711, -0.001603, 0.138905 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=-0.000264 y=0.000000 z=0.010461 +[21:42:21.421] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:21.421] init seeds +[21:42:21.423] DepthFilter: Initialized 1 new seeds +[21:42:21.787] add new frame +[21:42:21.787] update seed +[21:42:21.787] If point is visible? -13.573277, 16.601186, 24.305989 mu:0.029251 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128283 y=0.000000 z=-2.254061 +[21:42:21.787] If point is visible? -86438677428.943939, 229257142262.794312, 375156136876.642639 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128283 y=0.000000 z=-2.254061 +[21:42:21.787] If point is visible? -13.573277, 16.601186, 24.305989 mu:0.029251 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128283 y=0.000000 z=-2.254061 +[21:42:21.787] If point is visible? -86438677428.943939, 229257142262.794312, 375156136876.642639 mu:0.000000 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128283 y=0.000000 z=-2.254061 +[21:42:21.787] If point is visible? -5.377714, 0.400458, -0.079323 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.787] If point is visible? -1.038505, 3.037937, 2.707333 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.787] If point is visible? -0.968520, 3.037066, 2.723804 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.787] If point is visible? -5.377230, 0.425718, -0.082897 mu:0.168536 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.787] add key frame +[21:42:21.787] If point is visible? -5.377714, 0.400458, -0.079323 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.787] init seeds +[21:42:21.787] remove key frame +[21:42:21.787] update seed +[21:42:21.787] If point is visible? -5.377714, 0.400458, -0.079323 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.787] If point is visible? -1.038505, 3.037937, 2.707333 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.787] If point is visible? -0.968520, 3.037066, 2.723804 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.787] If point is visible? -5.377230, 0.425718, -0.082897 mu:0.168536 unit_bearing:-0.450202 0.026620 0.892530 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.787] If point is visible? -5.377714, 0.400458, -0.079323 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.788] If point is visible? -0.982147, 2.991554, 2.748283 mu:0.168536 unit_bearing:0.453492 0.397681 0.797618 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.788] If point is visible? -1.024552, 3.083350, 2.682518 mu:0.168536 unit_bearing:0.442103 0.414388 0.795505 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.788] If point is visible? -1.038505, 3.037937, 2.707333 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.788] If point is visible? -0.968520, 3.037066, 2.723804 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.128285 y=0.000000 z=-2.254059 +[21:42:21.788] If point is visible? -7770.107893, -5081.398972, 15183.359277 mu:0.000056 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128294 y=0.000000 z=-2.254043 +[21:42:21.788] Z inverse min: 0.478786, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -7770.107893, -5081.398972, 15183.359277 mu:0.000056 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.128294 y=0.000000 z=-2.254043 +[21:42:21.788] Z inverse min: 0.478786, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -0.068687, -0.442483, 4.365330 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.128310 y=0.000000 z=-2.254013 +[21:42:21.788] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -0.068687, -0.442483, 4.365330 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.128310 y=0.000000 z=-2.254013 +[21:42:21.788] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -12.449814, 15.860771, 30.576601 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128313 y=0.000000 z=-2.254008 +[21:42:21.788] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? 2.438756, 19.197576, 31.118693 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128313 y=0.000000 z=-2.254008 +[21:42:21.788] If point is visible? -17.263313, 18.082673, 27.040540 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.128313 y=0.000000 z=-2.254008 +[21:42:21.788] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -12.449814, 15.860771, 30.576601 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.128313 y=0.000000 z=-2.254008 +[21:42:21.788] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -17.263313, 18.082673, 27.040540 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.128313 y=0.000000 z=-2.254008 +[21:42:21.788] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? 2.438756, 19.197576, 31.118693 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.128313 y=0.000000 z=-2.254008 +[21:42:21.788] If point is visible? -65390785586.464287, -23901742507.747051, 214641930161.778870 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.788] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? 11104398246.123709, -17919591477.839687, 224664164696.839935 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.788] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -295.452168, 981.276306, 1693.328842 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.788] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -127215923218.496399, -93211181533.139786, 161388323106.665466 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.788] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -127340713862.835587, -92731183094.694763, 161566322583.267792 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.788] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -127332992375.499329, -90772945223.635559, 162680631257.816895 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.788] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -127786642878.811996, -86879519390.142609, 164441264075.069153 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.788] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -130519617881.024490, -77216087575.478775, 167094917594.822601 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.788] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.788] If point is visible? -69841920261.059540, -65449907006.819855, 204344860872.954834 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.789] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.789] If point is visible? -107045388559.235214, -68104733549.407867, 186605027731.242462 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.789] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.789] If point is visible? -70971979689.324326, -66004356695.477112, 203776370843.965790 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.789] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.789] If point is visible? -193410520649.654114, -75472062244.760468, 88401044344.422256 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.789] If point is visible? -68707990802.214066, -64895784179.771454, 204905235447.398956 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.789] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.789] If point is visible? -193533230592.747223, -75009287257.339020, 88526277455.407135 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.789] If point is visible? -193244709275.636536, -74972325031.314880, 89185419968.747604 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.789] If point is visible? -134321981676.562515, -66099680389.706200, 168839698557.964233 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.789] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.789] If point is visible? -65366078445.741333, -62742950806.593575, 206661569312.821472 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.789] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.789] If point is visible? -64379270653.178268, -61204694153.393288, 207431196404.693970 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.789] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.789] If point is visible? -63761918547.697426, -61174854214.607407, 207630588481.239716 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.789] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.789] If point is visible? -192341501030.977631, -70047638971.892883, 94955155595.766891 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] If point is visible? -192035441711.210236, -70006981067.687790, 95602395614.170975 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] If point is visible? -191727501093.869385, -69966231967.020889, 96248106616.359970 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] If point is visible? -191417686702.076233, -69925393352.218811, 96892285042.501114 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] If point is visible? -191106006040.705658, -69884466898.077469, 97534927385.693405 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] If point is visible? -59035663366.505440, -59461445853.986710, 209517381679.779388 mu:0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.790] If point is visible? -191530278906.383850, -69457208073.627808, 97006467966.074570 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] If point is visible? -191218389746.584869, -69416016224.650314, 97649118955.640884 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] If point is visible? -0.447719, -0.542390, -0.380805 mu:0.491777 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] If point is visible? -191753390367.873016, -68520265513.134216, 97231768548.289246 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] If point is visible? -191441087674.802002, -68478545328.511108, 97874435365.775803 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] If point is visible? -135554368647.350204, -62217852018.017136, 169329142055.241669 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.790] If point is visible? -194763169101.164612, -65069828215.564644, 93550156260.031448 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] If point is visible? -136835899852.307907, -57839114806.132980, 169849873795.452881 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.790] If point is visible? -138152139334.287384, -52962393312.445717, 170374228128.123566 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.790] If point is visible? -48062606610.928482, -31668381845.420612, 218186859721.523529 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.790] If point is visible? -142765074486.695251, -34402276706.468872, 171327240048.075531 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.790] If point is visible? -46078828317.946564, -25638162106.270035, 219403355814.665863 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.790] If point is visible? -45432387771.318344, -25615713629.098858, 219540747185.453369 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.128318 y=0.000000 z=-2.254006 +[21:42:21.790] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:21.790] init seeds +[21:42:21.790] DepthFilter: Initialized 4 new seeds +[21:42:21.792] DepthFilter: Initialized 3 new seeds +[21:42:22.227] add new frame +[21:42:22.227] update seed +[21:42:22.227] If point is visible? -5.378419, 0.400458, -0.063389 mu:0.168536 unit_bearing:-0.450211 0.022321 0.892643 T_cur_ref: x=0.127580 y=0.000000 z=-2.238124 +[21:42:22.227] If point is visible? -1.039210, 3.037937, 2.723268 mu:0.168536 unit_bearing:0.442467 0.406281 0.799474 T_cur_ref: x=0.127580 y=0.000000 z=-2.238124 +[21:42:22.227] add key frame +[21:42:22.227] If point is visible? -0.969225, 3.037066, 2.739738 mu:0.168536 unit_bearing:0.453126 0.405797 0.793729 T_cur_ref: x=0.127580 y=0.000000 z=-2.238124 +[21:42:22.227] init seeds +[21:42:22.227] remove key frame +[21:42:22.227] update seed +[21:42:22.227] If point is visible? -7770.108599, -5081.398972, 15183.375211 mu:0.000056 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.127589 y=0.000000 z=-2.238108 +[21:42:22.227] Z inverse min: 0.478786, Z inverse max: 0.000000 +[21:42:22.227] If point is visible? -7770.108599, -5081.398972, 15183.375211 mu:0.000056 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.127589 y=0.000000 z=-2.238108 +[21:42:22.227] Z inverse min: 0.478786, Z inverse max: 0.000000 +[21:42:22.227] If point is visible? -0.069392, -0.442483, 4.381265 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.127605 y=0.000000 z=-2.238079 +[21:42:22.227] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:22.227] If point is visible? -0.069392, -0.442483, 4.381265 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.127605 y=0.000000 z=-2.238079 +[21:42:22.227] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:22.227] If point is visible? -12.450519, 15.860771, 30.592536 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.127608 y=0.000000 z=-2.238074 +[21:42:22.227] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:22.227] If point is visible? 2.438051, 19.197576, 31.134627 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.127608 y=0.000000 z=-2.238074 +[21:42:22.227] If point is visible? -17.264018, 18.082673, 27.056474 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.127608 y=0.000000 z=-2.238074 +[21:42:22.227] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:22.227] If point is visible? -12.450519, 15.860771, 30.592536 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.127608 y=0.000000 z=-2.238074 +[21:42:22.227] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:22.227] If point is visible? -17.264018, 18.082673, 27.056474 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.127608 y=0.000000 z=-2.238074 +[21:42:22.227] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:22.227] If point is visible? 2.438051, 19.197576, 31.134627 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.127608 y=0.000000 z=-2.238074 +[21:42:22.227] If point is visible? -65390785586.464996, -23901742507.747051, 214641930161.794800 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.227] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.227] If point is visible? 11104398246.123005, -17919591477.839687, 224664164696.855865 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.227] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.227] If point is visible? -295.452873, 981.276306, 1693.344777 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.227] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -127215923218.497101, -93211181533.139786, 161388323106.681396 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -127340713862.836288, -92731183094.694763, 161566322583.283722 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -127332992375.500031, -90772945223.635559, 162680631257.832825 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -127786642878.812698, -86879519390.142609, 164441264075.085083 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -130519617881.025192, -77216087575.478775, 167094917594.838531 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -69841920261.060242, -65449907006.819855, 204344860872.970764 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -107045388559.235916, -68104733549.407867, 186605027731.258392 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -70971979689.325027, -66004356695.477112, 203776370843.981720 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -193410520649.654816, -75472062244.760468, 88401044344.438202 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] If point is visible? -68707990802.214775, -64895784179.771454, 204905235447.414886 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -193533230592.747925, -75009287257.339020, 88526277455.423080 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] If point is visible? -193244709275.637238, -74972325031.314880, 89185419968.763550 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] If point is visible? -134321981676.563217, -66099680389.706200, 168839698557.980164 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -65366078445.742043, -62742950806.593575, 206661569312.837402 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.228] If point is visible? -64379270653.178978, -61204694153.393288, 207431196404.709900 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.228] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.229] If point is visible? -63761918547.698135, -61174854214.607407, 207630588481.255646 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.229] If point is visible? -192341501030.978333, -70047638971.892883, 94955155595.782837 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] If point is visible? -192035441711.210938, -70006981067.687790, 95602395614.186920 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] If point is visible? -191727501093.870087, -69966231967.020889, 96248106616.375916 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] If point is visible? -191417686702.076935, -69925393352.218811, 96892285042.517059 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] If point is visible? -191106006040.706360, -69884466898.077469, 97534927385.709351 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] If point is visible? -59035663366.506149, -59461445853.986710, 209517381679.795319 mu:0.000000 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.229] calculated Z= 0.530325 +[21:42:22.229] update seeds 305 +[21:42:22.229] If point is visible? -191530278906.384552, -69457208073.627808, 97006467966.090515 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] If point is visible? -191218389746.585571, -69416016224.650314, 97649118955.656830 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] If point is visible? -0.448424, -0.542390, -0.364871 mu:0.491777 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] If point is visible? -191753390367.873718, -68520265513.134216, 97231768548.305191 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] If point is visible? -191441087674.802704, -68478545328.511108, 97874435365.791748 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] If point is visible? -135554368647.350906, -62217852018.017136, 169329142055.257599 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.229] If point is visible? -194763169101.165314, -65069828215.564644, 93550156260.047394 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] If point is visible? -136835899852.308609, -57839114806.132980, 169849873795.468811 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.229] If point is visible? -138152139334.288086, -52962393312.445717, 170374228128.139496 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.229] If point is visible? -48062606610.929192, -31668381845.420612, 218186859721.539459 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.229] If point is visible? -142765074486.695953, -34402276706.468872, 171327240048.091461 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.229] If point is visible? -46078828317.947273, -25638162106.270035, 219403355814.681793 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.229] If point is visible? -45432387771.319054, -25615713629.098858, 219540747185.469299 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.229] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.229] If point is visible? -61738507253.227921, -14798043728.755327, 216535865255.712097 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.127613 y=0.000000 z=-2.238071 +[21:42:22.230] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.230] init seeds +[21:42:22.230] DepthFilter: Initialized 1 new seeds +[21:42:22.232] DepthFilter: Initialized 1 new seeds +[21:42:22.688] add new frame +[21:42:22.688] update seed +[21:42:22.688] If point is visible? -7770.109204, -5081.398972, 15183.388467 mu:0.000056 unit_bearing:0.143048 -0.387338 0.910772 T_cur_ref: x=0.126983 y=0.000000 z=-2.224853 +[21:42:22.688] Z inverse min: 0.478786, Z inverse max: 0.000000 +[21:42:22.688] add key frame +[21:42:22.688] remove key frame +[21:42:22.688] init seeds +[21:42:22.688] update seed +[21:42:22.688] If point is visible? -0.069998, -0.442483, 4.394520 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.126999 y=0.000000 z=-2.224823 +[21:42:22.688] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:22.688] If point is visible? -0.069998, -0.442483, 4.394520 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.126999 y=0.000000 z=-2.224823 +[21:42:22.688] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:22.688] If point is visible? -12.451125, 15.860771, 30.605791 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.127002 y=0.000000 z=-2.224818 +[21:42:22.688] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:22.688] If point is visible? 2.437445, 19.197576, 31.147883 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.127002 y=0.000000 z=-2.224818 +[21:42:22.688] If point is visible? -17.264624, 18.082673, 27.069730 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.127002 y=0.000000 z=-2.224818 +[21:42:22.688] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:22.688] If point is visible? -12.451125, 15.860771, 30.605791 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.127002 y=0.000000 z=-2.224818 +[21:42:22.688] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:22.688] If point is visible? -17.264624, 18.082673, 27.069730 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.127002 y=0.000000 z=-2.224818 +[21:42:22.688] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:22.688] If point is visible? 2.437445, 19.197576, 31.147883 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.127002 y=0.000000 z=-2.224818 +[21:42:22.688] If point is visible? -65390785586.465599, -23901742507.747051, 214641930161.808044 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.688] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.688] If point is visible? 11104398246.122398, -17919591477.839687, 224664164696.869110 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.688] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.688] If point is visible? -295.453479, 981.276306, 1693.358032 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -127215923218.497696, -93211181533.139786, 161388323106.694641 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -127340713862.836884, -92731183094.694763, 161566322583.296967 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -127332992375.500626, -90772945223.635559, 162680631257.846069 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -127786642878.813293, -86879519390.142609, 164441264075.098328 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -130519617881.025787, -77216087575.478775, 167094917594.851776 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -69841920261.060837, -65449907006.819855, 204344860872.984009 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -107045388559.236511, -68104733549.407867, 186605027731.271637 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -70971979689.325623, -66004356695.477112, 203776370843.994965 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -193410520649.655426, -75472062244.760468, 88401044344.451447 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] If point is visible? -68707990802.215378, -64895784179.771454, 204905235447.428131 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -193533230592.748535, -75009287257.339020, 88526277455.436325 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] If point is visible? -193244709275.637848, -74972325031.314880, 89185419968.776794 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] If point is visible? -134321981676.563812, -66099680389.706200, 168839698557.993408 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -65366078445.742645, -62742950806.593575, 206661569312.850647 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.689] If point is visible? -64379270653.179581, -61204694153.393288, 207431196404.723145 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.689] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.690] If point is visible? -63761918547.698738, -61174854214.607407, 207630588481.268890 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.690] If point is visible? -192341501030.978943, -70047638971.892883, 94955155595.796082 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -192035441711.211548, -70006981067.687790, 95602395614.200165 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -191727501093.870697, -69966231967.020889, 96248106616.389160 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -191417686702.077545, -69925393352.218811, 96892285042.530304 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -191106006040.706970, -69884466898.077469, 97534927385.722595 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -0.684459, -0.817318, 0.655074 mu:0.322409 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -191530278906.385162, -69457208073.627808, 97006467966.103760 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -191218389746.586182, -69416016224.650314, 97649118955.670074 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -0.449030, -0.542390, -0.351615 mu:0.491777 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -191753390367.874329, -68520265513.134216, 97231768548.318436 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -191441087674.803314, -68478545328.511108, 97874435365.804993 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -135554368647.351501, -62217852018.017136, 169329142055.270844 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.690] If point is visible? -194763169101.165924, -65069828215.564644, 93550156260.060638 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] If point is visible? -136835899852.309204, -57839114806.132980, 169849873795.482056 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.690] If point is visible? -138152139334.288696, -52962393312.445717, 170374228128.152740 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.690] If point is visible? -48062606610.929794, -31668381845.420612, 218186859721.552704 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.690] If point is visible? -142765074486.696564, -34402276706.468872, 171327240048.104706 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.690] If point is visible? -46078828317.947876, -25638162106.270035, 219403355814.695038 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.690] If point is visible? -45432387771.319656, -25615713629.098858, 219540747185.482544 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.690] If point is visible? -61738507253.228523, -14798043728.755327, 216535865255.725342 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.690] If point is visible? -0.728995, -0.196531, 0.743115 mu:0.323086 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.690] Z inverse min: 1.505610, Z inverse max: 0.000000 +[21:42:22.691] If point is visible? -68401157678.747368, -9609110679.054111, 214819349543.451324 mu:0.000000 unit_bearing:0.130143 -0.158286 0.978779 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.691] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.691] If point is visible? -68368319087.273201, -10104287455.970634, 214807082374.615082 mu:0.000000 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.127007 y=0.000000 z=-2.224816 +[21:42:22.691] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:22.691] init seeds +[21:42:22.691] DepthFilter: Initialized 3 new seeds +[21:42:22.693] DepthFilter: Initialized 3 new seeds +[21:42:23.125] add new frame +[21:42:23.125] update seed +[21:42:23.126] If point is visible? -0.071110, -0.442483, 4.410292 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.125887 y=0.000000 z=-2.209052 +[21:42:23.126] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:23.126] add key frame +[21:42:23.126] remove key frame +[21:42:23.126] init seeds +[21:42:23.126] update seed +[21:42:23.126] If point is visible? -0.071110, -0.442483, 4.410292 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.125887 y=0.000000 z=-2.209052 +[21:42:23.126] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? -0.071110, -0.442483, 4.410292 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.125887 y=0.000000 z=-2.209052 +[21:42:23.126] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? -12.452237, 15.860771, 30.621563 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.125890 y=0.000000 z=-2.209047 +[21:42:23.126] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? 2.436333, 19.197576, 31.163654 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125890 y=0.000000 z=-2.209047 +[21:42:23.126] If point is visible? -17.265736, 18.082673, 27.085501 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.125890 y=0.000000 z=-2.209047 +[21:42:23.126] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? -12.452237, 15.860771, 30.621563 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.125890 y=0.000000 z=-2.209047 +[21:42:23.126] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? -17.265736, 18.082673, 27.085501 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.125890 y=0.000000 z=-2.209047 +[21:42:23.126] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? 2.436333, 19.197576, 31.163654 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.125890 y=0.000000 z=-2.209047 +[21:42:23.126] If point is visible? -65390785586.466713, -23901742507.747051, 214641930161.823822 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.126] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? 11104398246.121286, -17919591477.839687, 224664164696.884888 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.126] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? -295.454590, 981.276306, 1693.373804 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.126] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? -127215923218.498810, -93211181533.139786, 161388323106.710419 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.126] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? -127340713862.837997, -92731183094.694763, 161566322583.312744 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.126] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? -127332992375.501740, -90772945223.635559, 162680631257.861847 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.126] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? -127786642878.814407, -86879519390.142609, 164441264075.114105 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.126] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? -130519617881.026901, -77216087575.478775, 167094917594.867554 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.126] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.126] If point is visible? -69841920261.061951, -65449907006.819855, 204344860872.999786 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.126] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.127] If point is visible? -107045388559.237625, -68104733549.407867, 186605027731.287415 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.127] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.127] If point is visible? -70971979689.326736, -66004356695.477112, 203776370844.010742 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.127] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.127] If point is visible? -193410520649.656555, -75472062244.760468, 88401044344.467224 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.127] If point is visible? -68707990802.216492, -64895784179.771454, 204905235447.443909 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.127] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.127] If point is visible? -193533230592.749664, -75009287257.339020, 88526277455.452103 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.127] If point is visible? -193244709275.638977, -74972325031.314880, 89185419968.792572 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.127] If point is visible? -134321981676.564926, -66099680389.706200, 168839698558.009186 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.127] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.127] If point is visible? -65366078445.743759, -62742950806.593575, 206661569312.866425 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.127] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.127] If point is visible? -64379270653.180695, -61204694153.393288, 207431196404.738922 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.127] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.127] If point is visible? -63761918547.699852, -61174854214.607407, 207630588481.284668 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.127] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.127] If point is visible? -192341501030.980072, -70047638971.892883, 94955155595.811859 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -192035441711.212677, -70006981067.687790, 95602395614.215942 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -191727501093.871826, -69966231967.020889, 96248106616.404938 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -191417686702.078674, -69925393352.218811, 96892285042.546082 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -191106006040.708099, -69884466898.077469, 97534927385.738373 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -0.685571, -0.817318, 0.670846 mu:0.322409 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -191530278906.386292, -69457208073.627808, 97006467966.119537 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -191218389746.587311, -69416016224.650314, 97649118955.685852 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -0.450142, -0.542390, -0.335844 mu:0.491777 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -191753390367.875458, -68520265513.134216, 97231768548.334213 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -191441087674.804443, -68478545328.511108, 97874435365.820770 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -135554368647.352615, -62217852018.017136, 169329142055.286621 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.128] If point is visible? -194763169101.167053, -65069828215.564644, 93550156260.076416 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] If point is visible? -136835899852.310318, -57839114806.132980, 169849873795.497833 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.128] If point is visible? -138152139334.289825, -52962393312.445717, 170374228128.168518 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.128] If point is visible? -48062606610.930908, -31668381845.420612, 218186859721.568481 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.128] If point is visible? -142765074486.697693, -34402276706.468872, 171327240048.120483 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.128] If point is visible? -46078828317.948990, -25638162106.270035, 219403355814.710815 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.128] If point is visible? -45432387771.320770, -25615713629.098858, 219540747185.498322 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.128] If point is visible? -61738507253.229637, -14798043728.755327, 216535865255.741119 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.128] If point is visible? -0.730107, -0.196531, 0.758887 mu:0.323086 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 1.505610, Z inverse max: 0.000000 +[21:42:23.128] If point is visible? -68401157678.748482, -9609110679.054111, 214819349543.467102 mu:0.000000 unit_bearing:0.130143 -0.158286 0.978779 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.128] If point is visible? -68368319087.274315, -10104287455.970634, 214807082374.630859 mu:0.000000 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.128] If point is visible? -72942251609.827347, -6828220043.593216, 213427293613.641510 mu:0.000000 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.125895 y=0.000000 z=-2.209044 +[21:42:23.128] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:23.128] init seeds +[21:42:23.129] DepthFilter: Initialized 2 new seeds +[21:42:23.131] DepthFilter: Initialized 2 new seeds +[21:42:24.460] add new frame +[21:42:24.460] update seed +[21:42:24.460] If point is visible? -0.072415, -0.442483, 4.436518 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.124582 y=0.000000 z=-2.182826 +[21:42:24.460] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:24.460] If point is visible? -0.072415, -0.442483, 4.436518 mu:0.150670 unit_bearing:0.448884 -0.187716 0.873651 T_cur_ref: x=0.124582 y=0.000000 z=-2.182826 +[21:42:24.460] Z inverse min: 0.634070, Z inverse max: 0.000000 +[21:42:24.460] add key frame +[21:42:24.460] remove key frame +[21:42:24.460] init seeds +[21:42:24.460] update seed +[21:42:24.460] If point is visible? -12.453542, 15.860771, 30.647789 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.124585 y=0.000000 z=-2.182821 +[21:42:24.460] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:24.460] If point is visible? 2.435028, 19.197576, 31.189880 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.124585 y=0.000000 z=-2.182821 +[21:42:24.460] If point is visible? -17.267041, 18.082673, 27.111727 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.124585 y=0.000000 z=-2.182821 +[21:42:24.460] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:24.460] If point is visible? -12.453542, 15.860771, 30.647789 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.124585 y=0.000000 z=-2.182821 +[21:42:24.460] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:24.460] If point is visible? -17.267041, 18.082673, 27.111727 mu:0.025927 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.124585 y=0.000000 z=-2.182821 +[21:42:24.460] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:24.460] If point is visible? 2.435028, 19.197576, 31.189880 mu:0.025927 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.124585 y=0.000000 z=-2.182821 +[21:42:24.460] If point is visible? -65390785586.468018, -23901742507.747051, 214641930161.850037 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.460] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.460] If point is visible? 11104398246.119982, -17919591477.839687, 224664164696.911102 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.460] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -295.455895, 981.276306, 1693.400030 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -127215923218.500122, -93211181533.139786, 161388323106.736633 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -127340713862.839310, -92731183094.694763, 161566322583.338959 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -127332992375.503052, -90772945223.635559, 162680631257.888062 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -127786642878.815720, -86879519390.142609, 164441264075.140320 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -130519617881.028214, -77216087575.478775, 167094917594.893768 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -69841920261.063263, -65449907006.819855, 204344860873.026001 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -107045388559.238937, -68104733549.407867, 186605027731.313629 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -70971979689.328049, -66004356695.477112, 203776370844.036957 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -193410520649.657837, -75472062244.760468, 88401044344.493454 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] If point is visible? -68707990802.217796, -64895784179.771454, 204905235447.470123 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -193533230592.750946, -75009287257.339020, 88526277455.478333 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] If point is visible? -193244709275.640259, -74972325031.314880, 89185419968.818802 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] If point is visible? -134321981676.566238, -66099680389.706200, 168839698558.035400 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.461] If point is visible? -65366078445.745064, -62742950806.593575, 206661569312.892639 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.461] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.462] If point is visible? -64379270653.181999, -61204694153.393288, 207431196404.765137 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.462] If point is visible? -63761918547.701157, -61174854214.607407, 207630588481.310883 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.462] If point is visible? -192341501030.981354, -70047638971.892883, 94955155595.838089 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -192035441711.213959, -70006981067.687790, 95602395614.242172 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -191727501093.873108, -69966231967.020889, 96248106616.431168 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -191417686702.079956, -69925393352.218811, 96892285042.572311 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -191106006040.709381, -69884466898.077469, 97534927385.764603 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -0.686876, -0.817318, 0.697071 mu:0.322409 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -191530278906.387573, -69457208073.627808, 97006467966.145767 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -191218389746.588593, -69416016224.650314, 97649118955.712082 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -0.451447, -0.542390, -0.309618 mu:0.491777 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -191753390367.876740, -68520265513.134216, 97231768548.360443 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -191441087674.805725, -68478545328.511108, 97874435365.847000 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -135554368647.353928, -62217852018.017136, 169329142055.312836 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.462] If point is visible? -194763169101.168335, -65069828215.564644, 93550156260.102646 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] If point is visible? -136835899852.311630, -57839114806.132980, 169849873795.524048 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.462] If point is visible? -138152139334.291107, -52962393312.445717, 170374228128.194733 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.462] If point is visible? -48062606610.932213, -31668381845.420612, 218186859721.594696 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.462] If point is visible? -142765074486.698975, -34402276706.468872, 171327240048.146698 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.462] If point is visible? -46078828317.950294, -25638162106.270035, 219403355814.737030 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.462] If point is visible? -45432387771.322075, -25615713629.098858, 219540747185.524536 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.462] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.462] If point is visible? -61738507253.230942, -14798043728.755327, 216535865255.767334 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.463] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.463] If point is visible? -0.731411, -0.196531, 0.785112 mu:0.323086 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.463] Z inverse min: 1.505610, Z inverse max: 0.000000 +[21:42:24.463] If point is visible? -68401157678.749786, -9609110679.054111, 214819349543.493317 mu:0.000000 unit_bearing:0.130143 -0.158286 0.978779 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.463] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.463] If point is visible? -68368319087.275620, -10104287455.970634, 214807082374.657074 mu:0.000000 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.463] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.463] If point is visible? -72942251609.828659, -6828220043.593216, 213427293613.667725 mu:0.000000 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.463] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.463] If point is visible? -15.442704, -0.903431, 26.266470 mu:0.030824 unit_bearing:-0.060676 -0.134508 0.989053 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.463] Z inverse min: 1.049449, Z inverse max: 0.000000 +[21:42:24.463] If point is visible? -107704208933.981293, -6245996943.767147, 198189800994.581024 mu:0.000000 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.463] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.463] If point is visible? -101959507173.310165, -5383021406.371277, 201230435808.528412 mu:0.000000 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.124590 y=0.000000 z=-2.182818 +[21:42:24.463] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.463] init seeds +[21:42:24.463] DepthFilter: Initialized 0 new seeds +[21:42:24.465] DepthFilter: Initialized 0 new seeds +[21:42:24.906] add new frame +[21:42:24.906] update seed +[21:42:24.906] If point is visible? -12.453530, 15.860771, 30.647493 mu:0.025927 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.124597 y=0.000000 z=-2.183117 +[21:42:24.906] Z inverse min: 1.096846, Z inverse max: 0.000000 +[21:42:24.906] add key frame +[21:42:24.906] remove key frame +[21:42:24.906] init seeds +[21:42:24.906] update seed +[21:42:24.906] If point is visible? -65390785586.468002, -23901742507.747051, 214641930161.849762 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.906] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.906] If point is visible? 11104398246.119993, -17919591477.839687, 224664164696.910828 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.906] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.906] If point is visible? -295.455884, 981.276306, 1693.399734 mu:0.000505 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.906] Z inverse min: 0.978115, Z inverse max: 0.000000 +[21:42:24.907] If point is visible? -127215923218.500107, -93211181533.139786, 161388323106.736359 mu:0.000000 unit_bearing:-0.225612 -0.497160 0.837813 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.907] If point is visible? -127340713862.839294, -92731183094.694763, 161566322583.338684 mu:0.000000 unit_bearing:-0.225663 -0.495145 0.838992 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.907] If point is visible? -127332992375.503036, -90772945223.635559, 162680631257.887787 mu:0.000000 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.907] If point is visible? -127786642878.815704, -86879519390.142609, 164441264075.140045 mu:0.000000 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.907] If point is visible? -130519617881.028198, -77216087575.478775, 167094917594.893494 mu:0.000000 unit_bearing:-0.224332 -0.429886 0.874570 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.907] If point is visible? -69841920261.063248, -65449907006.819855, 204344860873.025726 mu:0.000000 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.907] If point is visible? -107045388559.238922, -68104733549.407867, 186605027731.313354 mu:0.000000 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.907] If point is visible? -70971979689.328033, -66004356695.477112, 203776370844.036682 mu:0.000000 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.907] If point is visible? -193410520649.657837, -75472062244.760468, 88401044344.493149 mu:0.000000 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] If point is visible? -68707990802.217781, -64895784179.771454, 204905235447.469849 mu:0.000000 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.907] If point is visible? -193533230592.750946, -75009287257.339020, 88526277455.478027 mu:0.000000 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] If point is visible? -193244709275.640259, -74972325031.314880, 89185419968.818497 mu:0.000000 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] If point is visible? -134321981676.566223, -66099680389.706200, 168839698558.035126 mu:0.000000 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.907] If point is visible? -65366078445.745049, -62742950806.593575, 206661569312.892365 mu:0.000000 unit_bearing:0.114534 -0.387594 0.914687 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.907] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.908] If point is visible? -64379270653.181984, -61204694153.393288, 207431196404.764862 mu:0.000000 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.908] If point is visible? -63761918547.701141, -61174854214.607407, 207630588481.310608 mu:0.000000 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.908] If point is visible? -192341501030.981354, -70047638971.892883, 94955155595.837784 mu:0.000000 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -192035441711.213959, -70006981067.687790, 95602395614.241867 mu:0.000000 unit_bearing:-0.603959 -0.359565 0.711300 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -191727501093.873108, -69966231967.020889, 96248106616.430862 mu:0.000000 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -191417686702.079956, -69925393352.218811, 96892285042.572006 mu:0.000000 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -191106006040.709381, -69884466898.077469, 97534927385.764297 mu:0.000000 unit_bearing:-0.596558 -0.360070 0.717265 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -0.686864, -0.817318, 0.696775 mu:0.322409 unit_bearing:0.146025 -0.374702 0.915573 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -191530278906.387573, -69457208073.627808, 97006467966.145462 mu:0.000000 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -191218389746.588593, -69416016224.650314, 97649118955.711777 mu:0.000000 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -0.451435, -0.542390, -0.309914 mu:0.491777 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -191753390367.876740, -68520265513.134216, 97231768548.360138 mu:0.000000 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -191441087674.805725, -68478545328.511108, 97874435365.846695 mu:0.000000 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -135554368647.353912, -62217852018.017136, 169329142055.312561 mu:0.000000 unit_bearing:-0.236773 -0.365122 0.900347 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.908] If point is visible? -194763169101.168335, -65069828215.564644, 93550156260.102341 mu:0.000000 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] If point is visible? -136835899852.311615, -57839114806.132980, 169849873795.523773 mu:0.000000 unit_bearing:-0.239901 -0.346143 0.906991 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.908] If point is visible? -138152139334.291107, -52962393312.445717, 170374228128.194458 mu:0.000000 unit_bearing:-0.243045 -0.324975 0.913959 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.908] If point is visible? -48062606610.932198, -31668381845.420612, 218186859721.594421 mu:0.000000 unit_bearing:0.212773 -0.257134 0.942661 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.908] If point is visible? -142765074486.698975, -34402276706.468872, 171327240048.146423 mu:0.000000 unit_bearing:-0.255394 -0.243852 0.935580 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.908] If point is visible? -46078828317.950279, -25638162106.270035, 219403355814.736755 mu:0.000000 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.908] If point is visible? -45432387771.322060, -25615713629.098858, 219540747185.524261 mu:0.000000 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.908] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.909] If point is visible? -61738507253.230927, -14798043728.755327, 216535865255.767059 mu:0.000000 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.909] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.909] If point is visible? -0.731400, -0.196531, 0.784817 mu:0.323086 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.909] Z inverse min: 1.505610, Z inverse max: 0.000000 +[21:42:24.909] If point is visible? -68401157678.749771, -9609110679.054111, 214819349543.493042 mu:0.000000 unit_bearing:0.130143 -0.158286 0.978779 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.909] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.909] If point is visible? -68368319087.275604, -10104287455.970634, 214807082374.656799 mu:0.000000 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.909] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.909] If point is visible? -72942251609.828644, -6828220043.593216, 213427293613.667450 mu:0.000000 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.909] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.909] If point is visible? -15.442692, -0.903431, 26.266175 mu:0.030824 unit_bearing:-0.060676 -0.134508 0.989053 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.909] Z inverse min: 1.049449, Z inverse max: 0.000000 +[21:42:24.909] If point is visible? -107704208933.981277, -6245996943.767147, 198189800994.580750 mu:0.000000 unit_bearing:-0.057783 -0.134512 0.989226 T_cur_ref: x=0.124602 y=0.000000 z=-2.183114 +[21:42:24.909] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:24.909] init seeds +[21:42:24.909] DepthFilter: Initialized 1 new seeds +[21:42:24.911] DepthFilter: Initialized 1 new seeds +[21:42:25.369] add new frame +[21:42:25.369] update seed +[21:42:25.369] If point is visible? -65390785586.468002, -23901742507.747051, 214641930161.849762 mu:0.000000 unit_bearing:0.138536 -0.221057 0.965371 T_cur_ref: x=0.124601 y=0.000000 z=-2.183109 +[21:42:25.369] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:25.370] If point is visible? 11104398246.119993, -17919591477.839687, 224664164696.910828 mu:0.000000 unit_bearing:0.464966 -0.200157 0.862406 T_cur_ref: x=0.124601 y=0.000000 z=-2.183109 +[21:42:25.370] Z inverse min: 0.976591, Z inverse max: 0.000000 +[21:42:25.370] add key frame +[21:42:25.370] remove key frame +[21:42:25.370] init seeds +[21:42:25.370] update seed +[21:42:25.370] init seeds +[21:42:25.372] DepthFilter: Initialized 3 new seeds +[21:42:25.375] DepthFilter: Initialized 222 new seeds +[21:42:25.815] add new frame +[21:42:25.815] update seed +[21:42:25.815] If point is visible? -5.390505, 12.795682, 25.225397 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.124609 y=0.000000 z=-2.183073 +[21:42:25.815] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:25.815] If point is visible? -5.390505, 12.795682, 25.225397 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.124609 y=0.000000 z=-2.183073 +[21:42:25.815] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:25.815] add key frame +[21:42:25.815] remove key frame +[21:42:25.815] init seeds +[21:42:25.815] update seed +[21:42:25.816] init seeds +[21:42:25.818] DepthFilter: Initialized 2 new seeds +[21:42:25.821] DepthFilter: Initialized 231 new seeds +[21:42:26.284] add new frame +[21:42:26.284] update seed +[21:42:26.284] If point is visible? -5.390505, 12.795682, 25.225402 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.124609 y=0.000000 z=-2.183069 +[21:42:26.284] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:26.284] If point is visible? -5.390505, 12.795682, 25.225402 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.124609 y=0.000000 z=-2.183069 +[21:42:26.284] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:26.284] add key frame +[21:42:26.284] remove key frame +[21:42:26.284] init seeds +[21:42:26.284] update seed +[21:42:26.284] If point is visible? -5.390505, 12.795682, 25.225402 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.124609 y=0.000000 z=-2.183069 +[21:42:26.284] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:26.284] If point is visible? -5.390505, 12.795682, 25.225402 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.124609 y=0.000000 z=-2.183069 +[21:42:26.284] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:26.284] If point is visible? -7.253081, 4.571889, 3.988137 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.284] If point is visible? 2.598237, 5.264663, 6.737738 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.284] If point is visible? 0.073760, 5.290408, 7.059512 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.284] If point is visible? -4.698305, -4.179989, 6.342393 mu:0.093899 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.284] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -4.703017, -3.995986, 6.427531 mu:0.093899 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -4.706826, -3.973092, 6.435984 mu:0.093899 unit_bearing:-0.220701 -0.468921 0.855222 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -4.747459, -3.720643, 6.525322 mu:0.093899 unit_bearing:-0.221187 -0.446416 0.867058 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -1.747189, -3.064937, 7.842840 mu:0.093899 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -4.852524, -3.377496, 6.605388 mu:0.093899 unit_bearing:-0.227427 -0.415351 0.880773 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -8.305399, -3.415121, 3.356621 mu:0.093899 unit_bearing:-0.624195 -0.381680 0.681690 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -8.309809, -3.393193, 3.363380 mu:0.093899 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -1.659822, -3.038936, 7.866657 mu:0.093899 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -0.302641, -0.751644, 0.350976 mu:0.373487 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -1.623472, -2.999474, 7.827796 mu:0.094377 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.752239, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -0.369446, -0.876358, 0.798986 mu:0.317745 unit_bearing:0.105938 -0.391858 0.913906 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -8.314192, -3.371254, 3.370087 mu:0.093899 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -3.728938, -3.114303, 7.243893 mu:0.093899 unit_bearing:-0.108544 -0.398128 0.910885 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -3.697848, -3.136356, 7.249238 mu:0.093899 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -3.556598, -3.130322, 7.307248 mu:0.093899 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -1.408732, -2.844656, 7.964498 mu:0.093899 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -0.302846, -0.808745, 0.704126 mu:0.330182 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -8.213719, -3.206605, 3.614020 mu:0.093899 unit_bearing:-0.608475 -0.365192 0.704552 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -4.956628, -3.009872, 6.679099 mu:0.093899 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -8.202935, -3.160797, 3.654537 mu:0.093899 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -8.183891, -3.159213, 3.682463 mu:0.093899 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -8.164771, -3.157626, 3.710305 mu:0.093899 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -8.217823, -3.184496, 3.620299 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -8.206978, -3.138658, 3.660710 mu:0.093899 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -8.168794, -3.135461, 3.716475 mu:0.093899 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -8.149587, -3.133859, 3.744231 mu:0.093899 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] If point is visible? -1.380903, -2.820497, 7.975403 mu:0.093899 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.285] If point is visible? -1.325351, -2.771384, 7.806051 mu:0.095535 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.285] Z inverse min: 0.755446, Z inverse max: 0.000000 +[21:42:26.286] If point is visible? -8.172792, -3.113288, 3.722593 mu:0.093899 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] If point is visible? -8.153575, -3.111673, 3.750347 mu:0.093899 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] If point is visible? -8.134282, -3.110056, 3.778016 mu:0.093899 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] If point is visible? -8.161476, -3.067277, 3.762423 mu:0.093899 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] If point is visible? -8.142164, -3.065635, 3.790089 mu:0.093899 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] If point is visible? -8.325685, -2.901489, 3.612633 mu:0.093899 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] If point is visible? 3.031451, -1.313168, 7.977747 mu:0.093899 unit_bearing:0.525495 -0.238661 0.816637 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.286] If point is visible? -0.434375, -1.207109, 8.383234 mu:0.093899 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.286] If point is visible? -0.403217, -1.206639, 8.384890 mu:0.093899 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.286] If point is visible? -0.404603, -1.183258, 8.387464 mu:0.093899 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.286] If point is visible? 2.370400, -0.849179, 8.192462 mu:0.093899 unit_bearing:0.473124 -0.197875 0.858487 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.286] If point is visible? -0.357800, -0.901881, 8.417413 mu:0.093899 unit_bearing:0.233178 -0.205361 0.950502 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.286] If point is visible? -0.614504, -0.373591, 3.807458 mu:0.165358 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] Z inverse min: 0.897124, Z inverse max: 0.000000 +[21:42:26.286] If point is visible? -1.810717, -0.645959, 8.217580 mu:0.094350 unit_bearing:0.098354 -0.180082 0.978722 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] Z inverse min: 0.751942, Z inverse max: 0.000000 +[21:42:26.286] If point is visible? -0.067000, -0.087824, -0.668653 mu:0.654019 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] Z inverse min: 1.321620, Z inverse max: 0.000000 +[21:42:26.286] If point is visible? -1.368884, -0.497857, 8.349639 mu:0.093899 unit_bearing:0.141639 -0.166930 0.975742 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.286] If point is visible? -1.367841, -0.521255, 8.348655 mu:0.093899 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.286] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.287] If point is visible? -1.208863, -0.635106, 8.363723 mu:0.093899 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.287] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.287] If point is visible? -0.657153, -0.380766, 4.148479 mu:0.156471 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.287] Z inverse min: 0.880813, Z inverse max: 0.000000 +[21:42:26.287] If point is visible? -3.697769, -0.433627, 7.747576 mu:0.093899 unit_bearing:-0.083774 -0.154054 0.984504 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.287] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.287] If point is visible? -3.214211, -0.178621, 7.928147 mu:0.093899 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.287] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.287] If point is visible? -3.155640, -0.176302, 7.947341 mu:0.093899 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.287] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.287] If point is visible? 1.416939, -0.196760, 8.386108 mu:0.093899 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.287] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.287] If point is visible? -1.714846, -0.271510, 8.303066 mu:0.093899 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.124609 y=0.000000 z=-2.183062 +[21:42:26.287] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.287] init seeds +[21:42:26.287] DepthFilter: Initialized 0 new seeds +[21:42:26.289] DepthFilter: Initialized 0 new seeds +[21:42:26.783] add new frame +[21:42:26.783] update seed +[21:42:26.783] If point is visible? -5.390506, 12.795682, 25.225407 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.124609 y=0.000000 z=-2.183064 +[21:42:26.783] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:26.783] If point is visible? -5.390506, 12.795682, 25.225407 mu:0.032524 unit_bearing:0.120848 0.304423 0.944840 T_cur_ref: x=0.124609 y=0.000000 z=-2.183064 +[21:42:26.783] Z inverse min: 0.736468, Z inverse max: 0.000000 +[21:42:26.784] add key frame +[21:42:26.784] remove key frame +[21:42:26.784] init seeds +[21:42:26.784] update seed +[21:42:26.784] If point is visible? -7.253082, 4.571889, 3.988143 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? 2.598237, 5.264663, 6.737743 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? 0.073760, 5.290408, 7.059517 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -4.698305, -4.179989, 6.342398 mu:0.093899 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -4.703017, -3.995986, 6.427536 mu:0.093899 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -4.706827, -3.973092, 6.435989 mu:0.093899 unit_bearing:-0.220701 -0.468921 0.855222 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -4.747460, -3.720643, 6.525327 mu:0.093899 unit_bearing:-0.221187 -0.446416 0.867058 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -1.747189, -3.064937, 7.842845 mu:0.093899 unit_bearing:0.085891 -0.400381 0.912314 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -4.852524, -3.377496, 6.605393 mu:0.093899 unit_bearing:-0.227427 -0.415351 0.880773 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -8.305400, -3.415121, 3.356626 mu:0.093899 unit_bearing:-0.624195 -0.381680 0.681690 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -8.309809, -3.393193, 3.363385 mu:0.093899 unit_bearing:-0.624343 -0.379714 0.682652 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -1.659823, -3.038936, 7.866662 mu:0.093899 unit_bearing:0.094472 -0.398230 0.912408 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -0.302641, -0.751644, 0.350982 mu:0.373487 unit_bearing:0.103067 -0.393977 0.913323 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -1.623472, -2.999474, 7.827801 mu:0.094377 unit_bearing:0.097342 -0.396115 0.913027 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.752239, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -0.369446, -0.876358, 0.798991 mu:0.317745 unit_bearing:0.105938 -0.391858 0.913906 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -8.314192, -3.371254, 3.370092 mu:0.093899 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -3.728939, -3.114303, 7.243898 mu:0.093899 unit_bearing:-0.108544 -0.398128 0.910885 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -3.697848, -3.136356, 7.249243 mu:0.093899 unit_bearing:-0.105674 -0.400245 0.910295 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -3.556599, -3.130322, 7.307253 mu:0.093899 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -1.408732, -2.844656, 7.964503 mu:0.093899 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] calculated Z= 0.880788 +[21:42:26.784] update seeds 305 +[21:42:26.784] If point is visible? -0.302846, -0.808745, 0.704131 mu:0.330182 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -8.213719, -3.206605, 3.614025 mu:0.093899 unit_bearing:-0.608475 -0.365192 0.704552 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -4.956628, -3.009872, 6.679104 mu:0.093899 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.784] If point is visible? -8.202935, -3.160797, 3.654542 mu:0.093899 unit_bearing:-0.606287 -0.361387 0.708390 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -8.183891, -3.159213, 3.682469 mu:0.093899 unit_bearing:-0.603830 -0.361559 0.710398 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -8.164771, -3.157626, 3.710310 mu:0.093899 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -8.217823, -3.184496, 3.620304 mu:0.093899 unit_bearing:-0.608607 -0.363204 0.705465 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -8.206978, -3.138658, 3.660715 mu:0.093899 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -8.168794, -3.135461, 3.716481 mu:0.093899 unit_bearing:-0.601496 -0.359734 0.713297 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -8.149587, -3.133859, 3.744236 mu:0.093899 unit_bearing:-0.599030 -0.359902 0.715286 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] If point is visible? -1.380903, -2.820497, 7.975408 mu:0.093899 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.784] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.785] If point is visible? -1.325351, -2.771384, 7.806056 mu:0.095535 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] Z inverse min: 0.755446, Z inverse max: 0.000000 +[21:42:26.785] If point is visible? -8.172792, -3.113288, 3.722599 mu:0.093899 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] If point is visible? -8.153575, -3.111673, 3.750352 mu:0.093899 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] If point is visible? -8.134283, -3.110056, 3.778021 mu:0.093899 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] If point is visible? -8.161477, -3.067277, 3.762428 mu:0.093899 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] If point is visible? -8.142164, -3.065635, 3.790094 mu:0.093899 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] If point is visible? -8.325685, -2.901489, 3.612638 mu:0.093899 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] If point is visible? 3.031450, -1.313168, 7.977752 mu:0.093899 unit_bearing:0.525495 -0.238661 0.816637 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.785] If point is visible? -0.434375, -1.207109, 8.383239 mu:0.093899 unit_bearing:0.224392 -0.233417 0.946132 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.785] If point is visible? -0.403217, -1.206639, 8.384895 mu:0.093899 unit_bearing:0.227243 -0.233392 0.945457 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.785] If point is visible? -0.404603, -1.183258, 8.387469 mu:0.093899 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.785] If point is visible? 2.370400, -0.849179, 8.192467 mu:0.093899 unit_bearing:0.473124 -0.197875 0.858487 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.785] If point is visible? -0.357800, -0.901881, 8.417418 mu:0.093899 unit_bearing:0.233178 -0.205361 0.950502 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.785] If point is visible? -0.614505, -0.373591, 3.807463 mu:0.165358 unit_bearing:0.158844 -0.182037 0.970377 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] Z inverse min: 0.897124, Z inverse max: 0.000000 +[21:42:26.785] If point is visible? -1.810718, -0.645959, 8.217585 mu:0.094350 unit_bearing:0.098354 -0.180082 0.978722 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] Z inverse min: 0.751942, Z inverse max: 0.000000 +[21:42:26.785] If point is visible? -0.067000, -0.087824, -0.668648 mu:0.654019 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.785] Z inverse min: 1.321620, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? -1.368884, -0.497857, 8.349645 mu:0.093899 unit_bearing:0.141639 -0.166930 0.975742 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? -1.367841, -0.521255, 8.348660 mu:0.093899 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? -1.208864, -0.635106, 8.363728 mu:0.093899 unit_bearing:0.155978 -0.179883 0.971243 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? -0.657153, -0.380766, 4.148484 mu:0.156471 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.880813, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? -3.697770, -0.433627, 7.747581 mu:0.093899 unit_bearing:-0.083774 -0.154054 0.984504 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? -3.214212, -0.178621, 7.928153 mu:0.093899 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? -3.155640, -0.176302, 7.947346 mu:0.093899 unit_bearing:-0.028848 -0.132358 0.990782 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? 1.416938, -0.196760, 8.386113 mu:0.093899 unit_bearing:0.394472 -0.139286 0.908290 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? -1.714846, -0.271510, 8.303071 mu:0.093899 unit_bearing:0.109985 -0.145302 0.983255 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? 1.449679, -0.220048, 8.381599 mu:0.093899 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? -2.566611, -0.176170, 5.241667 mu:0.126592 unit_bearing:-0.063566 -0.136682 0.988573 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.826317, Z inverse max: 0.000000 +[21:42:26.786] If point is visible? -3.474614, -0.236256, 7.837221 mu:0.093899 unit_bearing:-0.060674 -0.136685 0.988755 T_cur_ref: x=0.124608 y=0.000000 z=-2.183057 +[21:42:26.786] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:26.786] init seeds +[21:42:26.787] DepthFilter: Initialized 0 new seeds +[21:42:26.789] DepthFilter: Initialized 0 new seeds +[21:42:27.273] add new frame +[21:42:27.273] update seed +[21:42:27.273] If point is visible? -7.253082, 4.571889, 3.988147 mu:0.093899 unit_bearing:-0.486906 0.355478 0.797846 T_cur_ref: x=0.124608 y=0.000000 z=-2.183052 +[21:42:27.273] If point is visible? 2.598236, 5.264663, 6.737748 mu:0.093899 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.124608 y=0.000000 z=-2.183052 +[21:42:27.273] If point is visible? 0.073759, 5.290408, 7.059522 mu:0.093899 unit_bearing:0.256286 0.387296 0.885618 T_cur_ref: x=0.124608 y=0.000000 z=-2.183052 +[21:42:27.273] If point is visible? -4.698306, -4.179989, 6.342403 mu:0.093899 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.124608 y=0.000000 z=-2.183052 +[21:42:27.273] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:27.273] If point is visible? -4.703018, -3.995986, 6.427541 mu:0.093899 unit_bearing:-0.220655 -0.470958 0.854113 T_cur_ref: x=0.124608 y=0.000000 z=-2.183052 +[21:42:27.273] Z inverse min: 0.750812, Z inverse max: 0.000000 +[21:42:27.273] add key frame +[21:42:27.273] remove key frame +[21:42:27.273] init seeds +[21:42:27.273] update seed +[21:42:27.273] init seeds +[21:42:27.276] DepthFilter: Initialized 0 new seeds +[21:42:27.278] DepthFilter: Initialized 216 new seeds +[21:42:27.764] add new frame +[21:42:27.764] update seed +[21:42:27.765] If point is visible? -2608609.723790, 7847758.074771, 16505707.484660 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.124604 y=0.000000 z=-2.183045 +[21:42:27.765] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:27.765] If point is visible? -2608609.723790, 7847758.074771, 16505707.484660 mu:0.000000 unit_bearing:0.120795 0.312959 0.942054 T_cur_ref: x=0.124604 y=0.000000 z=-2.183045 +[21:42:27.765] Z inverse min: 0.600740, Z inverse max: 0.000000 +[21:42:27.765] add key frame +[21:42:27.765] remove key frame +[21:42:27.765] init seeds +[21:42:27.765] update seed +[21:42:27.765] If point is visible? -1.776316, -2.656566, 3.993402 mu:0.143122 unit_bearing:-0.223120 -0.485109 0.845510 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.765] If point is visible? -1.775503, -2.671579, 3.987174 mu:0.143122 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.765] If point is visible? -4.578755, -2.173026, 2.504760 mu:0.143122 unit_bearing:-0.635373 -0.390455 0.666218 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.765] If point is visible? 0.292068, -2.012295, 4.505905 mu:0.143122 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.765] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.765] If point is visible? 0.391635, -1.981456, 4.511875 mu:0.143122 unit_bearing:0.091616 -0.398249 0.912690 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.765] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.765] If point is visible? -0.881293, -1.999292, 4.411782 mu:0.143592 unit_bearing:-0.091404 -0.400346 0.911794 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.765] Z inverse min: 0.830910, Z inverse max: 0.000000 +[21:42:27.765] If point is visible? -4.509931, -2.069570, 2.618739 mu:0.143122 unit_bearing:-0.624489 -0.377746 0.683609 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.765] If point is visible? -4.493977, -2.069018, 2.634323 mu:0.143122 unit_bearing:-0.622080 -0.377940 0.685695 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.765] If point is visible? 0.511076, -1.935374, 4.519521 mu:0.143122 unit_bearing:0.108792 -0.391837 0.913580 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.765] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.765] If point is visible? 0.590071, -1.858759, 4.536165 mu:0.143122 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.765] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? 0.610130, -1.858767, 4.534743 mu:0.143122 unit_bearing:0.123149 -0.381220 0.916245 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? -4.375473, -1.948095, 2.794245 mu:0.143122 unit_bearing:-0.603700 -0.363551 0.709490 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? -4.409345, -1.934784, 2.768630 mu:0.143122 unit_bearing:-0.608739 -0.361214 0.706372 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? -4.360393, -1.932875, 2.813752 mu:0.143122 unit_bearing:-0.601369 -0.361729 0.712396 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? -1.426699, -1.478092, 2.811730 mu:0.183995 unit_bearing:-0.233668 -0.381932 0.894163 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.922816, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? -4.362903, -1.903677, 2.822699 mu:0.143122 unit_bearing:-0.601623 -0.357738 0.714194 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? -4.346500, -1.903023, 2.837604 mu:0.143122 unit_bearing:-0.599156 -0.357905 0.716182 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? -4.330061, -1.902369, 2.852443 mu:0.143122 unit_bearing:-0.596683 -0.358071 0.718161 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? -4.394337, -1.919568, 2.788233 mu:0.143122 unit_bearing:-0.606416 -0.359394 0.709292 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? -4.347736, -1.888409, 2.842019 mu:0.143122 unit_bearing:-0.599281 -0.355906 0.717073 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? -4.331291, -1.887747, 2.856856 mu:0.143122 unit_bearing:-0.596807 -0.356070 0.719051 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? 0.609900, -1.843441, 4.538982 mu:0.143122 unit_bearing:0.123167 -0.379117 0.917115 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? 0.629962, -1.843454, 4.537500 mu:0.143122 unit_bearing:0.126021 -0.379093 0.916737 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.766] If point is visible? 0.609672, -1.828112, 4.543184 mu:0.143122 unit_bearing:0.123185 -0.377012 0.917980 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.766] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.767] If point is visible? -4.348964, -1.873789, 2.846397 mu:0.143122 unit_bearing:-0.599405 -0.353905 0.717959 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.767] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.767] If point is visible? -4.332512, -1.873119, 2.861232 mu:0.143122 unit_bearing:-0.596931 -0.354069 0.719937 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.767] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.767] If point is visible? -4.472990, -1.761778, 2.774520 mu:0.143122 unit_bearing:-0.617607 -0.336740 0.710751 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.767] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.767] If point is visible? -1.088915, -0.882964, 1.634074 mu:0.243813 unit_bearing:-0.243014 -0.327092 0.913211 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.767] Z inverse min: 1.024845, Z inverse max: 0.000000 +[21:42:27.767] If point is visible? 1.184397, -1.001636, 4.650184 mu:0.143122 unit_bearing:0.207028 -0.261473 0.942747 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.767] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.767] If point is visible? 1.204553, -1.001845, 4.646997 mu:0.143122 unit_bearing:0.209881 -0.261447 0.942123 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.767] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.767] If point is visible? 1.606622, -0.915047, 4.583473 mu:0.143122 unit_bearing:0.266890 -0.248009 0.931269 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.767] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.767] If point is visible? 1.304218, -0.818680, 4.654917 mu:0.143122 unit_bearing:0.224373 -0.235566 0.945603 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.767] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.767] If point is visible? 0.743381, -0.413393, 1.406297 mu:0.272805 unit_bearing:0.224410 -0.231267 0.946655 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.767] Z inverse min: 1.074886, Z inverse max: 0.000000 +[21:42:27.767] If point is visible? 1.324214, -0.788231, 4.655016 mu:0.143122 unit_bearing:0.227262 -0.231242 0.945980 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.767] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.767] calculated Z= 0.449928 +[21:42:27.767] update seeds 305 +[21:42:27.767] If point is visible? 0.595134, -0.566503, 4.765130 mu:0.143122 unit_bearing:0.124230 -0.201665 0.971544 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.767] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.768] If point is visible? 0.595009, -0.551115, 4.766376 mu:0.143122 unit_bearing:0.124239 -0.199501 0.971990 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.768] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.768] If point is visible? 0.816600, -0.398758, 4.758251 mu:0.143122 unit_bearing:0.155987 -0.177716 0.971640 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.768] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.768] If point is visible? 0.472818, -0.458327, 4.780298 mu:0.143122 unit_bearing:0.106990 -0.186563 0.976600 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.768] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.768] If point is visible? 0.836945, -0.414289, 4.755283 mu:0.143122 unit_bearing:0.158853 -0.179871 0.970779 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.768] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.768] If point is visible? 0.714947, -0.336547, 4.770924 mu:0.143122 unit_bearing:0.141631 -0.169100 0.975370 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.768] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.768] If point is visible? 0.633521, -0.274584, 4.780077 mu:0.143122 unit_bearing:0.130136 -0.160457 0.978426 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.768] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.768] If point is visible? 2.513764, -0.189157, 4.343083 mu:0.143839 unit_bearing:0.397227 -0.141404 0.906761 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.768] Z inverse min: 0.831659, Z inverse max: 0.000000 +[21:42:27.768] If point is visible? -0.520752, -0.077531, 4.773746 mu:0.143122 unit_bearing:-0.034637 -0.132354 0.990597 T_cur_ref: x=0.124612 y=0.000000 z=-2.182994 +[21:42:27.768] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:27.768] init seeds +[21:42:27.768] DepthFilter: Initialized 2 new seeds +[21:42:27.770] DepthFilter: Initialized 2 new seeds +[21:42:28.264] add new frame +[21:42:28.265] update seed +[21:42:28.265] If point is visible? -1.776316, -2.656566, 3.993407 mu:0.143122 unit_bearing:-0.223120 -0.485109 0.845510 T_cur_ref: x=0.124611 y=0.000000 z=-2.182989 +[21:42:28.265] If point is visible? -1.775504, -2.671579, 3.987178 mu:0.143122 unit_bearing:-0.223071 -0.487133 0.844358 T_cur_ref: x=0.124611 y=0.000000 z=-2.182989 +[21:42:28.265] If point is visible? -4.578756, -2.173026, 2.504764 mu:0.143122 unit_bearing:-0.635373 -0.390455 0.666218 T_cur_ref: x=0.124611 y=0.000000 z=-2.182989 +[21:42:28.265] If point is visible? 0.292068, -2.012295, 4.505909 mu:0.143122 unit_bearing:0.077310 -0.402526 0.912138 T_cur_ref: x=0.124611 y=0.000000 z=-2.182989 +[21:42:28.265] Z inverse min: 0.829514, Z inverse max: 0.000000 +[21:42:28.265] add key frame +[21:42:28.265] remove key frame +[21:42:28.265] init seeds +[21:42:28.265] update seed +[21:42:28.265] init seeds +[21:42:28.268] DepthFilter: Initialized 5 new seeds +[21:42:28.270] DepthFilter: Initialized 210 new seeds +[21:42:28.784] add new frame +[21:42:28.784] update seed +[21:42:28.784] If point is visible? 2029134166.746651, 2275362565.975900, 3567830413.405441 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.124611 y=0.000000 z=-2.182984 +[21:42:28.784] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:28.784] If point is visible? 2029134166.746651, 2275362565.975900, 3567830413.405441 mu:0.000000 unit_bearing:0.475077 0.388579 0.789499 T_cur_ref: x=0.124611 y=0.000000 z=-2.182984 +[21:42:28.784] Z inverse min: 0.479260, Z inverse max: 0.000000 +[21:42:28.784] add key frame +[21:42:28.784] If point is visible? 0.101454, -0.097167, 0.704495 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.784] remove key frame +[21:42:28.784] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.784] init seeds +[21:42:28.784] update seed +[21:42:28.784] If point is visible? 0.101454, -0.097167, 0.704495 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.784] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? 0.369966, 0.126422, 0.714469 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? 0.026552, 0.075446, 0.737549 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? -0.068826, 0.091544, 0.834444 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? 0.284093, -0.043593, 0.672824 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? 0.142337, 0.129698, 0.701800 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? 0.085099, -0.099654, 0.711954 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? 0.007499, -0.187305, 0.804621 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? 0.101454, -0.097167, 0.704495 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? 0.369966, 0.126422, 0.714469 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? -0.068826, 0.091544, 0.834444 mu:-2.597748 unit_bearing:0.473047 -0.304960 0.826575 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? 0.026552, 0.075446, 0.737549 mu:-2.597748 unit_bearing:0.138117 -0.294129 0.945733 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? 0.284093, -0.043593, 0.672824 mu:-2.597748 unit_bearing:-0.552430 -0.007691 0.833524 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.785] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:28.785] If point is visible? 0.142337, 0.129698, 0.701800 mu:-2.597748 unit_bearing:-0.164836 -0.445327 0.880064 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.786] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? 0.085099, -0.099654, 0.711954 mu:-2.597748 unit_bearing:-0.051982 0.149244 0.987433 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.786] Z inverse min: -2.584503, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? 0.007499, -0.187305, 0.804621 mu:-2.597748 unit_bearing:0.222187 0.404579 0.887101 T_cur_ref: x=0.235161 y=0.000000 z=1.052153 +[21:42:28.786] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? -0.185732, -0.486674, -0.875104 mu:0.851146 unit_bearing:0.223694 -0.301881 0.926730 T_cur_ref: x=-0.001419 y=0.000000 z=0.178241 +[21:42:28.786] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:28.786] If point is visible? 0.739061, -0.515232, -0.574476 mu:0.851146 unit_bearing:-0.579369 -0.357190 0.732630 T_cur_ref: x=-0.001419 y=0.000000 z=0.178241 +[21:42:28.786] If point is visible? -0.021146, 0.094486, -0.992674 mu:0.851146 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=-0.001419 y=0.000000 z=0.178241 +[21:42:28.786] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:28.786] If point is visible? 0.165364, 0.145941, -0.960093 mu:0.862287 unit_bearing:-0.074901 0.244529 0.966745 T_cur_ref: x=-0.001419 y=0.000000 z=0.178241 +[21:42:28.786] Z inverse min: 1.106278, Z inverse max: 0.618296 +[21:42:28.786] If point is visible? 0.209711, -0.222238, 0.863226 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=-0.003630 y=0.000000 z=0.086791 +[21:42:28.786] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? -0.070601, -0.096895, 0.913762 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=-0.003630 y=0.000000 z=0.086791 +[21:42:28.786] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? -0.080658, -0.214684, 0.890366 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=-0.003630 y=0.000000 z=0.086791 +[21:42:28.786] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? 0.209711, -0.222238, 0.863226 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=-0.003630 y=0.000000 z=0.086791 +[21:42:28.786] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? -0.070601, -0.096895, 0.913762 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=-0.003630 y=0.000000 z=0.086791 +[21:42:28.786] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? -0.080658, -0.214684, 0.890366 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=-0.003630 y=0.000000 z=0.086791 +[21:42:28.786] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? -0.053379, -0.001137, 0.205065 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.786] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? -0.012841, -0.015193, 0.213552 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.786] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? -0.012846, -0.016349, 0.213412 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.786] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? -0.013713, 0.067683, 0.195485 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.786] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? 0.029401, 0.057899, 0.196417 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.786] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? -0.046919, 0.054614, 0.194808 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.786] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.786] If point is visible? -0.046916, 0.054876, 0.194680 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.786] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? 0.032455, 0.053527, 0.197625 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? 0.029518, 0.053135, 0.198705 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? -0.047688, 0.051670, 0.195911 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? -0.048070, 0.050322, 0.196373 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? -0.048457, 0.048439, 0.197044 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? 0.047460, 0.049425, 0.193622 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? 0.047468, 0.049159, 0.193738 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? 0.028126, 0.048913, 0.200953 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? 0.047476, 0.048893, 0.193852 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? -0.025315, 0.047061, 0.204121 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? -0.024938, 0.047071, 0.204184 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? 0.048283, 0.045639, 0.194864 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? 0.037016, 0.046610, 0.199106 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? 0.028179, 0.045941, 0.202134 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? 0.036672, 0.045550, 0.199649 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] If point is visible? -0.049222, 0.045453, 0.197974 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=-0.003978 y=0.000000 z=0.083684 +[21:42:28.787] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:28.787] init seeds +[21:42:28.788] DepthFilter: Initialized 0 new seeds +[21:42:28.790] DepthFilter: Initialized 0 new seeds +[21:42:30.958] add new frame +[21:42:30.958] update seed +[21:42:30.958] If point is visible? 0.101449, -0.097167, 0.704535 mu:-2.597748 unit_bearing:-0.098245 0.140469 0.985199 T_cur_ref: x=0.235156 y=0.000000 z=1.052194 +[21:42:30.958] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:30.959] add key frame +[21:42:30.959] If point is visible? 0.369961, 0.126422, 0.714510 mu:-2.597748 unit_bearing:-0.681280 -0.432871 0.590322 T_cur_ref: x=0.235156 y=0.000000 z=1.052194 +[21:42:30.959] Z inverse min: -2.584507, Z inverse max: 0.000000 +[21:42:30.959] remove key frame +[21:42:30.959] init seeds +[21:42:30.959] update seed +[21:42:30.959] init seeds +[21:42:30.961] DepthFilter: Initialized 2 new seeds +[21:42:30.964] DepthFilter: Initialized 228 new seeds +[21:42:32.107] add new frame +[21:42:32.107] update seed +[21:42:32.107] If point is visible? -0.183233, -0.486674, -0.875792 mu:0.851146 unit_bearing:0.223694 -0.301881 0.926730 T_cur_ref: x=0.001080 y=0.000000 z=0.177553 +[21:42:32.107] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:32.107] If point is visible? 0.741560, -0.515232, -0.575165 mu:0.851146 unit_bearing:-0.579369 -0.357190 0.732630 T_cur_ref: x=0.001080 y=0.000000 z=0.177553 +[21:42:32.107] If point is visible? -0.018646, 0.094486, -0.993362 mu:0.851146 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.001080 y=0.000000 z=0.177553 +[21:42:32.107] Z inverse min: 1.093476, Z inverse max: 0.608817 +[21:42:32.107] If point is visible? 0.167863, 0.145941, -0.960782 mu:0.862287 unit_bearing:-0.074901 0.244529 0.966745 T_cur_ref: x=0.001080 y=0.000000 z=0.177553 +[21:42:32.107] Z inverse min: 1.106278, Z inverse max: 0.618296 +[21:42:32.107] If point is visible? 0.212210, -0.222238, 0.862537 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=-0.001131 y=0.000000 z=0.086103 +[21:42:32.107] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:32.107] If point is visible? -0.068102, -0.096895, 0.913074 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=-0.001131 y=0.000000 z=0.086103 +[21:42:32.107] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:32.107] If point is visible? -0.078159, -0.214684, 0.889677 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=-0.001131 y=0.000000 z=0.086103 +[21:42:32.107] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:32.107] add key frame +[21:42:32.107] remove key frame +[21:42:32.107] init seeds +[21:42:32.107] update seed +[21:42:32.107] If point is visible? 0.212210, -0.222238, 0.862537 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=-0.001131 y=0.000000 z=0.086103 +[21:42:32.107] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:32.107] If point is visible? -0.068102, -0.096895, 0.913074 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=-0.001131 y=0.000000 z=0.086103 +[21:42:32.107] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:32.107] If point is visible? -0.078159, -0.214684, 0.889677 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=-0.001131 y=0.000000 z=0.086103 +[21:42:32.107] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:32.107] If point is visible? 0.212210, -0.222238, 0.862537 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=-0.001131 y=0.000000 z=0.086103 +[21:42:32.108] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.068102, -0.096895, 0.913074 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=-0.001131 y=0.000000 z=0.086103 +[21:42:32.108] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.078159, -0.214684, 0.889677 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=-0.001131 y=0.000000 z=0.086103 +[21:42:32.108] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.050880, -0.001137, 0.204377 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.010342, -0.015193, 0.212864 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.010347, -0.016349, 0.212723 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.011214, 0.067683, 0.194797 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? 0.031900, 0.057899, 0.195728 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.044420, 0.054614, 0.194120 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.044417, 0.054876, 0.193992 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? 0.034954, 0.053527, 0.196937 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? 0.032017, 0.053135, 0.198017 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.045189, 0.051670, 0.195223 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.045571, 0.050322, 0.195684 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.045958, 0.048439, 0.196355 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? 0.049959, 0.049425, 0.192934 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? 0.049967, 0.049159, 0.193049 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? 0.030625, 0.048913, 0.200265 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? 0.049975, 0.048893, 0.193164 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.022816, 0.047061, 0.203433 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.108] If point is visible? -0.022439, 0.047071, 0.203495 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? 0.050782, 0.045639, 0.194176 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? 0.039516, 0.046610, 0.198417 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? 0.030678, 0.045941, 0.201446 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? 0.039171, 0.045550, 0.198961 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? -0.046723, 0.045453, 0.197285 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? -0.046725, 0.045185, 0.197391 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? 0.038809, 0.045299, 0.199185 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? 0.039176, 0.045280, 0.199065 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? -0.016395, 0.045856, 0.204856 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? -0.015638, 0.045598, 0.205043 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? 0.031058, 0.045384, 0.201557 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? 0.038814, 0.045028, 0.199289 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? 0.031443, 0.044554, 0.201765 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? 0.031814, 0.044539, 0.201667 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? -0.011849, 0.044295, 0.205900 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? -0.012607, 0.044557, 0.205739 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? -0.008061, 0.044064, 0.206244 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.109] If point is visible? 0.038452, 0.044777, 0.199510 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? 0.038820, 0.044758, 0.199391 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? 0.032939, 0.043677, 0.201667 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? 0.031818, 0.044267, 0.201768 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? 0.032189, 0.044252, 0.201669 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? -0.047490, 0.041910, 0.198329 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? -0.009952, 0.043224, 0.206426 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? -0.009573, 0.043228, 0.206450 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? -0.009194, 0.043232, 0.206473 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? 0.033314, 0.043389, 0.201663 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? -0.058092, 0.040363, 0.194086 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? -0.058088, 0.040631, 0.193990 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? 0.032194, 0.043980, 0.201769 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] calculated Z= 0.931493 +[21:42:32.110] update seeds 305 +[21:42:32.110] If point is visible? -0.009193, 0.042958, 0.206568 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] If point is visible? -0.007674, 0.042150, 0.206932 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=-0.001479 y=0.000000 z=0.082996 +[21:42:32.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:32.110] init seeds +[21:42:32.110] DepthFilter: Initialized 0 new seeds +[21:42:32.113] DepthFilter: Initialized 0 new seeds +[21:42:34.145] add new frame +[21:42:34.145] update seed +[21:42:34.145] If point is visible? 0.362416, -0.222238, 0.080152 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.149076 y=0.000000 z=-0.696282 +[21:42:34.145] If point is visible? 0.082105, -0.096895, 0.130689 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.149076 y=0.000000 z=-0.696282 +[21:42:34.145] If point is visible? 0.072047, -0.214684, 0.107292 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.149076 y=0.000000 z=-0.696282 +[21:42:34.145] If point is visible? 0.362416, -0.222238, 0.080152 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.149076 y=0.000000 z=-0.696282 +[21:42:34.145] If point is visible? 0.082105, -0.096895, 0.130689 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.149076 y=0.000000 z=-0.696282 +[21:42:34.145] If point is visible? 0.072047, -0.214684, 0.107292 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.149076 y=0.000000 z=-0.696282 +[21:42:34.145] If point is visible? 0.099327, -0.001137, -0.578008 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.145] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.145] If point is visible? 0.139864, -0.015193, -0.569521 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.145] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.145] If point is visible? 0.139860, -0.016349, -0.569662 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.145] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.145] If point is visible? 0.138993, 0.067683, -0.587589 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.145] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.145] If point is visible? 0.182107, 0.057899, -0.586657 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.145] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.105786, 0.054614, -0.588265 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.146] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.105790, 0.054876, -0.588393 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.146] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.185160, 0.053527, -0.585448 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.146] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.182223, 0.053135, -0.584368 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.146] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.105018, 0.051670, -0.587163 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.146] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.104636, 0.050322, -0.586701 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.146] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.104248, 0.048439, -0.586030 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.146] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.200166, 0.049425, -0.589451 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.146] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.200174, 0.049159, -0.589336 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.146] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.180831, 0.048913, -0.582120 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.146] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.200181, 0.048893, -0.589221 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.146] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.146] If point is visible? 0.127391, 0.047061, -0.578952 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.147] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.147] If point is visible? 0.127768, 0.047071, -0.578890 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.147] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.147] If point is visible? 0.200989, 0.045639, -0.588209 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.147] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.147] If point is visible? 0.189722, 0.046610, -0.583968 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.147] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.147] If point is visible? 0.180885, 0.045941, -0.580939 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.147] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.147] If point is visible? 0.189378, 0.045550, -0.583424 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.147] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.147] If point is visible? 0.103484, 0.045453, -0.585100 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.147] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.147] If point is visible? 0.103481, 0.045185, -0.584994 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.147] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.147] If point is visible? 0.189016, 0.045299, -0.583200 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.147] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.147] If point is visible? 0.189383, 0.045280, -0.583320 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.147] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.148] If point is visible? 0.133812, 0.045856, -0.577529 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.148] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.148] If point is visible? 0.134569, 0.045598, -0.577342 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.148] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.148] If point is visible? 0.181265, 0.045384, -0.580828 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.148] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.148] If point is visible? 0.189021, 0.045028, -0.583097 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.148] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.148] If point is visible? 0.181649, 0.044554, -0.580620 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.148] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.148] If point is visible? 0.182020, 0.044539, -0.580718 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.148] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.148] If point is visible? 0.138357, 0.044295, -0.576485 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.148] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.148] If point is visible? 0.137599, 0.044557, -0.576646 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.148] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.148] If point is visible? 0.142146, 0.044064, -0.576141 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.148] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.149] If point is visible? 0.188659, 0.044777, -0.582875 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.149] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.149] If point is visible? 0.189026, 0.044758, -0.582994 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.149] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.149] If point is visible? 0.183146, 0.043677, -0.580718 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.149] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.149] If point is visible? 0.182025, 0.044267, -0.580617 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.149] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.149] If point is visible? 0.182396, 0.044252, -0.580716 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.149] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.149] If point is visible? 0.102716, 0.041910, -0.584056 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.149] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.149] If point is visible? 0.140255, 0.043224, -0.575959 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.149] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.149] If point is visible? 0.140634, 0.043228, -0.575935 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.149] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.149] If point is visible? 0.141013, 0.043232, -0.575912 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.149] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.150] If point is visible? 0.183521, 0.043389, -0.580722 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.150] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.150] If point is visible? 0.092115, 0.040363, -0.588299 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.150] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.150] If point is visible? 0.092118, 0.040631, -0.588396 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.150] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.150] calculated Z= 0.507688 +[21:42:34.150] update seeds 305 +[21:42:34.150] If point is visible? 0.182400, 0.043980, -0.580616 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.150] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:34.150] calculated Z= 0.204706 +[21:42:34.150] update seeds 305 +[21:42:34.150] If point is visible? 0.141014, 0.042958, -0.575817 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.150] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.150] If point is visible? 0.142533, 0.042150, -0.575453 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.150] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.150] If point is visible? 0.142534, 0.041875, -0.575360 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.150] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.150] If point is visible? 0.103408, 0.034882, -0.581472 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.150] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.150] If point is visible? 0.139151, 0.031599, -0.572563 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.150] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.150] If point is visible? 0.083719, 0.025064, -0.588390 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.150] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.151] If point is visible? 0.083721, 0.025338, -0.588451 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.151] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.151] If point is visible? 0.163444, 0.025942, -0.571774 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.151] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.151] If point is visible? 0.080523, 0.023163, -0.589905 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.151] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.151] If point is visible? 0.168354, 0.025295, -0.572306 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.151] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.151] If point is visible? 0.163450, 0.023971, -0.571390 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.151] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.151] If point is visible? 0.174002, 0.023761, -0.573010 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.151] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.151] If point is visible? 0.082276, 0.020838, -0.588371 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.151] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.151] If point is visible? 0.084763, 0.020201, -0.586803 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.151] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.151] calculated Z= 0.871534 +[21:42:34.151] update seeds 305 +[21:42:34.151] If point is visible? 0.084762, 0.019925, -0.586755 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.151] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.151] If point is visible? 0.173633, 0.021798, -0.572584 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.151] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.151] If point is visible? 0.163452, 0.023125, -0.571235 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.151] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] If point is visible? 0.077003, 0.019855, -0.591517 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] If point is visible? 0.074228, 0.018789, -0.593220 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] If point is visible? 0.080503, 0.019324, -0.589175 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] If point is visible? 0.081208, 0.019104, -0.588704 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] calculated Z= 0.151161 +[21:42:34.152] update seeds 305 +[21:42:34.152] If point is visible? 0.172512, 0.018150, -0.571796 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] If point is visible? 0.174015, 0.018114, -0.572081 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] If point is visible? 0.162324, 0.019183, -0.570462 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] If point is visible? 0.162703, 0.019178, -0.570502 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] If point is visible? 0.163081, 0.019172, -0.570542 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] If point is visible? 0.165351, 0.016870, -0.570493 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] If point is visible? 0.174016, 0.017831, -0.572041 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.152] If point is visible? 0.174392, 0.016972, -0.571998 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.152] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:34.153] calculated Z= 0.097249 +[21:42:34.153] update seeds 305 +[21:42:34.153] If point is visible? 0.162704, 0.018043, -0.570338 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.153] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.153] If point is visible? 0.163082, 0.018038, -0.570379 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.153] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.153] If point is visible? 0.163461, 0.016046, -0.570159 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.153] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.153] If point is visible? 0.162325, 0.014069, -0.569804 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.153] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.153] If point is visible? 0.162704, 0.014064, -0.569844 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.153] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.153] If point is visible? 0.163082, 0.014059, -0.569885 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.153] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.153] calculated Z= 0.424504 +[21:42:34.153] update seeds 305 +[21:42:34.153] If point is visible? 0.175518, 0.014958, -0.571978 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.153] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.153] If point is visible? 0.177017, 0.014635, -0.572265 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.153] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.153] If point is visible? 0.175515, 0.011830, -0.571649 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.153] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.153] If point is visible? 0.162325, 0.012929, -0.569686 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.153] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.153] If point is visible? 0.162703, 0.012925, -0.569725 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.153] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.163081, 0.012920, -0.569766 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] calculated Z= 0.427759 +[21:42:34.154] update seeds 305 +[21:42:34.154] If point is visible? 0.177378, 0.007790, -0.571743 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.163828, 0.007768, -0.569440 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.130430, 0.006016, -0.569758 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.183328, 0.003336, -0.573030 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.185186, 0.003279, -0.573552 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.208125, 0.000878, -0.582572 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.179589, 0.001437, -0.572029 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.179960, 0.001141, -0.572117 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.163052, 0.002043, -0.569137 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.163429, 0.002038, -0.569179 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.163040, -0.000257, -0.569120 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.154] If point is visible? 0.178074, -0.001393, -0.571671 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.154] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] If point is visible? 0.178448, -0.001403, -0.571758 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] If point is visible? 0.163029, -0.002272, -0.569138 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] If point is visible? 0.163407, -0.002276, -0.569180 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] If point is visible? 0.163784, -0.002281, -0.569223 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] If point is visible? 0.178072, -0.001681, -0.571674 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] If point is visible? 0.177693, -0.002246, -0.571596 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] If point is visible? 0.177691, -0.002533, -0.571601 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] If point is visible? 0.185881, -0.002470, -0.573737 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] calculated Z= 0.120972 +[21:42:34.155] update seeds 305 +[21:42:34.155] If point is visible? 0.176552, -0.004520, -0.571403 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] If point is visible? 0.176549, -0.004807, -0.571413 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] If point is visible? 0.104940, -0.013772, -0.576637 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] calculated Z= 0.806976 +[21:42:34.155] update seeds 305 +[21:42:34.155] If point is visible? 0.141365, -0.018077, -0.569797 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.155] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.155] If point is visible? 0.139757, -0.036260, -0.573771 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.156] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.156] If point is visible? 0.140132, -0.036259, -0.573745 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.156] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.156] If point is visible? 0.140131, -0.036546, -0.573828 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.156] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.156] If point is visible? 0.187786, -0.035548, -0.579448 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.156] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.156] If point is visible? 0.193137, -0.037939, -0.582071 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.156] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.156] If point is visible? 0.192788, -0.037648, -0.581846 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.156] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.156] calculated Z= 0.128112 +[21:42:34.156] update seeds 305 +[21:42:34.156] If point is visible? 0.168645, -0.049240, -0.579582 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.156] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.156] If point is visible? 0.142009, 0.065664, -0.586172 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.156] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.156] If point is visible? 0.142760, 0.065672, -0.586135 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.156] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.141250, 0.066688, -0.586819 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.143515, 0.065162, -0.585803 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.185548, 0.052711, -0.585192 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.182587, 0.053384, -0.584590 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.183325, 0.053350, -0.584795 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.184799, 0.053279, -0.585217 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.184049, 0.053847, -0.585249 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.144368, 0.052487, -0.579384 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.200982, 0.045907, -0.588316 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.142909, 0.042701, -0.575624 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.182766, 0.044237, -0.580816 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.183507, 0.044205, -0.581020 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.157] If point is visible? 0.182016, 0.044811, -0.580819 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.157] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.182757, 0.044780, -0.581018 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] calculated Z= 0.199051 +[21:42:34.158] update seeds 305 +[21:42:34.158] If point is visible? 0.103038, 0.034861, -0.581609 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.139154, 0.030482, -0.572290 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.139912, 0.031048, -0.572372 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.130052, 0.006582, -0.569840 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.130051, 0.006010, -0.569812 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.130810, 0.006021, -0.569706 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.177715, 0.000625, -0.571583 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.178463, 0.000606, -0.571755 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.185190, 0.003850, -0.573569 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.130051, 0.005437, -0.569787 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.130809, 0.005449, -0.569681 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.184393, -0.002999, -0.573317 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.158] If point is visible? 0.175439, -0.003344, -0.571130 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.158] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.178467, 0.001180, -0.571760 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.103833, -0.014090, -0.577074 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] calculated Z= 0.727358 +[21:42:34.159] update seeds 305 +[21:42:34.159] If point is visible? 0.104568, -0.013497, -0.576740 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.141365, -0.018077, -0.569797 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.204999, -0.042434, -0.588899 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.209053, -0.044197, -0.591767 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.183337, 0.052818, -0.584552 mu:-7.630447 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.184812, 0.052747, -0.584974 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.187875, 0.047244, -0.583585 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.135244, 0.068120, -0.588245 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.141384, 0.044877, -0.576478 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.181988, 0.046437, -0.581438 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.159] If point is visible? 0.183469, 0.046374, -0.581841 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.159] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.160] calculated Z= 0.185482 +[21:42:34.160] update seeds 305 +[21:42:34.160] If point is visible? 0.184948, 0.046307, -0.582262 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.160] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.160] If point is visible? 0.183312, 0.053882, -0.585040 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.160] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.160] If point is visible? 0.138246, 0.067155, -0.587338 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.160] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.160] If point is visible? 0.184968, 0.045225, -0.581846 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.160] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.160] If point is visible? 0.181883, 0.051817, -0.583671 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.160] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.160] If point is visible? 0.138394, 0.030473, -0.572347 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.160] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.160] If point is visible? 0.103773, 0.033806, -0.581020 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.160] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.160] If point is visible? 0.138396, 0.029355, -0.572084 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.160] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.160] If point is visible? 0.080502, 0.019049, -0.589128 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.160] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.160] calculated Z= 0.713235 +[21:42:34.160] update seeds 305 +[21:42:34.160] If point is visible? 0.174719, 0.000694, -0.570941 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.160] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.176193, -0.002786, -0.571276 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.164099, -0.010650, -0.569677 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.099327, -0.001137, -0.578008 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.183650, -0.002977, -0.573109 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.164109, -0.009495, -0.569588 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.164174, -0.000271, -0.569249 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.165683, -0.000292, -0.569437 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.223467, -0.012718, -0.592490 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.139864, -0.015193, -0.569521 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.139860, -0.016349, -0.569662 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.165677, -0.001443, -0.569444 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.173203, -0.001572, -0.570651 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.174703, -0.001603, -0.570946 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.148727 y=0.000000 z=-0.699389 +[21:42:34.161] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:34.161] If point is visible? 0.096321, 0.310358, -0.202879 mu:-1.675728 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.148992 y=0.000000 z=-0.709851 +[21:42:34.161] If point is visible? 0.628597, -0.416989, -1.992851 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.148987 y=0.000000 z=-0.712144 +[21:42:34.161] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:34.161] If point is visible? 0.628651, -0.405097, -1.996642 mu:0.699435 unit_bearing:-0.371667 -0.171737 0.912343 T_cur_ref: x=0.148987 y=0.000000 z=-0.712144 +[21:42:34.161] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:34.161] If point is visible? 0.628597, -0.416989, -1.992851 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.148987 y=0.000000 z=-0.712144 +[21:42:34.161] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:34.161] If point is visible? -0.776049, 0.121895, -1.795457 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.148987 y=0.000000 z=-0.712144 +[21:42:34.161] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:34.161] If point is visible? 0.628597, -0.416989, -1.992851 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.148987 y=0.000000 z=-0.712144 +[21:42:34.161] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:34.161] If point is visible? 0.628597, -0.416989, -1.992851 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.148987 y=0.000000 z=-0.712144 +[21:42:34.161] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:34.162] If point is visible? -0.776049, 0.121895, -1.795457 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.148987 y=0.000000 z=-0.712144 +[21:42:34.162] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:34.162] If point is visible? -0.061285, 0.024970, -0.963072 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.149692 y=0.000000 z=-0.728078 +[21:42:34.162] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:34.162] If point is visible? -0.061285, 0.024970, -0.963072 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.149692 y=0.000000 z=-0.728078 +[21:42:34.162] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:34.162] If point is visible? -0.244375, -0.017622, -1.345300 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.150298 y=0.000000 z=-0.741334 +[21:42:34.162] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:34.162] If point is visible? 0.426193, -0.006182, -1.408190 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.150298 y=0.000000 z=-0.741334 +[21:42:34.162] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:34.162] If point is visible? 0.409887, -0.006849, -1.414698 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.150298 y=0.000000 z=-0.741334 +[21:42:34.162] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:34.162] If point is visible? -0.244375, -0.017622, -1.345300 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.150298 y=0.000000 z=-0.741334 +[21:42:34.162] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:34.162] If point is visible? 0.426193, -0.006182, -1.408190 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.150298 y=0.000000 z=-0.741334 +[21:42:34.162] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:34.162] If point is visible? 0.409887, -0.006849, -1.414698 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.150298 y=0.000000 z=-0.741334 +[21:42:34.162] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:34.162] If point is visible? -53786233.151387, -48168274.646054, -69871637.256792 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.151410 y=0.000000 z=-0.757106 +[21:42:34.162] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:34.162] calculated Z= 0.965865 +[21:42:34.162] update seeds 305 +[21:42:34.162] If point is visible? -85428469.268674, 26760316.897195, -45618519.086051 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.151410 y=0.000000 z=-0.757106 +[21:42:34.162] If point is visible? -53786233.151387, -48168274.646054, -69871637.256792 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.151410 y=0.000000 z=-0.757106 +[21:42:34.162] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:34.162] calculated Z= 0.965865 +[21:42:34.162] update seeds 305 +[21:42:34.162] If point is visible? -85428469.268674, 26760316.897195, -45618519.086051 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.151410 y=0.000000 z=-0.757106 +[21:42:34.162] If point is visible? 0.871808, -0.051652, -1.827166 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.152703 y=0.000000 z=-0.783035 +[21:42:34.162] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:34.162] If point is visible? 0.871808, -0.051652, -1.827166 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.152703 y=0.000000 z=-0.783035 +[21:42:34.162] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:34.162] If point is visible? 0.422705, 0.029018, -1.174922 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.376479, 0.030663, -1.202920 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.365977, 0.030190, -1.208384 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.188041, -0.285461, -1.163274 mu:2.097425 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.185281, -0.282837, -1.165476 mu:2.097425 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.186670, -0.284598, -1.164046 mu:2.097425 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.090594, -0.268890, -1.092587 mu:2.097425 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.182536, -0.281095, -1.166981 mu:2.097425 unit_bearing:-0.107700 -0.487042 0.866712 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.179770, -0.278445, -1.169111 mu:2.097425 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.181145, -0.279322, -1.168378 mu:2.097425 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.176984, -0.274876, -1.171844 mu:2.097425 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.177002, -0.275781, -1.171202 mu:2.097425 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.164150, -0.246714, -1.040045 mu:2.097425 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.406306, -0.250535, -1.099635 mu:2.097425 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] calculated Z= 0.507860 +[21:42:34.162] update seeds 305 +[21:42:34.162] If point is visible? -0.148424, -0.246982, -1.058062 mu:2.097425 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.165445, -0.244799, -1.040275 mu:2.097425 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.104027, -0.252411, -1.095600 mu:2.097425 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.148853, -0.243591, -1.060605 mu:2.097425 unit_bearing:0.598418 -0.436157 0.672059 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.149954, -0.243363, -1.059605 mu:2.097425 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.005341, -0.263346, -1.147713 mu:2.097425 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.135845, -0.242794, -1.074769 mu:2.097425 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.136977, -0.242583, -1.073821 mu:2.097425 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.135747, -0.243656, -1.074147 mu:2.097425 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.169985, -0.264945, -1.179046 mu:2.097425 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? 0.169966, -0.264028, -1.179659 mu:2.097425 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.111218, -0.238339, -1.100617 mu:2.097425 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.112402, -0.238159, -1.099765 mu:2.097425 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.112484, -0.237274, -1.100360 mu:2.097425 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.113748, -0.236208, -1.100096 mu:2.097425 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.114929, -0.236027, -1.099236 mu:2.097425 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.162] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.162] If point is visible? -0.016938, -0.241595, -1.157432 mu:2.097425 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.168281, -0.247375, -1.190321 mu:2.097425 unit_bearing:-0.079917 -0.410878 0.908181 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.000963, -0.235480, -1.168836 mu:2.097425 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.000919, -0.234548, -1.169386 mu:2.097425 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.118467, -0.222279, -1.106110 mu:2.097425 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.173520, -0.234161, -1.197830 mu:2.097425 unit_bearing:-0.091527 -0.381449 0.919847 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.025307, -0.229881, -1.160905 mu:2.097425 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.118316, -0.224076, -1.104993 mu:2.097425 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.123026, -0.223357, -1.101473 mu:2.097425 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.119724, -0.221202, -1.105791 mu:2.097425 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.120904, -0.221024, -1.104913 mu:2.097425 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.122081, -0.220846, -1.104032 mu:2.097425 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.026552, -0.230708, -1.159811 mu:2.097425 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.120979, -0.220124, -1.105466 mu:2.097425 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.122157, -0.219946, -1.104584 mu:2.097425 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.003335, -0.230043, -1.173020 mu:2.097425 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.373738, -0.218870, -1.144363 mu:2.097425 unit_bearing:-0.504924 -0.363283 0.782992 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.177524, -0.227475, -1.201315 mu:2.097425 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.172046, -0.227539, -1.201569 mu:2.097425 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.030672, -0.225743, -1.160834 mu:2.097425 unit_bearing:0.340283 -0.373381 0.863014 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.373762, -0.217957, -1.144900 mu:2.097425 unit_bearing:-0.505018 -0.361246 0.783874 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.167346, -0.202407, -1.072721 mu:2.097425 unit_bearing:0.636389 -0.347324 0.688749 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.167172, -0.204184, -1.071664 mu:2.097425 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.167259, -0.203296, -1.072194 mu:2.097425 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.166509, -0.199949, -1.075339 mu:2.097425 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.032475, -0.215334, -1.165996 mu:2.097425 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.030017, -0.212708, -1.168635 mu:2.097425 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.187024, -0.220665, -1.204281 mu:2.097425 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.031270, -0.213551, -1.167572 mu:2.097425 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.001420, -0.215818, -1.180345 mu:2.097425 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.192526, -0.189227, -1.051974 mu:2.097425 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.191767, -0.186807, -1.054625 mu:2.097425 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] calculated Z= 0.404084 +[21:42:34.163] update seeds 305 +[21:42:34.163] If point is visible? 0.391975, -0.203955, -1.141462 mu:2.097425 unit_bearing:-0.542611 -0.332976 0.771168 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.195182, -0.214776, -1.206575 mu:2.097425 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.026249, -0.210167, -1.171783 mu:2.097425 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.002723, -0.210823, -1.181426 mu:2.097425 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.024990, -0.209315, -1.172819 mu:2.097425 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.199276, -0.212775, -1.207154 mu:2.097425 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.018626, -0.205980, -1.177417 mu:2.097425 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.191082, -0.183483, -1.057740 mu:2.097425 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.013313, -0.208241, -1.178501 mu:2.097425 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.021161, -0.207699, -1.175401 mu:2.097425 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.008099, -0.207633, -1.180967 mu:2.097425 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.009413, -0.207548, -1.180478 mu:2.097425 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? -0.010727, -0.207462, -1.179985 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.163] If point is visible? 0.203371, -0.210766, -1.207687 mu:2.097425 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.163] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.207468, -0.208749, -1.208175 mu:2.097425 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? -0.190996, -0.184374, -1.057252 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? -0.012077, -0.206423, -1.179968 mu:2.097425 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? -0.018588, -0.206932, -1.176936 mu:2.097425 unit_bearing:0.313481 -0.330105 0.890371 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.211566, -0.206723, -1.208617 mu:2.097425 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.210194, -0.206757, -1.208788 mu:2.097425 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.215665, -0.204689, -1.209013 mu:2.097425 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.221137, -0.202609, -1.209164 mu:2.097425 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.179944, -0.203450, -1.213367 mu:2.097425 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.181294, -0.201494, -1.214198 mu:2.097425 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.306898, -0.192904, -1.190872 mu:2.097425 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.305552, -0.192991, -1.191338 mu:2.097425 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.232084, -0.199378, -1.208789 mu:2.097425 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.230714, -0.199422, -1.209021 mu:2.097425 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.229343, -0.199466, -1.209250 mu:2.097425 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.227979, -0.200475, -1.209020 mu:2.097425 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.226608, -0.200517, -1.209240 mu:2.097425 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.308249, -0.191860, -1.190852 mu:2.097425 unit_bearing:-0.372414 -0.295171 0.879876 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.188133, -0.198486, -1.215085 mu:2.097425 unit_bearing:-0.123527 -0.302771 0.945024 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.189487, -0.196521, -1.215870 mu:2.097425 unit_bearing:-0.126421 -0.298480 0.946006 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.192188, -0.191607, -1.217830 mu:2.097425 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.190812, -0.191630, -1.217943 mu:2.097425 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? -0.168792, -0.108140, -1.118095 mu:2.097425 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.036446, -0.113234, -1.231345 mu:2.097425 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.058183, -0.115933, -1.235744 mu:2.097425 unit_bearing:0.147530 -0.125631 0.981046 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.037810, -0.114293, -1.231428 mu:2.097425 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.067742, -0.118208, -1.237048 mu:2.097425 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.066378, -0.118174, -1.236800 mu:2.097425 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.065014, -0.118140, -1.236547 mu:2.097425 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.067733, -0.117195, -1.237309 mu:2.097425 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.066368, -0.117161, -1.237061 mu:2.097425 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.065005, -0.117127, -1.236808 mu:2.097425 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.056832, -0.116908, -1.235208 mu:2.097425 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.064811, -0.090650, -1.242793 mu:2.097425 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.063447, -0.090617, -1.242536 mu:2.097425 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.062083, -0.090583, -1.242276 mu:2.097425 unit_bearing:0.138992 -0.071189 0.987731 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.059356, -0.090513, -1.241743 mu:2.097425 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.064792, -0.086555, -1.243578 mu:2.097425 unit_bearing:0.133231 -0.062471 0.989114 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.063427, -0.086522, -1.243321 mu:2.097425 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.062063, -0.086488, -1.243061 mu:2.097425 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.057955, -0.082284, -1.243004 mu:2.097425 unit_bearing:0.147670 -0.053727 0.987576 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.056593, -0.082249, -1.242728 mu:2.097425 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.059303, -0.078214, -1.243989 mu:2.097425 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.017284, -0.073819, -1.234180 mu:2.097425 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? 0.230279, -0.073399, -1.247701 mu:2.097425 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.164] If point is visible? -0.204876, -0.046840, -1.094903 mu:2.097425 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.164] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.206969, -0.046539, -1.092531 mu:2.097425 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.053818, -0.057478, -1.245893 mu:2.097425 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.052456, -0.057442, -1.245605 mu:2.097425 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.202784, -0.043233, -1.097801 mu:2.097425 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.196395, -0.036251, -1.105733 mu:2.097425 unit_bearing:0.695874 0.007018 0.718130 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.197468, -0.036112, -1.104585 mu:2.097425 unit_bearing:0.698247 0.007014 0.715823 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.200671, -0.040589, -1.100521 mu:2.097425 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.201731, -0.040445, -1.099355 mu:2.097425 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.201730, -0.041424, -1.099230 mu:2.097425 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.202788, -0.041278, -1.098059 mu:2.097425 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.202786, -0.042256, -1.097932 mu:2.097425 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.194237, -0.034560, -1.108237 mu:2.097425 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.013220, -0.050012, -1.236205 mu:2.097425 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] calculated Z= 0.967045 +[21:42:34.165] update seeds 305 +[21:42:34.165] If point is visible? -0.192068, -0.033847, -1.110610 mu:2.097425 unit_bearing:0.686316 0.013269 0.727183 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.063371, -0.045296, -1.249176 mu:2.097425 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.062006, -0.045264, -1.248916 mu:2.097425 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.216225, -0.026704, -1.083862 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.215188, -0.023924, -1.085362 mu:2.097425 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.215195, -0.024899, -1.085274 mu:2.097425 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.205393, -0.036644, -1.255476 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.204018, -0.030429, -1.256068 mu:2.097425 unit_bearing:-0.158998 0.057565 0.985599 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.006629, -0.019753, -1.236457 mu:2.097425 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.173041, -0.014146, -1.130899 mu:2.097425 unit_bearing:0.644530 0.059468 0.762263 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.062087, -0.022409, -1.250589 mu:2.097425 unit_bearing:0.138990 0.072859 0.987610 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.060723, -0.022379, -1.250324 mu:2.097425 unit_bearing:0.141875 0.072855 0.987200 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.059360, -0.022348, -1.250055 mu:2.097425 unit_bearing:0.144760 0.072851 0.986781 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.026618, -0.017362, -1.224467 mu:2.097425 unit_bearing:0.327680 0.076690 0.941671 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.060729, -0.021337, -1.250373 mu:2.097425 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.059366, -0.021307, -1.250105 mu:2.097425 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.023968, -0.016445, -1.225569 mu:2.097425 unit_bearing:0.322024 0.078880 0.943440 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.025289, -0.016386, -1.225041 mu:2.097425 unit_bearing:0.324848 0.078868 0.942472 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.006685, -0.012483, -1.236734 mu:2.097425 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.005373, -0.009316, -1.236385 mu:2.097425 unit_bearing:0.259492 0.096486 0.960913 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.006741, -0.006244, -1.236880 mu:2.097425 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.005402, -0.006196, -1.236448 mu:2.097425 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.008090, -0.005250, -1.237325 mu:2.097425 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.006751, -0.005203, -1.236897 mu:2.097425 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.033750, 0.002290, -1.244732 mu:2.097425 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.031047, 0.002366, -1.244027 mu:2.097425 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.029697, 0.002405, -1.243669 mu:2.097425 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.008888, -0.246779, -1.157611 mu:2.097425 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.380074, -0.220853, -1.139188 mu:2.097425 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? -0.008987, -0.244941, -1.158773 mu:2.097425 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.173505, -0.233215, -1.198363 mu:2.097425 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.165] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.165] If point is visible? 0.178894, -0.227457, -1.201241 mu:2.097425 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.352000, -0.203582, -1.165336 mu:2.097425 unit_bearing:-0.461453 -0.326097 0.825059 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.010727, -0.207462, -1.179985 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.190996, -0.184374, -1.057252 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.186655, -0.188763, -1.219539 mu:2.097425 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.186675, -0.190716, -1.218687 mu:2.097425 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.186453, -0.167114, -1.228292 mu:2.097425 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.183696, -0.167149, -1.228479 mu:2.097425 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.190984, -0.045794, -1.110297 mu:2.097425 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.199599, -0.044649, -1.101167 mu:2.097425 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.201723, -0.044357, -1.098839 mu:2.097425 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.190990, -0.037924, -1.111295 mu:2.097425 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.193162, -0.037649, -1.109039 mu:2.097425 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.195321, -0.037372, -1.106764 mu:2.097425 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.213684, -0.067541, -1.251051 mu:2.097425 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.203829, -0.046014, -1.096222 mu:2.097425 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.216225, -0.026704, -1.083862 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.037260, -0.034406, -1.218982 mu:2.097425 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.193158, -0.035681, -1.109264 mu:2.097425 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.195318, -0.035406, -1.106989 mu:2.097425 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.205393, -0.036644, -1.255476 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.205396, -0.034568, -1.255633 mu:2.097425 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.202628, -0.034601, -1.255930 mu:2.097425 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.039808, -0.021904, -1.218671 mu:2.097425 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.339533, 0.000224, -1.221685 mu:2.097425 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.304337, 0.046630, -1.232648 mu:2.097425 unit_bearing:-0.365573 0.211999 0.906318 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.435088, 0.033807, -1.165703 mu:2.097425 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.026642, 0.156184, -1.196267 mu:2.097425 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.001436, -0.239952, -1.165112 mu:2.097425 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.006668, -0.239591, -1.163187 mu:2.097425 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.011885, -0.239216, -1.161195 mu:2.097425 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.002610, -0.213675, -1.179948 mu:2.097425 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.007871, -0.213339, -1.178031 mu:2.097425 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.023564, -0.212252, -1.171877 mu:2.097425 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.186987, -0.217796, -1.205775 mu:2.097425 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.134932, -0.170685, -1.122815 mu:2.097425 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.133670, -0.242349, -1.077272 mu:2.097425 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.142702, -0.240651, -1.069636 mu:2.097425 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.186487, -0.171070, -1.226784 mu:2.097425 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.134048, -0.238882, -1.079728 mu:2.097425 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.143097, -0.237203, -1.072093 mu:2.097425 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.181606, -0.225517, -1.202113 mu:2.097425 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.186939, -0.213960, -1.207733 mu:2.097425 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.011690, -0.242908, -1.158920 mu:2.097425 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.007713, -0.217128, -1.176025 mu:2.097425 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? -0.018182, -0.216410, -1.171987 mu:2.097425 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.166] If point is visible? 0.186597, -0.182886, -1.222038 mu:2.097425 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.166] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? 0.236184, -0.197309, -1.208969 mu:2.097425 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? -0.193148, -0.047473, -1.107768 mu:2.097425 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? -0.188806, -0.044106, -1.112799 mu:2.097425 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? -0.193160, -0.043547, -1.108305 mu:2.097425 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? -0.031914, -0.020220, -1.222156 mu:2.097425 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? 0.016143, -0.005521, -1.239807 mu:2.097425 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? 0.371271, 0.026319, -1.205947 mu:2.097425 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? 0.366008, 0.026081, -1.208641 mu:2.097425 unit_bearing:-0.492427 0.163083 0.854938 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? 0.016105, -0.009685, -1.239726 mu:2.097425 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? 0.422705, 0.029018, -1.174922 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? 0.376479, 0.030663, -1.202920 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? 0.365977, 0.030190, -1.208384 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.152703 y=0.000000 z=-0.783041 +[21:42:34.167] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:34.167] If point is visible? 0.874645, -0.059277, -1.857811 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? 0.769255, -0.060745, -1.921469 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? 0.242038, -0.778501, -1.815416 mu:0.771555 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? 0.238245, -0.773727, -1.819319 mu:0.771555 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? 0.234561, -0.773799, -1.819562 mu:0.771555 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? 0.230709, -0.766570, -1.825216 mu:0.771555 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.514011, -0.732798, -1.618708 mu:0.771555 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.514267, -0.730472, -1.620539 mu:0.771555 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? 0.223165, -0.759375, -1.831005 mu:0.771555 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? 0.215556, -0.749684, -1.838440 mu:0.771555 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? 0.211864, -0.749740, -1.838614 mu:0.771555 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.712983, -0.672295, -1.474740 mu:0.771555 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.713319, -0.670039, -1.476506 mu:0.771555 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? 0.836422, -0.681571, -1.647813 mu:0.771555 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] calculated Z= 0.656764 +[21:42:34.167] update seeds 305 +[21:42:34.167] If point is visible? -0.660705, -0.681855, -1.526870 mu:0.771555 unit_bearing:0.589813 -0.452226 0.669038 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.713653, -0.667780, -1.478265 mu:0.771555 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.716506, -0.667092, -1.475358 mu:0.771555 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.550799, -0.685647, -1.628508 mu:0.771555 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.554011, -0.685150, -1.626228 mu:0.771555 unit_bearing:0.503204 -0.445407 0.740539 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.677407, -0.664940, -1.523725 mu:0.771555 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.675041, -0.660958, -1.529910 mu:0.771555 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.677709, -0.662637, -1.525447 mu:0.771555 unit_bearing:0.603078 -0.437643 0.666907 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] calculated Z= 0.728098 +[21:42:34.167] update seeds 305 +[21:42:34.167] If point is visible? -0.636660, -0.661783, -1.569672 mu:0.771555 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.639996, -0.658865, -1.568767 mu:0.771555 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.711439, -0.644035, -1.502983 mu:0.771555 unit_bearing:0.630157 -0.425510 0.649495 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? 0.188806, -0.712819, -1.864904 mu:0.771555 unit_bearing:-0.079699 -0.444154 0.892399 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.570402, -0.647377, -1.642030 mu:0.771555 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.573606, -0.646886, -1.639694 mu:0.771555 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.577266, -0.641580, -1.640574 mu:0.771555 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.580461, -0.641085, -1.638214 mu:0.771555 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.167] If point is visible? -0.296706, -0.670263, -1.797251 mu:0.771555 unit_bearing:0.297504 -0.417925 0.858388 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.167] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.583882, -0.638180, -1.637447 mu:0.771555 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.318851, -0.651131, -1.799657 mu:0.771555 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.315189, -0.653912, -1.799563 mu:0.771555 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.322653, -0.645835, -1.801263 mu:0.771555 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.315046, -0.656417, -1.798014 mu:0.771555 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.584111, -0.635770, -1.639045 mu:0.771555 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.266686, -0.637299, -1.830803 mu:0.771555 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.590165, -0.603705, -1.656842 mu:0.771555 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.593362, -0.603222, -1.654449 mu:0.771555 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.198427, -0.641766, -1.908159 mu:0.771555 unit_bearing:-0.088642 -0.385673 0.918367 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.593573, -0.600776, -1.655956 mu:0.771555 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.596766, -0.600291, -1.653551 mu:0.771555 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.599953, -0.599803, -1.651135 mu:0.771555 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.263247, -0.634996, -1.833569 mu:0.771555 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.600166, -0.597357, -1.652635 mu:0.771555 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.260169, -0.625056, -1.840720 mu:0.771555 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.757488, -0.604114, -1.757271 mu:0.771555 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.721718, -0.556829, -1.560967 mu:0.771555 unit_bearing:0.635977 -0.353275 0.686098 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.216614, -0.618379, -1.920304 mu:0.771555 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.212890, -0.618425, -1.920482 mu:0.771555 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.197994, -0.618588, -1.921084 mu:0.771555 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.722208, -0.552005, -1.563849 mu:0.771555 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.356180, -0.607937, -1.808367 mu:0.771555 unit_bearing:0.343162 -0.369151 0.863694 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.198041, -0.621172, -1.919674 mu:0.771555 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.793283, -0.560323, -1.760557 mu:0.771555 unit_bearing:-0.539842 -0.337183 0.771284 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.246057, -0.594614, -1.930892 mu:0.771555 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.238638, -0.597333, -1.930060 mu:0.771555 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.357242, -0.587556, -1.819659 mu:0.771555 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.265465, -0.586382, -1.860601 mu:0.771555 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.347210, -0.578139, -1.829791 mu:0.771555 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.350726, -0.577866, -1.828255 mu:0.771555 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.234990, -0.602584, -1.927578 mu:0.771555 unit_bearing:-0.117453 -0.353842 0.927901 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.238678, -0.599931, -1.928700 mu:0.771555 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.276627, -0.575382, -1.862140 mu:0.771555 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.790278, -0.516106, -1.507099 mu:0.771555 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.253441, -0.589284, -1.933015 mu:0.771555 unit_bearing:-0.131834 -0.343145 0.929985 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.340530, -0.570964, -1.836874 mu:0.771555 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? 0.260829, -0.583939, -1.935069 mu:0.771555 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.790789, -0.511305, -1.509835 mu:0.771555 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.315895, -0.570187, -1.848473 mu:0.771555 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.337121, -0.568652, -1.839710 mu:0.771555 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.168] If point is visible? -0.340649, -0.568388, -1.838210 mu:0.771555 unit_bearing:0.330089 -0.336058 0.882103 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.168] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.788510, -0.507130, -1.515692 mu:0.771555 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.333707, -0.566334, -1.842528 mu:0.771555 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.271952, -0.578508, -1.936710 mu:0.771555 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.326864, -0.561682, -1.848110 mu:0.771555 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.298570, -0.561052, -1.860731 mu:0.771555 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.302130, -0.560815, -1.859357 mu:0.771555 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.283081, -0.573054, -1.938227 mu:0.771555 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.319891, -0.559598, -1.852315 mu:0.771555 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.786694, -0.498096, -1.524171 mu:0.771555 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.326750, -0.564267, -1.846794 mu:0.771555 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.290482, -0.567661, -1.940029 mu:0.771555 unit_bearing:-0.160559 -0.325927 0.931661 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.305351, -0.562079, -1.940888 mu:0.771555 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.301619, -0.562168, -1.941331 mu:0.771555 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.197276, -0.576973, -1.942765 mu:0.771555 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.219318, -0.553118, -1.953283 mu:0.771555 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.316492, -0.556559, -1.942032 mu:0.771555 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.331367, -0.550915, -1.942530 mu:0.771555 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.327635, -0.551017, -1.943051 mu:0.771555 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.361139, -0.542154, -1.941690 mu:0.771555 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.357410, -0.542271, -1.942300 mu:0.771555 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.241597, -0.542279, -1.956870 mu:0.771555 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.349973, -0.545126, -1.942250 mu:0.771555 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.237894, -0.544971, -1.955898 mu:0.771555 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.219280, -0.550484, -1.954527 mu:0.771555 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.219243, -0.547849, -1.955763 mu:0.771555 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.590433, -0.525615, -1.883934 mu:0.771555 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.564818, -0.524706, -1.894207 mu:0.771555 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.561156, -0.522334, -1.896673 mu:0.771555 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.256420, -0.531481, -1.960587 mu:0.771555 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.252680, -0.531542, -1.960883 mu:0.771555 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.248941, -0.531600, -1.961168 mu:0.771555 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.252553, -0.520949, -1.965617 mu:0.771555 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.248812, -0.521007, -1.965901 mu:0.771555 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? 0.221761, -0.446440, -1.997852 mu:0.771555 unit_bearing:-0.109531 -0.227659 0.967561 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.726845, -0.295950, -1.687834 mu:0.771555 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.085906, -0.321168, -2.015827 mu:0.771555 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.089610, -0.321073, -2.015129 mu:0.771555 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] calculated Z= 0.953044 +[21:42:34.169] update seeds 305 +[21:42:34.169] If point is visible? -0.093313, -0.320977, -2.014420 mu:0.771555 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.089638, -0.318319, -2.015838 mu:0.771555 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.093341, -0.318223, -2.015129 mu:0.771555 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.108140, -0.317822, -2.012185 mu:0.771555 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.115532, -0.317612, -2.010647 mu:0.771555 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.726934, -0.293324, -1.688602 mu:0.771555 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.226285, -0.253041, -1.996376 mu:0.771555 unit_bearing:0.236699 -0.079692 0.968309 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.093911, -0.246248, -2.031395 mu:0.771555 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.169] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.169] If point is visible? -0.097616, -0.246154, -2.030676 mu:0.771555 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.108723, -0.245865, -2.028453 mu:0.771555 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.097675, -0.235022, -2.032809 mu:0.771555 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.101379, -0.234928, -2.032079 mu:0.771555 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.123530, -0.242679, -2.025879 mu:0.771555 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.108880, -0.212431, -2.034557 mu:0.771555 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.222935, -0.200398, -2.007206 mu:0.771555 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.108916, -0.201258, -2.036395 mu:0.771555 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? 0.359606, -0.196815, -2.047280 mu:0.771555 unit_bearing:-0.216541 -0.031847 0.975754 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.824522, -0.126612, -1.624968 mu:0.771555 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.830175, -0.125789, -1.618486 mu:0.771555 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.818876, -0.116812, -1.632882 mu:0.771555 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.810300, -0.107358, -1.643820 mu:0.771555 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.816031, -0.111895, -1.636782 mu:0.771555 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.818887, -0.111498, -1.633583 mu:0.771555 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.818883, -0.114155, -1.633235 mu:0.771555 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.821730, -0.113755, -1.630024 mu:0.771555 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.127476, -0.155950, -2.038837 mu:0.771555 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.131171, -0.155850, -2.038019 mu:0.771555 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] calculated Z= 1.041515 +[21:42:34.170] update seeds 305 +[21:42:34.170] If point is visible? -0.233975, -0.146886, -2.011352 mu:0.771555 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.795795, -0.093251, -1.661390 mu:0.771555 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.105255, -0.125591, -2.046975 mu:0.771555 unit_bearing:0.141924 0.022668 0.989618 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.795786, -0.090575, -1.661679 mu:0.771555 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.097841, -0.122952, -2.048725 mu:0.771555 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.101546, -0.122864, -2.047994 mu:0.771555 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.233949, -0.124450, -2.013836 mu:0.771555 unit_bearing:0.242529 0.020426 0.969929 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? 0.288145, -0.099717, -2.068170 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? 0.284380, -0.099761, -2.068558 mu:0.771555 unit_bearing:-0.159013 0.044478 0.986274 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.374201, -0.056528, -1.965843 mu:0.771555 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.101291, -0.057903, -2.052678 mu:0.771555 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.104993, -0.057817, -2.051936 mu:0.771555 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.108694, -0.057731, -2.051183 mu:0.771555 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.377777, -0.059155, -1.964115 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.381327, -0.058975, -1.962523 mu:0.771555 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.244593, -0.059313, -2.015308 mu:0.771555 unit_bearing:0.251017 0.070447 0.965416 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.255483, -0.056088, -2.011895 mu:0.771555 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.251666, -0.033638, -2.013975 mu:0.771555 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.251504, -0.016677, -2.014375 mu:0.771555 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.255137, -0.016546, -2.013178 mu:0.771555 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.178195, 0.006467, -2.036161 mu:0.771555 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.185529, 0.006679, -2.034200 mu:0.771555 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.189194, 0.006787, -2.033203 mu:0.771555 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.170] If point is visible? -0.189162, 0.009624, -2.033193 mu:0.771555 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.170] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.765097, 0.058352, -1.923836 mu:0.771555 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.542885, 0.117588, -2.013397 mu:0.771555 unit_bearing:-0.354496 0.205738 0.912143 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.542884, 0.120417, -2.013124 mu:0.771555 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.348226, 0.425097, -1.900272 mu:0.771555 unit_bearing:0.338585 0.430592 0.836631 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.272491, -0.662040, -1.812971 mu:0.771555 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.279586, -0.661545, -1.810332 mu:0.771555 unit_bearing:0.283784 -0.410019 0.866805 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.279310, -0.666556, -1.807204 mu:0.771555 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.286391, -0.666048, -1.804520 mu:0.771555 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.293462, -0.665530, -1.801790 mu:0.771555 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.293176, -0.670527, -1.798634 mu:0.771555 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.750785, -0.592551, -1.768447 mu:0.771555 unit_bearing:-0.507633 -0.361121 0.782241 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.298462, -0.563644, -1.859423 mu:0.771555 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.312684, -0.562680, -1.853858 mu:0.771555 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.601384, -0.524856, -1.879880 mu:0.771555 unit_bearing:-0.397131 -0.298802 0.867758 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.244449, -0.465012, -1.989354 mu:0.771555 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.237491, -0.513205, -1.970170 mu:0.771555 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.237556, -0.518516, -1.967855 mu:0.771555 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.236842, -0.454353, -1.993961 mu:0.771555 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.229343, -0.454443, -1.994426 mu:0.771555 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.821696, -0.124369, -1.628570 mu:0.771555 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.781131, -0.103147, -1.675876 mu:0.771555 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.787027, -0.102402, -1.669755 mu:0.771555 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.792891, -0.101651, -1.663586 mu:0.771555 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.798725, -0.100895, -1.657367 mu:0.771555 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.787008, -0.123796, -1.667042 mu:0.771555 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.810276, -0.120666, -1.642082 mu:0.771555 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.816013, -0.119868, -1.635720 mu:0.771555 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.792882, -0.096301, -1.664198 mu:0.771555 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.798715, -0.095549, -1.657978 mu:0.771555 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.874645, -0.059277, -1.857811 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.288145, -0.099717, -2.068170 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] calculated Z= 4.346686 +[21:42:34.171] update seeds 305 +[21:42:34.171] If point is visible? 0.288154, -0.094073, -2.068595 mu:0.771555 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.280626, -0.094158, -2.069359 mu:0.771555 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.363501, -0.054249, -1.970658 mu:0.771555 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.370621, -0.053899, -1.967554 mu:0.771555 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.653417, 0.000236, -1.978503 mu:0.771555 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? -0.377777, -0.059155, -1.964115 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.768635, 0.061307, -1.921774 mu:0.771555 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.914153, 0.091338, -1.827883 mu:0.771555 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.718490, 0.064573, -1.947326 mu:0.771555 unit_bearing:-0.487114 0.158926 0.858756 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.268255, -0.581190, -1.935738 mu:0.771555 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.171] If point is visible? 0.253331, -0.581463, -1.936999 mu:0.771555 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.171] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? 0.238405, -0.581704, -1.938082 mu:0.771555 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.273027, -0.651983, -1.819147 mu:0.771555 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.287218, -0.650992, -1.813828 mu:0.771555 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.301368, -0.649963, -1.808327 mu:0.771555 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? 0.236952, -0.465110, -1.989863 mu:0.771555 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.645467, -0.637098, -1.581083 mu:0.771555 unit_bearing:0.575914 -0.412853 0.705603 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.655487, -0.653601, -1.557299 mu:0.771555 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? 0.764527, -0.600828, -1.754905 mu:0.771555 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.276409, -0.580549, -1.859456 mu:0.771555 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.290677, -0.579625, -1.854158 mu:0.771555 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.333235, -0.576639, -1.837173 mu:0.771555 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.290223, -0.589926, -1.848709 mu:0.771555 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.318616, -0.587951, -1.837562 mu:0.771555 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? 0.237065, -0.475841, -1.985664 mu:0.771555 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.635094, -0.463418, -1.701987 mu:0.771555 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? 0.252281, -0.497018, -1.975895 mu:0.771555 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? 0.764773, -0.590944, -1.760793 mu:0.771555 unit_bearing:-0.518059 -0.360611 0.775613 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.632122, -0.648810, -1.584874 mu:0.771555 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.656593, -0.644227, -1.563970 mu:0.771555 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.300807, -0.659999, -1.802144 mu:0.771555 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.792853, -0.128357, -1.660132 mu:0.771555 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.781126, -0.119214, -1.673879 mu:0.771555 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.792886, -0.117685, -1.661592 mu:0.771555 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? 0.739843, 0.093429, -1.934728 mu:0.771555 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.341980, -0.044021, -1.980202 mu:0.771555 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? 0.754218, 0.082909, -1.928095 mu:0.771555 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.356370, -0.054594, -1.973716 mu:0.771555 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? 0.769255, -0.060745, -1.921469 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.225991, -0.014733, -2.022484 mu:0.771555 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? -0.226100, -0.026052, -2.022264 mu:0.771555 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.152703 y=0.000000 z=-0.783045 +[21:42:34.172] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:34.172] If point is visible? 0.221934, -0.785336, -1.825717 mu:0.765014 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.172] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.172] If point is visible? 0.221850, -0.782892, -1.827559 mu:0.765014 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.172] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.172] If point is visible? 0.214161, -0.775673, -1.833410 mu:0.765014 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.172] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.172] If point is visible? 0.218048, -0.780512, -1.829583 mu:0.765014 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.172] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.172] If point is visible? 0.210356, -0.773278, -1.835390 mu:0.765014 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.172] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.172] If point is visible? -0.536709, -0.737530, -1.613384 mu:0.765014 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.172] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.172] If point is visible? 0.198849, -0.763588, -1.843005 mu:0.765014 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.172] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.172] If point is visible? 0.194870, -0.756212, -1.848445 mu:0.765014 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.172] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.172] If point is visible? 0.191144, -0.756260, -1.848552 mu:0.765014 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.172] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.172] If point is visible? -0.649822, -0.692615, -1.547858 mu:0.765014 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.172] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.735278, -0.671507, -1.468075 mu:0.765014 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.738101, -0.670806, -1.465091 mu:0.765014 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.693017, -0.674648, -1.516740 mu:0.765014 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] calculated Z= 0.722852 +[21:42:34.173] update seeds 305 +[21:42:34.173] If point is visible? -0.738464, -0.668525, -1.466852 mu:0.765014 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? 0.824616, -0.688931, -1.667701 mu:0.765014 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] calculated Z= 0.660150 +[21:42:34.173] update seeds 305 +[21:42:34.173] If point is visible? -0.714481, -0.663148, -1.502021 mu:0.765014 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.697283, -0.664713, -1.520867 mu:0.765014 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] calculated Z= 0.736009 +[21:42:34.173] update seeds 305 +[21:42:34.173] If point is visible? -0.659318, -0.665631, -1.561671 mu:0.765014 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? 0.171477, -0.726493, -1.869584 mu:0.765014 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.662959, -0.660316, -1.562390 mu:0.765014 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.594317, -0.646392, -1.639107 mu:0.765014 unit_bearing:0.515567 -0.411002 0.751843 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.597506, -0.645892, -1.636692 mu:0.765014 unit_bearing:0.518144 -0.410848 0.750154 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.600690, -0.645389, -1.634265 mu:0.765014 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.603868, -0.644882, -1.631827 mu:0.765014 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.299826, -0.671512, -1.809202 mu:0.765014 unit_bearing:0.280893 -0.414218 0.865750 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.604377, -0.640020, -1.635047 mu:0.765014 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.607552, -0.639513, -1.632597 mu:0.765014 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.740564, -0.616470, -1.511563 mu:0.765014 unit_bearing:0.634731 -0.400173 0.661043 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.324441, -0.672156, -1.797564 mu:0.765014 unit_bearing:0.300339 -0.415792 0.858436 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.607297, -0.641945, -1.630990 mu:0.765014 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.339386, -0.658418, -1.799432 mu:0.765014 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.339218, -0.660945, -1.797872 mu:0.765014 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.287594, -0.639457, -1.834683 mu:0.765014 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.291164, -0.639214, -1.833329 mu:0.765014 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? 0.743173, -0.610630, -1.776618 mu:0.765014 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.617561, -0.601729, -1.650985 mu:0.765014 unit_bearing:0.532927 -0.375982 0.758042 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.620736, -0.601234, -1.648501 mu:0.765014 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.623905, -0.600735, -1.646005 mu:0.765014 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.369470, -0.625626, -1.805119 mu:0.765014 unit_bearing:0.334579 -0.379757 0.862462 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.365639, -0.631019, -1.803753 mu:0.765014 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.284599, -0.629439, -1.841951 mu:0.765014 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? 0.176483, -0.644743, -1.919907 mu:0.765014 unit_bearing:-0.088655 -0.383570 0.919246 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? 0.172379, -0.631794, -1.927231 mu:0.765014 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? 0.191094, -0.629032, -1.928278 mu:0.765014 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? 0.187337, -0.629068, -1.928378 mu:0.765014 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? 0.175998, -0.626561, -1.930038 mu:0.765014 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.744958, -0.557155, -1.552775 mu:0.765014 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? -0.745225, -0.554720, -1.554220 mu:0.765014 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.173] If point is visible? 0.175930, -0.623955, -1.931459 mu:0.765014 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.173] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.382011, -0.591398, -1.818920 mu:0.765014 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.220562, -0.602559, -1.941074 mu:0.765014 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.216797, -0.602610, -1.941263 mu:0.765014 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.743352, -0.545549, -1.562892 mu:0.765014 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.372061, -0.581924, -1.829322 mu:0.765014 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.375578, -0.581641, -1.827709 mu:0.765014 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.290220, -0.590422, -1.861902 mu:0.765014 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.216857, -0.605230, -1.939892 mu:0.765014 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.257746, -0.578294, -1.950631 mu:0.765014 unit_bearing:-0.151950 -0.330251 0.931582 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.301478, -0.579303, -1.863248 mu:0.765014 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.293932, -0.587588, -1.861918 mu:0.765014 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.365440, -0.574702, -1.836589 mu:0.765014 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.813290, -0.513518, -1.498486 mu:0.765014 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.301606, -0.576694, -1.864590 mu:0.765014 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.786591, -0.553131, -1.783517 mu:0.765014 unit_bearing:-0.545472 -0.326724 0.771824 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.344888, -0.563286, -1.852541 mu:0.765014 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.340811, -0.573975, -1.848740 mu:0.765014 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.362050, -0.572378, -1.839512 mu:0.765014 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.810819, -0.511743, -1.503075 mu:0.765014 unit_bearing:0.689558 -0.321445 0.648986 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.811090, -0.509313, -1.504434 mu:0.765014 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.809395, -0.500206, -1.513018 mu:0.765014 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.358654, -0.570048, -1.842417 mu:0.765014 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.351713, -0.567979, -1.846847 mu:0.765014 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.811359, -0.506880, -1.505787 mu:0.765014 unit_bearing:0.689848 -0.317499 0.650619 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.323547, -0.564801, -1.861422 mu:0.765014 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.327111, -0.564554, -1.859970 mu:0.765014 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? -0.809133, -0.502648, -1.511685 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.265237, -0.575514, -1.951306 mu:0.765014 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.246594, -0.586396, -1.947536 mu:0.765014 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.250310, -0.583699, -1.948585 mu:0.765014 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.287675, -0.564480, -1.954309 mu:0.765014 unit_bearing:-0.174894 -0.319418 0.931335 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.291402, -0.561751, -1.955186 mu:0.765014 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.302675, -0.558839, -1.955189 mu:0.765014 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.298903, -0.558929, -1.955623 mu:0.765014 unit_bearing:-0.183495 -0.315082 0.931157 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.196986, -0.557972, -1.964324 mu:0.765014 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.310177, -0.556005, -1.955553 mu:0.765014 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.306405, -0.556100, -1.956009 mu:0.765014 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.215688, -0.549798, -1.967304 mu:0.765014 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.196931, -0.555316, -1.965577 mu:0.765014 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.351512, -0.544247, -1.954789 mu:0.765014 unit_bearing:-0.223471 -0.304011 0.926087 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.347741, -0.544363, -1.955370 mu:0.765014 unit_bearing:-0.220629 -0.304045 0.926758 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.343969, -0.544476, -1.955938 mu:0.765014 unit_bearing:-0.217786 -0.304077 0.927419 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.174] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.174] If point is visible? 0.234313, -0.536234, -1.972376 mu:0.765014 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.230537, -0.536287, -1.972605 mu:0.765014 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.226760, -0.536338, -1.972823 mu:0.765014 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.328958, -0.550209, -1.955614 mu:0.765014 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.196877, -0.552659, -1.966824 mu:0.765014 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.501722, -0.524755, -1.928267 mu:0.765014 unit_bearing:-0.336372 -0.291683 0.895419 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.505477, -0.527192, -1.925994 mu:0.765014 unit_bearing:-0.339122 -0.293746 0.893706 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.568844, -0.531320, -1.902527 mu:0.765014 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.230345, -0.525604, -1.977376 mu:0.765014 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.226567, -0.525654, -1.977594 mu:0.765014 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.505462, -0.524556, -1.927212 mu:0.765014 unit_bearing:-0.339162 -0.291630 0.894383 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.812399, -0.481491, -1.803672 mu:0.765014 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.198828, -0.447666, -2.010312 mu:0.765014 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.111459, -0.320568, -2.022468 mu:0.765014 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.115181, -0.320464, -2.021696 mu:0.765014 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.118902, -0.320358, -2.020913 mu:0.765014 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.133770, -0.319921, -2.017670 mu:0.765014 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.141194, -0.319692, -2.015983 mu:0.765014 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.751612, -0.296464, -1.679163 mu:0.765014 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.754542, -0.298665, -1.675462 mu:0.765014 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.215848, -0.247417, -2.012545 mu:0.765014 unit_bearing:0.208064 -0.073239 0.975369 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.119614, -0.247767, -2.037306 mu:0.765014 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.123337, -0.247664, -2.036512 mu:0.765014 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.134495, -0.247347, -2.034066 mu:0.765014 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.127132, -0.236333, -2.037858 mu:0.765014 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.149372, -0.244100, -2.031196 mu:0.765014 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.134690, -0.213627, -2.040218 mu:0.765014 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? 0.318534, -0.213344, -2.061991 mu:0.765014 unit_bearing:-0.202177 -0.042758 0.978415 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.252829, -0.201083, -2.009350 mu:0.765014 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] calculated Z= 0.663999 +[21:42:34.175] update seeds 305 +[21:42:34.175] If point is visible? 0.314737, -0.216219, -2.061995 mu:0.765014 unit_bearing:-0.199302 -0.044940 0.978907 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.848574, -0.122786, -1.614351 mu:0.765014 unit_bearing:0.714674 -0.015730 0.699281 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.851368, -0.122367, -1.611036 mu:0.765014 unit_bearing:0.717000 -0.015721 0.696896 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.153387, -0.167939, -2.042736 mu:0.765014 unit_bearing:0.159235 -0.010076 0.987189 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] calculated Z= 0.642471 +[21:42:34.175] update seeds 305 +[21:42:34.175] If point is visible? -0.842991, -0.115587, -1.622053 mu:0.765014 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.837359, -0.108356, -1.629649 mu:0.765014 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.840187, -0.107952, -1.626382 mu:0.765014 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.208860, -0.163313, -2.028564 mu:0.765014 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.153393, -0.156621, -2.044192 mu:0.765014 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] calculated Z= 0.632647 +[21:42:34.175] update seeds 305 +[21:42:34.175] If point is visible? -0.843004, -0.110228, -1.622760 mu:0.765014 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.842998, -0.112908, -1.622410 mu:0.765014 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.175] If point is visible? -0.845810, -0.112498, -1.619119 mu:0.765014 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.175] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.820181, -0.089177, -1.651519 mu:0.765014 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.260246, -0.135930, -2.015811 mu:0.765014 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.123618, -0.123407, -2.054711 mu:0.765014 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.407740, -0.058242, -1.962547 mu:0.765014 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.411288, -0.058051, -1.960864 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.127022, -0.057795, -2.058635 mu:0.765014 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.130741, -0.057700, -2.057818 mu:0.765014 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.134459, -0.057604, -2.056990 mu:0.765014 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.278080, -0.052915, -2.016066 mu:0.765014 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.277692, -0.015877, -2.017234 mu:0.765014 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.281332, -0.015736, -2.015961 mu:0.765014 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.274014, -0.013163, -2.018543 mu:0.765014 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.277656, -0.013024, -2.017280 mu:0.765014 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.215154, 0.007647, -2.037373 mu:0.765014 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? 0.690878, 0.049323, -1.973277 mu:0.765014 unit_bearing:-0.479178 0.148417 0.865078 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? 0.749270, 0.057485, -1.944733 mu:0.765014 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.368631, 0.429803, -1.902058 mu:0.765014 unit_bearing:0.335833 0.430681 0.837693 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.303375, -0.671251, -1.807800 mu:0.765014 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.310465, -0.670723, -1.804962 mu:0.765014 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.317544, -0.670185, -1.802079 mu:0.765014 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.317208, -0.675224, -1.798901 mu:0.765014 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? 0.750322, -0.607332, -1.774363 mu:0.765014 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.323420, -0.567415, -1.860105 mu:0.765014 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.337656, -0.566411, -1.854230 mu:0.765014 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.809133, -0.502648, -1.511685 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? 0.509230, -0.529625, -1.923703 mu:0.765014 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.658349, -0.486132, -1.685583 mu:0.765014 unit_bearing:0.562856 -0.284982 0.775873 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? 0.215090, -0.517759, -1.981690 mu:0.765014 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? 0.215186, -0.523116, -1.979356 mu:0.765014 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? 0.214130, -0.458403, -2.005669 mu:0.765014 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? 0.206559, -0.458476, -2.005999 mu:0.765014 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.828823, -0.109558, -1.639379 mu:0.765014 unit_bearing:0.698250 -0.003352 0.715846 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? 0.288063, -0.185628, -2.069878 mu:0.765014 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? 0.356523, -0.195758, -2.059311 mu:0.765014 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.811504, -0.122703, -1.657089 mu:0.765014 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.834498, -0.119494, -1.631489 mu:0.765014 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.840163, -0.118676, -1.624968 mu:0.765014 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.805694, -0.101890, -1.666106 mu:0.765014 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.811524, -0.101126, -1.659825 mu:0.765014 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.817322, -0.100355, -1.653495 mu:0.765014 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.176] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.176] If point is visible? -0.823088, -0.099579, -1.647117 mu:0.765014 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.845772, -0.123203, -1.617653 mu:0.765014 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.817311, -0.094959, -1.654112 mu:0.765014 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.823077, -0.094188, -1.647733 mu:0.765014 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.257703, -0.095227, -2.082516 mu:0.765014 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.860671, -0.055885, -1.880484 mu:0.765014 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.853620, -0.056373, -1.884976 mu:0.765014 unit_bearing:-0.598947 0.059929 0.798543 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.404190, -0.058432, -1.964218 mu:0.765014 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.411288, -0.058051, -1.960864 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.635512, 0.004774, -1.997784 mu:0.765014 unit_bearing:-0.438685 0.116876 0.891008 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.752883, 0.060457, -1.942720 mu:0.765014 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.901355, 0.095934, -1.850299 mu:0.765014 unit_bearing:-0.632262 0.172345 0.755342 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.866661, 0.094025, -1.873979 mu:0.765014 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.901424, 0.090412, -1.850732 mu:0.765014 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.546179, 0.126830, -2.023129 mu:0.765014 unit_bearing:-0.371144 0.211918 0.904070 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.216680, -0.597363, -1.943984 mu:0.765014 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.214291, -0.469251, -2.001539 mu:0.765014 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.659734, -0.465571, -1.695128 mu:0.765014 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.653821, -0.662065, -1.570377 mu:0.765014 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.678055, -0.657336, -1.548846 mu:0.765014 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.654993, -0.652557, -1.577084 mu:0.765014 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.679272, -0.647880, -1.555553 mu:0.765014 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.297228, -0.656567, -1.819959 mu:0.765014 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.311437, -0.655536, -1.814333 mu:0.765014 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.325601, -0.654466, -1.808525 mu:0.765014 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.300696, -0.594914, -1.855061 mu:0.765014 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.314973, -0.593940, -1.849452 mu:0.765014 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.357534, -0.590802, -1.831530 mu:0.765014 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.351476, -0.541597, -1.956023 mu:0.765014 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.214811, -0.501648, -1.988536 mu:0.765014 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.793824, -0.542203, -1.784889 mu:0.765014 unit_bearing:-0.550991 -0.318299 0.771424 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.216450, -0.586847, -1.949348 mu:0.765014 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.793993, -0.532066, -1.790202 mu:0.765014 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.805688, -0.118095, -1.664092 mu:0.765014 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.817316, -0.116526, -1.651485 mu:0.765014 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.382771, -0.053881, -1.974296 mu:0.765014 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.817280, -0.127290, -1.650012 mu:0.765014 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? -0.252242, -0.025389, -2.025659 mu:0.765014 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.177] If point is visible? 0.866719, 0.088478, -1.874405 mu:0.765014 unit_bearing:-0.607294 0.168930 0.776309 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.177] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.178] If point is visible? 0.796397, 0.006701, -1.920730 mu:0.765014 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.178] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.178] If point is visible? 0.723683, 0.092919, -1.955250 mu:0.765014 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.178] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.178] If point is visible? 0.738277, 0.082276, -1.948828 mu:0.765014 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.178] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.178] If point is visible? 0.723725, 0.081663, -1.956067 mu:0.765014 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.178] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.178] If point is visible? 0.709125, 0.081066, -1.963104 mu:0.765014 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.152704 y=0.000000 z=-0.783059 +[21:42:34.178] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:34.178] If point is visible? -6661.472257, -452.590848, -7124.030198 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.152705 y=0.000000 z=-0.783064 +[21:42:34.178] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:34.178] If point is visible? 4211.844000, -399.552156, -8799.916536 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.152705 y=0.000000 z=-0.783064 +[21:42:34.178] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:34.178] If point is visible? -6661.472257, -452.590848, -7124.030198 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.152705 y=0.000000 z=-0.783064 +[21:42:34.178] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:34.178] If point is visible? 4211.844000, -399.552156, -8799.916536 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.152705 y=0.000000 z=-0.783064 +[21:42:34.178] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:34.178] If point is visible? 0.840713, -0.059751, -2.244193 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? 0.767824, -0.687445, -2.110042 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? 1.001982, -0.057362, -2.156840 mu:0.618770 unit_bearing:-0.598870 0.068366 0.797923 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? 0.930841, 0.007072, -2.199495 mu:0.618770 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] calculated Z= 0.814605 +[21:42:34.178] update seeds 305 +[21:42:34.178] If point is visible? -0.957369, -0.074070, -1.955271 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? 0.215773, -0.965094, -2.077837 mu:0.618770 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? 0.211172, -0.965168, -2.077998 mu:0.618770 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? 0.206187, -0.956135, -2.084896 mu:0.618770 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? 0.191862, -0.944133, -2.094132 mu:0.618770 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? -0.713860, -0.910519, -1.798858 mu:0.618770 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? -0.714237, -0.907618, -1.801130 mu:0.618770 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? 0.186872, -0.935007, -2.100795 mu:0.618770 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? 0.182264, -0.935059, -2.100870 mu:0.618770 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? -0.956489, -0.831333, -1.613961 mu:0.618770 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? -0.931762, -0.818220, -1.658429 mu:0.618770 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? -0.852594, -0.854774, -1.716098 mu:0.618770 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? 0.968325, -0.853025, -1.887116 mu:0.618770 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.178] If point is visible? -0.956962, -0.828515, -1.616141 mu:0.618770 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.178] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.960403, -0.827643, -1.612408 mu:0.618770 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.432262, -0.890116, -1.998517 mu:0.618770 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.913525, -0.825142, -1.674194 mu:0.618770 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] calculated Z= 0.740120 +[21:42:34.179] update seeds 305 +[21:42:34.179] If point is visible? -0.910796, -0.820187, -1.681994 mu:0.618770 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.759863, -0.851552, -1.809659 mu:0.618770 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? 0.157681, -0.898219, -2.126566 mu:0.618770 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? 0.157556, -0.895110, -2.128640 mu:0.618770 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.864891, -0.818473, -1.735124 mu:0.618770 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.868604, -0.817740, -1.731771 mu:0.618770 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.864496, -0.821394, -1.733028 mu:0.618770 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.784969, -0.800737, -1.827767 mu:0.618770 unit_bearing:0.515451 -0.412999 0.750828 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.788872, -0.800111, -1.824732 mu:0.618770 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.793105, -0.796478, -1.823681 mu:0.618770 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.796995, -0.795846, -1.820617 mu:0.618770 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.801215, -0.792208, -1.819530 mu:0.618770 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.472654, -0.813083, -2.031921 mu:0.618770 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.801551, -0.789201, -1.821513 mu:0.618770 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.472427, -0.816207, -2.029995 mu:0.618770 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.179] If point is visible? -0.481983, -0.802975, -2.033752 mu:0.618770 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.179] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.413124, -0.795754, -2.070866 mu:0.618770 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.809004, -0.755285, -1.839700 mu:0.618770 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.824827, -0.749739, -1.829075 mu:0.618770 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.813829, -0.745521, -1.842228 mu:0.618770 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.817713, -0.744901, -1.839108 mu:0.618770 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.821590, -0.744278, -1.835973 mu:0.618770 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? 0.866102, -0.756061, -2.020504 mu:0.618770 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.501029, -0.776374, -2.040719 mu:0.618770 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.409137, -0.789739, -2.076303 mu:0.618770 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.413529, -0.789432, -2.074574 mu:0.618770 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? 0.870495, -0.758639, -2.016378 mu:0.618770 unit_bearing:-0.514863 -0.372921 0.771911 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? 0.158083, -0.781139, -2.197848 mu:0.618770 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.818023, -0.741849, -1.840970 mu:0.618770 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.821901, -0.741227, -1.837836 mu:0.618770 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.514396, -0.768956, -2.038255 mu:0.618770 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.409534, -0.783404, -2.079978 mu:0.618770 unit_bearing:0.270400 -0.383335 0.883141 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.405528, -0.777359, -2.085335 mu:0.618770 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.518917, -0.765424, -2.038002 mu:0.618770 unit_bearing:0.340228 -0.375458 0.862135 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? 0.181110, -0.774541, -2.201197 mu:0.618770 unit_bearing:-0.100188 -0.368751 0.924113 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? 0.162523, -0.774676, -2.201374 mu:0.618770 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.180] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.180] If point is visible? -0.970024, -0.687118, -1.720703 mu:0.618770 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.970372, -0.684107, -1.722485 mu:0.618770 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.525524, -0.730142, -2.055352 mu:0.618770 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.407769, -0.739040, -2.106510 mu:0.618770 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? 0.222060, -0.741787, -2.217206 mu:0.618770 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? 0.217402, -0.741844, -2.217394 mu:0.618770 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.521811, -0.720929, -2.062560 mu:0.618770 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -1.052855, -0.639027, -1.649139 mu:0.618770 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.407947, -0.735830, -2.108222 mu:0.618770 unit_bearing:0.268197 -0.351987 0.896758 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? 0.217490, -0.745086, -2.215709 mu:0.618770 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? 0.212833, -0.745142, -2.215883 mu:0.618770 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? 0.212923, -0.748381, -2.214190 mu:0.618770 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.412535, -0.732324, -2.108215 mu:0.618770 unit_bearing:0.271049 -0.349835 0.896743 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.417472, -0.722378, -2.111555 mu:0.618770 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.487536, -0.717323, -2.082048 mu:0.618770 unit_bearing:0.318803 -0.342595 0.883738 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? 0.240360, -0.728545, -2.222981 mu:0.618770 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.462268, -0.703200, -2.101828 mu:0.618770 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.488457, -0.701245, -2.090347 mu:0.618770 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -1.050939, -0.627843, -1.659917 mu:0.618770 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.475020, -0.708679, -2.092857 mu:0.618770 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? 0.249603, -0.725153, -2.224101 mu:0.618770 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? 0.254186, -0.721825, -2.225455 mu:0.618770 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.181] If point is visible? -0.488637, -0.698021, -2.091982 mu:0.618770 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.181] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.258771, -0.718493, -2.226788 mu:0.618770 unit_bearing:-0.149074 -0.332399 0.931283 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.281871, -0.708301, -2.229939 mu:0.618770 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? -1.048619, -0.619606, -1.668911 mu:0.618770 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? -0.453856, -0.697369, -2.108802 mu:0.618770 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? -0.458239, -0.697057, -2.106952 mu:0.618770 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] calculated Z= 0.717572 +[21:42:34.182] update seeds 305 +[21:42:34.182] If point is visible? 0.286464, -0.704948, -2.231159 mu:0.618770 unit_bearing:-0.166290 -0.323750 0.931415 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.295728, -0.701498, -2.231949 mu:0.618770 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.188069, -0.689916, -2.244087 mu:0.618770 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.309595, -0.694667, -2.233804 mu:0.618770 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.304925, -0.694768, -2.234253 mu:0.618770 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.215749, -0.676507, -2.249415 mu:0.618770 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.365321, -0.676917, -2.235097 mu:0.618770 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.360650, -0.677045, -2.235714 mu:0.618770 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.192571, -0.683308, -2.247073 mu:0.618770 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.187905, -0.683347, -2.247175 mu:0.618770 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.229459, -0.663170, -2.254844 mu:0.618770 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.224787, -0.663226, -2.255055 mu:0.618770 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.351369, -0.680570, -2.235365 mu:0.618770 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.346697, -0.680691, -2.235940 mu:0.618770 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.653394, -0.657382, -2.171942 mu:0.618770 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.616458, -0.656398, -2.185168 mu:0.618770 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.229169, -0.649961, -2.260740 mu:0.618770 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.224495, -0.650016, -2.260950 mu:0.618770 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? 0.208635, -0.556767, -2.299212 mu:0.618770 unit_bearing:-0.121046 -0.227612 0.966199 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.182] If point is visible? -0.979841, -0.361525, -1.877805 mu:0.618770 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.182] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.298866, -0.381910, -2.287076 mu:0.618770 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.193695, -0.395815, -2.311187 mu:0.618770 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.198285, -0.395679, -2.310175 mu:0.618770 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.202872, -0.395542, -2.309149 mu:0.618770 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.221201, -0.394972, -2.304910 mu:0.618770 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.230353, -0.394676, -2.302709 mu:0.618770 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.203868, -0.305792, -2.329405 mu:0.618770 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.208458, -0.305658, -2.328366 mu:0.618770 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.222214, -0.305245, -2.325168 mu:0.618770 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.245127, -0.301053, -2.320243 mu:0.618770 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.208561, -0.291777, -2.331023 mu:0.618770 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.213149, -0.291642, -2.329970 mu:0.618770 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.222486, -0.263554, -2.332772 mu:0.618770 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.368033, -0.247821, -2.292779 mu:0.618770 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.222599, -0.235673, -2.337229 mu:0.618770 unit_bearing:0.144807 -0.027543 0.989076 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -1.098230, -0.153193, -1.794752 mu:0.618770 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -1.105021, -0.152141, -1.786456 mu:0.618770 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? 0.356277, -0.249854, -2.366716 mu:0.618770 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -1.091451, -0.140999, -1.804833 mu:0.618770 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -1.042433, -0.137979, -1.862149 mu:0.618770 unit_bearing:0.676698 -0.003368 0.736253 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -1.088037, -0.131566, -1.810229 mu:0.618770 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -0.313901, -0.201207, -2.317214 mu:0.618770 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -1.091467, -0.134374, -1.805706 mu:0.618770 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.183] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.183] If point is visible? -1.049520, -0.153681, -1.852108 mu:0.618770 unit_bearing:0.681509 -0.013769 0.731680 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -1.091460, -0.137687, -1.805274 mu:0.618770 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.240987, -0.193181, -2.338542 mu:0.618770 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.245561, -0.193039, -2.337394 mu:0.618770 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.250134, -0.192897, -2.336233 mu:0.618770 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.377191, -0.181236, -2.299041 mu:0.618770 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -1.063658, -0.108391, -1.841615 mu:0.618770 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.377177, -0.167255, -2.300652 mu:0.618770 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.208851, -0.152033, -2.350861 mu:0.618770 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.213440, -0.151906, -2.349808 mu:0.618770 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -1.131673, -0.081972, -1.760547 mu:0.618770 unit_bearing:0.737625 0.023367 0.674807 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -1.134985, -0.084770, -1.755939 mu:0.618770 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -1.131645, -0.078668, -1.760854 mu:0.618770 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -1.131616, -0.075363, -1.761153 mu:0.618770 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? 0.238719, -0.100450, -2.393758 mu:0.618770 unit_bearing:-0.141692 0.059768 0.988105 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.403588, -0.067917, -2.298896 mu:0.618770 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.549777, -0.067909, -2.236931 mu:0.618770 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.212995, -0.070906, -2.355660 mu:0.618770 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.217581, -0.070782, -2.354592 mu:0.618770 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.222164, -0.070657, -2.353511 mu:0.618770 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.558543, -0.070926, -2.232518 mu:0.618770 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.398538, -0.018795, -2.302143 mu:0.618770 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.403019, -0.018614, -2.300511 mu:0.618770 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.398490, -0.015268, -2.302200 mu:0.618770 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? -0.325967, 0.013861, -2.326600 mu:0.618770 unit_bearing:0.210769 0.124909 0.969523 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? 0.876815, 0.070148, -2.226174 mu:0.618770 unit_bearing:-0.524660 0.151905 0.837649 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.184] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.184] If point is visible? 0.872304, 0.069949, -2.228438 mu:0.618770 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? 0.592214, 0.148394, -2.331171 mu:0.618770 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] calculated Z= 0.623421 +[21:42:34.185] update seeds 305 +[21:42:34.185] If point is visible? -0.445261, -0.833903, -2.031608 mu:0.618770 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -0.813518, -0.748572, -1.840358 mu:0.618770 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -0.445715, -0.827672, -2.035531 mu:0.618770 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? 0.874981, -0.751998, -2.017826 mu:0.618770 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -0.473103, -0.806824, -2.035748 mu:0.618770 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? 0.185661, -0.771280, -2.202875 mu:0.618770 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -0.453683, -0.700601, -2.107176 mu:0.618770 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? 0.210258, -0.640233, -2.265836 mu:0.618770 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? 0.210402, -0.646857, -2.262952 mu:0.618770 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? 0.208811, -0.566846, -2.295466 mu:0.618770 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? 0.199446, -0.566922, -2.295756 mu:0.618770 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? 0.384513, -0.242397, -2.363992 mu:0.618770 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -1.060162, -0.115545, -1.844865 mu:0.618770 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -1.067189, -0.114581, -1.836889 mu:0.618770 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? 0.365693, -0.249695, -2.365503 mu:0.618770 unit_bearing:-0.219406 -0.034022 0.975040 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -1.053081, -0.149856, -1.848634 mu:0.618770 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -1.088006, -0.144824, -1.808481 mu:0.618770 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? 0.271550, -0.131919, -2.389394 mu:0.618770 unit_bearing:-0.161899 0.040112 0.985992 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -1.094835, -0.150410, -1.799351 mu:0.618770 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -1.148134, -0.109042, -1.735820 mu:0.618770 unit_bearing:0.748940 0.004877 0.662620 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? 0.262179, -0.117917, -2.391148 mu:0.618770 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -0.536617, -0.065117, -2.243344 mu:0.618770 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -0.545370, -0.064647, -2.239201 mu:0.618770 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.185] If point is visible? -0.554180, -0.071168, -2.234639 mu:0.618770 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.185] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.840713, -0.059751, -2.244193 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.876808, 0.073616, -2.226005 mu:0.618770 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.876822, 0.066680, -2.226335 mu:0.618770 unit_bearing:-0.524697 0.149788 0.838008 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 1.018595, 0.114901, -2.142789 mu:0.618770 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.813323, 0.126717, -2.252536 mu:0.618770 unit_bearing:-0.486590 0.188635 0.853022 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.822409, 0.134017, -2.247768 mu:0.618770 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? -0.504047, 0.532277, -2.160445 mu:0.618770 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.212656, -0.738655, -2.219245 mu:0.618770 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? -0.866699, -0.574049, -1.898009 mu:0.618770 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? -0.859363, -0.805239, -1.752149 mu:0.618770 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? -0.889036, -0.799410, -1.725155 mu:0.618770 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? -0.425565, -0.734643, -2.101292 mu:0.618770 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? -0.443126, -0.733412, -2.094137 mu:0.618770 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? -0.495459, -0.729451, -2.071320 mu:0.618770 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.910830, -0.698518, -2.027708 mu:0.618770 unit_bearing:-0.539937 -0.335143 0.772105 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.209054, -0.580259, -2.290362 mu:0.618770 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.228546, -0.620119, -2.273541 mu:0.618770 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.194769, -0.764744, -2.206166 mu:0.618770 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.379217, -0.669965, -2.236220 mu:0.618770 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? 0.767824, -0.687445, -2.110042 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? -0.419993, -0.823418, -2.050273 mu:0.618770 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? -0.437455, -0.822103, -2.043095 mu:0.618770 unit_bearing:0.289363 -0.409884 0.865023 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.186] If point is visible? -0.454857, -0.820740, -2.035691 mu:0.618770 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.186] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? 0.212308, -0.725652, -2.225873 mu:0.618770 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? 0.393940, -0.249173, -2.361526 mu:0.618770 unit_bearing:-0.236594 -0.034002 0.971013 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? -1.060122, -0.155517, -1.839796 mu:0.618770 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? -1.045992, -0.144170, -1.857382 mu:0.618770 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? -1.060168, -0.142209, -1.841616 mu:0.618770 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? -0.367045, -0.016490, -2.313231 mu:0.618770 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? 0.840626, 0.072068, -2.243678 mu:0.618770 unit_bearing:-0.503300 0.154404 0.850205 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? -0.510114, -0.052465, -2.256068 mu:0.618770 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? 0.930841, 0.007072, -2.199495 mu:0.618770 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] calculated Z= 0.814605 +[21:42:34.187] update seeds 305 +[21:42:34.187] If point is visible? -0.957369, -0.074070, -1.955271 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? -0.527849, -0.065581, -2.247430 mu:0.618770 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? -0.367226, -0.030604, -2.312952 mu:0.618770 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.152705 y=0.000000 z=-0.783069 +[21:42:34.187] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:34.187] If point is visible? 0.631294, 0.044790, -2.091497 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? 0.667928, 0.081955, -2.075688 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? 0.136234, -0.837698, -1.897073 mu:0.717420 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? 0.127663, -0.829934, -1.902711 mu:0.717420 unit_bearing:-0.113287 -0.493085 0.862574 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? 0.131843, -0.832515, -1.900878 mu:0.717420 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? -0.653218, -0.779432, -1.611292 mu:0.717420 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? 0.123275, -0.824724, -1.906447 mu:0.717420 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? -0.653645, -0.776926, -1.613228 mu:0.717420 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? 0.118887, -0.819499, -1.910142 mu:0.717420 unit_bearing:-0.107723 -0.485004 0.867852 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? 0.114709, -0.816891, -1.911901 mu:0.717420 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? 0.101764, -0.803740, -1.920796 mu:0.717420 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? -0.851223, -0.712020, -1.437376 mu:0.717420 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? 0.101969, -0.806387, -1.918931 mu:0.717420 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? -0.767879, -0.730464, -1.532681 mu:0.717420 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? -0.852235, -0.707155, -1.441088 mu:0.717420 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? -0.854993, -0.706382, -1.437692 mu:0.717420 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? -0.421604, -0.760995, -1.799954 mu:0.717420 unit_bearing:0.288202 -0.452979 0.843652 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? -0.811175, -0.710897, -1.496180 mu:0.717420 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? -0.693008, -0.728272, -1.618155 mu:0.717420 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.187] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.187] If point is visible? -0.832724, -0.698432, -1.478834 mu:0.717420 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.815942, -0.700261, -1.500234 mu:0.717420 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.790536, -0.740811, -1.776740 mu:0.717420 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] calculated Z= 0.623194 +[21:42:34.188] update seeds 305 +[21:42:34.188] If point is visible? -0.778807, -0.701594, -1.546629 mu:0.717420 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.079682, -0.774448, -1.939752 mu:0.717420 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.079484, -0.771765, -1.941531 mu:0.717420 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.782684, -0.695891, -1.547107 mu:0.717420 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.782253, -0.698416, -1.545330 mu:0.717420 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.719933, -0.673319, -1.636371 mu:0.717420 unit_bearing:0.518491 -0.404850 0.753168 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.735825, -0.670476, -1.622089 mu:0.717420 unit_bearing:0.531332 -0.404075 0.744587 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.718446, -0.683713, -1.629599 mu:0.717420 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.722010, -0.680553, -1.628470 mu:0.717420 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.725191, -0.679983, -1.625625 mu:0.717420 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.725940, -0.674792, -1.629012 mu:0.717420 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.729117, -0.674222, -1.626155 mu:0.717420 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.461236, -0.693888, -1.824509 mu:0.717420 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.457062, -0.699621, -1.823125 mu:0.717420 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.736977, -0.639656, -1.644630 mu:0.717420 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.740503, -0.636465, -1.643344 mu:0.717420 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.743677, -0.635905, -1.640452 mu:0.717420 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.746843, -0.635343, -1.637547 mu:0.717420 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.408052, -0.682359, -1.861467 mu:0.717420 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.404870, -0.677196, -1.866361 mu:0.717420 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.402163, -0.666541, -1.874330 mu:0.717420 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.696079, -0.656489, -1.886150 mu:0.717420 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.481994, -0.665076, -1.830844 mu:0.717420 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.077991, -0.690064, -1.991891 mu:0.717420 unit_bearing:-0.085783 -0.385690 0.918632 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.489724, -0.658940, -1.830009 mu:0.717420 unit_bearing:0.334635 -0.377681 0.863352 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.493321, -0.658592, -1.828013 mu:0.717420 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.085486, -0.681781, -1.997021 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.744023, -0.633270, -1.642039 mu:0.717420 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.747191, -0.632709, -1.639134 mu:0.717420 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.096847, -0.670694, -2.003754 mu:0.717420 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.092843, -0.670697, -2.003563 mu:0.717420 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.868491, -0.582499, -1.531950 mu:0.717420 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.493583, -0.655866, -1.829564 mu:0.717420 unit_bearing:0.337460 -0.375531 0.863190 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.080678, -0.667912, -2.004432 mu:0.717420 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.503556, -0.625040, -1.842148 mu:0.717420 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.503800, -0.622287, -1.843617 mu:0.717420 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? -0.404968, -0.633473, -1.892448 mu:0.717420 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.131302, -0.639932, -2.021235 mu:0.717420 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.127282, -0.639951, -2.021149 mu:0.717420 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.188] If point is visible? 0.127426, -0.642748, -2.019702 mu:0.717420 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.188] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.123408, -0.642766, -2.019604 mu:0.717420 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.500443, -0.619875, -1.847097 mu:0.717420 unit_bearing:0.340918 -0.348370 0.873163 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.504042, -0.619532, -1.845079 mu:0.717420 unit_bearing:0.343692 -0.348303 0.872102 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.123554, -0.645561, -2.018151 mu:0.717420 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.409339, -0.624875, -1.895115 mu:0.717420 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.500683, -0.617117, -1.848552 mu:0.717420 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.497316, -0.614695, -1.852006 mu:0.717420 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.146835, -0.628630, -2.027182 mu:0.717420 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.413480, -0.619038, -1.896278 mu:0.717420 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.413260, -0.621817, -1.894840 mu:0.717420 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.487170, -0.607392, -1.862253 mu:0.717420 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.935681, -0.540511, -1.465877 mu:0.717420 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.451400, -0.602207, -1.885526 mu:0.717420 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.473320, -0.600352, -1.874250 mu:0.717420 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.936060, -0.537924, -1.467315 mu:0.717420 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.461935, -0.606851, -1.877124 mu:0.717420 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.934151, -0.533459, -1.473815 mu:0.717420 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.436921, -0.600610, -1.894202 mu:0.717420 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.440601, -0.600316, -1.892400 mu:0.717420 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.444277, -0.600020, -1.890587 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.158649, -0.622924, -2.030048 mu:0.717420 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.170481, -0.617194, -2.032782 mu:0.717420 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.078104, -0.620359, -2.029109 mu:0.717420 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.932578, -0.526369, -1.481682 mu:0.717420 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.466467, -0.595412, -1.880847 mu:0.717420 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.444491, -0.597232, -1.891978 mu:0.717420 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? -0.448163, -0.596934, -1.890153 mu:0.717420 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.174385, -0.614341, -2.034126 mu:0.717420 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.194197, -0.605662, -2.037852 mu:0.717420 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.190155, -0.605712, -2.037954 mu:0.717420 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.222027, -0.593973, -2.042203 mu:0.717420 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.214050, -0.596922, -2.041222 mu:0.717420 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.100951, -0.594968, -2.042578 mu:0.717420 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.254097, -0.584916, -2.044268 mu:0.717420 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.250042, -0.584996, -2.044550 mu:0.717420 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.245988, -0.585074, -2.044820 mu:0.717420 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.120681, -0.586432, -2.047229 mu:0.717420 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.242048, -0.587975, -2.043756 mu:0.717420 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.237996, -0.588049, -2.044002 mu:0.717420 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.100819, -0.592135, -2.043906 mu:0.717420 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.100689, -0.589300, -2.045229 mu:0.717420 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.477045, -0.565865, -2.014990 mu:0.717420 unit_bearing:-0.369647 -0.295232 0.881022 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.472990, -0.566068, -2.015957 mu:0.717420 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.501516, -0.570183, -2.006282 mu:0.717420 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.189] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.189] If point is visible? 0.136183, -0.572168, -2.054045 mu:0.717420 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? 0.132150, -0.572186, -2.053978 mu:0.717420 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? 0.135706, -0.560773, -2.059107 mu:0.717420 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? 0.131671, -0.560790, -2.059040 mu:0.717420 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? 0.768805, -0.519450, -1.920441 mu:0.717420 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? 0.125056, -0.491832, -2.087051 mu:0.717420 unit_bearing:-0.126762 -0.236215 0.963397 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.885502, -0.309334, -1.660235 mu:0.717420 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.882657, -0.307013, -1.664403 mu:0.717420 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.229264, -0.341771, -2.079340 mu:0.717420 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.233160, -0.341624, -2.078225 mu:0.717420 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.237053, -0.341476, -2.077097 mu:0.717420 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.364392, -0.320856, -2.037135 mu:0.717420 unit_bearing:0.227977 -0.118832 0.966388 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.303054, -0.329816, -2.058423 mu:0.717420 unit_bearing:0.182072 -0.123351 0.975517 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.306901, -0.329639, -2.057088 mu:0.717420 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.310745, -0.329459, -2.055741 mu:0.717420 unit_bearing:0.187819 -0.123331 0.974430 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] calculated Z= 0.695650 +[21:42:34.190] update seeds 305 +[21:42:34.190] If point is visible? -0.314586, -0.329278, -2.054383 mu:0.717420 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] calculated Z= 0.691702 +[21:42:34.190] update seeds 305 +[21:42:34.190] If point is visible? -0.229331, -0.338808, -2.080098 mu:0.717420 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.233227, -0.338662, -2.078982 mu:0.717420 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.237120, -0.338513, -2.077855 mu:0.717420 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.260429, -0.337588, -2.070850 mu:0.717420 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.242503, -0.248978, -2.096404 mu:0.717420 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.246396, -0.248831, -2.095254 mu:0.717420 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.273468, -0.256742, -2.085178 mu:0.717420 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.262063, -0.236246, -2.092719 mu:0.717420 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.254484, -0.212528, -2.099145 mu:0.717420 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.377460, -0.210033, -2.055010 mu:0.717420 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.973553, -0.113278, -1.596510 mu:0.717420 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.976278, -0.112813, -1.592789 mu:0.717420 unit_bearing:0.712358 -0.009540 0.701752 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.984329, -0.122802, -1.579966 mu:0.717420 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.331857, -0.170179, -2.078933 mu:0.717420 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.270172, -0.163728, -2.101172 mu:0.717420 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.274048, -0.163577, -2.099941 mu:0.717420 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] calculated Z= 0.825563 +[21:42:34.190] update seeds 305 +[21:42:34.190] If point is visible? -0.385239, -0.164590, -2.058432 mu:0.717420 unit_bearing:0.242536 -0.005697 0.970126 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.962576, -0.100796, -1.613108 mu:0.717420 unit_bearing:0.700618 0.000794 0.713536 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.965341, -0.100345, -1.609434 mu:0.717420 unit_bearing:0.702980 0.000793 0.711209 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.965341, -0.103210, -1.609082 mu:0.717420 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.968096, -0.102757, -1.605396 mu:0.717420 unit_bearing:0.705335 -0.001277 0.708873 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.970839, -0.105163, -1.601338 mu:0.717420 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.973562, -0.110421, -1.596890 mu:0.717420 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.976287, -0.109958, -1.593168 mu:0.717420 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.954175, -0.084893, -1.626032 mu:0.717420 unit_bearing:0.693483 0.013248 0.720351 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.242895, -0.128447, -2.113494 mu:0.717420 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.246728, -0.116184, -2.113477 mu:0.717420 unit_bearing:0.139032 0.033584 0.989718 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.190] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.190] If point is visible? -0.544410, -0.058773, -1.988718 mu:0.717420 unit_bearing:0.364298 0.063557 0.929111 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.548039, -0.058532, -1.986625 mu:0.717420 unit_bearing:0.367100 0.063546 0.928008 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.246265, -0.064538, -2.117118 mu:0.717420 unit_bearing:0.138993 0.070678 0.987768 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.250154, -0.064401, -2.115956 mu:0.717420 unit_bearing:0.141878 0.070674 0.987358 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.254041, -0.064263, -2.114781 mu:0.717420 unit_bearing:0.144763 0.070670 0.986939 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.246188, -0.058450, -2.117422 mu:0.717420 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.250078, -0.058313, -2.116259 mu:0.717420 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.253965, -0.058175, -2.115084 mu:0.717420 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.470511, -0.033046, -2.029475 mu:0.717420 unit_bearing:0.307853 0.085440 0.947590 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.403064, -0.030542, -2.061040 mu:0.717420 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.406552, -0.015160, -2.059793 mu:0.717420 unit_bearing:0.259474 0.100827 0.960472 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.402723, -0.012305, -2.061494 mu:0.717420 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.406492, -0.012120, -2.059852 mu:0.717420 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.345156, 0.015553, -2.084959 mu:0.717420 unit_bearing:0.213635 0.124897 0.968897 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.337518, 0.015230, -2.087858 mu:0.717420 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.533471, 0.002849, -2.123982 mu:0.717420 unit_bearing:-0.413867 0.119263 0.902491 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.631294, 0.044790, -2.091497 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.704259, 0.110056, -2.058495 mu:0.717420 unit_bearing:-0.526557 0.189877 0.828664 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.238978, 0.531769, -2.010597 mu:0.717420 unit_bearing:0.153109 0.485979 0.860455 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.412509, -0.711575, -1.840044 mu:0.717420 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.419834, -0.710954, -1.836514 mu:0.717420 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.427143, -0.710323, -1.832935 mu:0.717420 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.434437, -0.709682, -1.829309 mu:0.717420 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.703891, -0.653042, -1.884318 mu:0.717420 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.071922, -0.720273, -1.973741 mu:0.717420 unit_bearing:-0.079930 -0.408788 0.909122 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.085486, -0.681781, -1.997021 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.457889, -0.691523, -1.828044 mu:0.717420 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.444277, -0.600020, -1.890587 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.458941, -0.598814, -1.883213 mu:0.717420 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.436467, -0.567788, -2.024087 mu:0.717420 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.119454, -0.557973, -2.060015 mu:0.717420 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.125350, -0.500506, -2.083752 mu:0.717420 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.116877, -0.488949, -2.087936 mu:0.717420 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.108800, -0.488953, -2.087687 mu:0.717420 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.274760, -0.204159, -2.156554 mu:0.717420 unit_bearing:-0.236604 -0.025294 0.971277 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.942910, -0.121158, -1.636255 mu:0.717420 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.965305, -0.117523, -1.607215 mu:0.717420 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.970806, -0.116598, -1.599833 mu:0.717420 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.948587, -0.114518, -1.629838 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.954221, -0.102138, -1.624057 mu:0.717420 unit_bearing:0.693500 0.000795 0.720456 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.976235, -0.121373, -1.591609 mu:0.717420 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.526573, -0.093109, -1.996711 mu:0.717420 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? 0.160591, -0.114230, -2.172288 mu:0.717420 unit_bearing:-0.156135 0.040117 0.986921 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.191] If point is visible? -0.948596, -0.097275, -1.631981 mu:0.717420 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.191] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.954214, -0.096393, -1.624743 mu:0.717420 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.168763, -0.108161, -2.172703 mu:0.717420 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.160661, -0.102091, -2.173232 mu:0.717420 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.954199, -0.090645, -1.625401 mu:0.717420 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.666874, -0.055732, -2.077504 mu:0.717420 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.533456, -0.056472, -1.995096 mu:0.717420 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.570025, -0.005182, -2.113052 mu:0.717420 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.652192, 0.111508, -2.079647 mu:0.717420 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.482414, 0.463639, -1.934014 mu:0.717420 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.773616, -0.697841, -1.556322 mu:0.717420 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.797637, -0.692572, -1.531511 mu:0.717420 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.117271, -0.500520, -2.083552 mu:0.717420 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.787862, -0.488218, -1.688586 mu:0.717420 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.414116, -0.695353, -1.849935 mu:0.717420 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.428771, -0.694117, -1.842829 mu:0.717420 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.443362, -0.692840, -1.835532 mu:0.717420 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.123119, -0.637169, -2.022490 mu:0.717420 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.420872, -0.618470, -1.892804 mu:0.717420 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.435613, -0.617305, -1.885713 mu:0.717420 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.479458, -0.613583, -1.863296 mu:0.717420 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.442270, -0.703644, -1.828962 mu:0.717420 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.799370, -0.682475, -1.538551 mu:0.717420 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.117678, -0.512064, -2.079060 mu:0.717420 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.122552, -0.625951, -2.028180 mu:0.717420 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.749807, -0.573205, -1.904643 mu:0.717420 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.434710, -0.628390, -1.879917 mu:0.717420 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.463981, -0.625927, -1.865159 mu:0.717420 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.118537, -0.535074, -2.069754 mu:0.717420 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.266045, -0.579010, -2.045975 mu:0.717420 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.937249, -0.104783, -1.645623 mu:0.717420 unit_bearing:0.679115 0.000797 0.734031 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.948602, -0.103026, -1.631295 mu:0.717420 unit_bearing:0.688727 0.000796 0.725020 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.937235, -0.116299, -1.644164 mu:0.717420 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.948587, -0.114518, -1.629838 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.511433, -0.051823, -2.007509 mu:0.717420 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.376420, -0.022692, -2.072463 mu:0.717420 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? -0.948538, -0.125996, -1.628272 mu:0.717420 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:34.192] If point is visible? 0.667928, 0.081955, -2.075688 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.152711 y=0.000000 z=-0.783114 +[21:42:34.192] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.006] add new frame +[21:42:36.006] update seed +[21:42:36.006] If point is visible? 0.395228, -0.222238, -0.032122 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.181887 y=0.000000 z=-0.808556 +[21:42:36.006] If point is visible? 0.114916, -0.096895, 0.018414 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.181887 y=0.000000 z=-0.808556 +[21:42:36.006] If point is visible? 0.104859, -0.214684, -0.004982 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.181887 y=0.000000 z=-0.808556 +[21:42:36.006] If point is visible? 0.395228, -0.222238, -0.032122 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.181887 y=0.000000 z=-0.808556 +[21:42:36.006] If point is visible? 0.114916, -0.096895, 0.018414 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.181887 y=0.000000 z=-0.808556 +[21:42:36.006] If point is visible? 0.104859, -0.214684, -0.004982 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.181887 y=0.000000 z=-0.808556 +[21:42:36.006] If point is visible? 0.132138, -0.001137, -0.690282 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.006] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.006] If point is visible? 0.172676, -0.015193, -0.681795 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.006] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.007] If point is visible? 0.172671, -0.016349, -0.681936 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.007] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.007] If point is visible? 0.171804, 0.067683, -0.699863 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.007] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.007] If point is visible? 0.214918, 0.057899, -0.698931 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.007] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.007] If point is visible? 0.138598, 0.054614, -0.700540 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.007] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.007] If point is visible? 0.138601, 0.054876, -0.700668 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.007] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.007] If point is visible? 0.217972, 0.053527, -0.697722 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.007] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.007] If point is visible? 0.215035, 0.053135, -0.696642 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.007] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.007] calculated Z= 0.184124 +[21:42:36.007] update seeds 305 +[21:42:36.007] If point is visible? 0.137829, 0.051670, -0.699437 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.007] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.007] If point is visible? 0.137447, 0.050322, -0.698975 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.007] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.007] If point is visible? 0.137060, 0.048439, -0.698304 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.007] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.007] If point is visible? 0.232977, 0.049425, -0.701725 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.232985, 0.049159, -0.701610 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.213643, 0.048913, -0.694395 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.232993, 0.048893, -0.701495 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.160203, 0.047061, -0.691226 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.160580, 0.047071, -0.691164 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.233800, 0.045639, -0.700484 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.222534, 0.046610, -0.696242 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.213696, 0.045941, -0.693213 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.222189, 0.045550, -0.695698 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.136295, 0.045453, -0.697374 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.136293, 0.045185, -0.697268 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.008] If point is visible? 0.221827, 0.045299, -0.695474 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.008] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.009] If point is visible? 0.222195, 0.045280, -0.695594 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.009] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.009] If point is visible? 0.166624, 0.045856, -0.689803 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.009] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.009] If point is visible? 0.167381, 0.045598, -0.689616 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.009] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.009] If point is visible? 0.214076, 0.045384, -0.693102 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.009] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.009] If point is visible? 0.221833, 0.045028, -0.695371 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.009] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.009] If point is visible? 0.214461, 0.044554, -0.692894 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.009] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.009] If point is visible? 0.214832, 0.044539, -0.692992 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.009] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.009] If point is visible? 0.171169, 0.044295, -0.688759 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.009] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.010] If point is visible? 0.170411, 0.044557, -0.688920 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.010] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.010] If point is visible? 0.174957, 0.044064, -0.688415 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.010] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.010] If point is visible? 0.221470, 0.044777, -0.695149 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.010] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.010] If point is visible? 0.221838, 0.044758, -0.695268 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.010] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.010] If point is visible? 0.215958, 0.043677, -0.692992 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.010] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.010] If point is visible? 0.214836, 0.044267, -0.692891 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.010] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.010] If point is visible? 0.215207, 0.044252, -0.692990 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.010] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.010] If point is visible? 0.135528, 0.041910, -0.696331 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.010] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.010] If point is visible? 0.173067, 0.043224, -0.688233 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.010] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.010] If point is visible? 0.173446, 0.043228, -0.688209 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.010] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.011] If point is visible? 0.173824, 0.043232, -0.688186 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.011] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.011] If point is visible? 0.216332, 0.043389, -0.692996 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.011] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.011] If point is visible? 0.124927, 0.040363, -0.700574 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.011] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.011] If point is visible? 0.124930, 0.040631, -0.700670 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.011] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.011] If point is visible? 0.215212, 0.043980, -0.692890 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.011] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.011] If point is visible? 0.173825, 0.042958, -0.688091 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.011] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.011] If point is visible? 0.175345, 0.042150, -0.687727 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.011] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.011] If point is visible? 0.175346, 0.041875, -0.687634 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.011] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.011] If point is visible? 0.136220, 0.034882, -0.693746 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.011] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.011] If point is visible? 0.171963, 0.031599, -0.684837 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.011] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.011] If point is visible? 0.116531, 0.025064, -0.700664 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.011] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.012] If point is visible? 0.116533, 0.025338, -0.700725 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.012] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.012] If point is visible? 0.196256, 0.025942, -0.684049 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.012] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.012] If point is visible? 0.113334, 0.023163, -0.702180 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.012] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.012] calculated Z= 0.136539 +[21:42:36.012] update seeds 305 +[21:42:36.012] If point is visible? 0.201165, 0.025295, -0.684580 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.012] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.012] If point is visible? 0.196262, 0.023971, -0.683664 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.012] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.012] If point is visible? 0.206814, 0.023761, -0.685284 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.012] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.012] If point is visible? 0.115088, 0.020838, -0.700645 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.012] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.012] If point is visible? 0.117575, 0.020201, -0.699077 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.012] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.012] If point is visible? 0.117574, 0.019925, -0.699029 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.012] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.012] If point is visible? 0.206445, 0.021798, -0.684858 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.012] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.012] If point is visible? 0.196264, 0.023125, -0.683509 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.012] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.013] calculated Z= 0.480932 +[21:42:36.013] update seeds 305 +[21:42:36.013] If point is visible? 0.109815, 0.019855, -0.703791 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.013] If point is visible? 0.107040, 0.018789, -0.705494 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.013] If point is visible? 0.113315, 0.019324, -0.701449 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.013] calculated Z= 0.579936 +[21:42:36.013] update seeds 305 +[21:42:36.013] If point is visible? 0.114020, 0.019104, -0.700978 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.013] If point is visible? 0.205324, 0.018150, -0.684070 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.013] If point is visible? 0.206827, 0.018114, -0.684355 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.013] If point is visible? 0.195136, 0.019183, -0.682736 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.013] If point is visible? 0.195514, 0.019178, -0.682776 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.013] If point is visible? 0.195893, 0.019172, -0.682817 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.013] calculated Z= 0.486767 +[21:42:36.013] update seeds 305 +[21:42:36.013] If point is visible? 0.198162, 0.016870, -0.682767 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.013] calculated Z= 0.455168 +[21:42:36.013] update seeds 305 +[21:42:36.013] If point is visible? 0.206827, 0.017831, -0.684315 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.013] If point is visible? 0.207203, 0.016972, -0.684273 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.013] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.014] calculated Z= 0.014120 +[21:42:36.014] update seeds 305 +[21:42:36.014] If point is visible? 0.195515, 0.018043, -0.682612 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.014] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.014] If point is visible? 0.195894, 0.018038, -0.682653 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.014] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.014] If point is visible? 0.196273, 0.016046, -0.682433 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.014] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.014] If point is visible? 0.195137, 0.014069, -0.682078 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.014] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.014] If point is visible? 0.195516, 0.014064, -0.682118 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.014] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.014] If point is visible? 0.195894, 0.014059, -0.682159 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.014] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.014] If point is visible? 0.208330, 0.014958, -0.684252 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.014] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.014] If point is visible? 0.209829, 0.014635, -0.684539 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.014] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.014] If point is visible? 0.208326, 0.011830, -0.683923 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.014] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.014] If point is visible? 0.195136, 0.012929, -0.681960 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.014] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.014] If point is visible? 0.195515, 0.012925, -0.681999 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.014] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.015] If point is visible? 0.195893, 0.012920, -0.682040 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.015] If point is visible? 0.210190, 0.007790, -0.684017 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.015] If point is visible? 0.196640, 0.007768, -0.681714 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.015] calculated Z= 0.480684 +[21:42:36.015] update seeds 305 +[21:42:36.015] If point is visible? 0.163242, 0.006016, -0.682033 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.015] If point is visible? 0.216140, 0.003336, -0.685304 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.015] If point is visible? 0.217998, 0.003279, -0.685826 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.015] If point is visible? 0.240937, 0.000878, -0.694846 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.015] If point is visible? 0.212401, 0.001437, -0.684303 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.015] If point is visible? 0.212772, 0.001141, -0.684391 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.015] If point is visible? 0.195863, 0.002043, -0.681411 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.015] If point is visible? 0.196241, 0.002038, -0.681453 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.015] If point is visible? 0.195852, -0.000257, -0.681394 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.015] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.210886, -0.001393, -0.683945 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.211259, -0.001403, -0.684032 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.195841, -0.002272, -0.681412 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.196218, -0.002276, -0.681454 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.196596, -0.002281, -0.681497 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.210883, -0.001681, -0.683948 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.210505, -0.002246, -0.683870 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.210503, -0.002533, -0.683875 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.218693, -0.002470, -0.686011 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.209363, -0.004520, -0.683677 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.209361, -0.004807, -0.683687 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.137751, -0.013772, -0.688911 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.174177, -0.018077, -0.682071 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.016] If point is visible? 0.172569, -0.036260, -0.686045 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.016] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.017] If point is visible? 0.172944, -0.036259, -0.686019 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.017] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.017] If point is visible? 0.172942, -0.036546, -0.686102 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.017] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.017] If point is visible? 0.220598, -0.035548, -0.691722 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.017] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.017] If point is visible? 0.225949, -0.037939, -0.694346 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.017] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.017] If point is visible? 0.225600, -0.037648, -0.694120 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.017] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.017] If point is visible? 0.201457, -0.049240, -0.691856 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.017] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.017] If point is visible? 0.174821, 0.065664, -0.698446 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.017] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.017] If point is visible? 0.175572, 0.065672, -0.698409 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.017] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.018] If point is visible? 0.174062, 0.066688, -0.699094 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.018] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.018] If point is visible? 0.176327, 0.065162, -0.698077 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.018] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.018] If point is visible? 0.218359, 0.052711, -0.697466 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.018] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.018] If point is visible? 0.215398, 0.053384, -0.696864 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.018] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.018] calculated Z= 0.181900 +[21:42:36.018] update seeds 305 +[21:42:36.018] If point is visible? 0.216136, 0.053350, -0.697069 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.018] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.018] calculated Z= 0.178989 +[21:42:36.018] update seeds 305 +[21:42:36.018] If point is visible? 0.217611, 0.053279, -0.697491 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.018] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.018] If point is visible? 0.216861, 0.053847, -0.697523 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.018] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.018] If point is visible? 0.177180, 0.052487, -0.691658 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.018] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.018] If point is visible? 0.233793, 0.045907, -0.700590 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.018] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.018] If point is visible? 0.175721, 0.042701, -0.687898 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.018] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.019] If point is visible? 0.215578, 0.044237, -0.693090 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.019] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.019] If point is visible? 0.216319, 0.044205, -0.693294 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.019] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.019] If point is visible? 0.214828, 0.044811, -0.693093 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.019] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.019] If point is visible? 0.215569, 0.044780, -0.693292 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.019] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.019] If point is visible? 0.135850, 0.034861, -0.693883 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.019] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.019] If point is visible? 0.171965, 0.030482, -0.684564 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.019] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.019] If point is visible? 0.172724, 0.031048, -0.684646 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.019] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.019] If point is visible? 0.162863, 0.006582, -0.682114 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.019] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.019] If point is visible? 0.162863, 0.006010, -0.682086 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.019] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.019] If point is visible? 0.163621, 0.006021, -0.681980 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.019] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.019] If point is visible? 0.210527, 0.000625, -0.683857 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.019] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] calculated Z= 0.119426 +[21:42:36.020] update seeds 305 +[21:42:36.020] If point is visible? 0.211274, 0.000606, -0.684029 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] If point is visible? 0.218001, 0.003850, -0.685843 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] calculated Z= 0.625900 +[21:42:36.020] update seeds 305 +[21:42:36.020] If point is visible? 0.162863, 0.005437, -0.682061 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] If point is visible? 0.163621, 0.005449, -0.681955 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] calculated Z= 0.724717 +[21:42:36.020] update seeds 305 +[21:42:36.020] If point is visible? 0.217204, -0.002999, -0.685592 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] If point is visible? 0.208251, -0.003344, -0.683404 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] If point is visible? 0.211278, 0.001180, -0.684034 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] If point is visible? 0.136645, -0.014090, -0.689348 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.020] calculated Z= 0.409896 +[21:42:36.020] update seeds 305 +[21:42:36.020] If point is visible? 0.137380, -0.013497, -0.689014 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] calculated Z= 0.447290 +[21:42:36.020] update seeds 305 +[21:42:36.020] If point is visible? 0.174177, -0.018077, -0.682071 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] If point is visible? 0.237810, -0.042434, -0.701174 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] If point is visible? 0.241865, -0.044197, -0.704041 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] If point is visible? 0.216149, 0.052818, -0.696826 mu:-7.630447 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.020] calculated Z= 0.180320 +[21:42:36.020] update seeds 305 +[21:42:36.020] If point is visible? 0.217623, 0.052747, -0.697248 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.020] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.021] If point is visible? 0.220686, 0.047244, -0.695859 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.021] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.021] If point is visible? 0.168055, 0.068120, -0.700519 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.021] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.021] If point is visible? 0.174196, 0.044877, -0.688752 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.021] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.021] If point is visible? 0.214800, 0.046437, -0.693712 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.021] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.021] If point is visible? 0.216281, 0.046374, -0.694115 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.021] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.021] If point is visible? 0.217760, 0.046307, -0.694536 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.021] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.021] If point is visible? 0.216124, 0.053882, -0.697314 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.021] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.021] calculated Z= 0.176762 +[21:42:36.021] update seeds 305 +[21:42:36.021] If point is visible? 0.171058, 0.067155, -0.699612 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.021] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.022] If point is visible? 0.217780, 0.045225, -0.694120 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.022] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.022] If point is visible? 0.214695, 0.051817, -0.695945 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.022] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.022] If point is visible? 0.171206, 0.030473, -0.684621 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.022] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.022] If point is visible? 0.136584, 0.033806, -0.693294 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.022] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.022] If point is visible? 0.171208, 0.029355, -0.684358 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.022] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.022] If point is visible? 0.113314, 0.019049, -0.701402 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.022] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.022] calculated Z= 0.585095 +[21:42:36.022] update seeds 305 +[21:42:36.022] If point is visible? 0.207531, 0.000694, -0.683215 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.022] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.022] calculated Z= 0.131049 +[21:42:36.022] update seeds 305 +[21:42:36.022] If point is visible? 0.209004, -0.002786, -0.683550 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.022] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.022] If point is visible? 0.196911, -0.010650, -0.681951 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.022] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.022] If point is visible? 0.132138, -0.001137, -0.690282 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.022] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.022] If point is visible? 0.216462, -0.002977, -0.685383 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.022] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.023] If point is visible? 0.196921, -0.009495, -0.681862 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.023] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.023] If point is visible? 0.196985, -0.000271, -0.681523 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.023] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.023] If point is visible? 0.198495, -0.000292, -0.681711 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.023] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.023] If point is visible? 0.256279, -0.012718, -0.704765 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.023] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.023] If point is visible? 0.172676, -0.015193, -0.681795 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.023] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.023] If point is visible? 0.172671, -0.016349, -0.681936 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.023] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.023] If point is visible? 0.198488, -0.001443, -0.681718 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.023] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.023] If point is visible? 0.206015, -0.001572, -0.682925 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.023] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.023] If point is visible? 0.207515, -0.001603, -0.683220 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.181539 y=0.000000 z=-0.811663 +[21:42:36.023] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.023] If point is visible? 0.129132, 0.310358, -0.315153 mu:-1.675728 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.181804 y=0.000000 z=-0.822125 +[21:42:36.023] If point is visible? 0.661409, -0.416989, -2.105125 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.181798 y=0.000000 z=-0.824418 +[21:42:36.023] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.023] If point is visible? 0.661463, -0.405097, -2.108916 mu:0.699435 unit_bearing:-0.371667 -0.171737 0.912343 T_cur_ref: x=0.181798 y=0.000000 z=-0.824418 +[21:42:36.023] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.023] If point is visible? 0.661409, -0.416989, -2.105125 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.181798 y=0.000000 z=-0.824418 +[21:42:36.023] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.023] If point is visible? -0.743238, 0.121895, -1.907731 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.181798 y=0.000000 z=-0.824418 +[21:42:36.023] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.023] If point is visible? 0.661409, -0.416989, -2.105125 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.181798 y=0.000000 z=-0.824418 +[21:42:36.023] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.023] If point is visible? 0.661409, -0.416989, -2.105125 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.181798 y=0.000000 z=-0.824418 +[21:42:36.023] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.023] If point is visible? -0.743238, 0.121895, -1.907731 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.181798 y=0.000000 z=-0.824418 +[21:42:36.023] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.023] If point is visible? -0.028473, 0.024970, -1.075346 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.182504 y=0.000000 z=-0.840352 +[21:42:36.023] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:36.023] If point is visible? -0.028473, 0.024970, -1.075346 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.182504 y=0.000000 z=-0.840352 +[21:42:36.023] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:36.023] If point is visible? -0.211564, -0.017622, -1.457575 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.183110 y=0.000000 z=-0.853608 +[21:42:36.023] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.023] If point is visible? 0.459005, -0.006182, -1.520464 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.183110 y=0.000000 z=-0.853608 +[21:42:36.023] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.023] If point is visible? 0.442698, -0.006849, -1.526972 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.183110 y=0.000000 z=-0.853608 +[21:42:36.023] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.023] If point is visible? -0.211564, -0.017622, -1.457575 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.183110 y=0.000000 z=-0.853608 +[21:42:36.023] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.023] If point is visible? 0.459005, -0.006182, -1.520464 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.183110 y=0.000000 z=-0.853608 +[21:42:36.023] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.023] If point is visible? 0.442698, -0.006849, -1.526972 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.183110 y=0.000000 z=-0.853608 +[21:42:36.023] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.023] If point is visible? -53786233.118575, -48168274.646054, -69871637.369066 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.184221 y=0.000000 z=-0.869380 +[21:42:36.023] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:36.024] calculated Z= 0.983271 +[21:42:36.024] update seeds 305 +[21:42:36.024] If point is visible? -85428469.235862, 26760316.897195, -45618519.198325 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.184221 y=0.000000 z=-0.869380 +[21:42:36.024] If point is visible? -53786233.118575, -48168274.646054, -69871637.369066 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.184221 y=0.000000 z=-0.869380 +[21:42:36.024] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:36.024] calculated Z= 0.983271 +[21:42:36.024] update seeds 305 +[21:42:36.024] If point is visible? -85428469.235862, 26760316.897195, -45618519.198325 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.184221 y=0.000000 z=-0.869380 +[21:42:36.024] If point is visible? 0.904619, -0.051652, -1.939440 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.185515 y=0.000000 z=-0.895310 +[21:42:36.024] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:36.024] If point is visible? 0.904619, -0.051652, -1.939440 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.185515 y=0.000000 z=-0.895310 +[21:42:36.024] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:36.024] If point is visible? 0.455517, 0.029018, -1.287196 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.409291, 0.030663, -1.315194 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.398789, 0.030190, -1.320658 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.220853, -0.285461, -1.275548 mu:2.097425 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.218093, -0.282837, -1.277750 mu:2.097425 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.219482, -0.284598, -1.276320 mu:2.097425 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.057782, -0.268890, -1.204862 mu:2.097425 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.215348, -0.281095, -1.279255 mu:2.097425 unit_bearing:-0.107700 -0.487042 0.866712 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.212582, -0.278445, -1.281385 mu:2.097425 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.213956, -0.279322, -1.280652 mu:2.097425 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.209795, -0.274876, -1.284118 mu:2.097425 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.209813, -0.275781, -1.283476 mu:2.097425 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.131338, -0.246714, -1.152319 mu:2.097425 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.437148, -0.248589, -1.209450 mu:2.113842 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.142513, Z inverse max: 2.085171 +[21:42:36.024] If point is visible? -0.115612, -0.246982, -1.170336 mu:2.097425 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.132634, -0.244799, -1.152549 mu:2.097425 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.071215, -0.252411, -1.207874 mu:2.097425 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.116042, -0.243591, -1.172879 mu:2.097425 unit_bearing:0.598418 -0.436157 0.672059 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.117142, -0.243363, -1.171879 mu:2.097425 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.027471, -0.263346, -1.259987 mu:2.097425 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.103033, -0.242794, -1.187043 mu:2.097425 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.104165, -0.242583, -1.186095 mu:2.097425 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.102936, -0.243656, -1.186421 mu:2.097425 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.202797, -0.264945, -1.291320 mu:2.097425 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.202778, -0.264028, -1.291933 mu:2.097425 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.078406, -0.238339, -1.212891 mu:2.097425 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.079590, -0.238159, -1.212039 mu:2.097425 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.079672, -0.237274, -1.212634 mu:2.097425 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.080936, -0.236208, -1.212371 mu:2.097425 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.082117, -0.236027, -1.211510 mu:2.097425 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.015874, -0.241595, -1.269706 mu:2.097425 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.201093, -0.247375, -1.302595 mu:2.097425 unit_bearing:-0.079917 -0.410878 0.908181 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.033774, -0.235480, -1.281110 mu:2.097425 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.033730, -0.234548, -1.281660 mu:2.097425 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.085655, -0.222279, -1.218384 mu:2.097425 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.206332, -0.234161, -1.310104 mu:2.097425 unit_bearing:-0.091527 -0.381449 0.919847 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? 0.007505, -0.229881, -1.273179 mu:2.097425 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.085504, -0.224076, -1.217267 mu:2.097425 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.090214, -0.223357, -1.213747 mu:2.097425 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.086912, -0.221202, -1.218065 mu:2.097425 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.024] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.024] If point is visible? -0.088092, -0.221024, -1.217188 mu:2.097425 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? -0.089270, -0.220846, -1.216306 mu:2.097425 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.006259, -0.230708, -1.272085 mu:2.097425 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? -0.088167, -0.220124, -1.217740 mu:2.097425 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? -0.089345, -0.219946, -1.216858 mu:2.097425 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.036146, -0.230043, -1.285294 mu:2.097425 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.406550, -0.218870, -1.256637 mu:2.097425 unit_bearing:-0.504924 -0.363283 0.782992 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.210336, -0.227475, -1.313589 mu:2.097425 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.204858, -0.227539, -1.313843 mu:2.097425 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.002139, -0.225743, -1.273108 mu:2.097425 unit_bearing:0.340283 -0.373381 0.863014 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.406573, -0.217957, -1.257174 mu:2.097425 unit_bearing:-0.505018 -0.361246 0.783874 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? -0.134534, -0.202407, -1.184995 mu:2.097425 unit_bearing:0.636389 -0.347324 0.688749 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? -0.134360, -0.204184, -1.183938 mu:2.097425 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? -0.134447, -0.203296, -1.184468 mu:2.097425 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? -0.133697, -0.199949, -1.187613 mu:2.097425 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.000336, -0.215334, -1.278270 mu:2.097425 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.002794, -0.212708, -1.280909 mu:2.097425 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.219835, -0.220665, -1.316555 mu:2.097425 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.001542, -0.213551, -1.279846 mu:2.097425 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.034232, -0.215818, -1.292619 mu:2.097425 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? -0.159714, -0.189227, -1.164248 mu:2.097425 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] calculated Z= 0.410097 +[21:42:36.025] update seeds 305 +[21:42:36.025] If point is visible? -0.158955, -0.186807, -1.166900 mu:2.097425 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:36.025] calculated Z= 0.411873 +[21:42:36.025] update seeds 305 +[21:42:36.025] If point is visible? 0.424787, -0.203955, -1.253736 mu:2.097425 unit_bearing:-0.542611 -0.332976 0.771168 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.227993, -0.214776, -1.318849 mu:2.097425 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.006562, -0.210167, -1.284057 mu:2.097425 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.030089, -0.210823, -1.293700 mu:2.097425 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.007822, -0.209315, -1.285093 mu:2.097425 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.232087, -0.212775, -1.319428 mu:2.097425 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.014185, -0.205980, -1.289691 mu:2.097425 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? -0.158271, -0.183483, -1.170015 mu:2.097425 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] calculated Z= 0.414543 +[21:42:36.025] update seeds 305 +[21:42:36.025] If point is visible? 0.019499, -0.208241, -1.290775 mu:2.097425 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.011651, -0.207699, -1.287675 mu:2.097425 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.024713, -0.207633, -1.293242 mu:2.097425 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.023398, -0.207548, -1.292752 mu:2.097425 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.022085, -0.207462, -1.292259 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.236183, -0.210766, -1.319962 mu:2.097425 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.240280, -0.208749, -1.320449 mu:2.097425 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? -0.158184, -0.184374, -1.169526 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.020735, -0.206423, -1.292242 mu:2.097425 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.014224, -0.206932, -1.289210 mu:2.097425 unit_bearing:0.313481 -0.330105 0.890371 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.244378, -0.206723, -1.320891 mu:2.097425 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.025] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.025] If point is visible? 0.243006, -0.206757, -1.321062 mu:2.097425 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.248477, -0.204689, -1.321287 mu:2.097425 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.253948, -0.202609, -1.321438 mu:2.097425 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.212755, -0.203450, -1.325641 mu:2.097425 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.214106, -0.201494, -1.326473 mu:2.097425 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.339710, -0.192904, -1.303146 mu:2.097425 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.338363, -0.192991, -1.303612 mu:2.097425 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.264896, -0.199378, -1.321063 mu:2.097425 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.263526, -0.199422, -1.321295 mu:2.097425 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.262155, -0.199466, -1.321524 mu:2.097425 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.260790, -0.200475, -1.321294 mu:2.097425 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.259420, -0.200517, -1.321514 mu:2.097425 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.341061, -0.191860, -1.303126 mu:2.097425 unit_bearing:-0.372414 -0.295171 0.879876 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.220945, -0.198486, -1.327359 mu:2.097425 unit_bearing:-0.123527 -0.302771 0.945024 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.222299, -0.196521, -1.328144 mu:2.097425 unit_bearing:-0.126421 -0.298480 0.946006 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.225000, -0.191607, -1.330104 mu:2.097425 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.223624, -0.191630, -1.330217 mu:2.097425 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? -0.135980, -0.108140, -1.230369 mu:2.097425 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.069258, -0.113234, -1.343619 mu:2.097425 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.090995, -0.115933, -1.348018 mu:2.097425 unit_bearing:0.147530 -0.125631 0.981046 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.070622, -0.114293, -1.343702 mu:2.097425 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.100554, -0.118208, -1.349322 mu:2.097425 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.099190, -0.118174, -1.349074 mu:2.097425 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.097826, -0.118140, -1.348821 mu:2.097425 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.100544, -0.117195, -1.349583 mu:2.097425 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.099180, -0.117161, -1.349335 mu:2.097425 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.097816, -0.117127, -1.349082 mu:2.097425 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.089643, -0.116908, -1.347483 mu:2.097425 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.097623, -0.090650, -1.355067 mu:2.097425 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.096259, -0.090617, -1.354811 mu:2.097425 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.094895, -0.090583, -1.354550 mu:2.097425 unit_bearing:0.138992 -0.071189 0.987731 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.092168, -0.090513, -1.354017 mu:2.097425 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.097603, -0.086555, -1.355852 mu:2.097425 unit_bearing:0.133231 -0.062471 0.989114 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.096239, -0.086522, -1.355595 mu:2.097425 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.094874, -0.086488, -1.355335 mu:2.097425 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.090767, -0.082284, -1.355278 mu:2.097425 unit_bearing:0.147670 -0.053727 0.987576 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.089404, -0.082249, -1.355002 mu:2.097425 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.092115, -0.078214, -1.356263 mu:2.097425 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.050096, -0.073819, -1.346454 mu:2.097425 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] calculated Z= 0.931348 +[21:42:36.026] update seeds 305 +[21:42:36.026] If point is visible? 0.263091, -0.073399, -1.359975 mu:2.097425 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? -0.172064, -0.046840, -1.207177 mu:2.097425 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? -0.174158, -0.046539, -1.204805 mu:2.097425 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.086629, -0.057478, -1.358167 mu:2.097425 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? 0.085268, -0.057442, -1.357879 mu:2.097425 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.026] If point is visible? -0.169972, -0.043233, -1.210076 mu:2.097425 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.026] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.163584, -0.036251, -1.218008 mu:2.097425 unit_bearing:0.695874 0.007018 0.718130 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.164656, -0.036112, -1.216859 mu:2.097425 unit_bearing:0.698247 0.007014 0.715823 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.167859, -0.040589, -1.212796 mu:2.097425 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.168920, -0.040445, -1.211629 mu:2.097425 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.168918, -0.041424, -1.211504 mu:2.097425 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.169976, -0.041278, -1.210333 mu:2.097425 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.169974, -0.042256, -1.210206 mu:2.097425 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.161425, -0.034560, -1.220511 mu:2.097425 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.046032, -0.050012, -1.348479 mu:2.097425 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:36.027] calculated Z= 0.945347 +[21:42:36.027] update seeds 305 +[21:42:36.027] If point is visible? -0.159257, -0.033847, -1.222884 mu:2.097425 unit_bearing:0.686316 0.013269 0.727183 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.096182, -0.045296, -1.361450 mu:2.097425 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.094818, -0.045264, -1.361190 mu:2.097425 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.183413, -0.026704, -1.196136 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.182376, -0.023924, -1.197636 mu:2.097425 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.182384, -0.024899, -1.197549 mu:2.097425 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.238204, -0.036644, -1.367750 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.236830, -0.030429, -1.368343 mu:2.097425 unit_bearing:-0.158998 0.057565 0.985599 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.039441, -0.019753, -1.348731 mu:2.097425 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? -0.140229, -0.014146, -1.243173 mu:2.097425 unit_bearing:0.644530 0.059468 0.762263 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.094899, -0.022409, -1.362863 mu:2.097425 unit_bearing:0.138990 0.072859 0.987610 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.093535, -0.022379, -1.362598 mu:2.097425 unit_bearing:0.141875 0.072855 0.987200 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.092172, -0.022348, -1.362329 mu:2.097425 unit_bearing:0.144760 0.072851 0.986781 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.006194, -0.017362, -1.336741 mu:2.097425 unit_bearing:0.327680 0.076690 0.941671 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.093541, -0.021337, -1.362648 mu:2.097425 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.092178, -0.021307, -1.362379 mu:2.097425 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.008843, -0.016445, -1.337843 mu:2.097425 unit_bearing:0.322024 0.078880 0.943440 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.007522, -0.016386, -1.337316 mu:2.097425 unit_bearing:0.324848 0.078868 0.942472 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.039496, -0.012483, -1.349008 mu:2.097425 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.038184, -0.009316, -1.348659 mu:2.097425 unit_bearing:0.259492 0.096486 0.960913 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.039552, -0.006244, -1.349154 mu:2.097425 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.038213, -0.006196, -1.348722 mu:2.097425 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.040902, -0.005250, -1.349599 mu:2.097425 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.039563, -0.005203, -1.349171 mu:2.097425 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.066561, 0.002290, -1.357007 mu:2.097425 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.063859, 0.002366, -1.356301 mu:2.097425 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.062508, 0.002405, -1.355943 mu:2.097425 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.023924, -0.246779, -1.269885 mu:2.097425 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.412886, -0.220853, -1.251462 mu:2.097425 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.023824, -0.244941, -1.271047 mu:2.097425 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.206317, -0.233215, -1.310637 mu:2.097425 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.211706, -0.227457, -1.313515 mu:2.097425 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.384811, -0.203582, -1.277610 mu:2.097425 unit_bearing:-0.461453 -0.326097 0.825059 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.027] If point is visible? 0.022085, -0.207462, -1.292259 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.027] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.158184, -0.184374, -1.169526 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.219467, -0.188763, -1.331813 mu:2.097425 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.219487, -0.190716, -1.330961 mu:2.097425 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.219265, -0.167114, -1.340566 mu:2.097425 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.216507, -0.167149, -1.340753 mu:2.097425 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.158172, -0.045794, -1.222571 mu:2.097425 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.166787, -0.044649, -1.213441 mu:2.097425 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.168912, -0.044357, -1.211113 mu:2.097425 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.158179, -0.037924, -1.223569 mu:2.097425 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.160350, -0.037649, -1.221313 mu:2.097425 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.162510, -0.037372, -1.219038 mu:2.097425 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.246496, -0.067541, -1.363325 mu:2.097425 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.171017, -0.046014, -1.208496 mu:2.097425 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.183413, -0.026704, -1.196136 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.004449, -0.034406, -1.331256 mu:2.097425 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.160346, -0.035681, -1.221538 mu:2.097425 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.162506, -0.035406, -1.219263 mu:2.097425 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.238204, -0.036644, -1.367750 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.238207, -0.034568, -1.367907 mu:2.097425 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.235440, -0.034601, -1.368205 mu:2.097425 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.006997, -0.021904, -1.330945 mu:2.097425 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.372345, 0.000224, -1.333959 mu:2.097425 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.337149, 0.046630, -1.344923 mu:2.097425 unit_bearing:-0.365573 0.211999 0.906318 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.467900, 0.033807, -1.277977 mu:2.097425 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.006170, 0.156184, -1.308541 mu:2.097425 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.031376, -0.239952, -1.277387 mu:2.097425 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.026144, -0.239591, -1.275461 mu:2.097425 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.020926, -0.239216, -1.273469 mu:2.097425 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.030202, -0.213675, -1.292222 mu:2.097425 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.024941, -0.213339, -1.290305 mu:2.097425 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.009248, -0.212252, -1.284151 mu:2.097425 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.219799, -0.217796, -1.318049 mu:2.097425 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.102121, -0.170685, -1.235090 mu:2.097425 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.100858, -0.242349, -1.189546 mu:2.097425 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.109891, -0.240651, -1.181911 mu:2.097425 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.219299, -0.171070, -1.339058 mu:2.097425 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.101236, -0.238882, -1.192002 mu:2.097425 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? -0.110285, -0.237203, -1.184367 mu:2.097425 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.214418, -0.225517, -1.314387 mu:2.097425 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.219751, -0.213960, -1.320007 mu:2.097425 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.021122, -0.242908, -1.271194 mu:2.097425 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.025099, -0.217128, -1.288299 mu:2.097425 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.014629, -0.216410, -1.284261 mu:2.097425 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.028] If point is visible? 0.219408, -0.182886, -1.334312 mu:2.097425 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.028] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? 0.268995, -0.197309, -1.321243 mu:2.097425 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? -0.160336, -0.047473, -1.220042 mu:2.097425 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? -0.155995, -0.044106, -1.225073 mu:2.097425 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? -0.160348, -0.043547, -1.220579 mu:2.097425 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? 0.000898, -0.020220, -1.334430 mu:2.097425 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? 0.048955, -0.005521, -1.352081 mu:2.097425 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? 0.404083, 0.026319, -1.318221 mu:2.097425 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? 0.398820, 0.026081, -1.320915 mu:2.097425 unit_bearing:-0.492427 0.163083 0.854938 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? 0.048917, -0.009685, -1.352000 mu:2.097425 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? 0.455517, 0.029018, -1.287196 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? 0.409291, 0.030663, -1.315194 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? 0.398789, 0.030190, -1.320658 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.185515 y=0.000000 z=-0.895315 +[21:42:36.029] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.029] If point is visible? 0.907456, -0.059277, -1.970085 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? 0.802067, -0.060745, -2.033743 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? 0.274849, -0.778501, -1.927690 mu:0.771555 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? 0.271057, -0.773727, -1.931593 mu:0.771555 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? 0.267373, -0.773799, -1.931837 mu:0.771555 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? 0.263521, -0.766570, -1.937490 mu:0.771555 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.481200, -0.732798, -1.730982 mu:0.771555 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.481455, -0.730472, -1.732813 mu:0.771555 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? 0.255976, -0.759375, -1.943279 mu:0.771555 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? 0.248367, -0.749684, -1.950714 mu:0.771555 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? 0.244676, -0.749740, -1.950888 mu:0.771555 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.680171, -0.672295, -1.587014 mu:0.771555 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.680507, -0.670039, -1.588780 mu:0.771555 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? 0.869234, -0.681571, -1.760087 mu:0.771555 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] calculated Z= 0.626913 +[21:42:36.029] update seeds 305 +[21:42:36.029] If point is visible? -0.627893, -0.681855, -1.639144 mu:0.771555 unit_bearing:0.589813 -0.452226 0.669038 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.680841, -0.667780, -1.590540 mu:0.771555 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.683694, -0.667092, -1.587633 mu:0.771555 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.517987, -0.685647, -1.740782 mu:0.771555 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.521200, -0.685150, -1.738502 mu:0.771555 unit_bearing:0.503204 -0.445407 0.740539 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.644595, -0.664940, -1.635999 mu:0.771555 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.642230, -0.660958, -1.642184 mu:0.771555 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.644897, -0.662637, -1.637721 mu:0.771555 unit_bearing:0.603078 -0.437643 0.666907 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.603849, -0.661783, -1.681946 mu:0.771555 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.607184, -0.658865, -1.681041 mu:0.771555 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? -0.678628, -0.644035, -1.615257 mu:0.771555 unit_bearing:0.630157 -0.425510 0.649495 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.029] If point is visible? 0.221618, -0.712819, -1.977178 mu:0.771555 unit_bearing:-0.079699 -0.444154 0.892399 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.029] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.537590, -0.647377, -1.754304 mu:0.771555 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.540795, -0.646886, -1.751968 mu:0.771555 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.544454, -0.641580, -1.752848 mu:0.771555 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.547650, -0.641085, -1.750488 mu:0.771555 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.263894, -0.670263, -1.909525 mu:0.771555 unit_bearing:0.297504 -0.417925 0.858388 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.551071, -0.638180, -1.749721 mu:0.771555 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.286039, -0.651131, -1.911931 mu:0.771555 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.282378, -0.653912, -1.911838 mu:0.771555 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.289842, -0.645835, -1.913537 mu:0.771555 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.282234, -0.656417, -1.910288 mu:0.771555 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.551300, -0.635770, -1.751319 mu:0.771555 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.233874, -0.637299, -1.943077 mu:0.771555 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.557353, -0.603705, -1.769116 mu:0.771555 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.560550, -0.603222, -1.766723 mu:0.771555 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? 0.231239, -0.641766, -2.020433 mu:0.771555 unit_bearing:-0.088642 -0.385673 0.918367 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.560762, -0.600776, -1.768230 mu:0.771555 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.563954, -0.600291, -1.765825 mu:0.771555 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.567141, -0.599803, -1.763409 mu:0.771555 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.230435, -0.634996, -1.945843 mu:0.771555 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.567354, -0.597357, -1.764909 mu:0.771555 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.227357, -0.625056, -1.952994 mu:0.771555 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? 0.790300, -0.604114, -1.869545 mu:0.771555 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.688907, -0.556829, -1.673241 mu:0.771555 unit_bearing:0.635977 -0.353275 0.686098 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? 0.249426, -0.618379, -2.032578 mu:0.771555 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? 0.245702, -0.618425, -2.032756 mu:0.771555 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? 0.230805, -0.618588, -2.033358 mu:0.771555 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.689397, -0.552005, -1.676123 mu:0.771555 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.323369, -0.607937, -1.920641 mu:0.771555 unit_bearing:0.343162 -0.369151 0.863694 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? 0.230852, -0.621172, -2.031948 mu:0.771555 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? 0.826095, -0.560323, -1.872832 mu:0.771555 unit_bearing:-0.539842 -0.337183 0.771284 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? 0.278868, -0.594614, -2.043166 mu:0.771555 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? 0.271450, -0.597333, -2.042334 mu:0.771555 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.324430, -0.587556, -1.931933 mu:0.771555 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.232653, -0.586382, -1.972875 mu:0.771555 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.314398, -0.578139, -1.942065 mu:0.771555 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.317915, -0.577866, -1.940529 mu:0.771555 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? 0.267802, -0.602584, -2.039852 mu:0.771555 unit_bearing:-0.117453 -0.353842 0.927901 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? 0.271489, -0.599931, -2.040974 mu:0.771555 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.243815, -0.575382, -1.974414 mu:0.771555 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.030] If point is visible? -0.757467, -0.516106, -1.619373 mu:0.771555 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.030] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.286252, -0.589284, -2.045289 mu:0.771555 unit_bearing:-0.131834 -0.343145 0.929985 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.307718, -0.570964, -1.949148 mu:0.771555 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.293640, -0.583939, -2.047343 mu:0.771555 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.757977, -0.511305, -1.622109 mu:0.771555 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.283083, -0.570187, -1.960747 mu:0.771555 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.304309, -0.568652, -1.951985 mu:0.771555 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.307837, -0.568388, -1.950484 mu:0.771555 unit_bearing:0.330089 -0.336058 0.882103 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.755698, -0.507130, -1.627966 mu:0.771555 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.300895, -0.566334, -1.954803 mu:0.771555 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.304764, -0.578508, -2.048984 mu:0.771555 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.294053, -0.561682, -1.960384 mu:0.771555 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.265758, -0.561052, -1.973005 mu:0.771555 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.269318, -0.560815, -1.971631 mu:0.771555 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.315892, -0.573054, -2.050501 mu:0.771555 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.287080, -0.559598, -1.964589 mu:0.771555 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.753882, -0.498096, -1.636445 mu:0.771555 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.293939, -0.564267, -1.959068 mu:0.771555 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.323294, -0.567661, -2.052303 mu:0.771555 unit_bearing:-0.160559 -0.325927 0.931661 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.338163, -0.562079, -2.053162 mu:0.771555 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.334431, -0.562168, -2.053605 mu:0.771555 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.230088, -0.576973, -2.055039 mu:0.771555 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.252130, -0.553118, -2.065558 mu:0.771555 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.349303, -0.556559, -2.054306 mu:0.771555 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.364178, -0.550915, -2.054805 mu:0.771555 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.360447, -0.551017, -2.055325 mu:0.771555 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.393951, -0.542154, -2.053964 mu:0.771555 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.390222, -0.542271, -2.054574 mu:0.771555 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.274408, -0.542279, -2.069144 mu:0.771555 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.382784, -0.545126, -2.054524 mu:0.771555 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.270705, -0.544971, -2.068172 mu:0.771555 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.252092, -0.550484, -2.066801 mu:0.771555 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.252055, -0.547849, -2.068037 mu:0.771555 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.623244, -0.525615, -1.996208 mu:0.771555 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.597630, -0.524706, -2.006481 mu:0.771555 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.593968, -0.522334, -2.008948 mu:0.771555 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.289232, -0.531481, -2.072861 mu:0.771555 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.285492, -0.531542, -2.073157 mu:0.771555 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.281752, -0.531600, -2.073442 mu:0.771555 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.285365, -0.520949, -2.077891 mu:0.771555 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.281624, -0.521007, -2.078175 mu:0.771555 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? 0.254572, -0.446440, -2.110126 mu:0.771555 unit_bearing:-0.109531 -0.227659 0.967561 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.031] If point is visible? -0.694034, -0.295950, -1.800108 mu:0.771555 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.031] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.053094, -0.321168, -2.128101 mu:0.771555 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.056798, -0.321074, -2.127405 mu:0.771554 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817625, Z inverse max: 0.725483 +[21:42:36.032] If point is visible? -0.060501, -0.320977, -2.126694 mu:0.771555 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.056826, -0.318319, -2.128112 mu:0.771555 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.060529, -0.318223, -2.127403 mu:0.771555 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.075329, -0.317822, -2.124459 mu:0.771555 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.082720, -0.317612, -2.122921 mu:0.771555 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.694122, -0.293324, -1.800876 mu:0.771555 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.193473, -0.253041, -2.108650 mu:0.771555 unit_bearing:0.236699 -0.079692 0.968309 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.061099, -0.246248, -2.143669 mu:0.771555 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.064804, -0.246154, -2.142950 mu:0.771555 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.075912, -0.245865, -2.140727 mu:0.771555 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.064863, -0.235022, -2.145083 mu:0.771555 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.068567, -0.234928, -2.144353 mu:0.771555 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.090719, -0.242679, -2.138153 mu:0.771555 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.076068, -0.212431, -2.146831 mu:0.771555 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.190123, -0.200398, -2.119480 mu:0.771555 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.076105, -0.201258, -2.148669 mu:0.771555 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? 0.392418, -0.196815, -2.159554 mu:0.771555 unit_bearing:-0.216541 -0.031847 0.975754 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.791711, -0.126612, -1.737242 mu:0.771555 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.797363, -0.125789, -1.730760 mu:0.771555 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.786065, -0.116812, -1.745156 mu:0.771555 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.777488, -0.107358, -1.756094 mu:0.771555 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.783220, -0.111895, -1.749056 mu:0.771555 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.786076, -0.111498, -1.745857 mu:0.771555 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.786071, -0.114155, -1.745510 mu:0.771555 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.788919, -0.113755, -1.742298 mu:0.771555 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.094665, -0.155950, -2.151111 mu:0.771555 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.098610, -0.155987, -2.151402 mu:0.770874 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.816017, Z inverse max: 0.725731 +[21:42:36.032] If point is visible? -0.201163, -0.146886, -2.123627 mu:0.771555 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.762983, -0.093251, -1.773664 mu:0.771555 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.072443, -0.125591, -2.159249 mu:0.771555 unit_bearing:0.141924 0.022668 0.989618 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.762975, -0.090575, -1.773953 mu:0.771555 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.065029, -0.122952, -2.160999 mu:0.771555 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.068734, -0.122864, -2.160268 mu:0.771555 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.201138, -0.124450, -2.126110 mu:0.771555 unit_bearing:0.242529 0.020426 0.969929 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? 0.320957, -0.099717, -2.180444 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? 0.317192, -0.099761, -2.180832 mu:0.771555 unit_bearing:-0.159013 0.044478 0.986274 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.341389, -0.056528, -2.078117 mu:0.771555 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.068479, -0.057903, -2.164952 mu:0.771555 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.072182, -0.057817, -2.164210 mu:0.771555 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.075883, -0.057731, -2.163457 mu:0.771555 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.344965, -0.059155, -2.076389 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.032] If point is visible? -0.348516, -0.058975, -2.074797 mu:0.771555 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.032] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.211782, -0.059313, -2.127582 mu:0.771555 unit_bearing:0.251017 0.070447 0.965416 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.222671, -0.056088, -2.124169 mu:0.771555 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.218855, -0.033638, -2.126249 mu:0.771555 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.218692, -0.016677, -2.126649 mu:0.771555 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.222325, -0.016546, -2.125452 mu:0.771555 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.145383, 0.006467, -2.148435 mu:0.771555 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.152718, 0.006679, -2.146474 mu:0.771555 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.156382, 0.006787, -2.145477 mu:0.771555 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.156351, 0.009624, -2.145467 mu:0.771555 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.797909, 0.058352, -2.036110 mu:0.771555 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.575697, 0.117588, -2.125671 mu:0.771555 unit_bearing:-0.354496 0.205738 0.912143 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.575696, 0.120417, -2.125398 mu:0.771555 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.315414, 0.425097, -2.012546 mu:0.771555 unit_bearing:0.338585 0.430592 0.836631 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.239679, -0.662040, -1.925245 mu:0.771555 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.246774, -0.661545, -1.922607 mu:0.771555 unit_bearing:0.283784 -0.410019 0.866805 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.246498, -0.666556, -1.919478 mu:0.771555 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.253579, -0.666048, -1.916794 mu:0.771555 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.260650, -0.665530, -1.914064 mu:0.771555 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.260364, -0.670527, -1.910908 mu:0.771555 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.783597, -0.592551, -1.880721 mu:0.771555 unit_bearing:-0.507633 -0.361121 0.782241 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.265650, -0.563644, -1.971697 mu:0.771555 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.279872, -0.562680, -1.966132 mu:0.771555 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.634196, -0.524856, -1.992154 mu:0.771555 unit_bearing:-0.397131 -0.298802 0.867758 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.277260, -0.465012, -2.101628 mu:0.771555 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.270303, -0.513205, -2.082444 mu:0.771555 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.270368, -0.518516, -2.080129 mu:0.771555 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.269654, -0.454353, -2.106235 mu:0.771555 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.262155, -0.454443, -2.106700 mu:0.771555 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.788884, -0.124369, -1.740844 mu:0.771555 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.748320, -0.103147, -1.788150 mu:0.771555 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.754215, -0.102402, -1.782030 mu:0.771555 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.760080, -0.101651, -1.775860 mu:0.771555 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.765913, -0.100895, -1.769641 mu:0.771555 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.754197, -0.123796, -1.779316 mu:0.771555 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.777464, -0.120666, -1.754356 mu:0.771555 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.783201, -0.119868, -1.747995 mu:0.771555 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.760070, -0.096301, -1.776472 mu:0.771555 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? -0.765903, -0.095549, -1.770252 mu:0.771555 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.907456, -0.059277, -1.970085 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.320957, -0.099717, -2.180444 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.033] If point is visible? 0.320966, -0.094073, -2.180869 mu:0.771555 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.033] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.313437, -0.094158, -2.181634 mu:0.771555 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.330689, -0.054249, -2.082932 mu:0.771555 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.337810, -0.053899, -2.079828 mu:0.771555 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.686229, 0.000236, -2.090777 mu:0.771555 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.344965, -0.059155, -2.076389 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.801447, 0.061307, -2.034048 mu:0.771555 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.946965, 0.091338, -1.940157 mu:0.771555 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.751301, 0.064573, -2.059600 mu:0.771555 unit_bearing:-0.487114 0.158926 0.858756 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.301067, -0.581190, -2.048012 mu:0.771555 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.286142, -0.581463, -2.049273 mu:0.771555 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.271217, -0.581704, -2.050356 mu:0.771555 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.240215, -0.651983, -1.931421 mu:0.771555 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.254406, -0.650992, -1.926102 mu:0.771555 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.268556, -0.649963, -1.920601 mu:0.771555 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.269763, -0.465110, -2.102137 mu:0.771555 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.612656, -0.637098, -1.693357 mu:0.771555 unit_bearing:0.575914 -0.412853 0.705603 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.622676, -0.653601, -1.669573 mu:0.771555 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.797339, -0.600828, -1.867179 mu:0.771555 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.243597, -0.580549, -1.971730 mu:0.771555 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.257866, -0.579625, -1.966432 mu:0.771555 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.300423, -0.576639, -1.949448 mu:0.771555 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.257411, -0.589926, -1.960983 mu:0.771555 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.285805, -0.587951, -1.949836 mu:0.771555 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.269877, -0.475841, -2.097938 mu:0.771555 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.602282, -0.463418, -1.814261 mu:0.771555 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.285093, -0.497018, -2.088169 mu:0.771555 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.797585, -0.590944, -1.873067 mu:0.771555 unit_bearing:-0.518059 -0.360611 0.775613 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.599310, -0.648810, -1.697148 mu:0.771555 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.623782, -0.644227, -1.676244 mu:0.771555 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.267996, -0.659999, -1.914419 mu:0.771555 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.760042, -0.128357, -1.772406 mu:0.771555 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.748314, -0.119214, -1.786153 mu:0.771555 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.760074, -0.117685, -1.773866 mu:0.771555 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.772654, 0.093429, -2.047002 mu:0.771555 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.309169, -0.044021, -2.092476 mu:0.771555 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.787030, 0.082909, -2.040370 mu:0.771555 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.323558, -0.054594, -2.085990 mu:0.771555 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? 0.802067, -0.060745, -2.033743 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.193180, -0.014733, -2.134758 mu:0.771555 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.034] If point is visible? -0.193289, -0.026052, -2.134538 mu:0.771555 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.185515 y=0.000000 z=-0.895319 +[21:42:36.034] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.035] If point is visible? 0.254745, -0.785336, -1.937991 mu:0.765014 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? 0.254662, -0.782892, -1.939833 mu:0.765014 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? 0.246973, -0.775673, -1.945684 mu:0.765014 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? 0.250860, -0.780512, -1.941857 mu:0.765014 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? 0.243168, -0.773278, -1.947664 mu:0.765014 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.503897, -0.737530, -1.725658 mu:0.765014 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] calculated Z= 0.687703 +[21:42:36.035] update seeds 305 +[21:42:36.035] If point is visible? 0.231661, -0.763588, -1.955279 mu:0.765014 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? 0.227681, -0.756212, -1.960719 mu:0.765014 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? 0.223955, -0.756260, -1.960826 mu:0.765014 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.617010, -0.692615, -1.660132 mu:0.765014 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.702467, -0.671507, -1.580349 mu:0.765014 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.705289, -0.670806, -1.577365 mu:0.765014 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.660205, -0.674648, -1.629014 mu:0.765014 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.705653, -0.668525, -1.579126 mu:0.765014 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? 0.857428, -0.688931, -1.779975 mu:0.765014 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.681669, -0.663148, -1.614295 mu:0.765014 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.664471, -0.664713, -1.633141 mu:0.765014 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.626506, -0.665631, -1.673945 mu:0.765014 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? 0.204288, -0.726493, -1.981858 mu:0.765014 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.630147, -0.660316, -1.674664 mu:0.765014 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.561505, -0.646392, -1.751381 mu:0.765014 unit_bearing:0.515567 -0.411002 0.751843 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.564695, -0.645892, -1.748966 mu:0.765014 unit_bearing:0.518144 -0.410848 0.750154 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.567878, -0.645389, -1.746539 mu:0.765014 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.571056, -0.644882, -1.744101 mu:0.765014 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.267015, -0.671512, -1.921476 mu:0.765014 unit_bearing:0.280893 -0.414218 0.865750 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.571565, -0.640020, -1.747321 mu:0.765014 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.574740, -0.639513, -1.744871 mu:0.765014 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.707752, -0.616470, -1.623837 mu:0.765014 unit_bearing:0.634731 -0.400173 0.661043 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.291630, -0.672156, -1.909838 mu:0.765014 unit_bearing:0.300339 -0.415792 0.858436 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.574485, -0.641945, -1.743264 mu:0.765014 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.306574, -0.658418, -1.911706 mu:0.765014 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.306406, -0.660945, -1.910146 mu:0.765014 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.254782, -0.639457, -1.946957 mu:0.765014 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.258352, -0.639214, -1.945603 mu:0.765014 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? 0.775985, -0.610630, -1.888892 mu:0.765014 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.584749, -0.601729, -1.763259 mu:0.765014 unit_bearing:0.532927 -0.375982 0.758042 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.587924, -0.601234, -1.760775 mu:0.765014 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.591093, -0.600735, -1.758279 mu:0.765014 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.035] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.035] If point is visible? -0.336658, -0.625626, -1.917393 mu:0.765014 unit_bearing:0.334579 -0.379757 0.862462 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.332828, -0.631019, -1.916027 mu:0.765014 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.251788, -0.629439, -1.954226 mu:0.765014 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.209294, -0.644743, -2.032181 mu:0.765014 unit_bearing:-0.088655 -0.383570 0.919246 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.205190, -0.631794, -2.039506 mu:0.765014 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.223906, -0.629032, -2.040552 mu:0.765014 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.220148, -0.629068, -2.040652 mu:0.765014 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.208809, -0.626561, -2.042312 mu:0.765014 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.712146, -0.557155, -1.665049 mu:0.765014 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.712413, -0.554720, -1.666494 mu:0.765014 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.208742, -0.623955, -2.043733 mu:0.765014 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.349200, -0.591398, -1.931194 mu:0.765014 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.253374, -0.602559, -2.053349 mu:0.765014 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.249609, -0.602610, -2.053537 mu:0.765014 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.710541, -0.545549, -1.675166 mu:0.765014 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.339249, -0.581924, -1.941597 mu:0.765014 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.342766, -0.581641, -1.939983 mu:0.765014 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.257408, -0.590422, -1.974176 mu:0.765014 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.249668, -0.605230, -2.052166 mu:0.765014 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.290558, -0.578294, -2.062905 mu:0.765014 unit_bearing:-0.151950 -0.330251 0.931582 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.268667, -0.579303, -1.975522 mu:0.765014 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.261121, -0.587588, -1.974193 mu:0.765014 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.332628, -0.574702, -1.948863 mu:0.765014 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.780478, -0.513518, -1.610761 mu:0.765014 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.268794, -0.576694, -1.976864 mu:0.765014 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.819402, -0.553131, -1.895791 mu:0.765014 unit_bearing:-0.545472 -0.326724 0.771824 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.312077, -0.563286, -1.964815 mu:0.765014 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.308000, -0.573975, -1.961014 mu:0.765014 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.329238, -0.572378, -1.951786 mu:0.765014 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.778007, -0.511743, -1.615349 mu:0.765014 unit_bearing:0.689558 -0.321445 0.648986 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.778278, -0.509313, -1.616708 mu:0.765014 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.776584, -0.500206, -1.625292 mu:0.765014 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.325842, -0.570048, -1.954691 mu:0.765014 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.318902, -0.567979, -1.959121 mu:0.765014 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.778548, -0.506880, -1.618061 mu:0.765014 unit_bearing:0.689848 -0.317499 0.650619 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.290735, -0.564801, -1.973696 mu:0.765014 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.294299, -0.564554, -1.972244 mu:0.765014 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? -0.776321, -0.502648, -1.623959 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.298049, -0.575514, -2.063580 mu:0.765014 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.279406, -0.586396, -2.059810 mu:0.765014 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.283122, -0.583699, -2.060859 mu:0.765014 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.036] If point is visible? 0.320487, -0.564480, -2.066583 mu:0.765014 unit_bearing:-0.174894 -0.319418 0.931335 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.036] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.324214, -0.561751, -2.067460 mu:0.765014 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.335487, -0.558839, -2.067464 mu:0.765014 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.331714, -0.558929, -2.067897 mu:0.765014 unit_bearing:-0.183495 -0.315082 0.931157 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.229798, -0.557972, -2.076599 mu:0.765014 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.342989, -0.556005, -2.067827 mu:0.765014 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.339217, -0.556100, -2.068283 mu:0.765014 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.248499, -0.549798, -2.079579 mu:0.765014 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.229743, -0.555316, -2.077851 mu:0.765014 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.384323, -0.544247, -2.067064 mu:0.765014 unit_bearing:-0.223471 -0.304011 0.926087 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.380552, -0.544363, -2.067644 mu:0.765014 unit_bearing:-0.220629 -0.304045 0.926758 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.376781, -0.544476, -2.068212 mu:0.765014 unit_bearing:-0.217786 -0.304077 0.927419 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.267125, -0.536234, -2.084650 mu:0.765014 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.263348, -0.536287, -2.084879 mu:0.765014 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.259572, -0.536338, -2.085097 mu:0.765014 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.361769, -0.550209, -2.067889 mu:0.765014 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.229688, -0.552659, -2.079098 mu:0.765014 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.534534, -0.524755, -2.040541 mu:0.765014 unit_bearing:-0.336372 -0.291683 0.895419 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.538289, -0.527192, -2.038268 mu:0.765014 unit_bearing:-0.339122 -0.293746 0.893706 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.601656, -0.531320, -2.014801 mu:0.765014 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.263157, -0.525604, -2.089651 mu:0.765014 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.259379, -0.525654, -2.089868 mu:0.765014 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.538274, -0.524556, -2.039486 mu:0.765014 unit_bearing:-0.339162 -0.291630 0.894383 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.845211, -0.481491, -1.915946 mu:0.765014 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.231640, -0.447666, -2.122586 mu:0.765014 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.078648, -0.320568, -2.134742 mu:0.765014 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.082370, -0.320464, -2.133970 mu:0.765014 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.086091, -0.320358, -2.133187 mu:0.765014 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.100958, -0.319921, -2.129944 mu:0.765014 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.108383, -0.319692, -2.128257 mu:0.765014 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.718800, -0.296464, -1.791437 mu:0.765014 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.721731, -0.298665, -1.787736 mu:0.765014 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.183036, -0.247417, -2.124819 mu:0.765014 unit_bearing:0.208064 -0.073239 0.975369 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.086803, -0.247767, -2.149580 mu:0.765014 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.090525, -0.247664, -2.148787 mu:0.765014 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.101684, -0.247347, -2.146340 mu:0.765014 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.094320, -0.236333, -2.150132 mu:0.765014 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.116560, -0.244100, -2.143471 mu:0.765014 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.101878, -0.213627, -2.152492 mu:0.765014 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.351346, -0.213344, -2.174265 mu:0.765014 unit_bearing:-0.202177 -0.042758 0.978415 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? -0.220017, -0.201083, -2.121624 mu:0.765014 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.037] If point is visible? 0.347549, -0.216219, -2.174269 mu:0.765014 unit_bearing:-0.199302 -0.044940 0.978907 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.037] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.815763, -0.122786, -1.726625 mu:0.765014 unit_bearing:0.714674 -0.015730 0.699281 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.818556, -0.122367, -1.723311 mu:0.765014 unit_bearing:0.717000 -0.015721 0.696896 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.120575, -0.167939, -2.155010 mu:0.765014 unit_bearing:0.159235 -0.010076 0.987189 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.810180, -0.115587, -1.734327 mu:0.765014 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.804547, -0.108356, -1.741924 mu:0.765014 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.807375, -0.107952, -1.738656 mu:0.765014 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.176048, -0.163313, -2.140838 mu:0.765014 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.120582, -0.156621, -2.156466 mu:0.765014 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.810192, -0.110228, -1.735034 mu:0.765014 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.810187, -0.112908, -1.734684 mu:0.765014 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.812998, -0.112498, -1.731393 mu:0.765014 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.787369, -0.089177, -1.763793 mu:0.765014 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.227434, -0.135930, -2.128085 mu:0.765014 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.090806, -0.123407, -2.166985 mu:0.765014 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.374928, -0.058242, -2.074821 mu:0.765014 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.378476, -0.058051, -2.073138 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.094210, -0.057795, -2.170909 mu:0.765014 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.097930, -0.057700, -2.170092 mu:0.765014 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.101648, -0.057604, -2.169264 mu:0.765014 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.245269, -0.052915, -2.128340 mu:0.765014 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.244880, -0.015877, -2.129509 mu:0.765014 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.248521, -0.015736, -2.128235 mu:0.765014 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.241202, -0.013163, -2.130817 mu:0.765014 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.244845, -0.013024, -2.129554 mu:0.765014 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.182343, 0.007647, -2.149647 mu:0.765014 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? 0.723689, 0.049323, -2.085551 mu:0.765014 unit_bearing:-0.479178 0.148417 0.865078 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? 0.782082, 0.057485, -2.057007 mu:0.765014 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.335820, 0.429803, -2.014332 mu:0.765014 unit_bearing:0.335833 0.430681 0.837693 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.270564, -0.671251, -1.920074 mu:0.765014 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.277654, -0.670723, -1.917237 mu:0.765014 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.284732, -0.670185, -1.914353 mu:0.765014 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.284397, -0.675224, -1.911176 mu:0.765014 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? 0.783134, -0.607332, -1.886637 mu:0.765014 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.290608, -0.567415, -1.972379 mu:0.765014 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.304844, -0.566411, -1.966504 mu:0.765014 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.776321, -0.502648, -1.623959 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? 0.542042, -0.529625, -2.035977 mu:0.765014 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? -0.625538, -0.486132, -1.797857 mu:0.765014 unit_bearing:0.562856 -0.284982 0.775873 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.038] If point is visible? 0.247902, -0.517759, -2.093964 mu:0.765014 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.038] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.247998, -0.523116, -2.091630 mu:0.765014 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.246941, -0.458403, -2.117943 mu:0.765014 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.239370, -0.458476, -2.118273 mu:0.765014 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.796011, -0.109558, -1.751653 mu:0.765014 unit_bearing:0.698250 -0.003352 0.715846 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.320875, -0.185628, -2.182152 mu:0.765014 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.389335, -0.195758, -2.171585 mu:0.765014 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.778692, -0.122703, -1.769363 mu:0.765014 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.801686, -0.119494, -1.743763 mu:0.765014 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.807352, -0.118676, -1.737242 mu:0.765014 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.772883, -0.101890, -1.778380 mu:0.765014 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.778713, -0.101126, -1.772099 mu:0.765014 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.784510, -0.100355, -1.765769 mu:0.765014 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.790276, -0.099579, -1.759391 mu:0.765014 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.812960, -0.123203, -1.729927 mu:0.765014 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.784500, -0.094959, -1.766386 mu:0.765014 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.790265, -0.094188, -1.760007 mu:0.765014 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.290515, -0.095227, -2.194790 mu:0.765014 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.893483, -0.055885, -1.992758 mu:0.765014 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.886431, -0.056373, -1.997250 mu:0.765014 unit_bearing:-0.598947 0.059929 0.798543 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.371378, -0.058432, -2.076492 mu:0.765014 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.378476, -0.058051, -2.073138 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.668323, 0.004774, -2.110058 mu:0.765014 unit_bearing:-0.438685 0.116876 0.891008 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.785695, 0.060457, -2.054994 mu:0.765014 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.934166, 0.095934, -1.962573 mu:0.765014 unit_bearing:-0.632262 0.172345 0.755342 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.899473, 0.094025, -1.986253 mu:0.765014 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.934235, 0.090412, -1.963007 mu:0.765014 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.578991, 0.126830, -2.135403 mu:0.765014 unit_bearing:-0.371144 0.211918 0.904070 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.249492, -0.597363, -2.056258 mu:0.765014 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? 0.247103, -0.469251, -2.113813 mu:0.765014 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.626922, -0.465571, -1.807402 mu:0.765014 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.621009, -0.662065, -1.682651 mu:0.765014 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.645243, -0.657336, -1.661120 mu:0.765014 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.622181, -0.652557, -1.689358 mu:0.765014 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.646461, -0.647880, -1.667827 mu:0.765014 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.264416, -0.656567, -1.932233 mu:0.765014 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.278626, -0.655536, -1.926608 mu:0.765014 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.292790, -0.654466, -1.920799 mu:0.765014 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.267884, -0.594914, -1.967335 mu:0.765014 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.039] If point is visible? -0.282161, -0.593940, -1.961726 mu:0.765014 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.039] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? -0.324723, -0.590802, -1.943804 mu:0.765014 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? 0.384287, -0.541597, -2.068297 mu:0.765014 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? 0.247623, -0.501648, -2.100810 mu:0.765014 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? 0.826636, -0.542203, -1.897163 mu:0.765014 unit_bearing:-0.550991 -0.318299 0.771424 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? 0.249261, -0.586847, -2.061622 mu:0.765014 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? 0.826805, -0.532066, -1.902476 mu:0.765014 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? -0.772877, -0.118095, -1.776366 mu:0.765014 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? -0.784505, -0.116526, -1.763759 mu:0.765014 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? -0.349959, -0.053881, -2.086570 mu:0.765014 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? -0.784469, -0.127290, -1.762286 mu:0.765014 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? -0.219431, -0.025389, -2.137933 mu:0.765014 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? 0.899531, 0.088478, -1.986679 mu:0.765014 unit_bearing:-0.607294 0.168930 0.776309 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? 0.829209, 0.006701, -2.033004 mu:0.765014 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? 0.756494, 0.092919, -2.067524 mu:0.765014 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? 0.771089, 0.082276, -2.061102 mu:0.765014 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? 0.756536, 0.081663, -2.068342 mu:0.765014 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? 0.741936, 0.081066, -2.075378 mu:0.765014 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.185516 y=0.000000 z=-0.895333 +[21:42:36.040] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.040] If point is visible? -6661.439445, -452.590848, -7124.142472 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.185516 y=0.000000 z=-0.895338 +[21:42:36.040] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:36.040] If point is visible? 4211.876812, -399.552156, -8800.028810 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.185516 y=0.000000 z=-0.895338 +[21:42:36.040] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:36.040] If point is visible? -6661.439445, -452.590848, -7124.142472 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.185516 y=0.000000 z=-0.895338 +[21:42:36.040] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:36.040] If point is visible? 4211.876812, -399.552156, -8800.028810 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.185516 y=0.000000 z=-0.895338 +[21:42:36.040] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:36.040] If point is visible? 0.873525, -0.059751, -2.356467 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.040] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.040] If point is visible? 0.800636, -0.687445, -2.222316 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.040] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.040] If point is visible? 1.034794, -0.057362, -2.269114 mu:0.618770 unit_bearing:-0.598870 0.068366 0.797923 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.040] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.040] If point is visible? 2.877077, 0.024463, -5.794738 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.040] Z inverse min: -nan, Z inverse max: -nan +[21:42:36.040] If point is visible? -0.924557, -0.074070, -2.067545 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.040] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.040] If point is visible? 0.248584, -0.965094, -2.190111 mu:0.618770 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.040] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.040] If point is visible? 0.243983, -0.965168, -2.190272 mu:0.618770 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.040] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.040] If point is visible? 0.238999, -0.956135, -2.197170 mu:0.618770 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.040] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.040] If point is visible? 0.224674, -0.944133, -2.206407 mu:0.618770 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.040] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.040] If point is visible? -0.681048, -0.910519, -1.911132 mu:0.618770 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.040] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.040] If point is visible? -0.681426, -0.907618, -1.913404 mu:0.618770 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.040] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? 0.219684, -0.935007, -2.213069 mu:0.618770 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? 0.215076, -0.935059, -2.213144 mu:0.618770 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.923677, -0.831333, -1.726235 mu:0.618770 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.898950, -0.818220, -1.770704 mu:0.618770 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.819782, -0.854774, -1.828372 mu:0.618770 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? 1.001137, -0.853025, -1.999390 mu:0.618770 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] calculated Z= 0.684524 +[21:42:36.041] update seeds 305 +[21:42:36.041] If point is visible? -0.924150, -0.828515, -1.728415 mu:0.618770 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.927592, -0.827643, -1.724683 mu:0.618770 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.399451, -0.890116, -2.110791 mu:0.618770 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -1.284973, -1.137994, -2.124337 mu:0.448661 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: -nan, Z inverse max: -nan +[21:42:36.041] If point is visible? -0.877984, -0.820187, -1.794268 mu:0.618770 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.727051, -0.851552, -1.921933 mu:0.618770 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? 0.190493, -0.898219, -2.238841 mu:0.618770 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? 0.190368, -0.895110, -2.240915 mu:0.618770 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.832079, -0.818473, -1.847398 mu:0.618770 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.835792, -0.817740, -1.844046 mu:0.618770 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.831684, -0.821394, -1.845302 mu:0.618770 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.752158, -0.800737, -1.940041 mu:0.618770 unit_bearing:0.515451 -0.412999 0.750828 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.756061, -0.800111, -1.937006 mu:0.618770 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.041] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.041] If point is visible? -0.760293, -0.796478, -1.935955 mu:0.618770 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.764183, -0.795846, -1.932891 mu:0.618770 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.768403, -0.792208, -1.931804 mu:0.618770 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.439842, -0.813083, -2.144195 mu:0.618770 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.768739, -0.789201, -1.933787 mu:0.618770 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.439615, -0.816207, -2.142269 mu:0.618770 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.449172, -0.802975, -2.146026 mu:0.618770 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.380312, -0.795754, -2.183140 mu:0.618770 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.776192, -0.755285, -1.951974 mu:0.618770 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.792016, -0.749739, -1.941350 mu:0.618770 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.781017, -0.745521, -1.954502 mu:0.618770 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.784901, -0.744901, -1.951382 mu:0.618770 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.788778, -0.744278, -1.948247 mu:0.618770 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? 0.898913, -0.756061, -2.132778 mu:0.618770 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.468217, -0.776374, -2.152993 mu:0.618770 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.376325, -0.789739, -2.188577 mu:0.618770 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.380717, -0.789432, -2.186848 mu:0.618770 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? 0.903307, -0.758639, -2.128652 mu:0.618770 unit_bearing:-0.514863 -0.372921 0.771911 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? 0.190895, -0.781139, -2.310122 mu:0.618770 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.785211, -0.741849, -1.953244 mu:0.618770 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.789089, -0.741227, -1.950110 mu:0.618770 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.042] If point is visible? -0.481584, -0.768956, -2.150529 mu:0.618770 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.042] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.376723, -0.783404, -2.192252 mu:0.618770 unit_bearing:0.270400 -0.383335 0.883141 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.372717, -0.777359, -2.197609 mu:0.618770 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.486105, -0.765424, -2.150276 mu:0.618770 unit_bearing:0.340228 -0.375458 0.862135 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? 0.213922, -0.774541, -2.313471 mu:0.618770 unit_bearing:-0.100188 -0.368751 0.924113 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? 0.195335, -0.774676, -2.313648 mu:0.618770 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.937212, -0.687118, -1.832977 mu:0.618770 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.937560, -0.684107, -1.834759 mu:0.618770 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.492712, -0.730142, -2.167627 mu:0.618770 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.374957, -0.739040, -2.218784 mu:0.618770 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? 0.254872, -0.741787, -2.329480 mu:0.618770 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? 0.250214, -0.741844, -2.329668 mu:0.618770 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.488999, -0.720929, -2.174834 mu:0.618770 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -1.020043, -0.639027, -1.761413 mu:0.618770 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.375136, -0.735830, -2.220496 mu:0.618770 unit_bearing:0.268197 -0.351987 0.896758 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? 0.250302, -0.745086, -2.327983 mu:0.618770 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? 0.245645, -0.745142, -2.328157 mu:0.618770 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? 0.245734, -0.748381, -2.326464 mu:0.618770 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.379723, -0.732324, -2.220489 mu:0.618770 unit_bearing:0.271049 -0.349835 0.896743 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.384660, -0.722378, -2.223829 mu:0.618770 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? -0.454724, -0.717323, -2.194322 mu:0.618770 unit_bearing:0.318803 -0.342595 0.883738 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.043] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.043] If point is visible? 0.273172, -0.728545, -2.335255 mu:0.618770 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? -0.429457, -0.703200, -2.214102 mu:0.618770 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? -0.455645, -0.701245, -2.202621 mu:0.618770 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? -1.018127, -0.627843, -1.772191 mu:0.618770 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? -0.442208, -0.708679, -2.205131 mu:0.618770 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.282415, -0.725153, -2.336375 mu:0.618770 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.286998, -0.721825, -2.337729 mu:0.618770 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? -0.455825, -0.698021, -2.204256 mu:0.618770 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.291583, -0.718493, -2.339062 mu:0.618770 unit_bearing:-0.149074 -0.332399 0.931283 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.314683, -0.708301, -2.342213 mu:0.618770 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? -1.015808, -0.619606, -1.781185 mu:0.618770 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? -0.421044, -0.697369, -2.221076 mu:0.618770 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? -0.581651, -0.875300, -2.557755 mu:0.492766 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.590481, Z inverse max: 0.395051 +[21:42:36.044] If point is visible? 0.319276, -0.704948, -2.343433 mu:0.618770 unit_bearing:-0.166290 -0.323750 0.931415 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.328540, -0.701498, -2.344223 mu:0.618770 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.220881, -0.689916, -2.356361 mu:0.618770 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.342407, -0.694667, -2.346078 mu:0.618770 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.337737, -0.694768, -2.346527 mu:0.618770 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.248561, -0.676507, -2.361689 mu:0.618770 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.398133, -0.676917, -2.347371 mu:0.618770 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.393461, -0.677045, -2.347988 mu:0.618770 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.225382, -0.683308, -2.359347 mu:0.618770 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.220717, -0.683347, -2.359449 mu:0.618770 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.262271, -0.663170, -2.367118 mu:0.618770 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.044] If point is visible? 0.257599, -0.663226, -2.367329 mu:0.618770 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.044] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? 0.384180, -0.680570, -2.347639 mu:0.618770 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? 0.379509, -0.680691, -2.348214 mu:0.618770 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? 0.686206, -0.657382, -2.284216 mu:0.618770 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? 0.649270, -0.656398, -2.297442 mu:0.618770 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? 0.261980, -0.649961, -2.373014 mu:0.618770 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? 0.257306, -0.650016, -2.373224 mu:0.618770 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? 0.241446, -0.556767, -2.411486 mu:0.618770 unit_bearing:-0.121046 -0.227612 0.966199 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] calculated Z= 0.706243 +[21:42:36.045] update seeds 305 +[21:42:36.045] If point is visible? -0.947029, -0.361525, -1.990079 mu:0.618770 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.266054, -0.381910, -2.399350 mu:0.618770 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.160884, -0.395815, -2.423461 mu:0.618770 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.165473, -0.395679, -2.422449 mu:0.618770 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] calculated Z= 0.711873 +[21:42:36.045] update seeds 305 +[21:42:36.045] If point is visible? -0.170060, -0.395542, -2.421423 mu:0.618770 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] calculated Z= 0.713307 +[21:42:36.045] update seeds 305 +[21:42:36.045] If point is visible? -0.188390, -0.394972, -2.417184 mu:0.618770 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.197542, -0.394676, -2.414983 mu:0.618770 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.171057, -0.305792, -2.441679 mu:0.618770 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.175646, -0.305658, -2.440640 mu:0.618770 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.189402, -0.305245, -2.437442 mu:0.618770 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] calculated Z= 0.802365 +[21:42:36.045] update seeds 305 +[21:42:36.045] If point is visible? -0.212315, -0.301053, -2.432517 mu:0.618770 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.175749, -0.291777, -2.443297 mu:0.618770 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.180337, -0.291642, -2.442244 mu:0.618770 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.189674, -0.263554, -2.445046 mu:0.618770 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.335221, -0.247821, -2.405053 mu:0.618770 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -0.189787, -0.235673, -2.449503 mu:0.618770 unit_bearing:0.144807 -0.027543 0.989076 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.045] If point is visible? -1.065418, -0.153193, -1.907026 mu:0.618770 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.045] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.072209, -0.152141, -1.898730 mu:0.618770 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? 0.389088, -0.249854, -2.478990 mu:0.618770 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.058640, -0.140999, -1.917107 mu:0.618770 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.009622, -0.137979, -1.974423 mu:0.618770 unit_bearing:0.676698 -0.003368 0.736253 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.055225, -0.131566, -1.922503 mu:0.618770 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -0.281090, -0.201207, -2.429488 mu:0.618770 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.058655, -0.134374, -1.917981 mu:0.618770 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.016708, -0.153681, -1.964382 mu:0.618770 unit_bearing:0.681509 -0.013769 0.731680 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.058648, -0.137687, -1.917548 mu:0.618770 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -0.208175, -0.193181, -2.450816 mu:0.618770 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -0.212749, -0.193039, -2.449668 mu:0.618770 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -0.217322, -0.192897, -2.448507 mu:0.618770 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -0.344379, -0.181236, -2.411315 mu:0.618770 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.030847, -0.108391, -1.953889 mu:0.618770 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -0.344366, -0.167255, -2.412926 mu:0.618770 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -0.176039, -0.152033, -2.463135 mu:0.618770 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -0.180628, -0.151906, -2.462082 mu:0.618770 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.098861, -0.081972, -1.872821 mu:0.618770 unit_bearing:0.737625 0.023367 0.674807 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.102173, -0.084770, -1.868214 mu:0.618770 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.098834, -0.078668, -1.873128 mu:0.618770 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? -1.098804, -0.075363, -1.873427 mu:0.618770 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.046] If point is visible? 0.271531, -0.100450, -2.506032 mu:0.618770 unit_bearing:-0.141692 0.059768 0.988105 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.046] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.370777, -0.067917, -2.411170 mu:0.618770 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.516966, -0.067909, -2.349205 mu:0.618770 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.180184, -0.070906, -2.467934 mu:0.618770 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.184769, -0.070782, -2.466866 mu:0.618770 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.189352, -0.070657, -2.465785 mu:0.618770 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.525732, -0.070926, -2.344792 mu:0.618770 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.365727, -0.018795, -2.414417 mu:0.618770 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.370207, -0.018614, -2.412786 mu:0.618770 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.365679, -0.015268, -2.414474 mu:0.618770 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.293155, 0.013861, -2.438874 mu:0.618770 unit_bearing:0.210769 0.124909 0.969523 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? 0.909627, 0.070148, -2.338448 mu:0.618770 unit_bearing:-0.524660 0.151905 0.837649 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? 0.905116, 0.069949, -2.340712 mu:0.618770 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? 0.662604, 0.161082, -2.575808 mu:0.570032 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.836894, Z inverse max: 0.303170 +[21:42:36.047] If point is visible? -0.412449, -0.833903, -2.143882 mu:0.618770 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.780707, -0.748572, -1.952632 mu:0.618770 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.412903, -0.827672, -2.147805 mu:0.618770 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? 0.907793, -0.751998, -2.130100 mu:0.618770 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.440292, -0.806824, -2.148022 mu:0.618770 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? 0.218472, -0.771280, -2.315149 mu:0.618770 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? -0.420872, -0.700601, -2.219450 mu:0.618770 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? 0.243069, -0.640233, -2.378110 mu:0.618770 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? 0.243214, -0.646857, -2.375227 mu:0.618770 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.047] If point is visible? 0.241623, -0.566846, -2.407740 mu:0.618770 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.047] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 0.232258, -0.566922, -2.408030 mu:0.618770 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 0.417325, -0.242397, -2.476266 mu:0.618770 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -1.027350, -0.115545, -1.957139 mu:0.618770 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -1.034377, -0.114581, -1.949163 mu:0.618770 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 0.398505, -0.249695, -2.477777 mu:0.618770 unit_bearing:-0.219406 -0.034022 0.975040 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -1.020270, -0.149856, -1.960908 mu:0.618770 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -1.055194, -0.144824, -1.920755 mu:0.618770 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 0.304362, -0.131919, -2.501668 mu:0.618770 unit_bearing:-0.161899 0.040112 0.985992 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -1.062023, -0.150410, -1.911625 mu:0.618770 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -1.115322, -0.109042, -1.848094 mu:0.618770 unit_bearing:0.748940 0.004877 0.662620 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 0.294991, -0.117917, -2.503422 mu:0.618770 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -0.503805, -0.065117, -2.355618 mu:0.618770 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -0.512558, -0.064647, -2.351475 mu:0.618770 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -0.521368, -0.071168, -2.346913 mu:0.618770 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 0.873525, -0.059751, -2.356467 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 0.909619, 0.073616, -2.338279 mu:0.618770 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 0.909634, 0.066680, -2.338609 mu:0.618770 unit_bearing:-0.524697 0.149788 0.838008 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 1.051407, 0.114901, -2.255063 mu:0.618770 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 0.846135, 0.126717, -2.364810 mu:0.618770 unit_bearing:-0.486590 0.188635 0.853022 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 0.855220, 0.134017, -2.360042 mu:0.618770 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -0.471236, 0.532277, -2.272719 mu:0.618770 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? 0.245468, -0.738655, -2.331519 mu:0.618770 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -0.833887, -0.574049, -2.010283 mu:0.618770 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -0.826551, -0.805239, -1.864423 mu:0.618770 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.048] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.048] If point is visible? -0.856224, -0.799410, -1.837429 mu:0.618770 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -0.392753, -0.734643, -2.213566 mu:0.618770 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -0.410315, -0.733412, -2.206411 mu:0.618770 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -0.462647, -0.729451, -2.183595 mu:0.618770 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? 0.943642, -0.698518, -2.139982 mu:0.618770 unit_bearing:-0.539937 -0.335143 0.772105 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? 0.241866, -0.580259, -2.402636 mu:0.618770 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? 0.261358, -0.620119, -2.385815 mu:0.618770 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? 0.227581, -0.764744, -2.318440 mu:0.618770 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? 0.412028, -0.669965, -2.348494 mu:0.618770 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? 0.800636, -0.687445, -2.222316 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -0.387181, -0.823418, -2.162547 mu:0.618770 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -0.404643, -0.822103, -2.155369 mu:0.618770 unit_bearing:0.289363 -0.409884 0.865023 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -0.422046, -0.820740, -2.147965 mu:0.618770 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? 0.245120, -0.725652, -2.338147 mu:0.618770 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? 0.426752, -0.249173, -2.473800 mu:0.618770 unit_bearing:-0.236594 -0.034002 0.971013 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -1.027310, -0.155517, -1.952070 mu:0.618770 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -1.013180, -0.144170, -1.969656 mu:0.618770 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -1.027357, -0.142209, -1.953890 mu:0.618770 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -0.334233, -0.016490, -2.425505 mu:0.618770 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? 0.873437, 0.072068, -2.355952 mu:0.618770 unit_bearing:-0.503300 0.154404 0.850205 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -0.477302, -0.052465, -2.368342 mu:0.618770 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? 2.877077, 0.024463, -5.794738 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: -nan, Z inverse max: -nan +[21:42:36.049] If point is visible? -0.924557, -0.074070, -2.067545 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.049] If point is visible? -0.495037, -0.065581, -2.359704 mu:0.618770 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.049] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.050] If point is visible? -0.334414, -0.030604, -2.425226 mu:0.618770 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.185517 y=0.000000 z=-0.895343 +[21:42:36.050] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.050] If point is visible? 0.664106, 0.044790, -2.203771 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.700740, 0.081955, -2.187963 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.169045, -0.837698, -2.009347 mu:0.717420 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.160475, -0.829934, -2.014985 mu:0.717420 unit_bearing:-0.113287 -0.493085 0.862574 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.164655, -0.832515, -2.013152 mu:0.717420 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.620406, -0.779432, -1.723566 mu:0.717420 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.156086, -0.824724, -2.018721 mu:0.717420 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.620833, -0.776926, -1.725502 mu:0.717420 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.151699, -0.819499, -2.022416 mu:0.717420 unit_bearing:-0.107723 -0.485004 0.867852 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.147520, -0.816891, -2.024175 mu:0.717420 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.134575, -0.803740, -2.033070 mu:0.717420 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.818411, -0.712020, -1.549651 mu:0.717420 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.134781, -0.806387, -2.031205 mu:0.717420 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.735067, -0.730464, -1.644955 mu:0.717420 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.819423, -0.707155, -1.553362 mu:0.717420 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.822182, -0.706382, -1.549966 mu:0.717420 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.388792, -0.760995, -1.912228 mu:0.717420 unit_bearing:0.288202 -0.452979 0.843652 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.778364, -0.710897, -1.608454 mu:0.717420 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.660197, -0.728272, -1.730429 mu:0.717420 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.799912, -0.698432, -1.591108 mu:0.717420 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.783130, -0.700261, -1.612509 mu:0.717420 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.823348, -0.740811, -1.889014 mu:0.717420 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:36.050] calculated Z= 0.621009 +[21:42:36.050] update seeds 305 +[21:42:36.050] If point is visible? -0.745995, -0.701594, -1.658903 mu:0.717420 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.112493, -0.774448, -2.052026 mu:0.717420 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? 0.112295, -0.771765, -2.053805 mu:0.717420 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.749873, -0.695891, -1.659381 mu:0.717420 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.749441, -0.698416, -1.657604 mu:0.717420 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.687122, -0.673319, -1.748645 mu:0.717420 unit_bearing:0.518491 -0.404850 0.753168 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.703014, -0.670476, -1.734363 mu:0.717420 unit_bearing:0.531332 -0.404075 0.744587 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.685635, -0.683713, -1.741873 mu:0.717420 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.689198, -0.680553, -1.740744 mu:0.717420 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.692380, -0.679983, -1.737899 mu:0.717420 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.693129, -0.674792, -1.741286 mu:0.717420 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.696306, -0.674222, -1.738429 mu:0.717420 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.428424, -0.693888, -1.936783 mu:0.717420 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.424250, -0.699621, -1.935399 mu:0.717420 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.704165, -0.639656, -1.756904 mu:0.717420 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.707692, -0.636465, -1.755618 mu:0.717420 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.050] If point is visible? -0.710865, -0.635905, -1.752726 mu:0.717420 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.050] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.714032, -0.635343, -1.749821 mu:0.717420 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.375241, -0.682359, -1.973741 mu:0.717420 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.372058, -0.677196, -1.978635 mu:0.717420 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.369351, -0.666541, -1.986604 mu:0.717420 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.728890, -0.656489, -1.998424 mu:0.717420 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.449182, -0.665076, -1.943118 mu:0.717420 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.110802, -0.690064, -2.104165 mu:0.717420 unit_bearing:-0.085783 -0.385690 0.918632 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.456912, -0.658940, -1.942284 mu:0.717420 unit_bearing:0.334635 -0.377681 0.863352 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.460509, -0.658592, -1.940287 mu:0.717420 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.118298, -0.681781, -2.109295 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.711211, -0.633270, -1.754313 mu:0.717420 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.714379, -0.632709, -1.751408 mu:0.717420 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.129658, -0.670694, -2.116028 mu:0.717420 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.125654, -0.670697, -2.115837 mu:0.717420 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.835680, -0.582499, -1.644225 mu:0.717420 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.460771, -0.655866, -1.941838 mu:0.717420 unit_bearing:0.337460 -0.375531 0.863190 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.113490, -0.667912, -2.116707 mu:0.717420 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.470744, -0.625040, -1.954422 mu:0.717420 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.470988, -0.622287, -1.955891 mu:0.717420 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.372156, -0.633473, -2.004722 mu:0.717420 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.164114, -0.639932, -2.133509 mu:0.717420 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.160094, -0.639951, -2.133423 mu:0.717420 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.160238, -0.642748, -2.131976 mu:0.717420 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.156219, -0.642766, -2.131878 mu:0.717420 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.467631, -0.619875, -1.959371 mu:0.717420 unit_bearing:0.340918 -0.348370 0.873163 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.471230, -0.619532, -1.957353 mu:0.717420 unit_bearing:0.343692 -0.348303 0.872102 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.156365, -0.645561, -2.130425 mu:0.717420 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.376527, -0.624875, -2.007389 mu:0.717420 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.467871, -0.617117, -1.960826 mu:0.717420 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.464504, -0.614695, -1.964280 mu:0.717420 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? 0.179646, -0.628630, -2.139456 mu:0.717420 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.380668, -0.619038, -2.008552 mu:0.717420 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.380449, -0.621817, -2.007114 mu:0.717420 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.454358, -0.607392, -1.974528 mu:0.717420 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.902870, -0.540511, -1.578151 mu:0.717420 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.418588, -0.602207, -1.997800 mu:0.717420 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.440508, -0.600352, -1.986524 mu:0.717420 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.903248, -0.537924, -1.579589 mu:0.717420 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.429123, -0.606851, -1.989398 mu:0.717420 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.901339, -0.533459, -1.586089 mu:0.717420 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.404110, -0.600610, -2.006476 mu:0.717420 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.407789, -0.600316, -2.004674 mu:0.717420 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.051] If point is visible? -0.411465, -0.600020, -2.002861 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.051] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.191460, -0.622924, -2.142322 mu:0.717420 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.203292, -0.617194, -2.145056 mu:0.717420 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.110915, -0.620359, -2.141383 mu:0.717420 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.899767, -0.526369, -1.593956 mu:0.717420 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.433655, -0.595412, -1.993121 mu:0.717420 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.411679, -0.597232, -2.004252 mu:0.717420 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.415352, -0.596934, -2.002427 mu:0.717420 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] calculated Z= 0.454251 +[21:42:36.052] update seeds 305 +[21:42:36.052] If point is visible? 0.207197, -0.614341, -2.146400 mu:0.717420 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.227008, -0.605662, -2.150126 mu:0.717420 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.222967, -0.605712, -2.150229 mu:0.717420 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.254838, -0.593973, -2.154477 mu:0.717420 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.246862, -0.596922, -2.153496 mu:0.717420 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.133763, -0.594968, -2.154852 mu:0.717420 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.286909, -0.584916, -2.156542 mu:0.717420 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.282854, -0.584996, -2.156824 mu:0.717420 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.278800, -0.585074, -2.157094 mu:0.717420 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.153493, -0.586432, -2.159503 mu:0.717420 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.274860, -0.587975, -2.156030 mu:0.717420 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.270807, -0.588049, -2.156276 mu:0.717420 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.133631, -0.592135, -2.156181 mu:0.717420 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.133500, -0.589300, -2.157503 mu:0.717420 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.509857, -0.565865, -2.127264 mu:0.717420 unit_bearing:-0.369647 -0.295232 0.881022 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.505801, -0.566068, -2.128231 mu:0.717420 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.534328, -0.570183, -2.118556 mu:0.717420 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.168995, -0.572168, -2.166319 mu:0.717420 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.164961, -0.572186, -2.166252 mu:0.717420 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.168517, -0.560773, -2.171381 mu:0.717420 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.164482, -0.560790, -2.171314 mu:0.717420 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.801617, -0.519450, -2.032715 mu:0.717420 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? 0.157868, -0.491832, -2.199325 mu:0.717420 unit_bearing:-0.126762 -0.236215 0.963397 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.852690, -0.309334, -1.772509 mu:0.717420 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.849845, -0.307013, -1.776677 mu:0.717420 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.196452, -0.341771, -2.191614 mu:0.717420 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.200348, -0.341624, -2.190499 mu:0.717420 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.204241, -0.341476, -2.189371 mu:0.717420 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.331581, -0.320856, -2.149410 mu:0.717420 unit_bearing:0.227977 -0.118832 0.966388 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.270242, -0.329816, -2.170697 mu:0.717420 unit_bearing:0.182072 -0.123351 0.975517 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.274089, -0.329639, -2.169362 mu:0.717420 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.277933, -0.329459, -2.168015 mu:0.717420 unit_bearing:0.187819 -0.123331 0.974430 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:36.052] If point is visible? -0.281774, -0.329278, -2.166657 mu:0.717420 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:36.052] If point is visible? -0.196519, -0.338808, -2.192372 mu:0.717420 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.052] If point is visible? -0.200415, -0.338662, -2.191256 mu:0.717420 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.052] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.204309, -0.338513, -2.190129 mu:0.717420 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.227617, -0.337588, -2.183124 mu:0.717420 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.209691, -0.248978, -2.208678 mu:0.717420 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.213584, -0.248831, -2.207528 mu:0.717420 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.240656, -0.256742, -2.197452 mu:0.717420 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.229252, -0.236246, -2.204993 mu:0.717420 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.221673, -0.212528, -2.211419 mu:0.717420 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.344648, -0.210033, -2.167284 mu:0.717420 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.940741, -0.113278, -1.708784 mu:0.717420 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.943466, -0.112813, -1.705063 mu:0.717420 unit_bearing:0.712358 -0.009540 0.701752 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.951518, -0.122802, -1.692240 mu:0.717420 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.299046, -0.170179, -2.191207 mu:0.717420 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] calculated Z= 0.726333 +[21:42:36.053] update seeds 305 +[21:42:36.053] If point is visible? -0.237360, -0.163728, -2.213446 mu:0.717420 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.241236, -0.163577, -2.212215 mu:0.717420 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:36.053] calculated Z= 0.805746 +[21:42:36.053] update seeds 305 +[21:42:36.053] If point is visible? -0.352427, -0.164590, -2.170706 mu:0.717420 unit_bearing:0.242536 -0.005697 0.970126 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.929764, -0.100796, -1.725382 mu:0.717420 unit_bearing:0.700618 0.000794 0.713536 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.932529, -0.100345, -1.721708 mu:0.717420 unit_bearing:0.702980 0.000793 0.711209 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.932529, -0.103210, -1.721356 mu:0.717420 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.935284, -0.102757, -1.717670 mu:0.717420 unit_bearing:0.705335 -0.001277 0.708873 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.938027, -0.105163, -1.713613 mu:0.717420 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.940750, -0.110421, -1.709164 mu:0.717420 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.943475, -0.109958, -1.705442 mu:0.717420 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.921364, -0.084893, -1.738306 mu:0.717420 unit_bearing:0.693483 0.013248 0.720351 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.210083, -0.128447, -2.225768 mu:0.717420 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.213916, -0.116184, -2.225751 mu:0.717420 unit_bearing:0.139032 0.033584 0.989718 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.511599, -0.058773, -2.100993 mu:0.717420 unit_bearing:0.364298 0.063557 0.929111 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.515228, -0.058532, -2.098899 mu:0.717420 unit_bearing:0.367100 0.063546 0.928008 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.213453, -0.064538, -2.229393 mu:0.717420 unit_bearing:0.138993 0.070678 0.987768 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.217343, -0.064401, -2.228230 mu:0.717420 unit_bearing:0.141878 0.070674 0.987358 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.221230, -0.064263, -2.227055 mu:0.717420 unit_bearing:0.144763 0.070670 0.986939 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.213377, -0.058450, -2.229696 mu:0.717420 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.217266, -0.058313, -2.228533 mu:0.717420 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.221153, -0.058175, -2.227358 mu:0.717420 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.437700, -0.033046, -2.141749 mu:0.717420 unit_bearing:0.307853 0.085440 0.947590 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.370252, -0.030542, -2.173315 mu:0.717420 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.373741, -0.015160, -2.172067 mu:0.717420 unit_bearing:0.259474 0.100827 0.960472 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.369911, -0.012305, -2.173769 mu:0.717420 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.373680, -0.012120, -2.172126 mu:0.717420 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.312345, 0.015553, -2.197233 mu:0.717420 unit_bearing:0.213635 0.124897 0.968897 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? -0.304706, 0.015230, -2.200133 mu:0.717420 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? 0.566283, 0.002849, -2.236256 mu:0.717420 unit_bearing:-0.413867 0.119263 0.902491 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.053] If point is visible? 0.664106, 0.044790, -2.203771 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.053] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.737071, 0.110056, -2.170769 mu:0.717420 unit_bearing:-0.526557 0.189877 0.828664 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.206167, 0.531769, -2.122871 mu:0.717420 unit_bearing:0.153109 0.485979 0.860455 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.379697, -0.711575, -1.952318 mu:0.717420 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.387022, -0.710954, -1.948788 mu:0.717420 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.394332, -0.710323, -1.945209 mu:0.717420 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.401625, -0.709682, -1.941583 mu:0.717420 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.736703, -0.653042, -1.996592 mu:0.717420 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.104733, -0.720273, -2.086015 mu:0.717420 unit_bearing:-0.079930 -0.408788 0.909122 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.118298, -0.681781, -2.109295 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.425077, -0.691523, -1.940318 mu:0.717420 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.411465, -0.600020, -2.002861 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.426129, -0.598814, -1.995487 mu:0.717420 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.469278, -0.567788, -2.136361 mu:0.717420 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.152265, -0.557973, -2.172289 mu:0.717420 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.158162, -0.500506, -2.196026 mu:0.717420 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.149689, -0.488949, -2.200210 mu:0.717420 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.141612, -0.488953, -2.199961 mu:0.717420 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.307572, -0.204159, -2.268828 mu:0.717420 unit_bearing:-0.236604 -0.025294 0.971277 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.910098, -0.121158, -1.748529 mu:0.717420 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.932494, -0.117523, -1.719489 mu:0.717420 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.937994, -0.116598, -1.712107 mu:0.717420 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.915776, -0.114518, -1.742112 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.921409, -0.102138, -1.736331 mu:0.717420 unit_bearing:0.693500 0.000795 0.720456 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.943424, -0.121373, -1.703883 mu:0.717420 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.493762, -0.093109, -2.108985 mu:0.717420 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.193402, -0.114230, -2.284562 mu:0.717420 unit_bearing:-0.156135 0.040117 0.986921 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.915784, -0.097275, -1.744256 mu:0.717420 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.921403, -0.096393, -1.737017 mu:0.717420 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.201575, -0.108161, -2.284977 mu:0.717420 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.193473, -0.102091, -2.285506 mu:0.717420 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.921388, -0.090645, -1.737675 mu:0.717420 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.699686, -0.055732, -2.189778 mu:0.717420 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.500644, -0.056472, -2.107370 mu:0.717420 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.602837, -0.005182, -2.225327 mu:0.717420 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.685004, 0.111508, -2.191921 mu:0.717420 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.449602, 0.463639, -2.046288 mu:0.717420 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.740804, -0.697841, -1.668596 mu:0.717420 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.764825, -0.692572, -1.643785 mu:0.717420 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.150082, -0.500520, -2.195826 mu:0.717420 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.755050, -0.488218, -1.800860 mu:0.717420 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.381304, -0.695353, -1.962209 mu:0.717420 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.395959, -0.694117, -1.955103 mu:0.717420 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? -0.410551, -0.692840, -1.947806 mu:0.717420 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.054] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.054] If point is visible? 0.155930, -0.637169, -2.134764 mu:0.717420 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.388061, -0.618470, -2.005078 mu:0.717420 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.402801, -0.617305, -1.997987 mu:0.717420 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.446646, -0.613583, -1.975570 mu:0.717420 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.409458, -0.703644, -1.941236 mu:0.717420 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.766558, -0.682475, -1.650825 mu:0.717420 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? 0.150490, -0.512064, -2.191335 mu:0.717420 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? 0.155363, -0.625951, -2.140454 mu:0.717420 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? 0.782619, -0.573205, -2.016917 mu:0.717420 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.401898, -0.628390, -1.992191 mu:0.717420 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] calculated Z= 0.456299 +[21:42:36.055] update seeds 305 +[21:42:36.055] If point is visible? -0.431169, -0.625927, -1.977433 mu:0.717420 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? 0.151349, -0.535074, -2.182028 mu:0.717420 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? 0.298856, -0.579010, -2.158249 mu:0.717420 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.904438, -0.104783, -1.757897 mu:0.717420 unit_bearing:0.679115 0.000797 0.734031 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.915790, -0.103026, -1.743569 mu:0.717420 unit_bearing:0.688727 0.000796 0.725020 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.904424, -0.116299, -1.756438 mu:0.717420 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.915776, -0.114518, -1.742112 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.478621, -0.051823, -2.119783 mu:0.717420 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.343608, -0.022692, -2.184737 mu:0.717420 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? -0.915726, -0.125996, -1.740546 mu:0.717420 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.055] If point is visible? 0.700740, 0.081955, -2.187963 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.185522 y=0.000000 z=-0.895388 +[21:42:36.055] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.864] add new frame +[21:42:36.864] update seed +[21:42:36.864] If point is visible? 0.413067, -0.222238, -0.082608 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.199727 y=0.000000 z=-0.859042 +[21:42:36.864] If point is visible? 0.132756, -0.096895, -0.032072 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.199727 y=0.000000 z=-0.859042 +[21:42:36.864] If point is visible? 0.122698, -0.214684, -0.055468 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.199727 y=0.000000 z=-0.859042 +[21:42:36.864] If point is visible? 0.413067, -0.222238, -0.082608 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.199727 y=0.000000 z=-0.859042 +[21:42:36.864] If point is visible? 0.132756, -0.096895, -0.032072 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.199727 y=0.000000 z=-0.859042 +[21:42:36.864] If point is visible? 0.122698, -0.214684, -0.055468 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.199727 y=0.000000 z=-0.859042 +[21:42:36.864] If point is visible? 0.149978, -0.001137, -0.740768 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.864] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.864] If point is visible? 0.190515, -0.015193, -0.732281 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.864] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.190511, -0.016349, -0.732422 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.189644, 0.067683, -0.750349 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.232758, 0.057899, -0.749417 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.156437, 0.054614, -0.751026 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.156441, 0.054876, -0.751154 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.235811, 0.053527, -0.748208 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.232874, 0.053135, -0.747128 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.865] calculated Z= 0.196577 +[21:42:36.865] update seeds 305 +[21:42:36.865] If point is visible? 0.155669, 0.051670, -0.749923 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.155286, 0.050322, -0.749461 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.154899, 0.048439, -0.748790 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.250817, 0.049425, -0.752211 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.250825, 0.049159, -0.752096 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.865] If point is visible? 0.231482, 0.048913, -0.744881 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.865] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.866] If point is visible? 0.250832, 0.048893, -0.751981 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.866] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.866] If point is visible? 0.178042, 0.047061, -0.741712 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.866] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.866] If point is visible? 0.178419, 0.047071, -0.741650 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.866] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.866] If point is visible? 0.251640, 0.045639, -0.750970 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.866] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.866] If point is visible? 0.240373, 0.046610, -0.746728 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.866] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.866] If point is visible? 0.231536, 0.045941, -0.743699 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.866] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.866] If point is visible? 0.240029, 0.045550, -0.746184 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.866] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.866] If point is visible? 0.154135, 0.045453, -0.747860 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.866] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.866] If point is visible? 0.154132, 0.045185, -0.747754 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.866] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.866] If point is visible? 0.239667, 0.045299, -0.745960 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.866] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.866] If point is visible? 0.240034, 0.045280, -0.746080 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.867] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.867] If point is visible? 0.184463, 0.045856, -0.740289 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.867] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.867] If point is visible? 0.185220, 0.045598, -0.740102 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.867] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.867] If point is visible? 0.231916, 0.045384, -0.743588 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.867] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.867] If point is visible? 0.239672, 0.045028, -0.745857 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.867] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.867] If point is visible? 0.232300, 0.044554, -0.743380 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.867] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.867] If point is visible? 0.232671, 0.044539, -0.743478 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.867] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.867] If point is visible? 0.189008, 0.044295, -0.739245 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.867] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.867] If point is visible? 0.188250, 0.044557, -0.739406 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.867] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.868] If point is visible? 0.192797, 0.044064, -0.738901 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.868] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.868] If point is visible? 0.239310, 0.044777, -0.745635 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.868] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.868] If point is visible? 0.239677, 0.044758, -0.745754 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.868] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.868] If point is visible? 0.233797, 0.043677, -0.743478 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.868] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.868] If point is visible? 0.232676, 0.044267, -0.743377 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.868] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.868] If point is visible? 0.233047, 0.044252, -0.743476 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.868] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.868] If point is visible? 0.153367, 0.041910, -0.746817 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.868] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.868] If point is visible? 0.190906, 0.043224, -0.738719 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.868] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.868] If point is visible? 0.191285, 0.043228, -0.738695 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.868] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.868] If point is visible? 0.191664, 0.043232, -0.738672 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.868] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.869] If point is visible? 0.234172, 0.043389, -0.743482 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.869] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.869] If point is visible? 0.142766, 0.040363, -0.751060 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.869] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.869] If point is visible? 0.142769, 0.040631, -0.751156 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.869] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.869] If point is visible? 0.233051, 0.043980, -0.743376 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.869] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.869] If point is visible? 0.191665, 0.042958, -0.738577 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.869] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.869] If point is visible? 0.193184, 0.042150, -0.738213 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.869] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.869] If point is visible? 0.193185, 0.041875, -0.738120 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.869] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.869] If point is visible? 0.154059, 0.034882, -0.744232 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.869] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.869] If point is visible? 0.189802, 0.031599, -0.735323 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.869] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.869] If point is visible? 0.134370, 0.025064, -0.751150 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.869] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.869] calculated Z= 0.098323 +[21:42:36.869] update seeds 305 +[21:42:36.869] If point is visible? 0.134372, 0.025338, -0.751211 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.870] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.870] If point is visible? 0.214095, 0.025942, -0.734535 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.870] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.870] If point is visible? 0.131174, 0.023163, -0.752666 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.870] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.870] If point is visible? 0.219005, 0.025295, -0.735066 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.870] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.870] If point is visible? 0.214101, 0.023971, -0.734150 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.870] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.870] calculated Z= 0.516089 +[21:42:36.870] update seeds 305 +[21:42:36.870] If point is visible? 0.224653, 0.023761, -0.735770 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.870] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.870] If point is visible? 0.132927, 0.020838, -0.751131 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.870] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.870] If point is visible? 0.135414, 0.020201, -0.749563 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.870] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.870] If point is visible? 0.135413, 0.019925, -0.749515 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.870] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.870] If point is visible? 0.224284, 0.021798, -0.735344 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.870] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.870] If point is visible? 0.214103, 0.023125, -0.733995 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.870] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.870] If point is visible? 0.127654, 0.019855, -0.754277 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.871] If point is visible? 0.124879, 0.018789, -0.755980 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.871] If point is visible? 0.131154, 0.019324, -0.751935 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.871] If point is visible? 0.131859, 0.019104, -0.751464 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.871] If point is visible? 0.223163, 0.018150, -0.734556 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.871] If point is visible? 0.224666, 0.018114, -0.734841 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.871] If point is visible? 0.212975, 0.019183, -0.733222 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.871] calculated Z= 0.531800 +[21:42:36.871] update seeds 305 +[21:42:36.871] If point is visible? 0.213354, 0.019178, -0.733262 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.871] If point is visible? 0.213732, 0.019172, -0.733303 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.871] If point is visible? 0.216002, 0.016870, -0.733253 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.871] If point is visible? 0.224666, 0.017831, -0.734801 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.871] If point is visible? 0.225043, 0.016972, -0.734759 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.871] Z inverse min: -7.583360, Z inverse max: 0.000000 +[21:42:36.872] calculated Z= 0.237466 +[21:42:36.872] update seeds 305 +[21:42:36.872] If point is visible? 0.213355, 0.018043, -0.733098 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.872] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.872] If point is visible? 0.213733, 0.018038, -0.733139 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.872] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.872] If point is visible? 0.214112, 0.016046, -0.732919 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.872] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.872] If point is visible? 0.212976, 0.014069, -0.732564 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.872] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.872] calculated Z= 0.531178 +[21:42:36.872] update seeds 305 +[21:42:36.872] If point is visible? 0.213355, 0.014064, -0.732604 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.872] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.872] If point is visible? 0.213733, 0.014059, -0.732645 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.872] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.872] calculated Z= 0.521237 +[21:42:36.872] update seeds 305 +[21:42:36.872] If point is visible? 0.226169, 0.014958, -0.734738 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.872] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.872] calculated Z= 0.453996 +[21:42:36.872] update seeds 305 +[21:42:36.872] If point is visible? 0.227668, 0.014635, -0.735025 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.872] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.872] calculated Z= 0.221822 +[21:42:36.872] update seeds 305 +[21:42:36.872] If point is visible? 0.226166, 0.011830, -0.734409 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.872] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.872] If point is visible? 0.212976, 0.012929, -0.732446 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.872] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.872] calculated Z= 0.531444 +[21:42:36.872] update seeds 305 +[21:42:36.872] If point is visible? 0.213354, 0.012925, -0.732485 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.872] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.213732, 0.012920, -0.732526 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.873] calculated Z= 0.522380 +[21:42:36.873] update seeds 305 +[21:42:36.873] If point is visible? 0.228029, 0.007790, -0.734503 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.214479, 0.007768, -0.732200 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.181081, 0.006016, -0.732519 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.233979, 0.003336, -0.735790 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.235837, 0.003279, -0.736312 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.258776, 0.000878, -0.745332 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.230240, 0.001437, -0.734789 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.230611, 0.001141, -0.734877 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.213703, 0.002043, -0.731897 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.214080, 0.002038, -0.731939 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.213691, -0.000257, -0.731880 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.873] If point is visible? 0.228725, -0.001393, -0.734431 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.873] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.229099, -0.001403, -0.734518 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.213680, -0.002272, -0.731898 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.214058, -0.002276, -0.731940 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.214435, -0.002281, -0.731983 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.228723, -0.001681, -0.734434 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.228344, -0.002246, -0.734356 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.228342, -0.002533, -0.734361 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.236532, -0.002470, -0.736497 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.227203, -0.004520, -0.734163 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.227200, -0.004807, -0.734173 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.155591, -0.013772, -0.739397 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.192016, -0.018077, -0.732557 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.874] If point is visible? 0.190408, -0.036260, -0.736531 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.874] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.875] calculated Z= 0.249907 +[21:42:36.875] update seeds 305 +[21:42:36.875] If point is visible? 0.190783, -0.036259, -0.736505 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.875] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.875] calculated Z= 0.249850 +[21:42:36.875] update seeds 305 +[21:42:36.875] If point is visible? 0.190782, -0.036546, -0.736588 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.875] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.875] calculated Z= 0.246344 +[21:42:36.875] update seeds 305 +[21:42:36.875] If point is visible? 0.238437, -0.035548, -0.742208 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.875] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.875] If point is visible? 0.243788, -0.037939, -0.744832 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.875] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.875] If point is visible? 0.243439, -0.037648, -0.744606 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.875] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.875] If point is visible? 0.219296, -0.049240, -0.742342 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.875] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.875] If point is visible? 0.192660, 0.065664, -0.748932 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.875] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.875] If point is visible? 0.193411, 0.065672, -0.748895 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.875] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.876] If point is visible? 0.191901, 0.066688, -0.749580 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.876] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.876] If point is visible? 0.194166, 0.065162, -0.748563 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.876] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.876] If point is visible? 0.236199, 0.052711, -0.747952 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.876] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.876] calculated Z= 0.183937 +[21:42:36.876] update seeds 305 +[21:42:36.876] If point is visible? 0.233238, 0.053384, -0.747350 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.876] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.876] calculated Z= 0.193342 +[21:42:36.876] update seeds 305 +[21:42:36.876] If point is visible? 0.233976, 0.053350, -0.747555 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.876] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.876] calculated Z= 0.190668 +[21:42:36.876] update seeds 305 +[21:42:36.876] If point is visible? 0.235450, 0.053279, -0.747977 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.876] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.876] calculated Z= 0.185456 +[21:42:36.876] update seeds 305 +[21:42:36.876] If point is visible? 0.234700, 0.053847, -0.748009 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.876] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.877] calculated Z= 0.186610 +[21:42:36.877] update seeds 305 +[21:42:36.877] If point is visible? 0.195019, 0.052487, -0.742144 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.877] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.877] If point is visible? 0.251633, 0.045907, -0.751076 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.877] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.877] If point is visible? 0.193560, 0.042701, -0.738384 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.877] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.877] If point is visible? 0.233417, 0.044237, -0.743576 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.877] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.877] If point is visible? 0.234158, 0.044205, -0.743780 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.877] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.877] If point is visible? 0.232667, 0.044811, -0.743579 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.877] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.877] If point is visible? 0.233408, 0.044780, -0.743778 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.877] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.877] If point is visible? 0.153689, 0.034861, -0.744369 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.877] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.877] If point is visible? 0.189805, 0.030482, -0.735050 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.877] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.877] If point is visible? 0.190563, 0.031048, -0.735132 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.877] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.877] If point is visible? 0.180703, 0.006582, -0.732600 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.877] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.180702, 0.006010, -0.732572 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.181461, 0.006021, -0.732466 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.228366, 0.000625, -0.734343 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.878] calculated Z= 0.138592 +[21:42:36.878] update seeds 305 +[21:42:36.878] If point is visible? 0.229114, 0.000606, -0.734515 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.235841, 0.003850, -0.736329 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.180702, 0.005437, -0.732547 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.181460, 0.005449, -0.732441 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.235044, -0.002999, -0.736078 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.226090, -0.003344, -0.733890 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.229118, 0.001180, -0.734520 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.154484, -0.014090, -0.739834 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.155219, -0.013497, -0.739500 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.192016, -0.018077, -0.732557 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.255650, -0.042434, -0.751660 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.259704, -0.044197, -0.754527 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.878] If point is visible? 0.233988, 0.052818, -0.747312 mu:-7.630447 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.878] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.879] calculated Z= 0.192273 +[21:42:36.879] update seeds 305 +[21:42:36.879] If point is visible? 0.235463, 0.052747, -0.747734 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.879] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.879] calculated Z= 0.186763 +[21:42:36.879] update seeds 305 +[21:42:36.879] If point is visible? 0.238526, 0.047244, -0.746345 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.879] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.879] If point is visible? 0.185895, 0.068120, -0.751005 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.879] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.879] If point is visible? 0.192035, 0.044877, -0.739238 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.879] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.879] If point is visible? 0.232639, 0.046437, -0.744198 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.879] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.879] If point is visible? 0.234120, 0.046374, -0.744601 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.879] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.879] If point is visible? 0.235599, 0.046307, -0.745022 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.879] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.879] If point is visible? 0.233963, 0.053882, -0.747800 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.879] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.880] calculated Z= 0.188760 +[21:42:36.880] update seeds 305 +[21:42:36.880] If point is visible? 0.188897, 0.067155, -0.750098 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.880] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.880] If point is visible? 0.235619, 0.045225, -0.744606 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.880] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.880] If point is visible? 0.232534, 0.051817, -0.746431 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.880] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.880] calculated Z= 0.201733 +[21:42:36.880] update seeds 305 +[21:42:36.880] If point is visible? 0.189045, 0.030473, -0.735107 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.880] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.880] If point is visible? 0.154424, 0.033806, -0.743780 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.880] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.880] If point is visible? 0.189047, 0.029355, -0.734844 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.880] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.880] If point is visible? 0.131153, 0.019049, -0.751888 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.880] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.880] If point is visible? 0.225370, 0.000694, -0.733701 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.880] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:36.880] If point is visible? 0.226843, -0.002786, -0.734036 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.880] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.880] If point is visible? 0.214750, -0.010650, -0.732437 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.880] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.880] If point is visible? 0.149978, -0.001137, -0.740768 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.881] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.881] If point is visible? 0.234301, -0.002977, -0.735869 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.881] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.881] If point is visible? 0.214760, -0.009495, -0.732348 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.881] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.881] If point is visible? 0.214825, -0.000271, -0.732009 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.881] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.881] If point is visible? 0.216334, -0.000292, -0.732197 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.881] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.881] If point is visible? 0.274118, -0.012718, -0.755251 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.881] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.881] If point is visible? 0.190515, -0.015193, -0.732281 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.881] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.881] If point is visible? 0.190511, -0.016349, -0.732422 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.881] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.881] If point is visible? 0.216328, -0.001443, -0.732204 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.881] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.881] If point is visible? 0.223854, -0.001572, -0.733411 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.881] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.881] If point is visible? 0.225354, -0.001603, -0.733706 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.199378 y=0.000000 z=-0.862149 +[21:42:36.881] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:36.881] If point is visible? 0.146972, 0.310358, -0.365639 mu:-1.675728 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.199643 y=0.000000 z=-0.872611 +[21:42:36.881] If point is visible? 0.679248, -0.416989, -2.155611 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.199638 y=0.000000 z=-0.874904 +[21:42:36.881] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.881] If point is visible? 0.679302, -0.405097, -2.159402 mu:0.699435 unit_bearing:-0.371667 -0.171737 0.912343 T_cur_ref: x=0.199638 y=0.000000 z=-0.874904 +[21:42:36.881] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.881] If point is visible? 0.679248, -0.416989, -2.155611 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.199638 y=0.000000 z=-0.874904 +[21:42:36.881] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.881] If point is visible? -0.725398, 0.121895, -1.958217 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.199638 y=0.000000 z=-0.874904 +[21:42:36.881] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.881] If point is visible? 0.679248, -0.416989, -2.155611 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.199638 y=0.000000 z=-0.874904 +[21:42:36.881] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.881] If point is visible? 0.679248, -0.416989, -2.155611 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.199638 y=0.000000 z=-0.874904 +[21:42:36.881] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.881] If point is visible? -0.725398, 0.121895, -1.958217 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.199638 y=0.000000 z=-0.874904 +[21:42:36.881] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:36.881] If point is visible? -0.010634, 0.024970, -1.125832 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.200343 y=0.000000 z=-0.890838 +[21:42:36.881] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:36.881] If point is visible? -0.010634, 0.024970, -1.125832 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.200343 y=0.000000 z=-0.890838 +[21:42:36.881] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:36.881] If point is visible? -0.193724, -0.017622, -1.508061 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.200949 y=0.000000 z=-0.904094 +[21:42:36.881] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.881] If point is visible? 0.476844, -0.006182, -1.570950 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.200949 y=0.000000 z=-0.904094 +[21:42:36.881] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.882] If point is visible? 0.460538, -0.006849, -1.577458 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.200949 y=0.000000 z=-0.904094 +[21:42:36.882] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.882] If point is visible? -0.193724, -0.017622, -1.508061 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.200949 y=0.000000 z=-0.904094 +[21:42:36.882] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.882] If point is visible? 0.476844, -0.006182, -1.570950 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.200949 y=0.000000 z=-0.904094 +[21:42:36.882] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.882] If point is visible? 0.460538, -0.006849, -1.577458 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.200949 y=0.000000 z=-0.904094 +[21:42:36.882] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:36.882] If point is visible? -53786233.100736, -48168274.646054, -69871637.419552 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.202061 y=0.000000 z=-0.919866 +[21:42:36.882] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:36.882] If point is visible? -85428469.218023, 26760316.897195, -45618519.248811 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.202061 y=0.000000 z=-0.919866 +[21:42:36.882] If point is visible? -53786233.100736, -48168274.646054, -69871637.419552 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.202061 y=0.000000 z=-0.919866 +[21:42:36.882] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:36.882] If point is visible? -85428469.218023, 26760316.897195, -45618519.248811 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.202061 y=0.000000 z=-0.919866 +[21:42:36.882] If point is visible? 0.922459, -0.051652, -1.989926 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.203354 y=0.000000 z=-0.945796 +[21:42:36.882] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:36.882] If point is visible? 0.922459, -0.051652, -1.989926 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.203354 y=0.000000 z=-0.945796 +[21:42:36.882] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:36.882] If point is visible? 0.473356, 0.029018, -1.337682 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.427130, 0.030663, -1.365680 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.416628, 0.030190, -1.371144 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.238692, -0.285461, -1.326034 mu:2.097425 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.235932, -0.282837, -1.328236 mu:2.097425 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.237321, -0.284598, -1.326806 mu:2.097425 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.039943, -0.268890, -1.255348 mu:2.097425 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.233187, -0.281095, -1.329741 mu:2.097425 unit_bearing:-0.107700 -0.487042 0.866712 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.230421, -0.278445, -1.331871 mu:2.097425 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.231796, -0.279322, -1.331138 mu:2.097425 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.227635, -0.274876, -1.334604 mu:2.097425 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.227653, -0.275781, -1.333962 mu:2.097425 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.113499, -0.246714, -1.202805 mu:2.097425 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.454987, -0.248589, -1.259936 mu:2.113842 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.142513, Z inverse max: 2.085171 +[21:42:36.882] If point is visible? -0.097773, -0.246982, -1.220822 mu:2.097425 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.114794, -0.244799, -1.203035 mu:2.097425 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.053376, -0.252411, -1.258360 mu:2.097425 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.098202, -0.243591, -1.223365 mu:2.097425 unit_bearing:0.598418 -0.436157 0.672059 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.099303, -0.243363, -1.222365 mu:2.097425 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.045310, -0.263346, -1.310473 mu:2.097425 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.085194, -0.242794, -1.237529 mu:2.097425 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.086326, -0.242583, -1.236581 mu:2.097425 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.085096, -0.243656, -1.236907 mu:2.097425 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.220636, -0.264945, -1.341806 mu:2.097425 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.220617, -0.264028, -1.342419 mu:2.097425 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.060567, -0.238339, -1.263377 mu:2.097425 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.061751, -0.238159, -1.262525 mu:2.097425 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.061833, -0.237274, -1.263120 mu:2.097425 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.063097, -0.236208, -1.262857 mu:2.097425 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? -0.064278, -0.236027, -1.261996 mu:2.097425 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.033713, -0.241595, -1.320192 mu:2.097425 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.218932, -0.247375, -1.353081 mu:2.097425 unit_bearing:-0.079917 -0.410878 0.908181 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.882] If point is visible? 0.051614, -0.235480, -1.331596 mu:2.097425 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.882] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.051570, -0.234548, -1.332146 mu:2.097425 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.067816, -0.222279, -1.268870 mu:2.097425 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.224171, -0.234161, -1.360590 mu:2.097425 unit_bearing:-0.091527 -0.381449 0.919847 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.025344, -0.229881, -1.323665 mu:2.097425 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.067665, -0.224076, -1.267753 mu:2.097425 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.072375, -0.223357, -1.264233 mu:2.097425 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.069073, -0.221202, -1.268551 mu:2.097425 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.070253, -0.221024, -1.267674 mu:2.097425 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.071430, -0.220846, -1.266792 mu:2.097425 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.024099, -0.230708, -1.322571 mu:2.097425 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.070328, -0.220124, -1.268226 mu:2.097425 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.071506, -0.219946, -1.267344 mu:2.097425 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.053986, -0.230043, -1.335780 mu:2.097425 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.424389, -0.218870, -1.307123 mu:2.097425 unit_bearing:-0.504924 -0.363283 0.782992 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.228175, -0.227475, -1.364075 mu:2.097425 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.222697, -0.227539, -1.364329 mu:2.097425 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.019979, -0.225743, -1.323594 mu:2.097425 unit_bearing:0.340283 -0.373381 0.863014 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.424413, -0.217957, -1.307660 mu:2.097425 unit_bearing:-0.505018 -0.361246 0.783874 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.116695, -0.202407, -1.235481 mu:2.097425 unit_bearing:0.636389 -0.347324 0.688749 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.116521, -0.204184, -1.234424 mu:2.097425 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.116608, -0.203296, -1.234954 mu:2.097425 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.115858, -0.199949, -1.238099 mu:2.097425 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.018176, -0.215334, -1.328756 mu:2.097425 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.020634, -0.212708, -1.331395 mu:2.097425 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.237675, -0.220665, -1.367041 mu:2.097425 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.019381, -0.213551, -1.330332 mu:2.097425 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.052071, -0.215818, -1.343105 mu:2.097425 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.141875, -0.189227, -1.214734 mu:2.097425 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:36.883] calculated Z= 0.411008 +[21:42:36.883] update seeds 305 +[21:42:36.883] If point is visible? -0.141116, -0.186807, -1.217386 mu:2.097425 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.442626, -0.203955, -1.304222 mu:2.097425 unit_bearing:-0.542611 -0.332976 0.771168 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.245833, -0.214776, -1.369335 mu:2.097425 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.024402, -0.210167, -1.334543 mu:2.097425 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.047928, -0.210823, -1.344186 mu:2.097425 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.025661, -0.209315, -1.335579 mu:2.097425 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.249927, -0.212775, -1.369914 mu:2.097425 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.032024, -0.205980, -1.340177 mu:2.097425 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.140431, -0.183483, -1.220501 mu:2.097425 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143663, Z inverse max: 2.051186 +[21:42:36.883] If point is visible? 0.037338, -0.208241, -1.341261 mu:2.097425 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.029490, -0.207699, -1.338161 mu:2.097425 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.042552, -0.207633, -1.343728 mu:2.097425 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.041238, -0.207548, -1.343238 mu:2.097425 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.039924, -0.207462, -1.342745 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.254022, -0.210766, -1.370448 mu:2.097425 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? 0.258119, -0.208749, -1.370935 mu:2.097425 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.883] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.883] If point is visible? -0.140345, -0.184374, -1.220012 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.038574, -0.206423, -1.342728 mu:2.097425 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.032063, -0.206932, -1.339696 mu:2.097425 unit_bearing:0.313481 -0.330105 0.890371 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.262217, -0.206723, -1.371377 mu:2.097425 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.260845, -0.206757, -1.371548 mu:2.097425 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.266316, -0.204689, -1.371773 mu:2.097425 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.271788, -0.202609, -1.371924 mu:2.097425 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.230595, -0.203450, -1.376127 mu:2.097425 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.231945, -0.201494, -1.376959 mu:2.097425 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.357549, -0.192904, -1.353632 mu:2.097425 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.356203, -0.192991, -1.354098 mu:2.097425 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.282735, -0.199378, -1.371549 mu:2.097425 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.281365, -0.199422, -1.371781 mu:2.097425 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.279994, -0.199466, -1.372010 mu:2.097425 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.278630, -0.200475, -1.371780 mu:2.097425 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.277259, -0.200517, -1.372000 mu:2.097425 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.358900, -0.191860, -1.353612 mu:2.097425 unit_bearing:-0.372414 -0.295171 0.879876 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.238784, -0.198486, -1.377845 mu:2.097425 unit_bearing:-0.123527 -0.302771 0.945024 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.240138, -0.196521, -1.378630 mu:2.097425 unit_bearing:-0.126421 -0.298480 0.946006 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.242839, -0.191607, -1.380590 mu:2.097425 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.241463, -0.191630, -1.380703 mu:2.097425 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? -0.118141, -0.108140, -1.280855 mu:2.097425 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.087097, -0.113234, -1.394105 mu:2.097425 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] calculated Z= 0.922596 +[21:42:36.884] update seeds 305 +[21:42:36.884] If point is visible? 0.108834, -0.115933, -1.398504 mu:2.097425 unit_bearing:0.147530 -0.125631 0.981046 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.088461, -0.114293, -1.394188 mu:2.097425 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.118393, -0.118208, -1.399808 mu:2.097425 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.117029, -0.118174, -1.399560 mu:2.097425 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.115665, -0.118140, -1.399307 mu:2.097425 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.118384, -0.117195, -1.400069 mu:2.097425 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.117019, -0.117161, -1.399821 mu:2.097425 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.115656, -0.117127, -1.399568 mu:2.097425 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.107483, -0.116908, -1.397969 mu:2.097425 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.115462, -0.090650, -1.405553 mu:2.097425 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.114098, -0.090617, -1.405297 mu:2.097425 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.112734, -0.090583, -1.405036 mu:2.097425 unit_bearing:0.138992 -0.071189 0.987731 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.110007, -0.090513, -1.404503 mu:2.097425 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.115443, -0.086555, -1.406338 mu:2.097425 unit_bearing:0.133231 -0.062471 0.989114 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.114078, -0.086522, -1.406081 mu:2.097425 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.112714, -0.086488, -1.405821 mu:2.097425 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.108606, -0.082284, -1.405764 mu:2.097425 unit_bearing:0.147670 -0.053727 0.987576 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.107244, -0.082249, -1.405488 mu:2.097425 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.109954, -0.078214, -1.406749 mu:2.097425 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.884] If point is visible? 0.067935, -0.073819, -1.396940 mu:2.097425 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.884] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.280930, -0.073399, -1.410461 mu:2.097425 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.154225, -0.046840, -1.257663 mu:2.097425 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.156318, -0.046539, -1.255291 mu:2.097425 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.104469, -0.057478, -1.408653 mu:2.097425 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.103107, -0.057442, -1.408365 mu:2.097425 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.152133, -0.043233, -1.260562 mu:2.097425 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.145744, -0.036251, -1.268494 mu:2.097425 unit_bearing:0.695874 0.007018 0.718130 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.146817, -0.036112, -1.267345 mu:2.097425 unit_bearing:0.698247 0.007014 0.715823 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.150020, -0.040589, -1.263282 mu:2.097425 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.151080, -0.040445, -1.262115 mu:2.097425 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.151079, -0.041424, -1.261990 mu:2.097425 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.152137, -0.041278, -1.260819 mu:2.097425 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.152135, -0.042256, -1.260692 mu:2.097425 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.143586, -0.034560, -1.270997 mu:2.097425 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] calculated Z= 0.420460 +[21:42:36.885] update seeds 305 +[21:42:36.885] If point is visible? 0.063871, -0.050012, -1.398965 mu:2.097425 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:36.885] calculated Z= 0.929476 +[21:42:36.885] update seeds 305 +[21:42:36.885] If point is visible? -0.141417, -0.033847, -1.273370 mu:2.097425 unit_bearing:0.686316 0.013269 0.727183 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.114022, -0.045296, -1.411936 mu:2.097425 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.112657, -0.045264, -1.411676 mu:2.097425 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.165574, -0.026704, -1.246622 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.164537, -0.023924, -1.248122 mu:2.097425 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.164544, -0.024899, -1.248035 mu:2.097425 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.256044, -0.036644, -1.418236 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.254669, -0.030429, -1.418829 mu:2.097425 unit_bearing:-0.158998 0.057565 0.985599 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.057280, -0.019753, -1.399217 mu:2.097425 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? -0.122390, -0.014146, -1.293659 mu:2.097425 unit_bearing:0.644530 0.059468 0.762263 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.112738, -0.022409, -1.413349 mu:2.097425 unit_bearing:0.138990 0.072859 0.987610 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.111374, -0.022379, -1.413084 mu:2.097425 unit_bearing:0.141875 0.072855 0.987200 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.110011, -0.022348, -1.412815 mu:2.097425 unit_bearing:0.144760 0.072851 0.986781 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.024033, -0.017362, -1.387227 mu:2.097425 unit_bearing:0.327680 0.076690 0.941671 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.111380, -0.021337, -1.413134 mu:2.097425 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.110017, -0.021307, -1.412865 mu:2.097425 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.026683, -0.016445, -1.388329 mu:2.097425 unit_bearing:0.322024 0.078880 0.943440 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.025362, -0.016386, -1.387802 mu:2.097425 unit_bearing:0.324848 0.078868 0.942472 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.057336, -0.012483, -1.399494 mu:2.097425 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.056024, -0.009316, -1.399145 mu:2.097425 unit_bearing:0.259492 0.096486 0.960913 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.057392, -0.006244, -1.399640 mu:2.097425 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.056053, -0.006196, -1.399208 mu:2.097425 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.058741, -0.005250, -1.400085 mu:2.097425 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.057402, -0.005203, -1.399657 mu:2.097425 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.084401, 0.002290, -1.407493 mu:2.097425 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.081698, 0.002366, -1.406787 mu:2.097425 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.080348, 0.002405, -1.406429 mu:2.097425 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.041763, -0.246779, -1.320371 mu:2.097425 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.430725, -0.220853, -1.301948 mu:2.097425 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.885] If point is visible? 0.041664, -0.244941, -1.321533 mu:2.097425 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.885] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.224156, -0.233215, -1.361123 mu:2.097425 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.229545, -0.227457, -1.364001 mu:2.097425 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.402651, -0.203582, -1.328096 mu:2.097425 unit_bearing:-0.461453 -0.326097 0.825059 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.039924, -0.207462, -1.342745 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.140345, -0.184374, -1.220012 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.237306, -0.188763, -1.382299 mu:2.097425 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.237326, -0.190716, -1.381447 mu:2.097425 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.237104, -0.167114, -1.391052 mu:2.097425 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.234347, -0.167149, -1.391239 mu:2.097425 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.140333, -0.045794, -1.273057 mu:2.097425 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.148948, -0.044649, -1.263927 mu:2.097425 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.151072, -0.044357, -1.261599 mu:2.097425 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.140339, -0.037924, -1.274055 mu:2.097425 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.142511, -0.037649, -1.271799 mu:2.097425 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.144670, -0.037372, -1.269524 mu:2.097425 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.264335, -0.067541, -1.413811 mu:2.097425 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.153178, -0.046014, -1.258982 mu:2.097425 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.165574, -0.026704, -1.246622 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.013391, -0.034406, -1.381742 mu:2.097425 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.142507, -0.035681, -1.272024 mu:2.097425 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.144667, -0.035406, -1.269749 mu:2.097425 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.256044, -0.036644, -1.418236 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.256047, -0.034568, -1.418393 mu:2.097425 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.253279, -0.034601, -1.418691 mu:2.097425 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.010843, -0.021904, -1.381431 mu:2.097425 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.390184, 0.000224, -1.384445 mu:2.097425 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.354988, 0.046630, -1.395409 mu:2.097425 unit_bearing:-0.365573 0.211999 0.906318 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.485739, 0.033807, -1.328463 mu:2.097425 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.024009, 0.156184, -1.359027 mu:2.097425 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.049215, -0.239952, -1.327873 mu:2.097425 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.043983, -0.239591, -1.325947 mu:2.097425 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.038766, -0.239216, -1.323955 mu:2.097425 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.048041, -0.213675, -1.342708 mu:2.097425 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.042780, -0.213339, -1.340791 mu:2.097425 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.027087, -0.212252, -1.334637 mu:2.097425 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.237638, -0.217796, -1.368535 mu:2.097425 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.084281, -0.170685, -1.285576 mu:2.097425 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.083019, -0.242349, -1.240032 mu:2.097425 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.092051, -0.240651, -1.232397 mu:2.097425 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.237138, -0.171070, -1.389544 mu:2.097425 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.083397, -0.238882, -1.242488 mu:2.097425 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? -0.092446, -0.237203, -1.234853 mu:2.097425 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.232257, -0.225517, -1.364873 mu:2.097425 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.886] If point is visible? 0.237590, -0.213960, -1.370493 mu:2.097425 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.886] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.038961, -0.242908, -1.321680 mu:2.097425 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.042938, -0.217128, -1.338785 mu:2.097425 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.032469, -0.216410, -1.334747 mu:2.097425 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.237248, -0.182886, -1.384798 mu:2.097425 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.286835, -0.197309, -1.371729 mu:2.097425 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? -0.142497, -0.047473, -1.270528 mu:2.097425 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? -0.138155, -0.044106, -1.275559 mu:2.097425 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? -0.142509, -0.043547, -1.271065 mu:2.097425 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.018737, -0.020220, -1.384916 mu:2.097425 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.066794, -0.005521, -1.402567 mu:2.097425 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.421922, 0.026319, -1.368707 mu:2.097425 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.416659, 0.026081, -1.371401 mu:2.097425 unit_bearing:-0.492427 0.163083 0.854938 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.066756, -0.009685, -1.402486 mu:2.097425 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.473356, 0.029018, -1.337682 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.427130, 0.030663, -1.365680 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.416628, 0.030190, -1.371144 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.203354 y=0.000000 z=-0.945801 +[21:42:36.887] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:36.887] If point is visible? 0.925296, -0.059277, -2.020571 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? 0.819906, -0.060745, -2.084229 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? 0.292689, -0.778501, -1.978176 mu:0.771555 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? 0.288896, -0.773727, -1.982079 mu:0.771555 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? 0.285212, -0.773799, -1.982323 mu:0.771555 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? 0.281360, -0.766570, -1.987976 mu:0.771555 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.463360, -0.732798, -1.781468 mu:0.771555 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.463616, -0.730472, -1.783299 mu:0.771555 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? 0.273816, -0.759375, -1.993765 mu:0.771555 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? 0.266207, -0.749684, -2.001200 mu:0.771555 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? 0.262515, -0.749740, -2.001374 mu:0.771555 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.662332, -0.672295, -1.637500 mu:0.771555 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.662668, -0.670039, -1.639266 mu:0.771555 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? 0.887073, -0.681571, -1.810573 mu:0.771555 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.610054, -0.681855, -1.689630 mu:0.771555 unit_bearing:0.589813 -0.452226 0.669038 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.663002, -0.667780, -1.641026 mu:0.771555 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.665855, -0.667092, -1.638119 mu:0.771555 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.500148, -0.685647, -1.791268 mu:0.771555 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.503360, -0.685150, -1.788988 mu:0.771555 unit_bearing:0.503204 -0.445407 0.740539 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.626756, -0.664940, -1.686485 mu:0.771555 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.624390, -0.660958, -1.692670 mu:0.771555 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.627058, -0.662637, -1.688207 mu:0.771555 unit_bearing:0.603078 -0.437643 0.666907 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.586009, -0.661783, -1.732432 mu:0.771555 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.589345, -0.658865, -1.731527 mu:0.771555 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? -0.660788, -0.644035, -1.665743 mu:0.771555 unit_bearing:0.630157 -0.425510 0.649495 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.887] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.887] If point is visible? 0.239457, -0.712819, -2.027664 mu:0.771555 unit_bearing:-0.079699 -0.444154 0.892399 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.519751, -0.647377, -1.804790 mu:0.771555 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.522955, -0.646886, -1.802454 mu:0.771555 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.526615, -0.641580, -1.803334 mu:0.771555 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.529811, -0.641085, -1.800974 mu:0.771555 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.246055, -0.670263, -1.960011 mu:0.771555 unit_bearing:0.297504 -0.417925 0.858388 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.533231, -0.638180, -1.800207 mu:0.771555 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.268200, -0.651131, -1.962417 mu:0.771555 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.264538, -0.653912, -1.962324 mu:0.771555 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.272002, -0.645835, -1.964023 mu:0.771555 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.264395, -0.656417, -1.960774 mu:0.771555 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.533460, -0.635770, -1.801805 mu:0.771555 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.216035, -0.637299, -1.993563 mu:0.771555 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.539514, -0.603705, -1.819602 mu:0.771555 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.542711, -0.603222, -1.817209 mu:0.771555 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? 0.249078, -0.641766, -2.070919 mu:0.771555 unit_bearing:-0.088642 -0.385673 0.918367 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.542923, -0.600776, -1.818716 mu:0.771555 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.546115, -0.600291, -1.816311 mu:0.771555 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.549302, -0.599803, -1.813895 mu:0.771555 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.212596, -0.634996, -1.996329 mu:0.771555 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.549515, -0.597357, -1.815395 mu:0.771555 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.209518, -0.625056, -2.003480 mu:0.771555 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? 0.808139, -0.604114, -1.920031 mu:0.771555 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.671067, -0.556829, -1.723727 mu:0.771555 unit_bearing:0.635977 -0.353275 0.686098 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? 0.267265, -0.618379, -2.083064 mu:0.771555 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? 0.263541, -0.618425, -2.083242 mu:0.771555 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? 0.248645, -0.618588, -2.083844 mu:0.771555 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.671557, -0.552005, -1.726609 mu:0.771555 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.305529, -0.607937, -1.971127 mu:0.771555 unit_bearing:0.343162 -0.369151 0.863694 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? 0.248692, -0.621172, -2.082434 mu:0.771555 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? 0.843934, -0.560323, -1.923318 mu:0.771555 unit_bearing:-0.539842 -0.337183 0.771284 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? 0.296708, -0.594614, -2.093652 mu:0.771555 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? 0.289289, -0.597333, -2.092820 mu:0.771555 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.306591, -0.587556, -1.982419 mu:0.771555 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.214814, -0.586382, -2.023361 mu:0.771555 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.296559, -0.578139, -1.992551 mu:0.771555 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.300075, -0.577866, -1.991015 mu:0.771555 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? 0.285641, -0.602584, -2.090338 mu:0.771555 unit_bearing:-0.117453 -0.353842 0.927901 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? 0.289329, -0.599931, -2.091460 mu:0.771555 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.225976, -0.575382, -2.024900 mu:0.771555 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.888] If point is visible? -0.739627, -0.516106, -1.669859 mu:0.771555 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.888] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.304091, -0.589284, -2.095775 mu:0.771555 unit_bearing:-0.131834 -0.343145 0.929985 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.289879, -0.570964, -1.999634 mu:0.771555 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.311480, -0.583939, -2.097829 mu:0.771555 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.740138, -0.511305, -1.672595 mu:0.771555 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.265244, -0.570187, -2.011233 mu:0.771555 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.286470, -0.568652, -2.002471 mu:0.771555 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.289998, -0.568388, -2.000970 mu:0.771555 unit_bearing:0.330089 -0.336058 0.882103 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.737859, -0.507130, -1.678452 mu:0.771555 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.283056, -0.566334, -2.005289 mu:0.771555 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.322603, -0.578508, -2.099470 mu:0.771555 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.276213, -0.561682, -2.010870 mu:0.771555 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.247919, -0.561052, -2.023491 mu:0.771555 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.251479, -0.560815, -2.022117 mu:0.771555 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.333732, -0.573054, -2.100987 mu:0.771555 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.269240, -0.559598, -2.015075 mu:0.771555 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.736043, -0.498096, -1.686931 mu:0.771555 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.276099, -0.564267, -2.009554 mu:0.771555 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.341133, -0.567661, -2.102789 mu:0.771555 unit_bearing:-0.160559 -0.325927 0.931661 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.356002, -0.562079, -2.103648 mu:0.771555 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.352270, -0.562168, -2.104091 mu:0.771555 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.247927, -0.576973, -2.105525 mu:0.771555 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.269969, -0.553118, -2.116044 mu:0.771555 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.367143, -0.556559, -2.104792 mu:0.771555 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.382018, -0.550915, -2.105291 mu:0.771555 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.378286, -0.551017, -2.105811 mu:0.771555 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.411790, -0.542154, -2.104450 mu:0.771555 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.408061, -0.542271, -2.105060 mu:0.771555 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.292248, -0.542279, -2.119630 mu:0.771555 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.400624, -0.545126, -2.105010 mu:0.771555 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.288545, -0.544971, -2.118658 mu:0.771555 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.269931, -0.550484, -2.117287 mu:0.771555 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.269894, -0.547849, -2.118523 mu:0.771555 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.641084, -0.525615, -2.046694 mu:0.771555 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.615469, -0.524706, -2.056967 mu:0.771555 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.611807, -0.522334, -2.059434 mu:0.771555 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.307071, -0.531481, -2.123347 mu:0.771555 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.303331, -0.531542, -2.123643 mu:0.771555 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.299592, -0.531600, -2.123928 mu:0.771555 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.303204, -0.520949, -2.128377 mu:0.771555 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.299463, -0.521007, -2.128661 mu:0.771555 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? 0.272412, -0.446440, -2.160612 mu:0.771555 unit_bearing:-0.109531 -0.227659 0.967561 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.676194, -0.295950, -1.850594 mu:0.771555 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.035255, -0.321168, -2.178587 mu:0.771555 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.038959, -0.321074, -2.177891 mu:0.771554 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817625, Z inverse max: 0.725483 +[21:42:36.889] If point is visible? -0.042662, -0.320977, -2.177180 mu:0.771555 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.038987, -0.318319, -2.178598 mu:0.771555 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.042690, -0.318223, -2.177889 mu:0.771555 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.889] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.889] If point is visible? -0.057489, -0.317822, -2.174945 mu:0.771555 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.064881, -0.317612, -2.173407 mu:0.771555 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.676283, -0.293324, -1.851362 mu:0.771555 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.175634, -0.253041, -2.159136 mu:0.771555 unit_bearing:0.236699 -0.079692 0.968309 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.043260, -0.246248, -2.194155 mu:0.771555 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.046965, -0.246154, -2.193436 mu:0.771555 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.058072, -0.245865, -2.191213 mu:0.771555 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.047024, -0.235022, -2.195569 mu:0.771555 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.050728, -0.234928, -2.194839 mu:0.771555 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.072879, -0.242679, -2.188639 mu:0.771555 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.058229, -0.212431, -2.197317 mu:0.771555 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.172284, -0.200398, -2.169966 mu:0.771555 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.058265, -0.201258, -2.199155 mu:0.771555 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? 0.410257, -0.196815, -2.210040 mu:0.771555 unit_bearing:-0.216541 -0.031847 0.975754 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.773871, -0.126612, -1.787728 mu:0.771555 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.779524, -0.125789, -1.781246 mu:0.771555 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.768225, -0.116812, -1.795642 mu:0.771555 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.759649, -0.107358, -1.806580 mu:0.771555 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.765380, -0.111895, -1.799542 mu:0.771555 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.768236, -0.111498, -1.796343 mu:0.771555 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.768232, -0.114155, -1.795996 mu:0.771555 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.771079, -0.113755, -1.792784 mu:0.771555 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.076825, -0.155950, -2.201597 mu:0.771555 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.080771, -0.155987, -2.201888 mu:0.770874 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.816017, Z inverse max: 0.725731 +[21:42:36.890] If point is visible? -0.183324, -0.146886, -2.174113 mu:0.771555 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.745144, -0.093251, -1.824150 mu:0.771555 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.054604, -0.125591, -2.209735 mu:0.771555 unit_bearing:0.141924 0.022668 0.989618 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.745135, -0.090575, -1.824439 mu:0.771555 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.047190, -0.122952, -2.211485 mu:0.771555 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.050895, -0.122864, -2.210754 mu:0.771555 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.183298, -0.124450, -2.176596 mu:0.771555 unit_bearing:0.242529 0.020426 0.969929 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? 0.338796, -0.099717, -2.230930 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? 0.335031, -0.099761, -2.231318 mu:0.771555 unit_bearing:-0.159013 0.044478 0.986274 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.323550, -0.056528, -2.128603 mu:0.771555 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.050640, -0.057903, -2.215438 mu:0.771555 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.054342, -0.057817, -2.214696 mu:0.771555 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.058043, -0.057731, -2.213943 mu:0.771555 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.327126, -0.059155, -2.126875 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.330676, -0.058975, -2.125283 mu:0.771555 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.193942, -0.059313, -2.178068 mu:0.771555 unit_bearing:0.251017 0.070447 0.965416 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.204832, -0.056088, -2.174655 mu:0.771555 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.201015, -0.033638, -2.176735 mu:0.771555 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.890] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.890] If point is visible? -0.200853, -0.016677, -2.177135 mu:0.771555 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.204486, -0.016546, -2.175938 mu:0.771555 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.127544, 0.006467, -2.198921 mu:0.771555 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.134878, 0.006679, -2.196960 mu:0.771555 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.138543, 0.006787, -2.195963 mu:0.771555 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.138511, 0.009624, -2.195953 mu:0.771555 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.815748, 0.058352, -2.086596 mu:0.771555 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.593536, 0.117588, -2.176157 mu:0.771555 unit_bearing:-0.354496 0.205738 0.912143 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.593535, 0.120417, -2.175884 mu:0.771555 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.297575, 0.425097, -2.063032 mu:0.771555 unit_bearing:0.338585 0.430592 0.836631 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.221840, -0.662040, -1.975731 mu:0.771555 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.228935, -0.661545, -1.973093 mu:0.771555 unit_bearing:0.283784 -0.410019 0.866805 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.228659, -0.666556, -1.969964 mu:0.771555 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.235740, -0.666048, -1.967280 mu:0.771555 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.242811, -0.665530, -1.964550 mu:0.771555 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.242525, -0.670527, -1.961394 mu:0.771555 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.801436, -0.592551, -1.931207 mu:0.771555 unit_bearing:-0.507633 -0.361121 0.782241 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.247811, -0.563644, -2.022183 mu:0.771555 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.262033, -0.562680, -2.016618 mu:0.771555 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.652035, -0.524856, -2.042640 mu:0.771555 unit_bearing:-0.397131 -0.298802 0.867758 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.295100, -0.465012, -2.152114 mu:0.771555 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.288142, -0.513205, -2.132930 mu:0.771555 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.288207, -0.518516, -2.130615 mu:0.771555 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.287493, -0.454353, -2.156721 mu:0.771555 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.279994, -0.454443, -2.157186 mu:0.771555 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.771045, -0.124369, -1.791330 mu:0.771555 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.730480, -0.103147, -1.838636 mu:0.771555 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.736376, -0.102402, -1.832516 mu:0.771555 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.742240, -0.101651, -1.826346 mu:0.771555 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.748074, -0.100895, -1.820127 mu:0.771555 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.736357, -0.123796, -1.829802 mu:0.771555 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.759625, -0.120666, -1.804842 mu:0.771555 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.765362, -0.119868, -1.798481 mu:0.771555 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.742231, -0.096301, -1.826958 mu:0.771555 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.748064, -0.095549, -1.820738 mu:0.771555 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.925296, -0.059277, -2.020571 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.338796, -0.099717, -2.230930 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.338805, -0.094073, -2.231355 mu:0.771555 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.331277, -0.094158, -2.232120 mu:0.771555 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.312850, -0.054249, -2.133418 mu:0.771555 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.319970, -0.053899, -2.130314 mu:0.771555 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? 0.704068, 0.000236, -2.141263 mu:0.771555 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.891] If point is visible? -0.327126, -0.059155, -2.126875 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.891] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.819286, 0.061307, -2.084534 mu:0.771555 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.964804, 0.091338, -1.990643 mu:0.771555 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.769141, 0.064573, -2.110086 mu:0.771555 unit_bearing:-0.487114 0.158926 0.858756 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.318906, -0.581190, -2.098498 mu:0.771555 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.303982, -0.581463, -2.099759 mu:0.771555 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.289056, -0.581704, -2.100842 mu:0.771555 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.222376, -0.651983, -1.981907 mu:0.771555 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.236567, -0.650992, -1.976588 mu:0.771555 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.250717, -0.649963, -1.971087 mu:0.771555 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.287603, -0.465110, -2.152623 mu:0.771555 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.594816, -0.637098, -1.743843 mu:0.771555 unit_bearing:0.575914 -0.412853 0.705603 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.604836, -0.653601, -1.720059 mu:0.771555 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.815178, -0.600828, -1.917665 mu:0.771555 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.225758, -0.580549, -2.022216 mu:0.771555 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.240026, -0.579625, -2.016918 mu:0.771555 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.282584, -0.576639, -1.999934 mu:0.771555 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.239572, -0.589926, -2.011469 mu:0.771555 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.267965, -0.587951, -2.000322 mu:0.771555 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.287716, -0.475841, -2.148424 mu:0.771555 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.584443, -0.463418, -1.864747 mu:0.771555 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.302932, -0.497018, -2.138655 mu:0.771555 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.815424, -0.590944, -1.923553 mu:0.771555 unit_bearing:-0.518059 -0.360611 0.775613 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.581471, -0.648810, -1.747634 mu:0.771555 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.605942, -0.644227, -1.726730 mu:0.771555 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.250156, -0.659999, -1.964905 mu:0.771555 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.742202, -0.128357, -1.822892 mu:0.771555 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.730475, -0.119214, -1.836639 mu:0.771555 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.742235, -0.117685, -1.824352 mu:0.771555 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.790494, 0.093429, -2.097488 mu:0.771555 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.291329, -0.044021, -2.142962 mu:0.771555 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.804869, 0.082909, -2.090856 mu:0.771555 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.305719, -0.054594, -2.136476 mu:0.771555 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.819906, -0.060745, -2.084229 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.175340, -0.014733, -2.185244 mu:0.771555 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? -0.175449, -0.026052, -2.185024 mu:0.771555 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.203354 y=0.000000 z=-0.945805 +[21:42:36.892] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:36.892] If point is visible? 0.272585, -0.785336, -1.988477 mu:0.765014 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.892] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.892] If point is visible? 0.272501, -0.782892, -1.990319 mu:0.765014 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.892] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.892] If point is visible? 0.264812, -0.775673, -1.996170 mu:0.765014 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.892] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.892] If point is visible? 0.268699, -0.780512, -1.992343 mu:0.765014 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.892] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.892] If point is visible? 0.261007, -0.773278, -1.998150 mu:0.765014 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.892] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.892] If point is visible? -0.486058, -0.737530, -1.776144 mu:0.765014 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.892] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? 0.249500, -0.763588, -2.005765 mu:0.765014 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? 0.245521, -0.756212, -2.011205 mu:0.765014 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? 0.241795, -0.756260, -2.011312 mu:0.765014 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.599171, -0.692615, -1.710618 mu:0.765014 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.684627, -0.671507, -1.630835 mu:0.765014 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.687450, -0.670806, -1.627851 mu:0.765014 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.642366, -0.674648, -1.679500 mu:0.765014 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.687813, -0.668525, -1.629612 mu:0.765014 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? 0.875267, -0.688931, -1.830461 mu:0.765014 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] calculated Z= 0.630489 +[21:42:36.893] update seeds 305 +[21:42:36.893] If point is visible? -0.663830, -0.663148, -1.664781 mu:0.765014 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.646632, -0.664713, -1.683627 mu:0.765014 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.608667, -0.665631, -1.724431 mu:0.765014 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? 0.222128, -0.726493, -2.032344 mu:0.765014 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.612308, -0.660316, -1.725150 mu:0.765014 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.543666, -0.646392, -1.801867 mu:0.765014 unit_bearing:0.515567 -0.411002 0.751843 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.546855, -0.645892, -1.799452 mu:0.765014 unit_bearing:0.518144 -0.410848 0.750154 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.550039, -0.645389, -1.797025 mu:0.765014 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.553217, -0.644882, -1.794587 mu:0.765014 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.249175, -0.671512, -1.971962 mu:0.765014 unit_bearing:0.280893 -0.414218 0.865750 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.553726, -0.640020, -1.797807 mu:0.765014 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.556901, -0.639513, -1.795357 mu:0.765014 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.689913, -0.616470, -1.674323 mu:0.765014 unit_bearing:0.634731 -0.400173 0.661043 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.273790, -0.672156, -1.960324 mu:0.765014 unit_bearing:0.300339 -0.415792 0.858436 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.556646, -0.641945, -1.793750 mu:0.765014 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.288735, -0.658418, -1.962192 mu:0.765014 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.288567, -0.660945, -1.960632 mu:0.765014 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.236943, -0.639457, -1.997443 mu:0.765014 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.240513, -0.639214, -1.996089 mu:0.765014 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? 0.793824, -0.610630, -1.939378 mu:0.765014 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.566910, -0.601729, -1.813745 mu:0.765014 unit_bearing:0.532927 -0.375982 0.758042 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.570085, -0.601234, -1.811261 mu:0.765014 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.573254, -0.600735, -1.808765 mu:0.765014 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.318819, -0.625626, -1.967879 mu:0.765014 unit_bearing:0.334579 -0.379757 0.862462 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.314988, -0.631019, -1.966513 mu:0.765014 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? -0.233948, -0.629439, -2.004712 mu:0.765014 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? 0.227134, -0.644743, -2.082667 mu:0.765014 unit_bearing:-0.088655 -0.383570 0.919246 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? 0.223030, -0.631794, -2.089992 mu:0.765014 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.893] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.893] If point is visible? 0.241745, -0.629032, -2.091038 mu:0.765014 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.237988, -0.629068, -2.091138 mu:0.765014 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.226649, -0.626561, -2.092798 mu:0.765014 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.694307, -0.557155, -1.715535 mu:0.765014 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.694574, -0.554720, -1.716980 mu:0.765014 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.226581, -0.623955, -2.094219 mu:0.765014 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.331360, -0.591398, -1.981680 mu:0.765014 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.271213, -0.602559, -2.103835 mu:0.765014 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.267448, -0.602610, -2.104023 mu:0.765014 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.692701, -0.545549, -1.725652 mu:0.765014 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.321410, -0.581924, -1.992083 mu:0.765014 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.324927, -0.581641, -1.990469 mu:0.765014 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.239569, -0.590422, -2.024662 mu:0.765014 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.267507, -0.605230, -2.102652 mu:0.765014 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.308397, -0.578294, -2.113391 mu:0.765014 unit_bearing:-0.151950 -0.330251 0.931582 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.250827, -0.579303, -2.026008 mu:0.765014 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.243281, -0.587588, -2.024679 mu:0.765014 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.314789, -0.574702, -1.999349 mu:0.765014 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.762639, -0.513518, -1.661247 mu:0.765014 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.250955, -0.576694, -2.027350 mu:0.765014 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.837242, -0.553131, -1.946277 mu:0.765014 unit_bearing:-0.545472 -0.326724 0.771824 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.294237, -0.563286, -2.015301 mu:0.765014 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.290160, -0.573975, -2.011500 mu:0.765014 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.311399, -0.572378, -2.002272 mu:0.765014 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.760168, -0.511743, -1.665835 mu:0.765014 unit_bearing:0.689558 -0.321445 0.648986 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.760439, -0.509313, -1.667194 mu:0.765014 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.758744, -0.500206, -1.675778 mu:0.765014 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.308003, -0.570048, -2.005177 mu:0.765014 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.301062, -0.567979, -2.009607 mu:0.765014 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.760708, -0.506880, -1.668547 mu:0.765014 unit_bearing:0.689848 -0.317499 0.650619 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.272896, -0.564801, -2.024182 mu:0.765014 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.276460, -0.564554, -2.022730 mu:0.765014 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? -0.758482, -0.502648, -1.674445 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.315888, -0.575514, -2.114066 mu:0.765014 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.297245, -0.586396, -2.110296 mu:0.765014 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.300961, -0.583699, -2.111345 mu:0.765014 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.338326, -0.564480, -2.117069 mu:0.765014 unit_bearing:-0.174894 -0.319418 0.931335 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.342053, -0.561751, -2.117946 mu:0.765014 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.353326, -0.558839, -2.117950 mu:0.765014 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.349554, -0.558929, -2.118383 mu:0.765014 unit_bearing:-0.183495 -0.315082 0.931157 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.247637, -0.557972, -2.127085 mu:0.765014 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.360828, -0.556005, -2.118313 mu:0.765014 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.357056, -0.556100, -2.118769 mu:0.765014 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.894] If point is visible? 0.266339, -0.549798, -2.130065 mu:0.765014 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.894] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.247582, -0.555316, -2.128337 mu:0.765014 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.402163, -0.544247, -2.117550 mu:0.765014 unit_bearing:-0.223471 -0.304011 0.926087 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.398392, -0.544363, -2.118130 mu:0.765014 unit_bearing:-0.220629 -0.304045 0.926758 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.394620, -0.544476, -2.118698 mu:0.765014 unit_bearing:-0.217786 -0.304077 0.927419 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.284964, -0.536234, -2.135136 mu:0.765014 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.281188, -0.536287, -2.135365 mu:0.765014 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.277411, -0.536338, -2.135583 mu:0.765014 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.379609, -0.550209, -2.118375 mu:0.765014 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.247528, -0.552659, -2.129584 mu:0.765014 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.552373, -0.524755, -2.091027 mu:0.765014 unit_bearing:-0.336372 -0.291683 0.895419 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.556128, -0.527192, -2.088754 mu:0.765014 unit_bearing:-0.339122 -0.293746 0.893706 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.619495, -0.531320, -2.065287 mu:0.765014 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.280996, -0.525604, -2.140137 mu:0.765014 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.277218, -0.525654, -2.140354 mu:0.765014 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.556113, -0.524556, -2.089972 mu:0.765014 unit_bearing:-0.339162 -0.291630 0.894383 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.863050, -0.481491, -1.966432 mu:0.765014 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.249479, -0.447666, -2.173072 mu:0.765014 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.060808, -0.320568, -2.185228 mu:0.765014 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.064530, -0.320464, -2.184456 mu:0.765014 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.068251, -0.320358, -2.183673 mu:0.765014 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.083119, -0.319921, -2.180430 mu:0.765014 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.090543, -0.319692, -2.178743 mu:0.765014 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.700961, -0.296464, -1.841923 mu:0.765014 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.703891, -0.298665, -1.838222 mu:0.765014 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.165197, -0.247417, -2.175305 mu:0.765014 unit_bearing:0.208064 -0.073239 0.975369 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.068963, -0.247767, -2.200066 mu:0.765014 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.072686, -0.247664, -2.199273 mu:0.765014 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.083844, -0.247347, -2.196826 mu:0.765014 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.076481, -0.236333, -2.200618 mu:0.765014 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.098721, -0.244100, -2.193957 mu:0.765014 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.084039, -0.213627, -2.202978 mu:0.765014 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.369185, -0.213344, -2.224751 mu:0.765014 unit_bearing:-0.202177 -0.042758 0.978415 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.202178, -0.201083, -2.172110 mu:0.765014 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? 0.365388, -0.216219, -2.224755 mu:0.765014 unit_bearing:-0.199302 -0.044940 0.978907 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.797923, -0.122786, -1.777111 mu:0.765014 unit_bearing:0.714674 -0.015730 0.699281 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.800717, -0.122367, -1.773797 mu:0.765014 unit_bearing:0.717000 -0.015721 0.696896 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.102736, -0.167939, -2.205496 mu:0.765014 unit_bearing:0.159235 -0.010076 0.987189 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.792340, -0.115587, -1.784813 mu:0.765014 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.786708, -0.108356, -1.792410 mu:0.765014 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.789536, -0.107952, -1.789142 mu:0.765014 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.895] If point is visible? -0.158209, -0.163313, -2.191324 mu:0.765014 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.895] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.102742, -0.156621, -2.206952 mu:0.765014 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.792353, -0.110228, -1.785520 mu:0.765014 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.792347, -0.112908, -1.785170 mu:0.765014 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.795159, -0.112498, -1.781879 mu:0.765014 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.769530, -0.089177, -1.814279 mu:0.765014 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.209595, -0.135930, -2.178571 mu:0.765014 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] calculated Z= 0.620455 +[21:42:36.896] update seeds 305 +[21:42:36.896] If point is visible? -0.072967, -0.123407, -2.217471 mu:0.765014 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.357089, -0.058242, -2.125307 mu:0.765014 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.360637, -0.058051, -2.123624 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.076371, -0.057795, -2.221395 mu:0.765014 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.080090, -0.057700, -2.220578 mu:0.765014 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.083808, -0.057604, -2.219750 mu:0.765014 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.227429, -0.052915, -2.178826 mu:0.765014 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.227041, -0.015877, -2.179995 mu:0.765014 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.230681, -0.015736, -2.178721 mu:0.765014 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.223363, -0.013163, -2.181303 mu:0.765014 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.227005, -0.013024, -2.180040 mu:0.765014 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.164503, 0.007647, -2.200133 mu:0.765014 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? 0.741529, 0.049323, -2.136037 mu:0.765014 unit_bearing:-0.479178 0.148417 0.865078 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? 0.799921, 0.057485, -2.107493 mu:0.765014 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.317980, 0.429803, -2.064818 mu:0.765014 unit_bearing:0.335833 0.430681 0.837693 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] calculated Z= 0.615324 +[21:42:36.896] update seeds 305 +[21:42:36.896] If point is visible? -0.252724, -0.671251, -1.970560 mu:0.765014 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.259814, -0.670723, -1.967723 mu:0.765014 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.266893, -0.670185, -1.964839 mu:0.765014 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.266557, -0.675224, -1.961662 mu:0.765014 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? 0.800973, -0.607332, -1.937123 mu:0.765014 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.272769, -0.567415, -2.022865 mu:0.765014 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.287005, -0.566411, -2.016990 mu:0.765014 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.758482, -0.502648, -1.674445 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? 0.559881, -0.529625, -2.086463 mu:0.765014 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.607698, -0.486132, -1.848343 mu:0.765014 unit_bearing:0.562856 -0.284982 0.775873 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? 0.265741, -0.517759, -2.144450 mu:0.765014 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? 0.265837, -0.523116, -2.142116 mu:0.765014 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? 0.264781, -0.458403, -2.168429 mu:0.765014 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? 0.257210, -0.458476, -2.168759 mu:0.765014 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.778172, -0.109558, -1.802139 mu:0.765014 unit_bearing:0.698250 -0.003352 0.715846 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? 0.338714, -0.185628, -2.232638 mu:0.765014 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? 0.407174, -0.195758, -2.222071 mu:0.765014 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.896] If point is visible? -0.760853, -0.122703, -1.819849 mu:0.765014 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.896] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.783847, -0.119494, -1.794249 mu:0.765014 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.789512, -0.118676, -1.787728 mu:0.765014 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.755043, -0.101890, -1.828866 mu:0.765014 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.760873, -0.101126, -1.822585 mu:0.765014 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.766671, -0.100355, -1.816255 mu:0.765014 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.772437, -0.099579, -1.809877 mu:0.765014 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.795121, -0.123203, -1.780413 mu:0.765014 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.766660, -0.094959, -1.816872 mu:0.765014 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.772426, -0.094188, -1.810493 mu:0.765014 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.308354, -0.095227, -2.245276 mu:0.765014 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.911322, -0.055885, -2.043244 mu:0.765014 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.904271, -0.056373, -2.047736 mu:0.765014 unit_bearing:-0.598947 0.059929 0.798543 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.353539, -0.058432, -2.126978 mu:0.765014 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.360637, -0.058051, -2.123624 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.686163, 0.004774, -2.160544 mu:0.765014 unit_bearing:-0.438685 0.116876 0.891008 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.803534, 0.060457, -2.105480 mu:0.765014 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.952006, 0.095934, -2.013059 mu:0.765014 unit_bearing:-0.632262 0.172345 0.755342 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.917312, 0.094025, -2.036739 mu:0.765014 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.952075, 0.090412, -2.013493 mu:0.765014 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.596830, 0.126830, -2.185889 mu:0.765014 unit_bearing:-0.371144 0.211918 0.904070 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.267331, -0.597363, -2.106744 mu:0.765014 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.264942, -0.469251, -2.164299 mu:0.765014 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.609083, -0.465571, -1.857888 mu:0.765014 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.603170, -0.662065, -1.733137 mu:0.765014 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.627404, -0.657336, -1.711606 mu:0.765014 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.604342, -0.652557, -1.739844 mu:0.765014 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.628621, -0.647880, -1.718313 mu:0.765014 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.246577, -0.656567, -1.982719 mu:0.765014 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.260786, -0.655536, -1.977094 mu:0.765014 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.274950, -0.654466, -1.971285 mu:0.765014 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.250045, -0.594914, -2.017821 mu:0.765014 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.264322, -0.593940, -2.012212 mu:0.765014 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.306883, -0.590802, -1.994290 mu:0.765014 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.402127, -0.541597, -2.118783 mu:0.765014 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.265462, -0.501648, -2.151296 mu:0.765014 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.844475, -0.542203, -1.947649 mu:0.765014 unit_bearing:-0.550991 -0.318299 0.771424 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.267101, -0.586847, -2.112108 mu:0.765014 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? 0.844644, -0.532066, -1.952962 mu:0.765014 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.755037, -0.118095, -1.826852 mu:0.765014 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.897] If point is visible? -0.766665, -0.116526, -1.814245 mu:0.765014 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.897] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.898] If point is visible? -0.332120, -0.053881, -2.137056 mu:0.765014 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.898] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.898] If point is visible? -0.766630, -0.127290, -1.812772 mu:0.765014 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.898] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.898] If point is visible? -0.201591, -0.025389, -2.188419 mu:0.765014 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.898] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.898] If point is visible? 0.917370, 0.088478, -2.037165 mu:0.765014 unit_bearing:-0.607294 0.168930 0.776309 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.898] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.898] If point is visible? 0.847048, 0.006701, -2.083490 mu:0.765014 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.898] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.898] If point is visible? 0.774334, 0.092919, -2.118010 mu:0.765014 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.898] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.898] If point is visible? 0.788928, 0.082276, -2.111588 mu:0.765014 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.898] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.898] If point is visible? 0.774376, 0.081663, -2.118828 mu:0.765014 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.898] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.898] If point is visible? 0.759776, 0.081066, -2.125864 mu:0.765014 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.203355 y=0.000000 z=-0.945819 +[21:42:36.898] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:36.898] If point is visible? -6661.421606, -452.590848, -7124.192958 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.203356 y=0.000000 z=-0.945824 +[21:42:36.898] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:36.898] If point is visible? 4211.894651, -399.552156, -8800.079296 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.203356 y=0.000000 z=-0.945824 +[21:42:36.898] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:36.898] If point is visible? -6661.421606, -452.590848, -7124.192958 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.203356 y=0.000000 z=-0.945824 +[21:42:36.898] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:36.898] If point is visible? 4211.894651, -399.552156, -8800.079296 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.203356 y=0.000000 z=-0.945824 +[21:42:36.898] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:36.898] If point is visible? 0.891364, -0.059751, -2.406953 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] If point is visible? 0.818475, -0.687445, -2.272802 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] If point is visible? 1.052633, -0.057362, -2.319600 mu:0.618770 unit_bearing:-0.598870 0.068366 0.797923 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] If point is visible? 2.894916, 0.024463, -5.845224 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: -nan, Z inverse max: -nan +[21:42:36.898] If point is visible? -0.906718, -0.074070, -2.118031 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] If point is visible? 0.266424, -0.965094, -2.240597 mu:0.618770 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] If point is visible? 0.261823, -0.965168, -2.240758 mu:0.618770 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] If point is visible? 0.256838, -0.956135, -2.247656 mu:0.618770 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] If point is visible? 0.242513, -0.944133, -2.256893 mu:0.618770 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] If point is visible? -0.663209, -0.910519, -1.961618 mu:0.618770 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] calculated Z= 0.825709 +[21:42:36.898] update seeds 305 +[21:42:36.898] If point is visible? -0.663586, -0.907618, -1.963890 mu:0.618770 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] calculated Z= 0.825762 +[21:42:36.898] update seeds 305 +[21:42:36.898] If point is visible? 0.237523, -0.935007, -2.263555 mu:0.618770 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] If point is visible? 0.232915, -0.935059, -2.263630 mu:0.618770 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] If point is visible? -0.905838, -0.831333, -1.776721 mu:0.618770 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.898] calculated Z= 0.872129 +[21:42:36.898] update seeds 305 +[21:42:36.898] If point is visible? -0.881111, -0.818220, -1.821190 mu:0.618770 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.898] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.801943, -0.854774, -1.878858 mu:0.618770 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? 1.122354, -0.961143, -2.189811 mu:0.549165 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.775175, Z inverse max: 0.323154 +[21:42:36.899] calculated Z= 0.781946 +[21:42:36.899] update seeds 305 +[21:42:36.899] If point is visible? -0.906311, -0.828515, -1.778901 mu:0.618770 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.909752, -0.827643, -1.775169 mu:0.618770 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.381611, -0.890116, -2.161277 mu:0.618770 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -1.267134, -1.137994, -2.174823 mu:0.448661 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: -nan, Z inverse max: -nan +[21:42:36.899] If point is visible? -0.860145, -0.820187, -1.844754 mu:0.618770 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.709212, -0.851552, -1.972419 mu:0.618770 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] calculated Z= 0.857878 +[21:42:36.899] update seeds 305 +[21:42:36.899] If point is visible? 0.208332, -0.898219, -2.289327 mu:0.618770 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? 0.208207, -0.895110, -2.291401 mu:0.618770 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.814240, -0.818473, -1.897884 mu:0.618770 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.817953, -0.817740, -1.894532 mu:0.618770 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.813845, -0.821394, -1.895788 mu:0.618770 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.734318, -0.800737, -1.990527 mu:0.618770 unit_bearing:0.515451 -0.412999 0.750828 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.738221, -0.800111, -1.987492 mu:0.618770 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.742454, -0.796478, -1.986441 mu:0.618770 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.746344, -0.795846, -1.983377 mu:0.618770 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.750564, -0.792208, -1.982290 mu:0.618770 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.899] If point is visible? -0.422003, -0.813083, -2.194681 mu:0.618770 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.899] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.750900, -0.789201, -1.984273 mu:0.618770 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.421776, -0.816207, -2.192755 mu:0.618770 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.431332, -0.802975, -2.196512 mu:0.618770 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.362473, -0.795754, -2.233626 mu:0.618770 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.758353, -0.755285, -2.002460 mu:0.618770 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.774176, -0.749739, -1.991836 mu:0.618770 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.763178, -0.745521, -2.004988 mu:0.618770 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.767062, -0.744901, -2.001868 mu:0.618770 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.770939, -0.744278, -1.998733 mu:0.618770 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? 0.916753, -0.756061, -2.183264 mu:0.618770 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.450378, -0.776374, -2.203479 mu:0.618770 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.358486, -0.789739, -2.239063 mu:0.618770 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.362878, -0.789432, -2.237334 mu:0.618770 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? 0.921146, -0.758639, -2.179138 mu:0.618770 unit_bearing:-0.514863 -0.372921 0.771911 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? 0.208734, -0.781139, -2.360608 mu:0.618770 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.767372, -0.741849, -2.003730 mu:0.618770 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.771250, -0.741227, -2.000596 mu:0.618770 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.463745, -0.768956, -2.201015 mu:0.618770 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.358883, -0.783404, -2.242738 mu:0.618770 unit_bearing:0.270400 -0.383335 0.883141 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.900] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.900] If point is visible? -0.354877, -0.777359, -2.248095 mu:0.618770 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -0.468266, -0.765424, -2.200762 mu:0.618770 unit_bearing:0.340228 -0.375458 0.862135 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? 0.231761, -0.774541, -2.363957 mu:0.618770 unit_bearing:-0.100188 -0.368751 0.924113 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? 0.213174, -0.774676, -2.364134 mu:0.618770 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -0.919373, -0.687118, -1.883463 mu:0.618770 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -0.919721, -0.684107, -1.885245 mu:0.618770 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] calculated Z= 0.824878 +[21:42:36.901] update seeds 305 +[21:42:36.901] If point is visible? -0.474873, -0.730142, -2.218113 mu:0.618770 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -0.357118, -0.739040, -2.269270 mu:0.618770 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? 0.272711, -0.741787, -2.379966 mu:0.618770 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? 0.268053, -0.741844, -2.380154 mu:0.618770 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -0.471160, -0.720929, -2.225320 mu:0.618770 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -1.002204, -0.639027, -1.811899 mu:0.618770 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -0.357296, -0.735830, -2.270982 mu:0.618770 unit_bearing:0.268197 -0.351987 0.896758 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? 0.268141, -0.745086, -2.378469 mu:0.618770 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? 0.263484, -0.745142, -2.378643 mu:0.618770 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? 0.263574, -0.748381, -2.376950 mu:0.618770 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -0.361884, -0.732324, -2.270975 mu:0.618770 unit_bearing:0.271049 -0.349835 0.896743 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -0.366821, -0.722378, -2.274315 mu:0.618770 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -0.436885, -0.717323, -2.244808 mu:0.618770 unit_bearing:0.318803 -0.342595 0.883738 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? 0.291011, -0.728545, -2.385741 mu:0.618770 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -0.411617, -0.703200, -2.264588 mu:0.618770 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.901] If point is visible? -0.437806, -0.701245, -2.253107 mu:0.618770 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.901] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? -1.000288, -0.627843, -1.822677 mu:0.618770 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? -0.424369, -0.708679, -2.255617 mu:0.618770 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.300254, -0.725153, -2.386861 mu:0.618770 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.304837, -0.721825, -2.388215 mu:0.618770 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? -0.437986, -0.698021, -2.254742 mu:0.618770 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.309422, -0.718493, -2.389548 mu:0.618770 unit_bearing:-0.149074 -0.332399 0.931283 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.332522, -0.708301, -2.392699 mu:0.618770 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? -0.997968, -0.619606, -1.831671 mu:0.618770 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? -0.403205, -0.697369, -2.271562 mu:0.618770 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? -0.563812, -0.875300, -2.608241 mu:0.492766 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.590481, Z inverse max: 0.395051 +[21:42:36.902] If point is visible? 0.337115, -0.704948, -2.393919 mu:0.618770 unit_bearing:-0.166290 -0.323750 0.931415 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.346379, -0.701498, -2.394709 mu:0.618770 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.238720, -0.689916, -2.406847 mu:0.618770 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.360246, -0.694667, -2.396564 mu:0.618770 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.355576, -0.694768, -2.397013 mu:0.618770 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.266400, -0.676507, -2.412175 mu:0.618770 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.415972, -0.676917, -2.397857 mu:0.618770 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.411301, -0.677045, -2.398474 mu:0.618770 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.243222, -0.683308, -2.409833 mu:0.618770 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.238556, -0.683347, -2.409935 mu:0.618770 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.280110, -0.663170, -2.417604 mu:0.618770 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.275438, -0.663226, -2.417815 mu:0.618770 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.402020, -0.680570, -2.398125 mu:0.618770 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.397348, -0.680691, -2.398700 mu:0.618770 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.704045, -0.657382, -2.334702 mu:0.618770 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.667109, -0.656398, -2.347928 mu:0.618770 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.902] If point is visible? 0.279820, -0.649961, -2.423500 mu:0.618770 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.902] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? 0.275146, -0.650016, -2.423710 mu:0.618770 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? 0.269945, -0.662879, -2.750928 mu:0.519719 unit_bearing:-0.121046 -0.227612 0.966199 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.696949, Z inverse max: 0.342489 +[21:42:36.903] If point is visible? -0.929190, -0.361525, -2.040565 mu:0.618770 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.248215, -0.381910, -2.449836 mu:0.618770 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.143044, -0.395815, -2.473947 mu:0.618770 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.219914, -0.477163, -2.787418 mu:0.513104 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.675691, Z inverse max: 0.350518 +[21:42:36.903] If point is visible? -0.227210, -0.478958, -2.793747 mu:0.511003 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.669035, Z inverse max: 0.352972 +[21:42:36.903] calculated Z= 0.705650 +[21:42:36.903] update seeds 305 +[21:42:36.903] If point is visible? -0.170550, -0.394972, -2.467670 mu:0.618770 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.179702, -0.394676, -2.465469 mu:0.618770 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.153217, -0.305792, -2.492165 mu:0.618770 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.157807, -0.305658, -2.491126 mu:0.618770 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.576440, -0.634879, -4.153246 mu:0.297499 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: -nan, Z inverse max: -nan +[21:42:36.903] If point is visible? -0.194476, -0.301053, -2.483003 mu:0.618770 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.157910, -0.291777, -2.493783 mu:0.618770 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.162498, -0.291642, -2.492730 mu:0.618770 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.171835, -0.263554, -2.495532 mu:0.618770 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.317382, -0.247821, -2.455539 mu:0.618770 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.171948, -0.235673, -2.499989 mu:0.618770 unit_bearing:0.144807 -0.027543 0.989076 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -1.047579, -0.153193, -1.957512 mu:0.618770 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -1.054370, -0.152141, -1.949216 mu:0.618770 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? 0.406927, -0.249854, -2.529476 mu:0.618770 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -1.040800, -0.140999, -1.967593 mu:0.618770 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.903] If point is visible? -0.991782, -0.137979, -2.024909 mu:0.618770 unit_bearing:0.676698 -0.003368 0.736253 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.903] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -1.037386, -0.131566, -1.972989 mu:0.618770 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.263250, -0.201207, -2.479974 mu:0.618770 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] calculated Z= 0.542623 +[21:42:36.904] update seeds 305 +[21:42:36.904] If point is visible? -1.040816, -0.134374, -1.968467 mu:0.618770 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.998869, -0.153681, -2.014868 mu:0.618770 unit_bearing:0.681509 -0.013769 0.731680 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -1.040809, -0.137687, -1.968034 mu:0.618770 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.190336, -0.193181, -2.501302 mu:0.618770 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.194910, -0.193039, -2.500154 mu:0.618770 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.199483, -0.192897, -2.498993 mu:0.618770 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.326540, -0.181236, -2.461801 mu:0.618770 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -1.013007, -0.108391, -2.004375 mu:0.618770 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.326526, -0.167255, -2.463412 mu:0.618770 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.158200, -0.152033, -2.513621 mu:0.618770 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.162789, -0.151906, -2.512568 mu:0.618770 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -1.081022, -0.081972, -1.923307 mu:0.618770 unit_bearing:0.737625 0.023367 0.674807 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -1.084334, -0.084770, -1.918700 mu:0.618770 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -1.080994, -0.078668, -1.923614 mu:0.618770 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -1.080965, -0.075363, -1.923913 mu:0.618770 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? 0.289370, -0.100450, -2.556518 mu:0.618770 unit_bearing:-0.141692 0.059768 0.988105 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.352938, -0.067917, -2.461656 mu:0.618770 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.499126, -0.067909, -2.399691 mu:0.618770 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.162344, -0.070906, -2.518420 mu:0.618770 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.166930, -0.070782, -2.517352 mu:0.618770 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.171513, -0.070657, -2.516271 mu:0.618770 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.904] If point is visible? -0.507892, -0.070926, -2.395278 mu:0.618770 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.904] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -0.347887, -0.018795, -2.464903 mu:0.618770 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -0.352368, -0.018614, -2.463272 mu:0.618770 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -0.347839, -0.015268, -2.464960 mu:0.618770 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -0.275316, 0.013861, -2.489360 mu:0.618770 unit_bearing:0.210769 0.124909 0.969523 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.927466, 0.070148, -2.388934 mu:0.618770 unit_bearing:-0.524660 0.151905 0.837649 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.922955, 0.069949, -2.391198 mu:0.618770 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.680443, 0.161082, -2.626294 mu:0.570032 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.836894, Z inverse max: 0.303170 +[21:42:36.905] If point is visible? -0.394610, -0.833903, -2.194368 mu:0.618770 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -0.762867, -0.748572, -2.003118 mu:0.618770 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -0.395064, -0.827672, -2.198291 mu:0.618770 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.925632, -0.751998, -2.180586 mu:0.618770 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -0.422452, -0.806824, -2.198508 mu:0.618770 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.236312, -0.771280, -2.365635 mu:0.618770 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -0.403032, -0.700601, -2.269936 mu:0.618770 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.260909, -0.640233, -2.428596 mu:0.618770 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.261053, -0.646857, -2.425713 mu:0.618770 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.259462, -0.566846, -2.458226 mu:0.618770 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.250097, -0.566922, -2.458516 mu:0.618770 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.435164, -0.242397, -2.526752 mu:0.618770 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -1.009511, -0.115545, -2.007625 mu:0.618770 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -1.016538, -0.114581, -1.999649 mu:0.618770 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.416344, -0.249695, -2.528263 mu:0.618770 unit_bearing:-0.219406 -0.034022 0.975040 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -1.002430, -0.149856, -2.011394 mu:0.618770 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? -1.037355, -0.144824, -1.971241 mu:0.618770 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.905] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.905] If point is visible? 0.322201, -0.131919, -2.552154 mu:0.618770 unit_bearing:-0.161899 0.040112 0.985992 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -1.044184, -0.150410, -1.962111 mu:0.618770 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -1.097483, -0.109042, -1.898580 mu:0.618770 unit_bearing:0.748940 0.004877 0.662620 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? 0.312830, -0.117917, -2.553908 mu:0.618770 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -0.485966, -0.065117, -2.406104 mu:0.618770 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -0.494719, -0.064647, -2.401961 mu:0.618770 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -0.503529, -0.071168, -2.397399 mu:0.618770 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? 0.891364, -0.059751, -2.406953 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? 0.927459, 0.073616, -2.388765 mu:0.618770 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? 0.927473, 0.066680, -2.389095 mu:0.618770 unit_bearing:-0.524697 0.149788 0.838008 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? 1.069246, 0.114901, -2.305549 mu:0.618770 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? 0.863974, 0.126717, -2.415296 mu:0.618770 unit_bearing:-0.486590 0.188635 0.853022 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? 0.873060, 0.134017, -2.410528 mu:0.618770 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -0.453396, 0.532277, -2.323205 mu:0.618770 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? 0.263307, -0.738655, -2.382005 mu:0.618770 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -0.816048, -0.574049, -2.060769 mu:0.618770 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -0.808712, -0.805239, -1.914909 mu:0.618770 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -0.838385, -0.799410, -1.887915 mu:0.618770 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -0.374914, -0.734643, -2.264052 mu:0.618770 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -0.392476, -0.733412, -2.256897 mu:0.618770 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? -0.444808, -0.729451, -2.234081 mu:0.618770 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? 0.961481, -0.698518, -2.190468 mu:0.618770 unit_bearing:-0.539937 -0.335143 0.772105 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? 0.259705, -0.580259, -2.453122 mu:0.618770 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.906] If point is visible? 0.279197, -0.620119, -2.436301 mu:0.618770 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.906] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? 0.245420, -0.764744, -2.368926 mu:0.618770 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? 0.429868, -0.669965, -2.398980 mu:0.618770 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? 0.818475, -0.687445, -2.272802 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? -0.369342, -0.823418, -2.213033 mu:0.618770 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? -0.386804, -0.822103, -2.205855 mu:0.618770 unit_bearing:0.289363 -0.409884 0.865023 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? -0.404206, -0.820740, -2.198451 mu:0.618770 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? 0.262959, -0.725652, -2.388633 mu:0.618770 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? 0.444591, -0.249173, -2.524286 mu:0.618770 unit_bearing:-0.236594 -0.034002 0.971013 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? -1.009471, -0.155517, -2.002556 mu:0.618770 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? -0.995341, -0.144170, -2.020142 mu:0.618770 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? -1.009517, -0.142209, -2.004376 mu:0.618770 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? -0.316394, -0.016490, -2.475991 mu:0.618770 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? 0.891277, 0.072068, -2.406438 mu:0.618770 unit_bearing:-0.503300 0.154404 0.850205 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? -0.459463, -0.052465, -2.418828 mu:0.618770 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? 2.894916, 0.024463, -5.845224 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: -nan, Z inverse max: -nan +[21:42:36.907] If point is visible? -0.906718, -0.074070, -2.118031 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? -0.477198, -0.065581, -2.410190 mu:0.618770 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? -0.316575, -0.030604, -2.475712 mu:0.618770 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.203356 y=0.000000 z=-0.945829 +[21:42:36.907] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:36.907] If point is visible? 0.681945, 0.044790, -2.254257 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.907] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.907] If point is visible? 0.718579, 0.081955, -2.238449 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.907] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.907] If point is visible? 0.186885, -0.837698, -2.059833 mu:0.717420 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.907] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.907] If point is visible? 0.178314, -0.829934, -2.065471 mu:0.717420 unit_bearing:-0.113287 -0.493085 0.862574 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.907] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.907] If point is visible? 0.182494, -0.832515, -2.063638 mu:0.717420 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.907] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.907] If point is visible? -0.602567, -0.779432, -1.774052 mu:0.717420 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.907] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.907] If point is visible? 0.173926, -0.824724, -2.069207 mu:0.717420 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.907] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.907] If point is visible? -0.602994, -0.776926, -1.775988 mu:0.717420 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.907] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.907] If point is visible? 0.169538, -0.819499, -2.072902 mu:0.717420 unit_bearing:-0.107723 -0.485004 0.867852 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.907] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.907] If point is visible? 0.165360, -0.816891, -2.074661 mu:0.717420 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.907] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.907] If point is visible? 0.152415, -0.803740, -2.083556 mu:0.717420 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.907] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.800572, -0.712020, -1.600137 mu:0.717420 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? 0.152620, -0.806387, -2.081691 mu:0.717420 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.717228, -0.730464, -1.695441 mu:0.717420 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.801584, -0.707155, -1.603848 mu:0.717420 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.804342, -0.706382, -1.600452 mu:0.717420 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.370953, -0.760995, -1.962714 mu:0.717420 unit_bearing:0.288202 -0.452979 0.843652 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.760524, -0.710897, -1.658940 mu:0.717420 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.642357, -0.728272, -1.780915 mu:0.717420 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.782073, -0.698432, -1.641594 mu:0.717420 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.765291, -0.700261, -1.662995 mu:0.717420 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? 0.841187, -0.740811, -1.939500 mu:0.717420 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:36.908] If point is visible? -0.728156, -0.701594, -1.709389 mu:0.717420 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? 0.130333, -0.774448, -2.102512 mu:0.717420 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? 0.130135, -0.771765, -2.104291 mu:0.717420 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.732033, -0.695891, -1.709867 mu:0.717420 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.731602, -0.698416, -1.708090 mu:0.717420 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.669282, -0.673319, -1.799131 mu:0.717420 unit_bearing:0.518491 -0.404850 0.753168 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.685174, -0.670476, -1.784849 mu:0.717420 unit_bearing:0.531332 -0.404075 0.744587 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.667795, -0.683713, -1.792359 mu:0.717420 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.671359, -0.680553, -1.791230 mu:0.717420 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.674540, -0.679983, -1.788385 mu:0.717420 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.675289, -0.674792, -1.791772 mu:0.717420 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.678466, -0.674222, -1.788915 mu:0.717420 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.410585, -0.693888, -1.987269 mu:0.717420 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.406411, -0.699621, -1.985885 mu:0.717420 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.686326, -0.639656, -1.807390 mu:0.717420 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.689852, -0.636465, -1.806104 mu:0.717420 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.693026, -0.635905, -1.803212 mu:0.717420 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.696192, -0.635343, -1.800307 mu:0.717420 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.357401, -0.682359, -2.024227 mu:0.717420 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.354219, -0.677196, -2.029121 mu:0.717420 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.351512, -0.666541, -2.037090 mu:0.717420 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? 0.746730, -0.656489, -2.048910 mu:0.717420 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.431343, -0.665076, -1.993604 mu:0.717420 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? 0.128641, -0.690064, -2.154651 mu:0.717420 unit_bearing:-0.085783 -0.385690 0.918632 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.439073, -0.658940, -1.992770 mu:0.717420 unit_bearing:0.334635 -0.377681 0.863352 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.442670, -0.658592, -1.990773 mu:0.717420 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? 0.136137, -0.681781, -2.159781 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.693372, -0.633270, -1.804799 mu:0.717420 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? -0.696540, -0.632709, -1.801894 mu:0.717420 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? 0.147498, -0.670694, -2.166514 mu:0.717420 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.908] If point is visible? 0.143494, -0.670697, -2.166323 mu:0.717420 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.908] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.817840, -0.582499, -1.694711 mu:0.717420 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.442932, -0.655866, -1.992324 mu:0.717420 unit_bearing:0.337460 -0.375531 0.863190 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.131329, -0.667912, -2.167193 mu:0.717420 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.452905, -0.625040, -2.004908 mu:0.717420 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.453149, -0.622287, -2.006377 mu:0.717420 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.354317, -0.633473, -2.055208 mu:0.717420 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.181953, -0.639932, -2.183995 mu:0.717420 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.177933, -0.639951, -2.183909 mu:0.717420 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.178077, -0.642748, -2.182462 mu:0.717420 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.174059, -0.642766, -2.182364 mu:0.717420 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.449792, -0.619875, -2.009857 mu:0.717420 unit_bearing:0.340918 -0.348370 0.873163 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.453391, -0.619532, -2.007839 mu:0.717420 unit_bearing:0.343692 -0.348303 0.872102 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.174205, -0.645561, -2.180911 mu:0.717420 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.358688, -0.624875, -2.057875 mu:0.717420 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.450032, -0.617117, -2.011312 mu:0.717420 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.446665, -0.614695, -2.014766 mu:0.717420 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.197486, -0.628630, -2.189942 mu:0.717420 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.362829, -0.619038, -2.059038 mu:0.717420 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.362609, -0.621817, -2.057600 mu:0.717420 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.436519, -0.607392, -2.025014 mu:0.717420 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.885030, -0.540511, -1.628637 mu:0.717420 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.400749, -0.602207, -2.048286 mu:0.717420 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.422669, -0.600352, -2.037010 mu:0.717420 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.885409, -0.537924, -1.630075 mu:0.717420 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.411284, -0.606851, -2.039884 mu:0.717420 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.883500, -0.533459, -1.636575 mu:0.717420 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.386270, -0.600610, -2.056962 mu:0.717420 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.389950, -0.600316, -2.055160 mu:0.717420 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.393626, -0.600020, -2.053347 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.209300, -0.622924, -2.192808 mu:0.717420 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.221132, -0.617194, -2.195542 mu:0.717420 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.128755, -0.620359, -2.191869 mu:0.717420 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.881927, -0.526369, -1.644442 mu:0.717420 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.415816, -0.595412, -2.043607 mu:0.717420 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.393840, -0.597232, -2.054738 mu:0.717420 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? -0.397512, -0.596934, -2.052913 mu:0.717420 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:36.909] If point is visible? 0.225036, -0.614341, -2.196886 mu:0.717420 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.244848, -0.605662, -2.200612 mu:0.717420 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.240806, -0.605712, -2.200715 mu:0.717420 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.272678, -0.593973, -2.204963 mu:0.717420 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.264701, -0.596922, -2.203982 mu:0.717420 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.151602, -0.594968, -2.205338 mu:0.717420 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.304748, -0.584916, -2.207028 mu:0.717420 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.300693, -0.584996, -2.207310 mu:0.717420 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.909] If point is visible? 0.296639, -0.585074, -2.207580 mu:0.717420 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.909] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.171332, -0.586432, -2.209989 mu:0.717420 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.292699, -0.587975, -2.206516 mu:0.717420 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.288647, -0.588049, -2.206762 mu:0.717420 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.151470, -0.592135, -2.206667 mu:0.717420 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.151340, -0.589300, -2.207989 mu:0.717420 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.527696, -0.565865, -2.177750 mu:0.717420 unit_bearing:-0.369647 -0.295232 0.881022 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.523641, -0.566068, -2.178717 mu:0.717420 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.552167, -0.570183, -2.169042 mu:0.717420 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.186834, -0.572168, -2.216805 mu:0.717420 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.182801, -0.572186, -2.216738 mu:0.717420 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.186357, -0.560773, -2.221867 mu:0.717420 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.182322, -0.560790, -2.221800 mu:0.717420 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.819456, -0.519450, -2.083201 mu:0.717420 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? 0.175707, -0.491832, -2.249811 mu:0.717420 unit_bearing:-0.126762 -0.236215 0.963397 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.834851, -0.309334, -1.822996 mu:0.717420 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.832006, -0.307013, -1.827163 mu:0.717420 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.178613, -0.341771, -2.242100 mu:0.717420 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.182509, -0.341624, -2.240985 mu:0.717420 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.186402, -0.341476, -2.239858 mu:0.717420 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.313741, -0.320856, -2.199896 mu:0.717420 unit_bearing:0.227977 -0.118832 0.966388 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.252403, -0.329816, -2.221183 mu:0.717420 unit_bearing:0.182072 -0.123351 0.975517 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.256250, -0.329639, -2.219848 mu:0.717420 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.260094, -0.329459, -2.218501 mu:0.717420 unit_bearing:0.187819 -0.123331 0.974430 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:36.910] If point is visible? -0.263935, -0.329278, -2.217143 mu:0.717420 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:36.910] If point is visible? -0.178680, -0.338808, -2.242858 mu:0.717420 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.182576, -0.338662, -2.241742 mu:0.717420 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.186469, -0.338513, -2.240615 mu:0.717420 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.209778, -0.337588, -2.233610 mu:0.717420 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.191852, -0.248978, -2.259164 mu:0.717420 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.195745, -0.248831, -2.258014 mu:0.717420 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.222817, -0.256742, -2.247938 mu:0.717420 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.211412, -0.236246, -2.255479 mu:0.717420 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.203833, -0.212528, -2.261905 mu:0.717420 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.326809, -0.210033, -2.217770 mu:0.717420 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.922902, -0.113278, -1.759270 mu:0.717420 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.925627, -0.112813, -1.755549 mu:0.717420 unit_bearing:0.712358 -0.009540 0.701752 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.933678, -0.122802, -1.742726 mu:0.717420 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.281206, -0.170179, -2.241693 mu:0.717420 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:36.910] If point is visible? -0.219521, -0.163728, -2.263932 mu:0.717420 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] calculated Z= 0.796486 +[21:42:36.910] update seeds 305 +[21:42:36.910] If point is visible? -0.223397, -0.163577, -2.262701 mu:0.717420 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:36.910] If point is visible? -0.334588, -0.164590, -2.221192 mu:0.717420 unit_bearing:0.242536 -0.005697 0.970126 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.911925, -0.100796, -1.775868 mu:0.717420 unit_bearing:0.700618 0.000794 0.713536 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.910] If point is visible? -0.914690, -0.100345, -1.772194 mu:0.717420 unit_bearing:0.702980 0.000793 0.711209 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.910] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.914690, -0.103210, -1.771842 mu:0.717420 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.917445, -0.102757, -1.768156 mu:0.717420 unit_bearing:0.705335 -0.001277 0.708873 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.920188, -0.105163, -1.764099 mu:0.717420 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.922911, -0.110421, -1.759650 mu:0.717420 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.925636, -0.109958, -1.755928 mu:0.717420 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.903524, -0.084893, -1.788792 mu:0.717420 unit_bearing:0.693483 0.013248 0.720351 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.192244, -0.128447, -2.276254 mu:0.717420 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.196077, -0.116184, -2.276237 mu:0.717420 unit_bearing:0.139032 0.033584 0.989718 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.493759, -0.058773, -2.151479 mu:0.717420 unit_bearing:0.364298 0.063557 0.929111 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.497388, -0.058532, -2.149385 mu:0.717420 unit_bearing:0.367100 0.063546 0.928008 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.195614, -0.064538, -2.279879 mu:0.717420 unit_bearing:0.138993 0.070678 0.987768 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.199503, -0.064401, -2.278716 mu:0.717420 unit_bearing:0.141878 0.070674 0.987358 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.203390, -0.064263, -2.277541 mu:0.717420 unit_bearing:0.144763 0.070670 0.986939 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.195537, -0.058450, -2.280182 mu:0.717420 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.199427, -0.058313, -2.279019 mu:0.717420 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.203314, -0.058175, -2.277844 mu:0.717420 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.419860, -0.033046, -2.192235 mu:0.717420 unit_bearing:0.307853 0.085440 0.947590 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.352413, -0.030542, -2.223801 mu:0.717420 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.355901, -0.015160, -2.222553 mu:0.717420 unit_bearing:0.259474 0.100827 0.960472 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.352072, -0.012305, -2.224255 mu:0.717420 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.355841, -0.012120, -2.222612 mu:0.717420 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.294505, 0.015553, -2.247719 mu:0.717420 unit_bearing:0.213635 0.124897 0.968897 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.286867, 0.015230, -2.250619 mu:0.717420 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.584122, 0.002849, -2.286742 mu:0.717420 unit_bearing:-0.413867 0.119263 0.902491 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.681945, 0.044790, -2.254257 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.754910, 0.110056, -2.221255 mu:0.717420 unit_bearing:-0.526557 0.189877 0.828664 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.188327, 0.531769, -2.173357 mu:0.717420 unit_bearing:0.153109 0.485979 0.860455 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.361858, -0.711575, -2.002804 mu:0.717420 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.369183, -0.710954, -1.999274 mu:0.717420 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.376492, -0.710323, -1.995695 mu:0.717420 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.383786, -0.709682, -1.992069 mu:0.717420 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.754542, -0.653042, -2.047078 mu:0.717420 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.122573, -0.720273, -2.136501 mu:0.717420 unit_bearing:-0.079930 -0.408788 0.909122 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.136137, -0.681781, -2.159781 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.407238, -0.691523, -1.990804 mu:0.717420 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.393626, -0.600020, -2.053347 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.408290, -0.598814, -2.045973 mu:0.717420 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.487118, -0.567788, -2.186847 mu:0.717420 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.170105, -0.557973, -2.222775 mu:0.717420 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.176001, -0.500506, -2.246512 mu:0.717420 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.167528, -0.488949, -2.250696 mu:0.717420 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.159451, -0.488953, -2.250447 mu:0.717420 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? 0.325411, -0.204159, -2.319314 mu:0.717420 unit_bearing:-0.236604 -0.025294 0.971277 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.911] If point is visible? -0.892259, -0.121158, -1.799015 mu:0.717420 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.911] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.914654, -0.117523, -1.769975 mu:0.717420 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.920155, -0.116598, -1.762593 mu:0.717420 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.897937, -0.114518, -1.792598 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.903570, -0.102138, -1.786817 mu:0.717420 unit_bearing:0.693500 0.000795 0.720456 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.925584, -0.121373, -1.754369 mu:0.717420 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.475922, -0.093109, -2.159471 mu:0.717420 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.211242, -0.114230, -2.335048 mu:0.717420 unit_bearing:-0.156135 0.040117 0.986921 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.897945, -0.097275, -1.794742 mu:0.717420 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.903563, -0.096393, -1.787503 mu:0.717420 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.219414, -0.108161, -2.335463 mu:0.717420 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.211312, -0.102091, -2.335992 mu:0.717420 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.903548, -0.090645, -1.788161 mu:0.717420 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.717525, -0.055732, -2.240264 mu:0.717420 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.482805, -0.056472, -2.157856 mu:0.717420 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.620676, -0.005182, -2.275813 mu:0.717420 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.702843, 0.111508, -2.242407 mu:0.717420 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.431763, 0.463639, -2.096774 mu:0.717420 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.722965, -0.697841, -1.719082 mu:0.717420 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.746986, -0.692572, -1.694271 mu:0.717420 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.167922, -0.500520, -2.246312 mu:0.717420 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.737211, -0.488218, -1.851346 mu:0.717420 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.363465, -0.695353, -2.012695 mu:0.717420 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.378120, -0.694117, -2.005589 mu:0.717420 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.392711, -0.692840, -1.998292 mu:0.717420 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.173770, -0.637169, -2.185250 mu:0.717420 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.370221, -0.618470, -2.055564 mu:0.717420 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.384962, -0.617305, -2.048473 mu:0.717420 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.428807, -0.613583, -2.026056 mu:0.717420 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.391619, -0.703644, -1.991722 mu:0.717420 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.748719, -0.682475, -1.701311 mu:0.717420 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.168329, -0.512064, -2.241821 mu:0.717420 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.173203, -0.625951, -2.190940 mu:0.717420 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.800458, -0.573205, -2.067403 mu:0.717420 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.384059, -0.628390, -2.042677 mu:0.717420 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:36.912] If point is visible? -0.413330, -0.625927, -2.027919 mu:0.717420 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.169188, -0.535074, -2.232514 mu:0.717420 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? 0.316696, -0.579010, -2.208735 mu:0.717420 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.886598, -0.104783, -1.808383 mu:0.717420 unit_bearing:0.679115 0.000797 0.734031 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.897951, -0.103026, -1.794055 mu:0.717420 unit_bearing:0.688727 0.000796 0.725020 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.886584, -0.116299, -1.806924 mu:0.717420 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.897937, -0.114518, -1.792598 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.912] If point is visible? -0.460782, -0.051823, -2.170269 mu:0.717420 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.912] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.913] If point is visible? -0.325769, -0.022692, -2.235223 mu:0.717420 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.913] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.913] If point is visible? -0.897887, -0.125996, -1.791032 mu:0.717420 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.913] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:36.913] If point is visible? 0.718579, 0.081955, -2.238449 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.203362 y=0.000000 z=-0.945874 +[21:42:36.913] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.292] add new frame +[21:42:37.292] update seed +[21:42:37.292] If point is visible? 0.416733, -0.222238, -0.094783 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.203392 y=0.000000 z=-0.871218 +[21:42:37.292] If point is visible? 0.136421, -0.096895, -0.044247 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.203392 y=0.000000 z=-0.871218 +[21:42:37.292] If point is visible? 0.126364, -0.214684, -0.067644 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.203392 y=0.000000 z=-0.871218 +[21:42:37.292] If point is visible? 0.416733, -0.222238, -0.094783 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.203392 y=0.000000 z=-0.871218 +[21:42:37.292] If point is visible? 0.136421, -0.096895, -0.044247 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.203392 y=0.000000 z=-0.871218 +[21:42:37.292] If point is visible? 0.126364, -0.214684, -0.067644 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.203392 y=0.000000 z=-0.871218 +[21:42:37.292] If point is visible? 0.153643, -0.001137, -0.752944 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.292] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.292] If point is visible? 0.194181, -0.015193, -0.744457 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.292] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.293] If point is visible? 0.194176, -0.016349, -0.744598 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.293] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.293] If point is visible? 0.193309, 0.067683, -0.762524 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.293] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.293] If point is visible? 0.236423, 0.057899, -0.761593 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.293] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.293] If point is visible? 0.160103, 0.054614, -0.763201 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.293] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.293] If point is visible? 0.160106, 0.054876, -0.763329 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.293] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.293] If point is visible? 0.239477, 0.053527, -0.760384 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.293] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.293] If point is visible? 0.236540, 0.053135, -0.759304 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.293] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.293] If point is visible? 0.159334, 0.051670, -0.762098 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.293] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.293] If point is visible? 0.158952, 0.050322, -0.761637 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.293] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.293] If point is visible? 0.158565, 0.048439, -0.760965 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.293] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.254482, 0.049425, -0.764387 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.254490, 0.049159, -0.764271 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.235148, 0.048913, -0.757056 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.254498, 0.048893, -0.764157 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.181707, 0.047061, -0.753888 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.182085, 0.047071, -0.753826 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.255305, 0.045639, -0.763145 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.244039, 0.046610, -0.758904 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.235201, 0.045941, -0.755875 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.243694, 0.045550, -0.758360 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.157800, 0.045453, -0.760035 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.294] If point is visible? 0.157798, 0.045185, -0.759930 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.294] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.295] If point is visible? 0.243332, 0.045299, -0.758136 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.296] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.296] If point is visible? 0.243700, 0.045280, -0.758256 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.296] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.296] If point is visible? 0.188128, 0.045856, -0.752465 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.296] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.296] If point is visible? 0.188885, 0.045598, -0.752278 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.296] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.296] If point is visible? 0.235581, 0.045384, -0.755764 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.296] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.297] calculated Z= 0.270281 +[21:42:37.297] update seeds 305 +[21:42:37.297] If point is visible? 0.243338, 0.045028, -0.758032 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.297] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.297] If point is visible? 0.235966, 0.044554, -0.755556 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.297] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.297] calculated Z= 0.271873 +[21:42:37.297] update seeds 305 +[21:42:37.297] If point is visible? 0.236337, 0.044539, -0.755653 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.297] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.297] calculated Z= 0.270372 +[21:42:37.297] update seeds 305 +[21:42:37.297] If point is visible? 0.192674, 0.044295, -0.751420 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.297] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.297] If point is visible? 0.191916, 0.044557, -0.751582 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.297] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.297] If point is visible? 0.196462, 0.044064, -0.751077 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.297] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.297] If point is visible? 0.242975, 0.044777, -0.757810 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.297] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.297] If point is visible? 0.243343, 0.044758, -0.757930 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.297] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.298] If point is visible? 0.237462, 0.043677, -0.755654 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.298] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.298] calculated Z= 0.291298 +[21:42:37.298] update seeds 305 +[21:42:37.298] If point is visible? 0.236341, 0.044267, -0.755553 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.298] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.298] calculated Z= 0.270799 +[21:42:37.298] update seeds 305 +[21:42:37.298] If point is visible? 0.236712, 0.044252, -0.755652 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.298] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.298] calculated Z= 0.269339 +[21:42:37.298] update seeds 305 +[21:42:37.298] If point is visible? 0.157033, 0.041910, -0.758992 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.298] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.298] If point is visible? 0.194572, 0.043224, -0.750895 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.298] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.298] If point is visible? 0.194950, 0.043228, -0.750871 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.298] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.298] If point is visible? 0.195329, 0.043232, -0.750848 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.298] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.298] If point is visible? 0.237837, 0.043389, -0.755658 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.298] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.298] If point is visible? 0.146432, 0.040363, -0.763235 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.298] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.146435, 0.040631, -0.763331 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.236717, 0.043980, -0.755552 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.195330, 0.042958, -0.750752 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.196850, 0.042150, -0.750389 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.196851, 0.041875, -0.750296 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.157725, 0.034882, -0.756408 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.193468, 0.031599, -0.747499 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.138036, 0.025064, -0.763326 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.138038, 0.025338, -0.763387 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.217760, 0.025942, -0.746710 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.134839, 0.023163, -0.764841 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.299] If point is visible? 0.222670, 0.025295, -0.747242 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.299] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.300] If point is visible? 0.217767, 0.023971, -0.746326 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.300] calculated Z= 0.610351 +[21:42:37.300] update seeds 305 +[21:42:37.300] If point is visible? 0.228319, 0.023761, -0.747946 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.300] If point is visible? 0.136593, 0.020838, -0.763306 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.300] If point is visible? 0.139080, 0.020201, -0.761739 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.300] If point is visible? 0.139079, 0.019925, -0.761690 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.300] If point is visible? 0.227949, 0.021798, -0.747519 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.300] If point is visible? 0.217769, 0.023125, -0.746171 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.300] calculated Z= 0.608480 +[21:42:37.300] update seeds 305 +[21:42:37.300] If point is visible? 0.131320, 0.019855, -0.766452 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.300] If point is visible? 0.128545, 0.018789, -0.768156 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.300] If point is visible? 0.134820, 0.019324, -0.764111 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.300] If point is visible? 0.135525, 0.019104, -0.763640 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.300] If point is visible? 0.226829, 0.018150, -0.746732 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.300] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.301] If point is visible? 0.228332, 0.018114, -0.747016 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.301] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.301] If point is visible? 0.216641, 0.019183, -0.745398 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.301] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.301] If point is visible? 0.217019, 0.019178, -0.745437 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.301] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.301] If point is visible? 0.217397, 0.019172, -0.745478 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.301] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.301] If point is visible? 0.219667, 0.016870, -0.745429 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.301] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.301] calculated Z= 0.580324 +[21:42:37.301] update seeds 305 +[21:42:37.301] If point is visible? 0.228332, 0.017831, -0.746976 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.301] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.301] If point is visible? 0.228708, 0.016972, -0.746934 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.301] Z inverse min: -7.583360, Z inverse max: 0.000000 +[21:42:37.301] If point is visible? 0.217020, 0.018043, -0.745274 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.301] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.301] If point is visible? 0.217399, 0.018038, -0.745315 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.301] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.301] If point is visible? 0.217778, 0.016046, -0.745094 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.301] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.302] If point is visible? 0.216642, 0.014069, -0.744740 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.302] If point is visible? 0.217020, 0.014064, -0.744780 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.302] If point is visible? 0.217399, 0.014059, -0.744821 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.302] If point is visible? 0.229834, 0.014958, -0.746914 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.302] calculated Z= 0.308216 +[21:42:37.302] update seeds 305 +[21:42:37.302] If point is visible? 0.231334, 0.014635, -0.747201 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.302] If point is visible? 0.229831, 0.011830, -0.746585 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.302] If point is visible? 0.216641, 0.012929, -0.744621 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.302] If point is visible? 0.217020, 0.012925, -0.744661 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.302] calculated Z= 0.620395 +[21:42:37.302] update seeds 305 +[21:42:37.302] If point is visible? 0.217398, 0.012920, -0.744702 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.302] calculated Z= 0.615377 +[21:42:37.302] update seeds 305 +[21:42:37.302] If point is visible? 0.231695, 0.007790, -0.746679 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.302] If point is visible? 0.218145, 0.007768, -0.744376 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.302] If point is visible? 0.184747, 0.006016, -0.744694 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.302] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.237645, 0.003336, -0.747965 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.239503, 0.003279, -0.748487 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.262442, 0.000878, -0.757508 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.233906, 0.001437, -0.746965 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.234277, 0.001141, -0.747052 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.217368, 0.002043, -0.744072 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.217746, 0.002038, -0.744114 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.217357, -0.000257, -0.744055 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.232391, -0.001393, -0.746607 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.232764, -0.001403, -0.746693 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.217346, -0.002272, -0.744074 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.303] If point is visible? 0.217723, -0.002276, -0.744116 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.303] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.304] If point is visible? 0.218101, -0.002281, -0.744159 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.304] If point is visible? 0.232388, -0.001681, -0.746610 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.304] If point is visible? 0.232010, -0.002246, -0.746532 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.304] If point is visible? 0.232008, -0.002533, -0.746537 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.304] If point is visible? 0.240198, -0.002470, -0.748672 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.304] calculated Z= 0.657654 +[21:42:37.304] update seeds 305 +[21:42:37.304] If point is visible? 0.230868, -0.004520, -0.746339 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.304] If point is visible? 0.230866, -0.004807, -0.746349 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.304] If point is visible? 0.159256, -0.013772, -0.751573 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.304] If point is visible? 0.195682, -0.018077, -0.744733 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.304] If point is visible? 0.194074, -0.036260, -0.748707 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.304] If point is visible? 0.194449, -0.036259, -0.748681 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.304] If point is visible? 0.194447, -0.036546, -0.748764 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.304] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.305] If point is visible? 0.242103, -0.035548, -0.754384 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.305] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.305] If point is visible? 0.247454, -0.037939, -0.757007 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.305] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.305] If point is visible? 0.247105, -0.037648, -0.756782 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.305] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.305] If point is visible? 0.222962, -0.049240, -0.754517 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.305] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.305] If point is visible? 0.196326, 0.065664, -0.761107 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.305] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.305] If point is visible? 0.197076, 0.065672, -0.761070 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.305] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.305] If point is visible? 0.195567, 0.066688, -0.761755 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.305] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.305] If point is visible? 0.197832, 0.065162, -0.760739 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.305] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.305] If point is visible? 0.239864, 0.052711, -0.760128 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.306] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.306] If point is visible? 0.236903, 0.053384, -0.759526 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.306] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.306] If point is visible? 0.237641, 0.053350, -0.759731 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.306] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.306] If point is visible? 0.239115, 0.053279, -0.760153 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.306] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.306] If point is visible? 0.238366, 0.053847, -0.760185 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.306] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.306] If point is visible? 0.198685, 0.052487, -0.754320 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.306] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.306] If point is visible? 0.255298, 0.045907, -0.763252 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.306] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.306] If point is visible? 0.197226, 0.042701, -0.750560 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.306] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.306] If point is visible? 0.237083, 0.044237, -0.755752 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.306] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.307] If point is visible? 0.237824, 0.044205, -0.755955 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.307] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.307] calculated Z= 0.287925 +[21:42:37.307] update seeds 305 +[21:42:37.307] If point is visible? 0.236332, 0.044811, -0.755754 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.307] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.307] calculated Z= 0.269260 +[21:42:37.307] update seeds 305 +[21:42:37.307] If point is visible? 0.237074, 0.044780, -0.755953 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.307] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.307] calculated Z= 0.265732 +[21:42:37.307] update seeds 305 +[21:42:37.307] If point is visible? 0.157355, 0.034861, -0.756544 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.307] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.307] If point is visible? 0.193470, 0.030482, -0.747225 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.307] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.307] If point is visible? 0.194229, 0.031048, -0.747308 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.307] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.307] If point is visible? 0.184368, 0.006582, -0.744776 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.307] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.307] If point is visible? 0.184368, 0.006010, -0.744748 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.307] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.307] If point is visible? 0.185126, 0.006021, -0.744642 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.307] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.307] If point is visible? 0.232032, 0.000625, -0.746519 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.307] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.307] If point is visible? 0.232779, 0.000606, -0.746691 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.307] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.239506, 0.003850, -0.748505 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.308] calculated Z= 0.671378 +[21:42:37.308] update seeds 305 +[21:42:37.308] If point is visible? 0.184368, 0.005437, -0.744723 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.185126, 0.005449, -0.744616 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.238709, -0.002999, -0.748253 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.229756, -0.003344, -0.746066 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.232783, 0.001180, -0.746695 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.158150, -0.014090, -0.752009 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.158885, -0.013497, -0.751676 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.195682, -0.018077, -0.744733 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.259315, -0.042434, -0.763835 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.263370, -0.044197, -0.766703 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.237654, 0.052818, -0.759488 mu:-7.630447 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.239128, 0.052747, -0.759910 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.308] If point is visible? 0.242191, 0.047244, -0.758521 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.308] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.309] If point is visible? 0.189560, 0.068120, -0.763181 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.309] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.309] If point is visible? 0.195701, 0.044877, -0.751413 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.309] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.309] If point is visible? 0.236305, 0.046437, -0.756374 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.309] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.309] calculated Z= 0.263316 +[21:42:37.309] update seeds 305 +[21:42:37.309] If point is visible? 0.237786, 0.046374, -0.756777 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.309] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.309] calculated Z= 0.257364 +[21:42:37.309] update seeds 305 +[21:42:37.309] If point is visible? 0.239265, 0.046307, -0.757198 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.309] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.309] calculated Z= 0.250744 +[21:42:37.309] update seeds 305 +[21:42:37.309] If point is visible? 0.237629, 0.053882, -0.759976 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.309] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.309] If point is visible? 0.192563, 0.067155, -0.762274 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.309] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.309] If point is visible? 0.239285, 0.045225, -0.756782 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.309] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.236200, 0.051817, -0.758606 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.192711, 0.030473, -0.747283 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.158089, 0.033806, -0.755956 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.192713, 0.029355, -0.747020 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.134819, 0.019049, -0.764064 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.229036, 0.000694, -0.745876 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.230509, -0.002786, -0.746212 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.218416, -0.010650, -0.744612 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.153643, -0.001137, -0.752944 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.237967, -0.002977, -0.748045 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.310] calculated Z= 0.686189 +[21:42:37.310] update seeds 305 +[21:42:37.310] If point is visible? 0.218426, -0.009495, -0.744524 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.218490, -0.000271, -0.744185 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.220000, -0.000292, -0.744373 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.310] If point is visible? 0.277784, -0.012718, -0.767426 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.310] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.311] If point is visible? 0.194181, -0.015193, -0.744457 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.311] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.311] If point is visible? 0.194176, -0.016349, -0.744598 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.311] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.311] If point is visible? 0.219993, -0.001443, -0.744380 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.311] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.311] If point is visible? 0.227520, -0.001572, -0.745587 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.311] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.311] If point is visible? 0.229020, -0.001603, -0.745881 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.203044 y=0.000000 z=-0.874325 +[21:42:37.311] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.311] If point is visible? 0.150637, 0.310358, -0.377814 mu:-1.675728 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.203309 y=0.000000 z=-0.884786 +[21:42:37.311] If point is visible? 0.682914, -0.416989, -2.167787 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.203303 y=0.000000 z=-0.887080 +[21:42:37.311] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.311] If point is visible? 0.682968, -0.405097, -2.171578 mu:0.699435 unit_bearing:-0.371667 -0.171737 0.912343 T_cur_ref: x=0.203303 y=0.000000 z=-0.887080 +[21:42:37.311] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.311] If point is visible? 0.682914, -0.416989, -2.167787 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.203303 y=0.000000 z=-0.887080 +[21:42:37.311] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.311] If point is visible? -0.721733, 0.121895, -1.970392 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.203303 y=0.000000 z=-0.887080 +[21:42:37.311] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.311] If point is visible? 0.682914, -0.416989, -2.167787 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.203303 y=0.000000 z=-0.887080 +[21:42:37.311] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.311] If point is visible? 0.682914, -0.416989, -2.167787 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.203303 y=0.000000 z=-0.887080 +[21:42:37.311] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.311] If point is visible? -0.721733, 0.121895, -1.970392 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.203303 y=0.000000 z=-0.887080 +[21:42:37.311] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.311] If point is visible? -0.006968, 0.024970, -1.138007 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.204009 y=0.000000 z=-0.903014 +[21:42:37.311] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:37.311] If point is visible? -0.006968, 0.024970, -1.138007 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.204009 y=0.000000 z=-0.903014 +[21:42:37.311] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:37.311] If point is visible? -0.190059, -0.017622, -1.520236 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.204614 y=0.000000 z=-0.916270 +[21:42:37.311] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.311] If point is visible? 0.480510, -0.006182, -1.583125 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.204614 y=0.000000 z=-0.916270 +[21:42:37.311] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.311] If point is visible? 0.464203, -0.006849, -1.589634 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.204614 y=0.000000 z=-0.916270 +[21:42:37.311] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.311] If point is visible? -0.190059, -0.017622, -1.520236 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.204614 y=0.000000 z=-0.916270 +[21:42:37.311] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.311] If point is visible? 0.480510, -0.006182, -1.583125 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.204614 y=0.000000 z=-0.916270 +[21:42:37.311] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.311] If point is visible? 0.464203, -0.006849, -1.589634 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.204614 y=0.000000 z=-0.916270 +[21:42:37.311] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.311] If point is visible? -53786233.097070, -48168274.646054, -69871637.431728 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.205726 y=0.000000 z=-0.932041 +[21:42:37.311] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:37.311] If point is visible? -85428469.214357, 26760316.897195, -45618519.260987 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.205726 y=0.000000 z=-0.932041 +[21:42:37.311] If point is visible? -53786233.097070, -48168274.646054, -69871637.431728 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.205726 y=0.000000 z=-0.932041 +[21:42:37.311] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:37.311] If point is visible? -85428469.214357, 26760316.897195, -45618519.260987 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.205726 y=0.000000 z=-0.932041 +[21:42:37.311] If point is visible? 0.926124, -0.051652, -2.002102 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.207020 y=0.000000 z=-0.957971 +[21:42:37.311] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:37.311] If point is visible? 0.926124, -0.051652, -2.002102 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.207020 y=0.000000 z=-0.957971 +[21:42:37.311] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:37.311] If point is visible? 0.477022, 0.029018, -1.349858 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.311] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.311] If point is visible? 0.430796, 0.030663, -1.377856 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.311] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.311] If point is visible? 0.420294, 0.030190, -1.383320 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.311] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.311] If point is visible? 0.242358, -0.285461, -1.338210 mu:2.097425 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.311] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.311] If point is visible? 0.239598, -0.282837, -1.340412 mu:2.097425 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.311] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.311] If point is visible? 0.240987, -0.284598, -1.338982 mu:2.097425 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.036277, -0.268890, -1.267523 mu:2.097425 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.236852, -0.281095, -1.341916 mu:2.097425 unit_bearing:-0.107700 -0.487042 0.866712 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.234087, -0.278445, -1.344047 mu:2.097425 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.235461, -0.279322, -1.343313 mu:2.097425 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.231300, -0.274876, -1.346780 mu:2.097425 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.231318, -0.275781, -1.346137 mu:2.097425 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.109833, -0.246714, -1.214980 mu:2.097425 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.458653, -0.248589, -1.272112 mu:2.113842 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.142513, Z inverse max: 2.085171 +[21:42:37.312] calculated Z= 0.522323 +[21:42:37.312] update seeds 305 +[21:42:37.312] If point is visible? -0.094108, -0.246982, -1.232998 mu:2.097425 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.111129, -0.244799, -1.215211 mu:2.097425 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.049710, -0.252411, -1.270535 mu:2.097425 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.094537, -0.243591, -1.235540 mu:2.097425 unit_bearing:0.598418 -0.436157 0.672059 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.095637, -0.243363, -1.234541 mu:2.097425 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.048976, -0.263346, -1.322649 mu:2.097425 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.081528, -0.242794, -1.249705 mu:2.097425 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.082660, -0.242583, -1.248757 mu:2.097425 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.081431, -0.243656, -1.249082 mu:2.097425 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.224301, -0.264945, -1.353981 mu:2.097425 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.224283, -0.264028, -1.354594 mu:2.097425 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.056901, -0.238339, -1.275553 mu:2.097425 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.058086, -0.238159, -1.274701 mu:2.097425 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.058167, -0.237274, -1.275296 mu:2.097425 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.059431, -0.236208, -1.275032 mu:2.097425 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.060612, -0.236027, -1.274171 mu:2.097425 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.037379, -0.241595, -1.332367 mu:2.097425 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.222598, -0.247375, -1.365257 mu:2.097425 unit_bearing:-0.079917 -0.410878 0.908181 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.055279, -0.235480, -1.343772 mu:2.097425 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.055235, -0.234548, -1.344322 mu:2.097425 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.064150, -0.222279, -1.281045 mu:2.097425 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.227837, -0.234161, -1.372765 mu:2.097425 unit_bearing:-0.091527 -0.381449 0.919847 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.029010, -0.229881, -1.335841 mu:2.097425 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.063999, -0.224076, -1.279929 mu:2.097425 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.068709, -0.223357, -1.276409 mu:2.097425 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.065407, -0.221202, -1.280727 mu:2.097425 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.066587, -0.221024, -1.279849 mu:2.097425 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.067765, -0.220846, -1.278967 mu:2.097425 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.027764, -0.230708, -1.334747 mu:2.097425 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.066662, -0.220124, -1.280402 mu:2.097425 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? -0.067840, -0.219946, -1.279520 mu:2.097425 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.057651, -0.230043, -1.347956 mu:2.097425 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.428055, -0.218870, -1.319299 mu:2.097425 unit_bearing:-0.504924 -0.363283 0.782992 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.231841, -0.227475, -1.376251 mu:2.097425 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.312] If point is visible? 0.226363, -0.227539, -1.376505 mu:2.097425 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.312] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.023644, -0.225743, -1.335770 mu:2.097425 unit_bearing:0.340283 -0.373381 0.863014 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.428078, -0.217957, -1.319836 mu:2.097425 unit_bearing:-0.505018 -0.361246 0.783874 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? -0.113029, -0.202407, -1.247657 mu:2.097425 unit_bearing:0.636389 -0.347324 0.688749 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? -0.112855, -0.204184, -1.246600 mu:2.097425 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? -0.112942, -0.203296, -1.247129 mu:2.097425 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? -0.112192, -0.199949, -1.250275 mu:2.097425 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.021841, -0.215334, -1.340932 mu:2.097425 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.024299, -0.212708, -1.343571 mu:2.097425 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.241340, -0.220665, -1.379217 mu:2.097425 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.023047, -0.213551, -1.342508 mu:2.097425 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.055736, -0.215818, -1.355280 mu:2.097425 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? -0.138209, -0.189227, -1.226909 mu:2.097425 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:37.313] calculated Z= 0.411760 +[21:42:37.313] update seeds 305 +[21:42:37.313] If point is visible? -0.137450, -0.186807, -1.229561 mu:2.097425 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.446292, -0.203955, -1.316397 mu:2.097425 unit_bearing:-0.542611 -0.332976 0.771168 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.249498, -0.214776, -1.381511 mu:2.097425 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.028067, -0.210167, -1.346719 mu:2.097425 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.051594, -0.210823, -1.356362 mu:2.097425 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.029327, -0.209315, -1.347754 mu:2.097425 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.253592, -0.212775, -1.382090 mu:2.097425 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.035690, -0.205980, -1.352353 mu:2.097425 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? -0.136766, -0.183483, -1.232676 mu:2.097425 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143663, Z inverse max: 2.051186 +[21:42:37.313] If point is visible? 0.041004, -0.208241, -1.353437 mu:2.097425 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.033156, -0.207699, -1.350337 mu:2.097425 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.046217, -0.207633, -1.355903 mu:2.097425 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.044903, -0.207548, -1.355414 mu:2.097425 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.043590, -0.207462, -1.354920 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.257688, -0.210766, -1.382623 mu:2.097425 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.261785, -0.208749, -1.383111 mu:2.097425 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? -0.136679, -0.184374, -1.232188 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.042240, -0.206423, -1.354904 mu:2.097425 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.035729, -0.206932, -1.351871 mu:2.097425 unit_bearing:0.313481 -0.330105 0.890371 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.265883, -0.206723, -1.383553 mu:2.097425 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.264511, -0.206757, -1.383724 mu:2.097425 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.269982, -0.204689, -1.383949 mu:2.097425 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.275453, -0.202609, -1.384099 mu:2.097425 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.234260, -0.203450, -1.388303 mu:2.097425 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.235611, -0.201494, -1.389134 mu:2.097425 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.361215, -0.192904, -1.365808 mu:2.097425 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.359868, -0.192991, -1.366273 mu:2.097425 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.286401, -0.199378, -1.383724 mu:2.097425 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.285031, -0.199422, -1.383957 mu:2.097425 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.283660, -0.199466, -1.384185 mu:2.097425 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.313] If point is visible? 0.282295, -0.200475, -1.383955 mu:2.097425 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.313] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.280925, -0.200517, -1.384175 mu:2.097425 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.362566, -0.191860, -1.365787 mu:2.097425 unit_bearing:-0.372414 -0.295171 0.879876 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.242450, -0.198486, -1.390021 mu:2.097425 unit_bearing:-0.123527 -0.302771 0.945024 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.243804, -0.196521, -1.390805 mu:2.097425 unit_bearing:-0.126421 -0.298480 0.946006 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.246505, -0.191607, -1.392766 mu:2.097425 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.245129, -0.191630, -1.392879 mu:2.097425 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.114475, -0.108140, -1.293031 mu:2.097425 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.090763, -0.113234, -1.406281 mu:2.097425 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:37.314] calculated Z= 0.921269 +[21:42:37.314] update seeds 305 +[21:42:37.314] If point is visible? 0.112500, -0.115933, -1.410679 mu:2.097425 unit_bearing:0.147530 -0.125631 0.981046 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.092127, -0.114293, -1.406364 mu:2.097425 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.122059, -0.118208, -1.411984 mu:2.097425 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.120695, -0.118174, -1.411736 mu:2.097425 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.119331, -0.118140, -1.411483 mu:2.097425 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.122049, -0.117195, -1.412245 mu:2.097425 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.120685, -0.117161, -1.411996 mu:2.097425 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.119321, -0.117127, -1.411744 mu:2.097425 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.111148, -0.116908, -1.410144 mu:2.097425 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.119128, -0.090650, -1.417729 mu:2.097425 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.117764, -0.090617, -1.417472 mu:2.097425 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.116399, -0.090583, -1.417212 mu:2.097425 unit_bearing:0.138992 -0.071189 0.987731 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.113673, -0.090513, -1.416679 mu:2.097425 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.119108, -0.086555, -1.418513 mu:2.097425 unit_bearing:0.133231 -0.062471 0.989114 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.117743, -0.086522, -1.418257 mu:2.097425 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.116379, -0.086488, -1.417997 mu:2.097425 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.112272, -0.082284, -1.417940 mu:2.097425 unit_bearing:0.147670 -0.053727 0.987576 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.110909, -0.082249, -1.417664 mu:2.097425 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.113620, -0.078214, -1.418925 mu:2.097425 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.071600, -0.073819, -1.409116 mu:2.097425 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.284596, -0.073399, -1.422637 mu:2.097425 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.150559, -0.046840, -1.269838 mu:2.097425 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.152653, -0.046539, -1.267467 mu:2.097425 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.108134, -0.057478, -1.420829 mu:2.097425 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.106773, -0.057442, -1.420540 mu:2.097425 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.148467, -0.043233, -1.272737 mu:2.097425 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.142079, -0.036251, -1.280669 mu:2.097425 unit_bearing:0.695874 0.007018 0.718130 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.143151, -0.036112, -1.279521 mu:2.097425 unit_bearing:0.698247 0.007014 0.715823 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.146354, -0.040589, -1.275457 mu:2.097425 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.147415, -0.040445, -1.274291 mu:2.097425 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.147414, -0.041424, -1.274166 mu:2.097425 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.148471, -0.041278, -1.272995 mu:2.097425 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.148470, -0.042256, -1.272867 mu:2.097425 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? -0.139920, -0.034560, -1.283173 mu:2.097423 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143655, Z inverse max: 2.051192 +[21:42:37.314] calculated Z= 0.420787 +[21:42:37.314] update seeds 305 +[21:42:37.314] If point is visible? 0.067537, -0.050012, -1.411141 mu:2.097425 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:37.314] calculated Z= 0.927751 +[21:42:37.314] update seeds 305 +[21:42:37.314] If point is visible? -0.137752, -0.033847, -1.285545 mu:2.097425 unit_bearing:0.686316 0.013269 0.727183 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.117687, -0.045296, -1.424112 mu:2.097425 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.314] If point is visible? 0.116323, -0.045264, -1.423852 mu:2.097425 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.314] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.161908, -0.026704, -1.258798 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.160871, -0.023924, -1.260298 mu:2.097425 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.160879, -0.024899, -1.260210 mu:2.097425 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.259709, -0.036644, -1.430412 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.258335, -0.030429, -1.431004 mu:2.097425 unit_bearing:-0.158998 0.057565 0.985599 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.060946, -0.019753, -1.411393 mu:2.097425 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.118724, -0.014146, -1.305834 mu:2.097425 unit_bearing:0.644530 0.059468 0.762263 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.116404, -0.022409, -1.425524 mu:2.097425 unit_bearing:0.138990 0.072859 0.987610 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.115040, -0.022379, -1.425259 mu:2.097425 unit_bearing:0.141875 0.072855 0.987200 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.113677, -0.022348, -1.424990 mu:2.097425 unit_bearing:0.144760 0.072851 0.986781 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.027699, -0.017362, -1.399403 mu:2.097425 unit_bearing:0.327680 0.076690 0.941671 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.115046, -0.021337, -1.425309 mu:2.097425 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.113683, -0.021307, -1.425040 mu:2.097425 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.030348, -0.016445, -1.400505 mu:2.097425 unit_bearing:0.322024 0.078880 0.943440 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.029027, -0.016386, -1.399977 mu:2.097425 unit_bearing:0.324848 0.078868 0.942472 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.061001, -0.012483, -1.411669 mu:2.097425 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.059689, -0.009316, -1.411321 mu:2.097425 unit_bearing:0.259492 0.096486 0.960913 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.061057, -0.006244, -1.411816 mu:2.097425 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.059718, -0.006196, -1.411384 mu:2.097425 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.062407, -0.005250, -1.412261 mu:2.097425 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.061067, -0.005203, -1.411832 mu:2.097425 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.088066, 0.002290, -1.419668 mu:2.097425 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.085364, 0.002366, -1.418963 mu:2.097425 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.084013, 0.002405, -1.418604 mu:2.097425 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.045429, -0.246779, -1.332547 mu:2.097425 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.434391, -0.220853, -1.314124 mu:2.097425 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.045329, -0.244941, -1.333709 mu:2.097425 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.227822, -0.233215, -1.373299 mu:2.097425 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.233211, -0.227457, -1.376177 mu:2.097425 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.406316, -0.203582, -1.340272 mu:2.097425 unit_bearing:-0.461453 -0.326097 0.825059 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.043590, -0.207462, -1.354920 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.136679, -0.184374, -1.232188 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.240972, -0.188763, -1.394474 mu:2.097425 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.240992, -0.190716, -1.393623 mu:2.097425 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.240770, -0.167114, -1.403227 mu:2.097425 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.238012, -0.167149, -1.403415 mu:2.097425 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.136667, -0.045794, -1.285233 mu:2.097425 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.145282, -0.044649, -1.276103 mu:2.097425 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.147407, -0.044357, -1.273775 mu:2.097425 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.136674, -0.037924, -1.286231 mu:2.097425 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.138845, -0.037649, -1.283974 mu:2.097425 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.141005, -0.037372, -1.281700 mu:2.097425 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.268001, -0.067541, -1.425987 mu:2.097425 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.149512, -0.046014, -1.271157 mu:2.097425 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? -0.161908, -0.026704, -1.258798 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.315] If point is visible? 0.017056, -0.034406, -1.393918 mu:2.097425 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.315] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? -0.138841, -0.035681, -1.284199 mu:2.097425 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? -0.141001, -0.035406, -1.281924 mu:2.097425 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.259709, -0.036644, -1.430412 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.259712, -0.034568, -1.430568 mu:2.097425 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.256944, -0.034601, -1.430866 mu:2.097425 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.014508, -0.021904, -1.393607 mu:2.097425 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.393850, 0.000224, -1.396621 mu:2.097425 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.358654, 0.046630, -1.407584 mu:2.097425 unit_bearing:-0.365573 0.211999 0.906318 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.489404, 0.033807, -1.340639 mu:2.097425 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.027675, 0.156184, -1.371203 mu:2.097425 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.052881, -0.239952, -1.340048 mu:2.097425 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.047649, -0.239591, -1.338123 mu:2.097425 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.042431, -0.239216, -1.336131 mu:2.097425 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.051707, -0.213675, -1.354883 mu:2.097425 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.046446, -0.213339, -1.352966 mu:2.097425 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.030753, -0.212252, -1.346812 mu:2.097425 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.241304, -0.217796, -1.380710 mu:2.097425 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? -0.080616, -0.170685, -1.297751 mu:2.097425 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? -0.079353, -0.242349, -1.252208 mu:2.097425 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? -0.088386, -0.240651, -1.244572 mu:2.097425 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.240804, -0.171070, -1.401720 mu:2.097425 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? -0.079731, -0.238882, -1.254664 mu:2.097425 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? -0.088780, -0.237203, -1.247029 mu:2.097425 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.235923, -0.225517, -1.377048 mu:2.097425 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.241256, -0.213960, -1.382668 mu:2.097425 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.042627, -0.242908, -1.333855 mu:2.097425 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.046604, -0.217128, -1.350961 mu:2.097425 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.036134, -0.216410, -1.346923 mu:2.097425 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.240913, -0.182886, -1.396973 mu:2.097425 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.290500, -0.197309, -1.383905 mu:2.097425 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? -0.138831, -0.047473, -1.282704 mu:2.097425 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? -0.134490, -0.044106, -1.287735 mu:2.097425 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? -0.138843, -0.043547, -1.283241 mu:2.097425 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.022403, -0.020220, -1.397092 mu:2.097425 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.070460, -0.005521, -1.414743 mu:2.097425 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.425587, 0.026319, -1.380883 mu:2.097425 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.420325, 0.026081, -1.383576 mu:2.097425 unit_bearing:-0.492427 0.163083 0.854938 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.070422, -0.009685, -1.414662 mu:2.097425 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.477022, 0.029018, -1.349858 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.430796, 0.030663, -1.377856 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.420294, 0.030190, -1.383320 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.207020 y=0.000000 z=-0.957976 +[21:42:37.316] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.316] If point is visible? 0.928961, -0.059277, -2.032747 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.316] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.316] If point is visible? 0.823572, -0.060745, -2.096404 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.316] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.316] If point is visible? 0.296354, -0.778501, -1.990352 mu:0.771555 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.316] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.316] If point is visible? 0.292562, -0.773727, -1.994255 mu:0.771555 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.316] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.316] If point is visible? 0.288878, -0.773799, -1.994498 mu:0.771555 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.316] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.316] If point is visible? 0.285026, -0.766570, -2.000151 mu:0.771555 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.316] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.316] If point is visible? -0.459695, -0.732798, -1.793644 mu:0.771555 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.459950, -0.730472, -1.795475 mu:0.771555 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? 0.277481, -0.759375, -2.005940 mu:0.771555 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? 0.269872, -0.749684, -2.013375 mu:0.771555 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? 0.266181, -0.749740, -2.013549 mu:0.771555 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.658666, -0.672295, -1.649675 mu:0.771555 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.659002, -0.670039, -1.651442 mu:0.771555 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? 0.890739, -0.681571, -1.822749 mu:0.771555 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] calculated Z= 0.619062 +[21:42:37.317] update seeds 305 +[21:42:37.317] If point is visible? -0.606389, -0.681855, -1.701805 mu:0.771555 unit_bearing:0.589813 -0.452226 0.669038 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.659336, -0.667780, -1.653201 mu:0.771555 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.662190, -0.667092, -1.650294 mu:0.771555 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.496482, -0.685647, -1.803444 mu:0.771555 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.499695, -0.685150, -1.801164 mu:0.771555 unit_bearing:0.503204 -0.445407 0.740539 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.623090, -0.664940, -1.698660 mu:0.771555 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.620725, -0.660958, -1.704846 mu:0.771555 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.623392, -0.662637, -1.700383 mu:0.771555 unit_bearing:0.603078 -0.437643 0.666907 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.582344, -0.661783, -1.744608 mu:0.771555 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.585679, -0.658865, -1.743703 mu:0.771555 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.657123, -0.644035, -1.677918 mu:0.771555 unit_bearing:0.630157 -0.425510 0.649495 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? 0.243123, -0.712819, -2.039840 mu:0.771555 unit_bearing:-0.079699 -0.444154 0.892399 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.516085, -0.647377, -1.816966 mu:0.771555 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.519290, -0.646886, -1.814630 mu:0.771555 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.522949, -0.641580, -1.815509 mu:0.771555 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.526145, -0.641085, -1.813150 mu:0.771555 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.242389, -0.670263, -1.972187 mu:0.771555 unit_bearing:0.297504 -0.417925 0.858388 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.529566, -0.638180, -1.812383 mu:0.771555 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.264535, -0.651131, -1.974593 mu:0.771555 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.260873, -0.653912, -1.974499 mu:0.771555 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.268337, -0.645835, -1.976199 mu:0.771555 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.260729, -0.656417, -1.972949 mu:0.771555 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.529795, -0.635770, -1.813980 mu:0.771555 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.212369, -0.637299, -2.005739 mu:0.771555 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.535848, -0.603705, -1.831778 mu:0.771555 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.539045, -0.603222, -1.829385 mu:0.771555 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? 0.252744, -0.641766, -2.083094 mu:0.771555 unit_bearing:-0.088642 -0.385673 0.918367 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.539257, -0.600776, -1.830892 mu:0.771555 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.542450, -0.600291, -1.828487 mu:0.771555 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.545637, -0.599803, -1.826070 mu:0.771555 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.208930, -0.634996, -2.008504 mu:0.771555 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.545849, -0.597357, -1.827571 mu:0.771555 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.317] If point is visible? -0.205852, -0.625056, -2.015656 mu:0.771555 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.317] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.811804, -0.604114, -1.932207 mu:0.771555 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.667402, -0.556829, -1.735903 mu:0.771555 unit_bearing:0.635977 -0.353275 0.686098 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.270931, -0.618379, -2.095240 mu:0.771555 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.267206, -0.618425, -2.095418 mu:0.771555 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.252310, -0.618588, -2.096019 mu:0.771555 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.667892, -0.552005, -1.738785 mu:0.771555 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.301864, -0.607937, -1.983302 mu:0.771555 unit_bearing:0.343162 -0.369151 0.863694 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.252357, -0.621172, -2.094609 mu:0.771555 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.847600, -0.560323, -1.935493 mu:0.771555 unit_bearing:-0.539842 -0.337183 0.771284 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.300373, -0.594614, -2.105828 mu:0.771555 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.292955, -0.597333, -2.104996 mu:0.771555 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.302925, -0.587556, -1.994595 mu:0.771555 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.211149, -0.586382, -2.035536 mu:0.771555 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.292893, -0.578139, -2.004726 mu:0.771555 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.296410, -0.577866, -2.003191 mu:0.771555 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.289307, -0.602584, -2.102514 mu:0.771555 unit_bearing:-0.117453 -0.353842 0.927901 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.292994, -0.599931, -2.103636 mu:0.771555 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.222310, -0.575382, -2.037076 mu:0.771555 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.735962, -0.516106, -1.682035 mu:0.771555 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.307757, -0.589284, -2.107951 mu:0.771555 unit_bearing:-0.131834 -0.343145 0.929985 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.286213, -0.570964, -2.011810 mu:0.771555 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.315145, -0.583939, -2.110004 mu:0.771555 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.736472, -0.511305, -1.684771 mu:0.771555 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.261578, -0.570187, -2.023409 mu:0.771555 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.282804, -0.568652, -2.014646 mu:0.771555 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.286332, -0.568388, -2.013146 mu:0.771555 unit_bearing:0.330089 -0.336058 0.882103 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.734193, -0.507130, -1.690627 mu:0.771555 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.279390, -0.566334, -2.017464 mu:0.771555 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.326269, -0.578508, -2.111646 mu:0.771555 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.272548, -0.561682, -2.023045 mu:0.771555 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.244253, -0.561052, -2.035667 mu:0.771555 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.247813, -0.560815, -2.034293 mu:0.771555 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.337397, -0.573054, -2.113163 mu:0.771555 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.265575, -0.559598, -2.027251 mu:0.771555 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.732377, -0.498096, -1.699106 mu:0.771555 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? -0.272434, -0.564267, -2.021730 mu:0.771555 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.344799, -0.567661, -2.114965 mu:0.771555 unit_bearing:-0.160559 -0.325927 0.931661 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.359668, -0.562079, -2.115824 mu:0.771555 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.355936, -0.562168, -2.116266 mu:0.771555 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.251593, -0.576973, -2.117700 mu:0.771555 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.273635, -0.553118, -2.128219 mu:0.771555 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.370808, -0.556559, -2.116967 mu:0.771555 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.385683, -0.550915, -2.117466 mu:0.771555 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.381952, -0.551017, -2.117987 mu:0.771555 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.415456, -0.542154, -2.116626 mu:0.771555 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.411727, -0.542271, -2.117235 mu:0.771555 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.295913, -0.542279, -2.131806 mu:0.771555 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.318] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.318] If point is visible? 0.404289, -0.545126, -2.117186 mu:0.771555 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.292210, -0.544971, -2.130834 mu:0.771555 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.273597, -0.550484, -2.129462 mu:0.771555 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.273560, -0.547849, -2.130699 mu:0.771555 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.644749, -0.525615, -2.058870 mu:0.771555 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.619135, -0.524706, -2.069142 mu:0.771555 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.615473, -0.522334, -2.071609 mu:0.771555 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.310737, -0.531481, -2.135523 mu:0.771555 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.306997, -0.531542, -2.135819 mu:0.771555 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.303257, -0.531600, -2.136104 mu:0.771555 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.306870, -0.520949, -2.140553 mu:0.771555 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.303129, -0.521007, -2.140837 mu:0.771555 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.276077, -0.446440, -2.172788 mu:0.771555 unit_bearing:-0.109531 -0.227659 0.967561 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.672529, -0.295950, -1.862769 mu:0.771555 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.031589, -0.321168, -2.190763 mu:0.771555 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.035293, -0.321074, -2.190066 mu:0.771554 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817625, Z inverse max: 0.725483 +[21:42:37.319] If point is visible? -0.038996, -0.320977, -2.189356 mu:0.771555 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.035321, -0.318319, -2.190774 mu:0.771555 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.039025, -0.318223, -2.190065 mu:0.771555 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.053824, -0.317822, -2.187120 mu:0.771555 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.061215, -0.317612, -2.185583 mu:0.771555 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.672617, -0.293324, -1.863538 mu:0.771555 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.171968, -0.253041, -2.171312 mu:0.771555 unit_bearing:0.236699 -0.079692 0.968309 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.039594, -0.246248, -2.206331 mu:0.771555 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.043299, -0.246154, -2.205612 mu:0.771555 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.054407, -0.245865, -2.203389 mu:0.771555 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.043358, -0.235022, -2.207745 mu:0.771555 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.047063, -0.234928, -2.207015 mu:0.771555 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.069214, -0.242679, -2.200815 mu:0.771555 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.054563, -0.212431, -2.209493 mu:0.771555 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.168618, -0.200398, -2.182142 mu:0.771555 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.054600, -0.201258, -2.211330 mu:0.771555 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? 0.413923, -0.196815, -2.222216 mu:0.771555 unit_bearing:-0.216541 -0.031847 0.975754 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.770206, -0.126612, -1.799904 mu:0.771555 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.775858, -0.125789, -1.793422 mu:0.771555 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.764560, -0.116812, -1.807818 mu:0.771555 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.755983, -0.107358, -1.818756 mu:0.771555 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.761715, -0.111895, -1.811718 mu:0.771555 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.764571, -0.111498, -1.808518 mu:0.771555 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.764566, -0.114155, -1.808171 mu:0.771555 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.767414, -0.113755, -1.804960 mu:0.771555 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.073160, -0.155950, -2.213773 mu:0.771555 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.319] If point is visible? -0.077105, -0.155987, -2.214064 mu:0.770874 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.816017, Z inverse max: 0.725731 +[21:42:37.319] If point is visible? -0.179658, -0.146886, -2.186288 mu:0.771555 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.319] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.741478, -0.093251, -1.836326 mu:0.771555 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.050938, -0.125591, -2.221911 mu:0.771555 unit_bearing:0.141924 0.022668 0.989618 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.741470, -0.090575, -1.836615 mu:0.771555 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.043524, -0.122952, -2.223660 mu:0.771555 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.047229, -0.122864, -2.222930 mu:0.771555 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.179633, -0.124450, -2.188772 mu:0.771555 unit_bearing:0.242529 0.020426 0.969929 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.342461, -0.099717, -2.243106 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.338697, -0.099761, -2.243494 mu:0.771555 unit_bearing:-0.159013 0.044478 0.986274 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.319884, -0.056528, -2.140779 mu:0.771555 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.046975, -0.057903, -2.227614 mu:0.771555 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.050677, -0.057817, -2.226872 mu:0.771555 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.054378, -0.057731, -2.226118 mu:0.771555 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.323460, -0.059155, -2.139051 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.327011, -0.058975, -2.137458 mu:0.771555 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.190277, -0.059313, -2.190244 mu:0.771555 unit_bearing:0.251017 0.070447 0.965416 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.201167, -0.056088, -2.186831 mu:0.771555 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.197350, -0.033638, -2.188911 mu:0.771555 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.197187, -0.016677, -2.189310 mu:0.771555 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.200820, -0.016546, -2.188114 mu:0.771555 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.123878, 0.006467, -2.211097 mu:0.771555 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.131213, 0.006679, -2.209136 mu:0.771555 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.134877, 0.006787, -2.208139 mu:0.771555 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.134846, 0.009624, -2.208129 mu:0.771555 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.819413, 0.058352, -2.098772 mu:0.771555 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.597202, 0.117588, -2.188333 mu:0.771555 unit_bearing:-0.354496 0.205738 0.912143 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.597201, 0.120417, -2.188059 mu:0.771555 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.293909, 0.425097, -2.075208 mu:0.771555 unit_bearing:0.338585 0.430592 0.836631 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.218175, -0.662040, -1.987906 mu:0.771555 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.225269, -0.661545, -1.985268 mu:0.771555 unit_bearing:0.283784 -0.410019 0.866805 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.224993, -0.666556, -1.982140 mu:0.771555 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.232074, -0.666048, -1.979456 mu:0.771555 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.239145, -0.665530, -1.976725 mu:0.771555 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.238859, -0.670527, -1.973569 mu:0.771555 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.805102, -0.592551, -1.943382 mu:0.771555 unit_bearing:-0.507633 -0.361121 0.782241 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.244145, -0.563644, -2.034359 mu:0.771555 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.258368, -0.562680, -2.028793 mu:0.771555 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.655701, -0.524856, -2.054816 mu:0.771555 unit_bearing:-0.397131 -0.298802 0.867758 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.298765, -0.465012, -2.164290 mu:0.771555 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.291808, -0.513205, -2.145106 mu:0.771555 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.291873, -0.518516, -2.142791 mu:0.771555 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.291159, -0.454353, -2.168897 mu:0.771555 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? 0.283659, -0.454443, -2.169361 mu:0.771555 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.320] If point is visible? -0.767379, -0.124369, -1.803506 mu:0.771555 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.320] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.726815, -0.103147, -1.850812 mu:0.771555 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.732710, -0.102402, -1.844691 mu:0.771555 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.738575, -0.101651, -1.838521 mu:0.771555 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.744408, -0.100895, -1.832303 mu:0.771555 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.732692, -0.123796, -1.841978 mu:0.771555 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.755960, -0.120666, -1.817018 mu:0.771555 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.761696, -0.119868, -1.810656 mu:0.771555 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.738565, -0.096301, -1.839133 mu:0.771555 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.744398, -0.095549, -1.832914 mu:0.771555 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.928961, -0.059277, -2.032747 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.342461, -0.099717, -2.243106 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.342471, -0.094073, -2.243530 mu:0.771555 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.334942, -0.094158, -2.244295 mu:0.771555 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.309185, -0.054249, -2.145594 mu:0.771555 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.316305, -0.053899, -2.142489 mu:0.771555 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.707734, 0.000236, -2.153439 mu:0.771555 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.323460, -0.059155, -2.139051 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.822952, 0.061307, -2.096710 mu:0.771555 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.968470, 0.091338, -2.002819 mu:0.771555 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.772806, 0.064573, -2.122262 mu:0.771555 unit_bearing:-0.487114 0.158926 0.858756 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.322572, -0.581190, -2.110673 mu:0.771555 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.307647, -0.581463, -2.111934 mu:0.771555 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.292722, -0.581704, -2.113017 mu:0.771555 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.218710, -0.651983, -1.994082 mu:0.771555 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.232902, -0.650992, -1.988764 mu:0.771555 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.247051, -0.649963, -1.983262 mu:0.771555 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.291268, -0.465110, -2.164799 mu:0.771555 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.591151, -0.637098, -1.756019 mu:0.771555 unit_bearing:0.575914 -0.412853 0.705603 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.601171, -0.653601, -1.732234 mu:0.771555 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.818844, -0.600828, -1.929841 mu:0.771555 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.222092, -0.580549, -2.034391 mu:0.771555 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.236361, -0.579625, -2.029094 mu:0.771555 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.278918, -0.576639, -2.012109 mu:0.771555 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.235906, -0.589926, -2.023644 mu:0.771555 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.264300, -0.587951, -2.012498 mu:0.771555 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.291381, -0.475841, -2.160600 mu:0.771555 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.580777, -0.463418, -1.876923 mu:0.771555 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.306598, -0.497018, -2.150831 mu:0.771555 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? 0.819089, -0.590944, -1.935728 mu:0.771555 unit_bearing:-0.518059 -0.360611 0.775613 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.577805, -0.648810, -1.759809 mu:0.771555 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.602277, -0.644227, -1.738906 mu:0.771555 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.246491, -0.659999, -1.977080 mu:0.771555 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.321] If point is visible? -0.738537, -0.128357, -1.835068 mu:0.771555 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.321] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.322] If point is visible? -0.726809, -0.119214, -1.848815 mu:0.771555 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.322] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.322] If point is visible? -0.738569, -0.117685, -1.836528 mu:0.771555 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.322] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.322] If point is visible? 0.794159, 0.093429, -2.109663 mu:0.771555 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.322] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.322] If point is visible? -0.287664, -0.044021, -2.155138 mu:0.771555 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.322] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.322] If point is visible? 0.808535, 0.082909, -2.103031 mu:0.771555 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.322] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.322] If point is visible? -0.302053, -0.054594, -2.148652 mu:0.771555 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.322] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.322] If point is visible? 0.823572, -0.060745, -2.096404 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.322] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.322] If point is visible? -0.171675, -0.014733, -2.197419 mu:0.771555 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.322] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.322] If point is visible? -0.171784, -0.026052, -2.197200 mu:0.771555 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.207020 y=0.000000 z=-0.957981 +[21:42:37.322] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.322] If point is visible? 0.276250, -0.785336, -2.000653 mu:0.765014 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? 0.276167, -0.782892, -2.002495 mu:0.765014 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? 0.268478, -0.775673, -2.008345 mu:0.765014 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? 0.272365, -0.780512, -2.004519 mu:0.765014 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? 0.264672, -0.773278, -2.010325 mu:0.765014 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.482392, -0.737530, -1.788320 mu:0.765014 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? 0.253166, -0.763588, -2.017941 mu:0.765014 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? 0.249186, -0.756212, -2.023380 mu:0.765014 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? 0.245460, -0.756260, -2.023488 mu:0.765014 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.595505, -0.692615, -1.722794 mu:0.765014 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.680962, -0.671507, -1.643011 mu:0.765014 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.683784, -0.670806, -1.640026 mu:0.765014 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.638700, -0.674648, -1.691676 mu:0.765014 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.684148, -0.668525, -1.641788 mu:0.765014 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? 0.878933, -0.688931, -1.842636 mu:0.765014 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] calculated Z= 0.606415 +[21:42:37.322] update seeds 305 +[21:42:37.322] If point is visible? -0.660164, -0.663148, -1.676956 mu:0.765014 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.642966, -0.664713, -1.695802 mu:0.765014 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.605001, -0.665631, -1.736607 mu:0.765014 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? 0.225793, -0.726493, -2.044520 mu:0.765014 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.608642, -0.660316, -1.737326 mu:0.765014 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.540000, -0.646392, -1.814043 mu:0.765014 unit_bearing:0.515567 -0.411002 0.751843 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.543190, -0.645892, -1.811628 mu:0.765014 unit_bearing:0.518144 -0.410848 0.750154 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.546373, -0.645389, -1.809201 mu:0.765014 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.549551, -0.644882, -1.806762 mu:0.765014 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.245510, -0.671512, -1.984138 mu:0.765014 unit_bearing:0.280893 -0.414218 0.865750 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.550061, -0.640020, -1.809983 mu:0.765014 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.553235, -0.639513, -1.807533 mu:0.765014 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.686248, -0.616470, -1.686499 mu:0.765014 unit_bearing:0.634731 -0.400173 0.661043 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.270125, -0.672156, -1.972499 mu:0.765014 unit_bearing:0.300339 -0.415792 0.858436 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.552980, -0.641945, -1.805926 mu:0.765014 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.285069, -0.658418, -1.974368 mu:0.765014 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.284901, -0.660945, -1.972808 mu:0.765014 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.322] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.322] If point is visible? -0.233277, -0.639457, -2.009619 mu:0.765014 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.236847, -0.639214, -2.008265 mu:0.765014 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.797489, -0.610630, -1.951554 mu:0.765014 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.563244, -0.601729, -1.825921 mu:0.765014 unit_bearing:0.532927 -0.375982 0.758042 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.566419, -0.601234, -1.823437 mu:0.765014 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.569588, -0.600735, -1.820941 mu:0.765014 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.315154, -0.625626, -1.980055 mu:0.765014 unit_bearing:0.334579 -0.379757 0.862462 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.311323, -0.631019, -1.978689 mu:0.765014 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.230283, -0.629439, -2.016887 mu:0.765014 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.230799, -0.644743, -2.094843 mu:0.765014 unit_bearing:-0.088655 -0.383570 0.919246 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.226695, -0.631794, -2.102167 mu:0.765014 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.245411, -0.629032, -2.103214 mu:0.765014 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.241653, -0.629068, -2.103314 mu:0.765014 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.230314, -0.626561, -2.104974 mu:0.765014 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.690641, -0.557155, -1.727710 mu:0.765014 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.690909, -0.554720, -1.729156 mu:0.765014 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.230247, -0.623955, -2.106395 mu:0.765014 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.327695, -0.591398, -1.993856 mu:0.765014 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.274879, -0.602559, -2.116010 mu:0.765014 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.271114, -0.602610, -2.116198 mu:0.765014 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.689036, -0.545549, -1.737828 mu:0.765014 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.317744, -0.581924, -2.004258 mu:0.765014 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.321262, -0.581641, -2.002645 mu:0.765014 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.235903, -0.590422, -2.036837 mu:0.765014 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.271173, -0.605230, -2.114828 mu:0.765014 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.312063, -0.578294, -2.125566 mu:0.765014 unit_bearing:-0.151950 -0.330251 0.931582 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.247162, -0.579303, -2.038184 mu:0.765014 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.239616, -0.587588, -2.036854 mu:0.765014 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.311123, -0.574702, -2.011525 mu:0.765014 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.758973, -0.513518, -1.673422 mu:0.765014 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.247289, -0.576694, -2.039525 mu:0.765014 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? 0.840907, -0.553131, -1.958453 mu:0.765014 unit_bearing:-0.545472 -0.326724 0.771824 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.290572, -0.563286, -2.027477 mu:0.765014 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.286495, -0.573975, -2.023676 mu:0.765014 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.307733, -0.572378, -2.014448 mu:0.765014 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.756502, -0.511743, -1.678011 mu:0.765014 unit_bearing:0.689558 -0.321445 0.648986 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.323] If point is visible? -0.756773, -0.509313, -1.679370 mu:0.765014 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.323] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.755079, -0.500206, -1.687954 mu:0.765014 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.304337, -0.570048, -2.017353 mu:0.765014 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.297397, -0.567979, -2.021782 mu:0.765014 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.757043, -0.506880, -1.680722 mu:0.765014 unit_bearing:0.689848 -0.317499 0.650619 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.269230, -0.564801, -2.036358 mu:0.765014 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.272794, -0.564554, -2.034906 mu:0.765014 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.754816, -0.502648, -1.686620 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.319554, -0.575514, -2.126242 mu:0.765014 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.300911, -0.586396, -2.122471 mu:0.765014 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.304627, -0.583699, -2.123521 mu:0.765014 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.341992, -0.564480, -2.129245 mu:0.765014 unit_bearing:-0.174894 -0.319418 0.931335 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.345719, -0.561751, -2.130121 mu:0.765014 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.356992, -0.558839, -2.130125 mu:0.765014 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.353219, -0.558929, -2.130558 mu:0.765014 unit_bearing:-0.183495 -0.315082 0.931157 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.251303, -0.557972, -2.139260 mu:0.765014 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.364494, -0.556005, -2.130489 mu:0.765014 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.360721, -0.556100, -2.130944 mu:0.765014 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.270004, -0.549798, -2.142240 mu:0.765014 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.251248, -0.555316, -2.140513 mu:0.765014 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.405828, -0.544247, -2.129725 mu:0.765014 unit_bearing:-0.223471 -0.304011 0.926087 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.402057, -0.544363, -2.130305 mu:0.765014 unit_bearing:-0.220629 -0.304045 0.926758 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.398286, -0.544476, -2.130874 mu:0.765014 unit_bearing:-0.217786 -0.304077 0.927419 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.288630, -0.536234, -2.147311 mu:0.765014 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.284853, -0.536287, -2.147541 mu:0.765014 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.281077, -0.536338, -2.147759 mu:0.765014 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.383274, -0.550209, -2.130550 mu:0.765014 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.251193, -0.552659, -2.141760 mu:0.765014 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.556039, -0.524755, -2.103203 mu:0.765014 unit_bearing:-0.336372 -0.291683 0.895419 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.559794, -0.527192, -2.100930 mu:0.765014 unit_bearing:-0.339122 -0.293746 0.893706 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.623161, -0.531320, -2.077462 mu:0.765014 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.284662, -0.525604, -2.152312 mu:0.765014 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.280884, -0.525654, -2.152530 mu:0.765014 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.559779, -0.524556, -2.102147 mu:0.765014 unit_bearing:-0.339162 -0.291630 0.894383 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.866716, -0.481491, -1.978608 mu:0.765014 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? 0.253145, -0.447666, -2.185247 mu:0.765014 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.057143, -0.320568, -2.197404 mu:0.765014 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.060865, -0.320464, -2.196632 mu:0.765014 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.064586, -0.320358, -2.195849 mu:0.765014 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.079453, -0.319921, -2.192606 mu:0.765014 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.086878, -0.319692, -2.190919 mu:0.765014 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.697296, -0.296464, -1.854099 mu:0.765014 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.700226, -0.298665, -1.850398 mu:0.765014 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.161532, -0.247417, -2.187481 mu:0.765014 unit_bearing:0.208064 -0.073239 0.975369 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.065298, -0.247767, -2.212242 mu:0.765014 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.324] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.324] If point is visible? -0.069020, -0.247664, -2.211448 mu:0.765014 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.080179, -0.247347, -2.209001 mu:0.765014 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.072815, -0.236333, -2.212794 mu:0.765014 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.095055, -0.244100, -2.206132 mu:0.765014 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.080374, -0.213627, -2.215154 mu:0.765014 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? 0.372851, -0.213344, -2.236927 mu:0.765014 unit_bearing:-0.202177 -0.042758 0.978415 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.198513, -0.201083, -2.184286 mu:0.765014 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? 0.369054, -0.216219, -2.236930 mu:0.765014 unit_bearing:-0.199302 -0.044940 0.978907 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.794258, -0.122786, -1.789287 mu:0.765014 unit_bearing:0.714674 -0.015730 0.699281 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.797051, -0.122367, -1.785972 mu:0.765014 unit_bearing:0.717000 -0.015721 0.696896 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.099070, -0.167939, -2.217672 mu:0.765014 unit_bearing:0.159235 -0.010076 0.987189 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.788675, -0.115587, -1.796989 mu:0.765014 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.783042, -0.108356, -1.804585 mu:0.765014 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.785871, -0.107952, -1.801318 mu:0.765014 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.154543, -0.163313, -2.203500 mu:0.765014 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.099077, -0.156621, -2.219127 mu:0.765014 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.788687, -0.110228, -1.797695 mu:0.765014 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.788682, -0.112908, -1.797345 mu:0.765014 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.791493, -0.112498, -1.794054 mu:0.765014 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.765864, -0.089177, -1.826455 mu:0.765014 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.205929, -0.135930, -2.190747 mu:0.765014 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.069301, -0.123407, -2.229647 mu:0.765014 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.353423, -0.058242, -2.137483 mu:0.765014 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.356971, -0.058051, -2.135800 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.072705, -0.057795, -2.233571 mu:0.765014 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.076425, -0.057700, -2.232754 mu:0.765014 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.080143, -0.057604, -2.231926 mu:0.765014 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.223764, -0.052915, -2.191002 mu:0.765014 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.223375, -0.015877, -2.192170 mu:0.765014 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.227016, -0.015736, -2.190896 mu:0.765014 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.219697, -0.013163, -2.193479 mu:0.765014 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.223340, -0.013024, -2.192216 mu:0.765014 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.160838, 0.007647, -2.212309 mu:0.765014 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? 0.745194, 0.049323, -2.148213 mu:0.765014 unit_bearing:-0.479178 0.148417 0.865078 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? 0.803587, 0.057485, -2.119669 mu:0.765014 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.314315, 0.429803, -2.076994 mu:0.765014 unit_bearing:0.335833 0.430681 0.837693 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.249059, -0.671251, -1.982736 mu:0.765014 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.256149, -0.670723, -1.979898 mu:0.765014 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.263227, -0.670185, -1.977014 mu:0.765014 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.262892, -0.675224, -1.973837 mu:0.765014 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? 0.804639, -0.607332, -1.949298 mu:0.765014 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.269103, -0.567415, -2.035041 mu:0.765014 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.325] If point is visible? -0.283340, -0.566411, -2.029165 mu:0.765014 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.325] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.754816, -0.502648, -1.686620 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.563547, -0.529625, -2.098639 mu:0.765014 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.604033, -0.486132, -1.860519 mu:0.765014 unit_bearing:0.562856 -0.284982 0.775873 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.269407, -0.517759, -2.156625 mu:0.765014 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.269503, -0.523116, -2.154292 mu:0.765014 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.268446, -0.458403, -2.180605 mu:0.765014 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.260875, -0.458476, -2.180934 mu:0.765014 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.774506, -0.109558, -1.814314 mu:0.765014 unit_bearing:0.698250 -0.003352 0.715846 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.342380, -0.185628, -2.244813 mu:0.765014 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.410840, -0.195758, -2.234247 mu:0.765014 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.757187, -0.122703, -1.832025 mu:0.765014 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.780181, -0.119494, -1.806425 mu:0.765014 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.785847, -0.118676, -1.799904 mu:0.765014 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.751378, -0.101890, -1.841042 mu:0.765014 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.757208, -0.101126, -1.834761 mu:0.765014 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.763006, -0.100355, -1.828431 mu:0.765014 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.768771, -0.099579, -1.822052 mu:0.765014 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.791455, -0.123203, -1.792589 mu:0.765014 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.762995, -0.094959, -1.829048 mu:0.765014 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.768760, -0.094188, -1.822669 mu:0.765014 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.312020, -0.095227, -2.257452 mu:0.765014 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.914988, -0.055885, -2.055420 mu:0.765014 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.907936, -0.056373, -2.059912 mu:0.765014 unit_bearing:-0.598947 0.059929 0.798543 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.349873, -0.058432, -2.139154 mu:0.765014 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.356971, -0.058051, -2.135800 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.689828, 0.004774, -2.172719 mu:0.765014 unit_bearing:-0.438685 0.116876 0.891008 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.807199, 0.060457, -2.117655 mu:0.765014 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.955671, 0.095934, -2.025235 mu:0.765014 unit_bearing:-0.632262 0.172345 0.755342 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.920978, 0.094025, -2.048915 mu:0.765014 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.955740, 0.090412, -2.025668 mu:0.765014 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.600495, 0.126830, -2.198065 mu:0.765014 unit_bearing:-0.371144 0.211918 0.904070 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.270997, -0.597363, -2.118919 mu:0.765014 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? 0.268608, -0.469251, -2.176474 mu:0.765014 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.605417, -0.465571, -1.870064 mu:0.765014 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.599504, -0.662065, -1.745312 mu:0.765014 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.623738, -0.657336, -1.723782 mu:0.765014 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.600676, -0.652557, -1.752020 mu:0.765014 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.624956, -0.647880, -1.730489 mu:0.765014 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.242911, -0.656567, -1.994895 mu:0.765014 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.257121, -0.655536, -1.989269 mu:0.765014 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.271285, -0.654466, -1.983460 mu:0.765014 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.326] If point is visible? -0.246379, -0.594914, -2.029996 mu:0.765014 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.326] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? -0.260656, -0.593940, -2.024388 mu:0.765014 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? -0.303218, -0.590802, -2.006466 mu:0.765014 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? 0.405792, -0.541597, -2.130959 mu:0.765014 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? 0.269128, -0.501648, -2.163471 mu:0.765014 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? 0.848141, -0.542203, -1.959825 mu:0.765014 unit_bearing:-0.550991 -0.318299 0.771424 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? 0.270766, -0.586847, -2.124283 mu:0.765014 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? 0.848310, -0.532066, -1.965138 mu:0.765014 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? -0.751372, -0.118095, -1.839027 mu:0.765014 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? -0.763000, -0.116526, -1.826420 mu:0.765014 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? -0.328454, -0.053881, -2.149232 mu:0.765014 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? -0.762964, -0.127290, -1.824948 mu:0.765014 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? -0.197926, -0.025389, -2.200595 mu:0.765014 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? 0.921036, 0.088478, -2.049341 mu:0.765014 unit_bearing:-0.607294 0.168930 0.776309 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? 0.850714, 0.006701, -2.095666 mu:0.765014 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? 0.777999, 0.092919, -2.130186 mu:0.765014 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? 0.792594, 0.082276, -2.123763 mu:0.765014 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? 0.778041, 0.081663, -2.131003 mu:0.765014 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? 0.763441, 0.081066, -2.138040 mu:0.765014 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.207021 y=0.000000 z=-0.957995 +[21:42:37.327] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.327] If point is visible? -6661.417940, -452.590848, -7124.205134 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.207021 y=0.000000 z=-0.958000 +[21:42:37.327] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:37.327] If point is visible? 4211.898316, -399.552156, -8800.091471 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.207021 y=0.000000 z=-0.958000 +[21:42:37.327] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:37.327] If point is visible? -6661.417940, -452.590848, -7124.205134 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.207021 y=0.000000 z=-0.958000 +[21:42:37.327] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:37.327] If point is visible? 4211.898316, -399.552156, -8800.091471 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.207021 y=0.000000 z=-0.958000 +[21:42:37.327] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:37.327] If point is visible? 0.895030, -0.059751, -2.419129 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.327] If point is visible? 0.822141, -0.687445, -2.284977 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.327] If point is visible? 1.056298, -0.057362, -2.331776 mu:0.618770 unit_bearing:-0.598870 0.068366 0.797923 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.327] If point is visible? 2.898582, 0.024463, -5.857400 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.327] If point is visible? -0.903052, -0.074070, -2.130207 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.327] If point is visible? 0.270089, -0.965094, -2.252772 mu:0.618770 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.327] If point is visible? 0.265488, -0.965168, -2.252934 mu:0.618770 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.327] If point is visible? 0.260503, -0.956135, -2.259831 mu:0.618770 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.327] If point is visible? 0.246179, -0.944133, -2.269068 mu:0.618770 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.327] If point is visible? -1.867086, -2.179313, -3.389279 mu:0.258523 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.327] If point is visible? -1.869664, -2.174120, -3.396683 mu:0.258315 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.327] If point is visible? 0.241189, -0.935007, -2.275731 mu:0.618770 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.327] If point is visible? 0.236581, -0.935059, -2.275806 mu:0.618770 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.327] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -38.072666, -28.690370, -29.633146 mu:0.017930 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] If point is visible? -0.877445, -0.818220, -1.833365 mu:0.618770 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.798277, -0.854774, -1.891034 mu:0.618770 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? 1.146314, -0.982368, -2.229458 mu:0.537300 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.745155, Z inverse max: 0.329445 +[21:42:37.328] If point is visible? -0.902645, -0.828515, -1.791077 mu:0.618770 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.906087, -0.827643, -1.787344 mu:0.618770 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.377946, -0.890116, -2.173453 mu:0.618770 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -1.263468, -1.137994, -2.186999 mu:0.448661 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.328] If point is visible? -0.856479, -0.820187, -1.856930 mu:0.618770 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -5.049845, -4.905380, -6.871698 mu:0.107416 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] If point is visible? 0.211998, -0.898219, -2.301502 mu:0.618770 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? 0.211873, -0.895110, -2.303576 mu:0.618770 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.810574, -0.818473, -1.910060 mu:0.618770 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.814287, -0.817740, -1.906707 mu:0.618770 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.810179, -0.821394, -1.907963 mu:0.618770 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.730653, -0.800737, -2.002703 mu:0.618770 unit_bearing:0.515451 -0.412999 0.750828 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.734556, -0.800111, -1.999668 mu:0.618770 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.738788, -0.796478, -1.998617 mu:0.618770 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.742678, -0.795846, -1.995553 mu:0.618770 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.746898, -0.792208, -1.994466 mu:0.618770 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.328] If point is visible? -0.418337, -0.813083, -2.206856 mu:0.618770 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.328] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.747234, -0.789201, -1.996448 mu:0.618770 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.418110, -0.816207, -2.204930 mu:0.618770 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.427667, -0.802975, -2.208688 mu:0.618770 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.358807, -0.795754, -2.245801 mu:0.618770 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.754687, -0.755285, -2.014635 mu:0.618770 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.770511, -0.749739, -2.004011 mu:0.618770 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.759512, -0.745521, -2.017164 mu:0.618770 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.763396, -0.744901, -2.014044 mu:0.618770 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.767273, -0.744278, -2.010909 mu:0.618770 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? 0.920418, -0.756061, -2.195439 mu:0.618770 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.446712, -0.776374, -2.215654 mu:0.618770 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.354820, -0.789739, -2.251238 mu:0.618770 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.359212, -0.789432, -2.249509 mu:0.618770 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? 0.924812, -0.758639, -2.191314 mu:0.618770 unit_bearing:-0.514863 -0.372921 0.771911 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? 0.212399, -0.781139, -2.372784 mu:0.618770 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.763706, -0.741849, -2.015906 mu:0.618770 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.767584, -0.741227, -2.012771 mu:0.618770 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.460079, -0.768956, -2.213190 mu:0.618770 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.329] If point is visible? -0.355218, -0.783404, -2.254914 mu:0.618770 unit_bearing:0.270400 -0.383335 0.883141 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.329] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.351212, -0.777359, -2.260271 mu:0.618770 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.464600, -0.765424, -2.212938 mu:0.618770 unit_bearing:0.340228 -0.375458 0.862135 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? 0.235427, -0.774541, -2.376133 mu:0.618770 unit_bearing:-0.100188 -0.368751 0.924113 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? 0.216840, -0.774676, -2.376310 mu:0.618770 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.915707, -0.687118, -1.895638 mu:0.618770 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -2.447086, -1.616713, -3.178077 mu:0.261831 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.330] If point is visible? -0.471207, -0.730142, -2.230288 mu:0.618770 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.353452, -0.739040, -2.281446 mu:0.618770 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? 0.276377, -0.741787, -2.392142 mu:0.618770 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? 0.271719, -0.741844, -2.392330 mu:0.618770 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.467494, -0.720929, -2.237496 mu:0.618770 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.998538, -0.639027, -1.824075 mu:0.618770 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.353631, -0.735830, -2.283158 mu:0.618770 unit_bearing:0.268197 -0.351987 0.896758 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? 0.271807, -0.745086, -2.390645 mu:0.618770 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? 0.267150, -0.745142, -2.390819 mu:0.618770 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? 0.267239, -0.748381, -2.389126 mu:0.618770 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.358218, -0.732324, -2.283151 mu:0.618770 unit_bearing:0.271049 -0.349835 0.896743 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.363155, -0.722378, -2.286491 mu:0.618770 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.433219, -0.717323, -2.256984 mu:0.618770 unit_bearing:0.318803 -0.342595 0.883738 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? 0.294677, -0.728545, -2.397917 mu:0.618770 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.407952, -0.703200, -2.276763 mu:0.618770 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.434140, -0.701245, -2.265282 mu:0.618770 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.330] If point is visible? -0.996622, -0.627843, -1.834853 mu:0.618770 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.330] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? -0.420703, -0.708679, -2.267792 mu:0.618770 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.303920, -0.725153, -2.399036 mu:0.618770 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.308503, -0.721825, -2.400391 mu:0.618770 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? -0.434320, -0.698021, -2.266918 mu:0.618770 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.313088, -0.718493, -2.401724 mu:0.618770 unit_bearing:-0.149074 -0.332399 0.931283 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.336188, -0.708301, -2.404875 mu:0.618770 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? -0.994303, -0.619606, -1.843846 mu:0.618770 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? -0.399539, -0.697369, -2.283738 mu:0.618770 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? -0.560146, -0.875300, -2.620416 mu:0.492766 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.590481, Z inverse max: 0.395051 +[21:42:37.331] If point is visible? 0.340781, -0.704948, -2.406095 mu:0.618770 unit_bearing:-0.166290 -0.323750 0.931415 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.350045, -0.701498, -2.406885 mu:0.618770 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.242386, -0.689916, -2.419022 mu:0.618770 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.363912, -0.694667, -2.408739 mu:0.618770 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.359242, -0.694768, -2.409189 mu:0.618770 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.270066, -0.676507, -2.424351 mu:0.618770 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.419638, -0.676917, -2.410033 mu:0.618770 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.414966, -0.677045, -2.410649 mu:0.618770 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.246887, -0.683308, -2.422009 mu:0.618770 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.242222, -0.683347, -2.422111 mu:0.618770 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.283776, -0.663170, -2.429780 mu:0.618770 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.279104, -0.663226, -2.429991 mu:0.618770 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.405685, -0.680570, -2.410301 mu:0.618770 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.401014, -0.680691, -2.410876 mu:0.618770 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.707711, -0.657382, -2.346877 mu:0.618770 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.670775, -0.656398, -2.360104 mu:0.618770 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.331] If point is visible? 0.283485, -0.649961, -2.435676 mu:0.618770 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.331] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? 0.278811, -0.650016, -2.435886 mu:0.618770 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? 0.273611, -0.662879, -2.763104 mu:0.519719 unit_bearing:-0.121046 -0.227612 0.966199 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.696949, Z inverse max: 0.342489 +[21:42:37.332] If point is visible? -0.925524, -0.361525, -2.052741 mu:0.618770 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.244549, -0.381910, -2.462011 mu:0.618770 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.139379, -0.395815, -2.486123 mu:0.618770 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.216249, -0.477163, -2.799593 mu:0.513104 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.675691, Z inverse max: 0.350518 +[21:42:37.332] If point is visible? -0.223545, -0.478959, -2.805925 mu:0.511003 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.669033, Z inverse max: 0.352973 +[21:42:37.332] If point is visible? -0.166885, -0.394972, -2.479845 mu:0.618770 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.176037, -0.394676, -2.477644 mu:0.618770 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.149552, -0.305792, -2.504340 mu:0.618770 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.154141, -0.305658, -2.503301 mu:0.618770 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.572774, -0.634879, -4.165421 mu:0.297499 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.332] If point is visible? -0.190810, -0.301053, -2.495179 mu:0.618770 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.154244, -0.291777, -2.505958 mu:0.618770 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.158832, -0.291642, -2.504906 mu:0.618770 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.168169, -0.263554, -2.507707 mu:0.618770 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.313716, -0.247821, -2.467715 mu:0.618770 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.168283, -0.235673, -2.512164 mu:0.618770 unit_bearing:0.144807 -0.027543 0.989076 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -1.043913, -0.153193, -1.969687 mu:0.618770 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -1.050704, -0.152141, -1.961392 mu:0.618770 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? 0.410593, -0.249854, -2.541652 mu:0.618770 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -1.037135, -0.140999, -1.979769 mu:0.618770 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -0.988117, -0.137979, -2.037085 mu:0.618770 unit_bearing:0.676698 -0.003368 0.736253 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.332] If point is visible? -1.033720, -0.131566, -1.985164 mu:0.618770 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.332] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.261300, -0.201947, -2.497791 mu:0.616503 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.937293, Z inverse max: 0.295713 +[21:42:37.333] calculated Z= 0.589512 +[21:42:37.333] update seeds 305 +[21:42:37.333] If point is visible? -1.037150, -0.134374, -1.980642 mu:0.618770 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.995203, -0.153681, -2.027044 mu:0.618770 unit_bearing:0.681509 -0.013769 0.731680 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -1.037143, -0.137687, -1.980210 mu:0.618770 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.186670, -0.193181, -2.513478 mu:0.618770 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] calculated Z= 0.763878 +[21:42:37.333] update seeds 305 +[21:42:37.333] If point is visible? -0.191245, -0.193039, -2.512330 mu:0.618770 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] calculated Z= 0.764291 +[21:42:37.333] update seeds 305 +[21:42:37.333] If point is visible? -0.195817, -0.192897, -2.511169 mu:0.618770 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.322874, -0.181236, -2.473977 mu:0.618770 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -1.009342, -0.108391, -2.016550 mu:0.618770 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.322861, -0.167255, -2.475588 mu:0.618770 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.154534, -0.152033, -2.525796 mu:0.618770 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.159123, -0.151906, -2.524743 mu:0.618770 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] calculated Z= 0.749713 +[21:42:37.333] update seeds 305 +[21:42:37.333] If point is visible? -1.077356, -0.081972, -1.935482 mu:0.618770 unit_bearing:0.737625 0.023367 0.674807 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -1.080668, -0.084770, -1.930875 mu:0.618770 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -1.077329, -0.078668, -1.935789 mu:0.618770 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -1.077299, -0.075363, -1.936088 mu:0.618770 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? 0.293036, -0.100450, -2.568694 mu:0.618770 unit_bearing:-0.141692 0.059768 0.988105 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.349272, -0.067917, -2.473832 mu:0.618770 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.495461, -0.067909, -2.411867 mu:0.618770 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.158679, -0.070906, -2.530596 mu:0.618770 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.163264, -0.070782, -2.529528 mu:0.618770 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.167847, -0.070657, -2.528447 mu:0.618770 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.333] If point is visible? -0.504227, -0.070926, -2.407454 mu:0.618770 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.333] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -0.344222, -0.018795, -2.477078 mu:0.618770 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -0.348702, -0.018614, -2.475447 mu:0.618770 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -0.344174, -0.015268, -2.477135 mu:0.618770 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -0.271650, 0.013861, -2.501536 mu:0.618770 unit_bearing:0.210769 0.124909 0.969523 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.931132, 0.070148, -2.401110 mu:0.618770 unit_bearing:-0.524660 0.151905 0.837649 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.926621, 0.069949, -2.403374 mu:0.618770 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.684109, 0.161082, -2.638469 mu:0.570032 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.836894, Z inverse max: 0.303170 +[21:42:37.334] If point is visible? -0.390944, -0.833903, -2.206544 mu:0.618770 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -0.759202, -0.748572, -2.015294 mu:0.618770 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -0.391398, -0.827672, -2.210467 mu:0.618770 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.929298, -0.751998, -2.192762 mu:0.618770 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -0.418787, -0.806824, -2.210684 mu:0.618770 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.239977, -0.771280, -2.377811 mu:0.618770 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -0.399367, -0.700601, -2.282112 mu:0.618770 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.264574, -0.640233, -2.440771 mu:0.618770 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.264719, -0.646857, -2.437888 mu:0.618770 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.263128, -0.566846, -2.470402 mu:0.618770 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.253763, -0.566922, -2.470692 mu:0.618770 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.438830, -0.242397, -2.538927 mu:0.618770 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -1.005845, -0.115545, -2.019800 mu:0.618770 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -1.012872, -0.114581, -2.011825 mu:0.618770 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.420010, -0.249695, -2.540438 mu:0.618770 unit_bearing:-0.219406 -0.034022 0.975040 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -0.998765, -0.149856, -2.023570 mu:0.618770 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? -1.033689, -0.144824, -1.983417 mu:0.618770 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.334] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.334] If point is visible? 0.325867, -0.131919, -2.564330 mu:0.618770 unit_bearing:-0.161899 0.040112 0.985992 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -1.040518, -0.150410, -1.974286 mu:0.618770 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -1.093817, -0.109042, -1.910756 mu:0.618770 unit_bearing:0.748940 0.004877 0.662620 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? 0.316496, -0.117917, -2.566084 mu:0.618770 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -0.482300, -0.065117, -2.418279 mu:0.618770 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -0.491053, -0.064647, -2.414136 mu:0.618770 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -0.499863, -0.071168, -2.409575 mu:0.618770 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? 0.895030, -0.059751, -2.419129 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? 0.931124, 0.073616, -2.400941 mu:0.618770 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? 0.931139, 0.066680, -2.401270 mu:0.618770 unit_bearing:-0.524697 0.149788 0.838008 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? 1.072912, 0.114901, -2.317725 mu:0.618770 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? 0.867640, 0.126717, -2.427472 mu:0.618770 unit_bearing:-0.486590 0.188635 0.853022 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? 0.876725, 0.134017, -2.422704 mu:0.618770 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -0.449731, 0.532277, -2.335381 mu:0.618770 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] calculated Z= 0.813778 +[21:42:37.335] update seeds 305 +[21:42:37.335] If point is visible? 0.266973, -0.738655, -2.394181 mu:0.618770 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -0.812382, -0.574049, -2.072945 mu:0.618770 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -0.805046, -0.805239, -1.927085 mu:0.618770 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -0.834719, -0.799410, -1.900091 mu:0.618770 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -0.371248, -0.734643, -2.276228 mu:0.618770 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -0.388810, -0.733412, -2.269073 mu:0.618770 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? -0.441142, -0.729451, -2.246256 mu:0.618770 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? 0.965147, -0.698518, -2.202644 mu:0.618770 unit_bearing:-0.539937 -0.335143 0.772105 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? 0.263371, -0.580259, -2.465298 mu:0.618770 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.335] If point is visible? 0.282863, -0.620119, -2.448477 mu:0.618770 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.335] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? 0.249086, -0.764744, -2.381101 mu:0.618770 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? 0.433533, -0.669965, -2.411156 mu:0.618770 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? 0.822141, -0.687445, -2.284977 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? -0.365676, -0.823418, -2.225209 mu:0.618770 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? -0.383138, -0.822103, -2.218030 mu:0.618770 unit_bearing:0.289363 -0.409884 0.865023 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? -0.400541, -0.820740, -2.210626 mu:0.618770 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? 0.266625, -0.725652, -2.400809 mu:0.618770 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? 0.448257, -0.249173, -2.536461 mu:0.618770 unit_bearing:-0.236594 -0.034002 0.971013 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? -1.005805, -0.155517, -2.014732 mu:0.618770 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? -0.991675, -0.144170, -2.032317 mu:0.618770 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? -1.005852, -0.142209, -2.016552 mu:0.618770 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? -0.312728, -0.016490, -2.488167 mu:0.618770 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? 0.894942, 0.072068, -2.418614 mu:0.618770 unit_bearing:-0.503300 0.154404 0.850205 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? -0.455798, -0.052465, -2.431004 mu:0.618770 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? 2.898582, 0.024463, -5.857400 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.336] If point is visible? -0.903052, -0.074070, -2.130207 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? -0.473532, -0.065581, -2.422366 mu:0.618770 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? -0.312909, -0.030604, -2.487888 mu:0.618770 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.207022 y=0.000000 z=-0.958004 +[21:42:37.336] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.336] If point is visible? 0.685611, 0.044790, -2.266433 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.336] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.336] If point is visible? 0.722245, 0.081955, -2.250624 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.336] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.336] If point is visible? 0.190550, -0.837698, -2.072009 mu:0.717420 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.336] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.336] If point is visible? 0.181980, -0.829934, -2.077647 mu:0.717420 unit_bearing:-0.113287 -0.493085 0.862574 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.336] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.336] If point is visible? 0.186160, -0.832515, -2.075814 mu:0.717420 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.336] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.336] If point is visible? -0.598901, -0.779432, -1.786228 mu:0.717420 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.336] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.336] If point is visible? 0.177591, -0.824724, -2.081383 mu:0.717420 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.336] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.336] If point is visible? -0.599328, -0.776926, -1.788164 mu:0.717420 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.336] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.336] If point is visible? 0.173204, -0.819499, -2.085078 mu:0.717420 unit_bearing:-0.107723 -0.485004 0.867852 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.336] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.336] If point is visible? 0.169025, -0.816891, -2.086836 mu:0.717420 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.336] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.336] If point is visible? 0.156080, -0.803740, -2.095732 mu:0.717420 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.336] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.796906, -0.712020, -1.612312 mu:0.717420 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? 0.156286, -0.806387, -2.093867 mu:0.717420 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.713562, -0.730464, -1.707617 mu:0.717420 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.797918, -0.707155, -1.616024 mu:0.717420 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.800677, -0.706382, -1.612627 mu:0.717420 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.367287, -0.760995, -1.974890 mu:0.717420 unit_bearing:0.288202 -0.452979 0.843652 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.756859, -0.710897, -1.671116 mu:0.717420 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.638692, -0.728272, -1.793091 mu:0.717420 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.778407, -0.698432, -1.653770 mu:0.717420 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.761625, -0.700261, -1.675170 mu:0.717420 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? 0.844853, -0.740811, -1.951675 mu:0.717420 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.337] If point is visible? -0.724490, -0.701594, -1.721564 mu:0.717420 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? 0.133998, -0.774448, -2.114688 mu:0.717420 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? 0.133800, -0.771765, -2.116467 mu:0.717420 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.728368, -0.695891, -1.722043 mu:0.717420 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.727936, -0.698416, -1.720265 mu:0.717420 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.665617, -0.673319, -1.811307 mu:0.717420 unit_bearing:0.518491 -0.404850 0.753168 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.681509, -0.670476, -1.797025 mu:0.717420 unit_bearing:0.531332 -0.404075 0.744587 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.664130, -0.683713, -1.804534 mu:0.717420 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.667693, -0.680553, -1.803405 mu:0.717420 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.670875, -0.679983, -1.800561 mu:0.717420 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.671624, -0.674792, -1.803947 mu:0.717420 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.674801, -0.674222, -1.801091 mu:0.717420 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.406919, -0.693888, -1.999445 mu:0.717420 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.402745, -0.699621, -1.998061 mu:0.717420 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.682660, -0.639656, -1.819566 mu:0.717420 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.686187, -0.636465, -1.818280 mu:0.717420 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.689360, -0.635905, -1.815387 mu:0.717420 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.692527, -0.635343, -1.812483 mu:0.717420 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.353736, -0.682359, -2.036403 mu:0.717420 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.350553, -0.677196, -2.041296 mu:0.717420 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.347846, -0.666541, -2.049266 mu:0.717420 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? 0.750395, -0.656489, -2.061086 mu:0.717420 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.427677, -0.665076, -2.005780 mu:0.717420 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? 0.132307, -0.690064, -2.166827 mu:0.717420 unit_bearing:-0.085783 -0.385690 0.918632 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.435407, -0.658940, -2.004945 mu:0.717420 unit_bearing:0.334635 -0.377681 0.863352 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.439004, -0.658592, -2.002949 mu:0.717420 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? 0.139803, -0.681781, -2.171956 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.689706, -0.633270, -1.816974 mu:0.717420 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.692874, -0.632709, -1.814070 mu:0.717420 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? 0.151163, -0.670694, -2.178690 mu:0.717420 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? 0.147159, -0.670697, -2.178499 mu:0.717420 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.814175, -0.582499, -1.706886 mu:0.717420 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? -0.439266, -0.655866, -2.004500 mu:0.717420 unit_bearing:0.337460 -0.375531 0.863190 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.337] If point is visible? 0.134995, -0.667912, -2.179368 mu:0.717420 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.337] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.449239, -0.625040, -2.017084 mu:0.717420 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.449483, -0.622287, -2.018553 mu:0.717420 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.350651, -0.633473, -2.067383 mu:0.717420 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.185619, -0.639932, -2.196170 mu:0.717420 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.181599, -0.639951, -2.196084 mu:0.717420 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.181743, -0.642748, -2.194638 mu:0.717420 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.177724, -0.642766, -2.194540 mu:0.717420 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.446126, -0.619875, -2.022033 mu:0.717420 unit_bearing:0.340918 -0.348370 0.873163 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.449726, -0.619532, -2.020015 mu:0.717420 unit_bearing:0.343692 -0.348303 0.872102 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.177870, -0.645561, -2.193086 mu:0.717420 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.355022, -0.624875, -2.070051 mu:0.717420 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.446366, -0.617117, -2.023488 mu:0.717420 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.442999, -0.614695, -2.026942 mu:0.717420 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.201151, -0.628630, -2.202117 mu:0.717420 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.359163, -0.619038, -2.071214 mu:0.717420 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.358944, -0.621817, -2.069776 mu:0.717420 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.432853, -0.607392, -2.037189 mu:0.717420 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.881365, -0.540511, -1.640813 mu:0.717420 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.397083, -0.602207, -2.060461 mu:0.717420 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.419003, -0.600352, -2.049186 mu:0.717420 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.881743, -0.537924, -1.642250 mu:0.717420 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.407618, -0.606851, -2.052059 mu:0.717420 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.879834, -0.533459, -1.648751 mu:0.717420 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.382605, -0.600610, -2.069138 mu:0.717420 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.386284, -0.600316, -2.067336 mu:0.717420 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.389960, -0.600020, -2.065522 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.212965, -0.622924, -2.204984 mu:0.717420 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.224797, -0.617194, -2.207718 mu:0.717420 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.132420, -0.620359, -2.204044 mu:0.717420 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.878262, -0.526369, -1.656618 mu:0.717420 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.412150, -0.595412, -2.055783 mu:0.717420 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.390174, -0.597232, -2.066914 mu:0.717420 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? -0.393847, -0.596934, -2.065088 mu:0.717420 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.338] If point is visible? 0.228702, -0.614341, -2.209061 mu:0.717420 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.248513, -0.605662, -2.212787 mu:0.717420 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.244472, -0.605712, -2.212890 mu:0.717420 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.276343, -0.593973, -2.217139 mu:0.717420 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.268367, -0.596922, -2.216158 mu:0.717420 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.155268, -0.594968, -2.217513 mu:0.717420 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.308414, -0.584916, -2.219203 mu:0.717420 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.304359, -0.584996, -2.219486 mu:0.717420 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.300304, -0.585074, -2.219756 mu:0.717420 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.174998, -0.586432, -2.222164 mu:0.717420 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.296365, -0.587975, -2.218692 mu:0.717420 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.292312, -0.588049, -2.218938 mu:0.717420 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.155136, -0.592135, -2.218842 mu:0.717420 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.338] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.338] If point is visible? 0.155005, -0.589300, -2.220164 mu:0.717420 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? 0.531361, -0.565865, -2.189926 mu:0.717420 unit_bearing:-0.369647 -0.295232 0.881022 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? 0.527306, -0.566068, -2.190893 mu:0.717420 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? 0.555833, -0.570183, -2.181218 mu:0.717420 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? 0.190499, -0.572168, -2.228980 mu:0.717420 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? 0.186466, -0.572186, -2.228914 mu:0.717420 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? 0.190022, -0.560773, -2.234043 mu:0.717420 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? 0.185987, -0.560790, -2.233975 mu:0.717420 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? 0.823122, -0.519450, -2.095377 mu:0.717420 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? 0.179372, -0.491832, -2.261986 mu:0.717420 unit_bearing:-0.126762 -0.236215 0.963397 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.831185, -0.309334, -1.835171 mu:0.717420 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.828340, -0.307013, -1.839339 mu:0.717420 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.174947, -0.341771, -2.254276 mu:0.717420 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.178843, -0.341624, -2.253160 mu:0.717420 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.182736, -0.341476, -2.252033 mu:0.717420 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.310076, -0.320856, -2.212071 mu:0.717420 unit_bearing:0.227977 -0.118832 0.966388 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.248738, -0.329816, -2.233359 mu:0.717420 unit_bearing:0.182072 -0.123351 0.975517 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.252584, -0.329639, -2.232024 mu:0.717420 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.256428, -0.329459, -2.230677 mu:0.717420 unit_bearing:0.187819 -0.123331 0.974430 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.339] If point is visible? -0.260269, -0.329278, -2.229319 mu:0.717420 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.339] If point is visible? -0.175014, -0.338808, -2.255034 mu:0.717420 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.178910, -0.338662, -2.253918 mu:0.717420 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.182804, -0.338513, -2.252791 mu:0.717420 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.206112, -0.337588, -2.245786 mu:0.717420 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.188186, -0.248978, -2.271340 mu:0.717420 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.192079, -0.248831, -2.270190 mu:0.717420 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.219151, -0.256742, -2.260114 mu:0.717420 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.207747, -0.236246, -2.267654 mu:0.717420 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.200168, -0.212528, -2.274081 mu:0.717420 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.323143, -0.210033, -2.229946 mu:0.717420 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.919236, -0.113278, -1.771446 mu:0.717420 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.921961, -0.112813, -1.767724 mu:0.717420 unit_bearing:0.712358 -0.009540 0.701752 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.930013, -0.122802, -1.754902 mu:0.717420 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.277541, -0.170179, -2.253869 mu:0.717420 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.339] If point is visible? -0.215855, -0.163728, -2.276108 mu:0.717420 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.339] If point is visible? -0.219731, -0.163577, -2.274877 mu:0.717420 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.339] calculated Z= 0.789541 +[21:42:37.339] update seeds 305 +[21:42:37.339] If point is visible? -0.330922, -0.164590, -2.233367 mu:0.717420 unit_bearing:0.242536 -0.005697 0.970126 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.908259, -0.100796, -1.788044 mu:0.717420 unit_bearing:0.700618 0.000794 0.713536 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.911024, -0.100345, -1.784370 mu:0.717420 unit_bearing:0.702980 0.000793 0.711209 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.911024, -0.103210, -1.784017 mu:0.717420 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.913779, -0.102757, -1.780332 mu:0.717420 unit_bearing:0.705335 -0.001277 0.708873 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.916522, -0.105163, -1.776274 mu:0.717420 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.919245, -0.110421, -1.771826 mu:0.717420 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.921970, -0.109958, -1.768104 mu:0.717420 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.899859, -0.084893, -1.800968 mu:0.717420 unit_bearing:0.693483 0.013248 0.720351 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.339] If point is visible? -0.188578, -0.128447, -2.288430 mu:0.717420 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.339] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.192411, -0.116184, -2.288412 mu:0.717420 unit_bearing:0.139032 0.033584 0.989718 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.490094, -0.058773, -2.163654 mu:0.717420 unit_bearing:0.364298 0.063557 0.929111 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.493723, -0.058532, -2.161560 mu:0.717420 unit_bearing:0.367100 0.063546 0.928008 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.191948, -0.064538, -2.292054 mu:0.717420 unit_bearing:0.138993 0.070678 0.987768 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.195838, -0.064401, -2.290891 mu:0.717420 unit_bearing:0.141878 0.070674 0.987358 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.199725, -0.064263, -2.289717 mu:0.717420 unit_bearing:0.144763 0.070670 0.986939 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.191872, -0.058450, -2.292358 mu:0.717420 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.195761, -0.058313, -2.291195 mu:0.717420 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.199648, -0.058175, -2.290020 mu:0.717420 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.416195, -0.033046, -2.204411 mu:0.717420 unit_bearing:0.307853 0.085440 0.947590 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.348747, -0.030542, -2.235976 mu:0.717420 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.352236, -0.015160, -2.234729 mu:0.717420 unit_bearing:0.259474 0.100827 0.960472 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.348406, -0.012305, -2.236430 mu:0.717420 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.352175, -0.012120, -2.234788 mu:0.717420 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.290840, 0.015553, -2.259895 mu:0.717420 unit_bearing:0.213635 0.124897 0.968897 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.283201, 0.015230, -2.262794 mu:0.717420 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.587788, 0.002849, -2.298918 mu:0.717420 unit_bearing:-0.413867 0.119263 0.902491 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.685611, 0.044790, -2.266433 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.758575, 0.110056, -2.233431 mu:0.717420 unit_bearing:-0.526557 0.189877 0.828664 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.184662, 0.531769, -2.185533 mu:0.717420 unit_bearing:0.153109 0.485979 0.860455 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.358192, -0.711575, -2.014980 mu:0.717420 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.365517, -0.710954, -2.011449 mu:0.717420 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.372827, -0.710323, -2.007871 mu:0.717420 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.380120, -0.709682, -2.004245 mu:0.717420 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.758208, -0.653042, -2.059254 mu:0.717420 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.126238, -0.720273, -2.148677 mu:0.717420 unit_bearing:-0.079930 -0.408788 0.909122 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.139803, -0.681781, -2.171956 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.403573, -0.691523, -2.002980 mu:0.717420 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.389960, -0.600020, -2.065522 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.404624, -0.598814, -2.058149 mu:0.717420 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.490783, -0.567788, -2.199022 mu:0.717420 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.173770, -0.557973, -2.234950 mu:0.717420 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.179667, -0.500506, -2.258688 mu:0.717420 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.171194, -0.488949, -2.262871 mu:0.717420 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.163117, -0.488953, -2.262623 mu:0.717420 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.329077, -0.204159, -2.331490 mu:0.717420 unit_bearing:-0.236604 -0.025294 0.971277 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.888593, -0.121158, -1.811191 mu:0.717420 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.910989, -0.117523, -1.782151 mu:0.717420 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.916489, -0.116598, -1.774769 mu:0.717420 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.894271, -0.114518, -1.804774 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.899904, -0.102138, -1.798993 mu:0.717420 unit_bearing:0.693500 0.000795 0.720456 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.921919, -0.121373, -1.766544 mu:0.717420 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.472257, -0.093109, -2.171647 mu:0.717420 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? 0.214907, -0.114230, -2.347223 mu:0.717420 unit_bearing:-0.156135 0.040117 0.986921 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.340] If point is visible? -0.894279, -0.097275, -1.806917 mu:0.717420 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.340] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.899898, -0.096393, -1.799679 mu:0.717420 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.223079, -0.108161, -2.347639 mu:0.717420 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] calculated Z= 2.264568 +[21:42:37.341] update seeds 305 +[21:42:37.341] If point is visible? 0.214978, -0.102091, -2.348168 mu:0.717420 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.899883, -0.090645, -1.800337 mu:0.717420 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.721191, -0.055732, -2.252439 mu:0.717420 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.479139, -0.056472, -2.170032 mu:0.717420 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.624341, -0.005182, -2.287988 mu:0.717420 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.706509, 0.111508, -2.254583 mu:0.717420 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.428097, 0.463639, -2.108949 mu:0.717420 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.719299, -0.697841, -1.731258 mu:0.717420 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.743320, -0.692572, -1.706447 mu:0.717420 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.171587, -0.500520, -2.258488 mu:0.717420 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.733545, -0.488218, -1.863522 mu:0.717420 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.359799, -0.695353, -2.024871 mu:0.717420 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.374454, -0.694117, -2.017765 mu:0.717420 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.389046, -0.692840, -2.010468 mu:0.717420 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.177435, -0.637169, -2.197426 mu:0.717420 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.366556, -0.618470, -2.067740 mu:0.717420 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.381296, -0.617305, -2.060649 mu:0.717420 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.425141, -0.613583, -2.038232 mu:0.717420 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.387953, -0.703644, -2.003897 mu:0.717420 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.745053, -0.682475, -1.713487 mu:0.717420 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.171995, -0.512064, -2.253996 mu:0.717420 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.176868, -0.625951, -2.203116 mu:0.717420 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.804124, -0.573205, -2.079578 mu:0.717420 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.380393, -0.628390, -2.054853 mu:0.717420 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.341] If point is visible? -0.409665, -0.625927, -2.040095 mu:0.717420 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.172854, -0.535074, -2.244690 mu:0.717420 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.320361, -0.579010, -2.220910 mu:0.717420 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.882933, -0.104783, -1.820559 mu:0.717420 unit_bearing:0.679115 0.000797 0.734031 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.894285, -0.103026, -1.806230 mu:0.717420 unit_bearing:0.688727 0.000796 0.725020 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.882919, -0.116299, -1.819099 mu:0.717420 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.894271, -0.114518, -1.804774 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.457116, -0.051823, -2.182444 mu:0.717420 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.322103, -0.022692, -2.247399 mu:0.717420 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? -0.894221, -0.125996, -1.803207 mu:0.717420 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.341] If point is visible? 0.722245, 0.081955, -2.250624 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.207027 y=0.000000 z=-0.958050 +[21:42:37.341] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.736] add new frame +[21:42:37.736] update seed +[21:42:37.736] If point is visible? 0.417499, -0.222238, -0.096981 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.204158 y=0.000000 z=-0.873415 +[21:42:37.736] If point is visible? 0.137187, -0.096895, -0.046444 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.204158 y=0.000000 z=-0.873415 +[21:42:37.736] If point is visible? 0.127130, -0.214684, -0.069841 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.204158 y=0.000000 z=-0.873415 +[21:42:37.736] If point is visible? 0.417499, -0.222238, -0.096981 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.204158 y=0.000000 z=-0.873415 +[21:42:37.736] If point is visible? 0.137187, -0.096895, -0.046444 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.204158 y=0.000000 z=-0.873415 +[21:42:37.736] If point is visible? 0.127130, -0.214684, -0.069841 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.204158 y=0.000000 z=-0.873415 +[21:42:37.736] If point is visible? 0.154410, -0.001137, -0.755141 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.736] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.736] If point is visible? 0.194947, -0.015193, -0.746654 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.736] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.736] If point is visible? 0.194943, -0.016349, -0.746795 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.736] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.736] If point is visible? 0.194075, 0.067683, -0.764722 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.736] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.736] If point is visible? 0.237190, 0.057899, -0.763790 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.736] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.736] If point is visible? 0.160869, 0.054614, -0.765398 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.736] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.737] If point is visible? 0.160872, 0.054876, -0.765527 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.737] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.737] If point is visible? 0.240243, 0.053527, -0.762581 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.737] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.737] If point is visible? 0.237306, 0.053135, -0.761501 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.737] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.737] If point is visible? 0.160101, 0.051670, -0.764296 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.737] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.737] If point is visible? 0.159718, 0.050322, -0.763834 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.737] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.737] If point is visible? 0.159331, 0.048439, -0.763163 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.737] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.737] If point is visible? 0.255249, 0.049425, -0.766584 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.737] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.737] If point is visible? 0.255256, 0.049159, -0.766469 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.737] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.737] If point is visible? 0.235914, 0.048913, -0.759253 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.737] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.737] If point is visible? 0.255264, 0.048893, -0.766354 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.737] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.737] If point is visible? 0.182474, 0.047061, -0.756085 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.737] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.738] If point is visible? 0.182851, 0.047071, -0.756023 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.738] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.738] If point is visible? 0.256072, 0.045639, -0.765342 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.738] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.738] If point is visible? 0.244805, 0.046610, -0.761101 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.738] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.738] calculated Z= 0.267611 +[21:42:37.738] update seeds 305 +[21:42:37.738] If point is visible? 0.235967, 0.045941, -0.758072 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.738] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.738] If point is visible? 0.244460, 0.045550, -0.760557 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.738] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.738] calculated Z= 0.273633 +[21:42:37.738] update seeds 305 +[21:42:37.738] If point is visible? 0.158566, 0.045453, -0.762233 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.738] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.738] If point is visible? 0.158564, 0.045185, -0.762127 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.738] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.738] If point is visible? 0.244099, 0.045299, -0.760333 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.738] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.738] calculated Z= 0.275973 +[21:42:37.738] update seeds 305 +[21:42:37.738] If point is visible? 0.244466, 0.045280, -0.760453 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.738] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.739] calculated Z= 0.274251 +[21:42:37.739] update seeds 305 +[21:42:37.739] If point is visible? 0.188895, 0.045856, -0.754662 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.739] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.739] If point is visible? 0.189652, 0.045598, -0.754475 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.739] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.739] If point is visible? 0.236348, 0.045384, -0.757961 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.739] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.739] If point is visible? 0.244104, 0.045028, -0.760230 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.739] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.739] calculated Z= 0.276994 +[21:42:37.739] update seeds 305 +[21:42:37.739] If point is visible? 0.236732, 0.044554, -0.757753 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.739] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.739] If point is visible? 0.237103, 0.044539, -0.757851 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.739] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.739] If point is visible? 0.193440, 0.044295, -0.753618 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.739] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.739] If point is visible? 0.192682, 0.044557, -0.753779 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.739] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.739] If point is visible? 0.197228, 0.044064, -0.753274 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.739] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.739] If point is visible? 0.243742, 0.044777, -0.760008 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.739] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.740] calculated Z= 0.279338 +[21:42:37.740] update seeds 305 +[21:42:37.740] If point is visible? 0.244109, 0.044758, -0.760127 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.740] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.740] calculated Z= 0.277759 +[21:42:37.740] update seeds 305 +[21:42:37.740] If point is visible? 0.238229, 0.043677, -0.757851 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.740] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.740] calculated Z= 0.310881 +[21:42:37.740] update seeds 305 +[21:42:37.740] If point is visible? 0.237108, 0.044267, -0.757750 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.740] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.740] If point is visible? 0.237478, 0.044252, -0.757849 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.740] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.740] If point is visible? 0.157799, 0.041910, -0.761189 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.740] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.740] If point is visible? 0.195338, 0.043224, -0.753092 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.740] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.740] If point is visible? 0.195717, 0.043228, -0.753068 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.740] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.740] If point is visible? 0.196096, 0.043232, -0.753045 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.740] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.740] If point is visible? 0.238604, 0.043389, -0.757855 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.740] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.741] calculated Z= 0.309955 +[21:42:37.741] update seeds 305 +[21:42:37.741] If point is visible? 0.147198, 0.040363, -0.765432 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.741] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.741] If point is visible? 0.147201, 0.040631, -0.765529 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.741] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.741] If point is visible? 0.237483, 0.043980, -0.757749 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.741] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.741] If point is visible? 0.196097, 0.042958, -0.752950 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.741] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.741] If point is visible? 0.197616, 0.042150, -0.752586 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.741] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.741] If point is visible? 0.197617, 0.041875, -0.752493 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.741] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.741] If point is visible? 0.158491, 0.034882, -0.758605 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.741] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.741] If point is visible? 0.194234, 0.031599, -0.749696 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.741] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.741] If point is visible? 0.138802, 0.025064, -0.765523 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.741] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.741] If point is visible? 0.138804, 0.025338, -0.765584 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.741] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.741] If point is visible? 0.218527, 0.025942, -0.748907 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.742] If point is visible? 0.135605, 0.023163, -0.767039 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.742] If point is visible? 0.223436, 0.025295, -0.749439 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.742] If point is visible? 0.218533, 0.023971, -0.748523 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.742] calculated Z= 0.691007 +[21:42:37.742] update seeds 305 +[21:42:37.742] If point is visible? 0.229085, 0.023761, -0.750143 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.742] If point is visible? 0.137359, 0.020838, -0.765504 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.742] If point is visible? 0.139846, 0.020201, -0.763936 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.742] If point is visible? 0.139845, 0.019925, -0.763888 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.742] If point is visible? 0.228716, 0.021798, -0.749717 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.742] If point is visible? 0.218535, 0.023125, -0.748368 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.742] If point is visible? 0.132086, 0.019855, -0.768650 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.742] If point is visible? 0.129311, 0.018789, -0.770353 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.742] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.743] If point is visible? 0.135586, 0.019324, -0.766308 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.743] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.743] If point is visible? 0.136291, 0.019104, -0.765837 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.743] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.743] If point is visible? 0.227595, 0.018150, -0.748929 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.743] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.743] If point is visible? 0.229098, 0.018114, -0.749214 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.743] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.743] If point is visible? 0.217407, 0.019183, -0.747595 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.743] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.743] If point is visible? 0.217785, 0.019178, -0.747635 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.743] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.743] If point is visible? 0.218164, 0.019172, -0.747675 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.743] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.743] If point is visible? 0.220434, 0.016870, -0.747626 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.743] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.743] calculated Z= 0.658468 +[21:42:37.743] update seeds 305 +[21:42:37.743] If point is visible? 0.229098, 0.017831, -0.749174 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.743] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.743] If point is visible? 0.229475, 0.016972, -0.749132 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.743] Z inverse min: -7.583360, Z inverse max: 0.000000 +[21:42:37.743] If point is visible? 0.217786, 0.018043, -0.747471 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.743] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.744] If point is visible? 0.218165, 0.018038, -0.747512 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.744] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.744] If point is visible? 0.218544, 0.016046, -0.747292 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.744] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.744] If point is visible? 0.217408, 0.014069, -0.746937 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.744] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.744] If point is visible? 0.217787, 0.014064, -0.746977 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.744] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.744] If point is visible? 0.218165, 0.014059, -0.747018 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.744] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.744] If point is visible? 0.230601, 0.014958, -0.749111 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.744] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.744] calculated Z= 0.120048 +[21:42:37.744] update seeds 305 +[21:42:37.744] If point is visible? 0.232100, 0.014635, -0.749398 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.744] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.744] If point is visible? 0.230598, 0.011830, -0.748782 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.744] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.744] If point is visible? 0.217407, 0.012929, -0.746819 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.744] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.744] If point is visible? 0.217786, 0.012925, -0.746858 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.744] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.744] calculated Z= 0.701495 +[21:42:37.744] update seeds 305 +[21:42:37.744] If point is visible? 0.218164, 0.012920, -0.746899 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.744] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.744] calculated Z= 0.695763 +[21:42:37.744] update seeds 305 +[21:42:37.744] If point is visible? 0.232461, 0.007790, -0.748876 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.745] If point is visible? 0.218911, 0.007768, -0.746573 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.745] If point is visible? 0.185513, 0.006016, -0.746892 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.745] If point is visible? 0.238411, 0.003336, -0.750163 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.745] If point is visible? 0.240269, 0.003279, -0.750685 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.745] If point is visible? 0.263208, 0.000878, -0.759705 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.745] If point is visible? 0.234672, 0.001437, -0.749162 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.745] If point is visible? 0.235043, 0.001141, -0.749250 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.745] calculated Z= 0.786412 +[21:42:37.745] update seeds 305 +[21:42:37.745] If point is visible? 0.218134, 0.002043, -0.746270 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.745] If point is visible? 0.218512, 0.002038, -0.746312 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.745] If point is visible? 0.218123, -0.000257, -0.746253 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.745] If point is visible? 0.233157, -0.001393, -0.748804 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.745] If point is visible? 0.233530, -0.001403, -0.748891 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.745] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.746] If point is visible? 0.218112, -0.002272, -0.746271 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.746] If point is visible? 0.218490, -0.002276, -0.746313 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.746] If point is visible? 0.218867, -0.002281, -0.746356 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.746] If point is visible? 0.233155, -0.001681, -0.748807 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.746] If point is visible? 0.232776, -0.002246, -0.748729 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.746] If point is visible? 0.232774, -0.002533, -0.748734 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.746] If point is visible? 0.240964, -0.002470, -0.750870 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.746] calculated Z= 0.700374 +[21:42:37.746] update seeds 305 +[21:42:37.746] If point is visible? 0.231635, -0.004520, -0.748536 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.746] If point is visible? 0.231632, -0.004807, -0.748546 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.746] If point is visible? 0.160023, -0.013772, -0.753770 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.746] If point is visible? 0.196448, -0.018077, -0.746930 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.746] If point is visible? 0.194840, -0.036260, -0.750904 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.746] calculated Z= 0.155216 +[21:42:37.746] update seeds 305 +[21:42:37.746] If point is visible? 0.195215, -0.036259, -0.750878 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.746] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.747] calculated Z= 0.154676 +[21:42:37.747] update seeds 305 +[21:42:37.747] If point is visible? 0.195213, -0.036546, -0.750961 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.747] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.747] If point is visible? 0.242869, -0.035548, -0.756581 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.747] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.747] If point is visible? 0.248220, -0.037939, -0.759205 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.747] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.747] If point is visible? 0.247871, -0.037648, -0.758979 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.747] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.747] If point is visible? 0.223728, -0.049240, -0.756715 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.747] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.747] If point is visible? 0.197092, 0.065664, -0.763305 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.747] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.747] If point is visible? 0.197843, 0.065672, -0.763268 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.747] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.747] If point is visible? 0.196333, 0.066688, -0.763952 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.747] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.747] If point is visible? 0.198598, 0.065162, -0.762936 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.747] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.748] If point is visible? 0.240631, 0.052711, -0.762325 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.748] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.748] If point is visible? 0.237669, 0.053384, -0.761723 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.748] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.748] If point is visible? 0.238408, 0.053350, -0.761928 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.748] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.748] If point is visible? 0.239882, 0.053279, -0.762350 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.748] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.748] If point is visible? 0.239132, 0.053847, -0.762382 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.748] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.748] If point is visible? 0.199451, 0.052487, -0.756517 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.748] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.748] If point is visible? 0.256064, 0.045907, -0.765449 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.748] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.748] If point is visible? 0.197992, 0.042701, -0.752757 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.748] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.748] If point is visible? 0.237849, 0.044237, -0.757949 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.749] If point is visible? 0.238590, 0.044205, -0.758153 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.749] calculated Z= 0.307530 +[21:42:37.749] update seeds 305 +[21:42:37.749] If point is visible? 0.237099, 0.044811, -0.757952 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.749] If point is visible? 0.237840, 0.044780, -0.758151 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.749] If point is visible? 0.158121, 0.034861, -0.758742 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.749] If point is visible? 0.194237, 0.030482, -0.749423 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.749] If point is visible? 0.194995, 0.031048, -0.749505 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.749] If point is visible? 0.185134, 0.006582, -0.746973 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.749] If point is visible? 0.185134, 0.006010, -0.746945 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.749] If point is visible? 0.185893, 0.006021, -0.746839 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.749] If point is visible? 0.232798, 0.000625, -0.748716 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.749] If point is visible? 0.233545, 0.000606, -0.748888 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.749] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.240273, 0.003850, -0.750702 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.185134, 0.005437, -0.746920 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.185892, 0.005449, -0.746814 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.239475, -0.002999, -0.750450 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.230522, -0.003344, -0.748263 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.233549, 0.001180, -0.748893 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.158916, -0.014090, -0.754207 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.159651, -0.013497, -0.753873 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.196448, -0.018077, -0.746930 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.260082, -0.042434, -0.766032 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.264136, -0.044197, -0.768900 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.750] If point is visible? 0.238420, 0.052818, -0.761685 mu:-7.630447 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.750] calculated Z= 0.157831 +[21:42:37.750] update seeds 305 +[21:42:37.750] If point is visible? 0.239894, 0.052747, -0.762107 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.750] calculated Z= 0.156879 +[21:42:37.750] update seeds 305 +[21:42:37.750] If point is visible? 0.242958, 0.047244, -0.760718 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.750] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.751] If point is visible? 0.190327, 0.068120, -0.765378 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.751] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.751] If point is visible? 0.196467, 0.044877, -0.753611 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.751] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.751] If point is visible? 0.237071, 0.046437, -0.758571 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.751] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.751] If point is visible? 0.238552, 0.046374, -0.758974 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.751] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.751] If point is visible? 0.240031, 0.046307, -0.759395 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.751] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.751] If point is visible? 0.238395, 0.053882, -0.762173 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.751] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.751] If point is visible? 0.193329, 0.067155, -0.764471 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.751] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.751] If point is visible? 0.240051, 0.045225, -0.758979 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.751] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.752] calculated Z= 0.296075 +[21:42:37.752] update seeds 305 +[21:42:37.752] If point is visible? 0.236966, 0.051817, -0.760804 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.193477, 0.030473, -0.749480 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.158856, 0.033806, -0.758153 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.193479, 0.029355, -0.749217 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.135585, 0.019049, -0.766261 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.229802, 0.000694, -0.748074 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.231275, -0.002786, -0.748409 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.219182, -0.010650, -0.746810 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.154410, -0.001137, -0.755141 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.238733, -0.002977, -0.750242 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.219192, -0.009495, -0.746721 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.219256, -0.000271, -0.746382 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.752] If point is visible? 0.220766, -0.000292, -0.746570 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.752] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.753] If point is visible? 0.278550, -0.012718, -0.769623 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.753] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.753] If point is visible? 0.194947, -0.015193, -0.746654 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.753] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.753] If point is visible? 0.194943, -0.016349, -0.746795 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.753] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.753] If point is visible? 0.220760, -0.001443, -0.746577 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.753] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.753] If point is visible? 0.228286, -0.001572, -0.747784 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.753] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.753] If point is visible? 0.229786, -0.001603, -0.748079 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.203810 y=0.000000 z=-0.876522 +[21:42:37.753] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:37.753] If point is visible? 0.151403, 0.310358, -0.380012 mu:-1.675728 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.204075 y=0.000000 z=-0.886984 +[21:42:37.753] If point is visible? 0.683680, -0.416989, -2.169984 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.204070 y=0.000000 z=-0.889277 +[21:42:37.753] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.753] If point is visible? 0.683734, -0.405097, -2.173775 mu:0.699435 unit_bearing:-0.371667 -0.171737 0.912343 T_cur_ref: x=0.204070 y=0.000000 z=-0.889277 +[21:42:37.753] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.753] If point is visible? 0.683680, -0.416989, -2.169984 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.204070 y=0.000000 z=-0.889277 +[21:42:37.753] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.753] If point is visible? -0.720967, 0.121895, -1.972590 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.204070 y=0.000000 z=-0.889277 +[21:42:37.753] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.753] If point is visible? 0.683680, -0.416989, -2.169984 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.204070 y=0.000000 z=-0.889277 +[21:42:37.753] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.753] If point is visible? 0.683680, -0.416989, -2.169984 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.204070 y=0.000000 z=-0.889277 +[21:42:37.753] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.753] If point is visible? -0.720967, 0.121895, -1.972590 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.204070 y=0.000000 z=-0.889277 +[21:42:37.753] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:37.753] If point is visible? -0.006202, 0.024970, -1.140205 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.204775 y=0.000000 z=-0.905211 +[21:42:37.753] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:37.753] If point is visible? -0.006202, 0.024970, -1.140205 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.204775 y=0.000000 z=-0.905211 +[21:42:37.753] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:37.753] If point is visible? -0.189292, -0.017622, -1.522433 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.205381 y=0.000000 z=-0.918467 +[21:42:37.753] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.753] If point is visible? 0.481276, -0.006182, -1.585323 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.205381 y=0.000000 z=-0.918467 +[21:42:37.753] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.753] If point is visible? 0.464970, -0.006849, -1.591831 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.205381 y=0.000000 z=-0.918467 +[21:42:37.753] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.753] If point is visible? -0.189292, -0.017622, -1.522433 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.205381 y=0.000000 z=-0.918467 +[21:42:37.753] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.753] If point is visible? 0.481276, -0.006182, -1.585323 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.205381 y=0.000000 z=-0.918467 +[21:42:37.753] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.753] If point is visible? 0.464970, -0.006849, -1.591831 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.205381 y=0.000000 z=-0.918467 +[21:42:37.753] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:37.753] If point is visible? -53786233.096304, -48168274.646054, -69871637.433925 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.206492 y=0.000000 z=-0.934239 +[21:42:37.753] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:37.753] If point is visible? -85428469.213591, 26760316.897195, -45618519.263184 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.206492 y=0.000000 z=-0.934239 +[21:42:37.753] If point is visible? -53786233.096304, -48168274.646054, -69871637.433925 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.206492 y=0.000000 z=-0.934239 +[21:42:37.753] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:37.753] If point is visible? -85428469.213591, 26760316.897195, -45618519.263184 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.206492 y=0.000000 z=-0.934239 +[21:42:37.753] If point is visible? 0.926890, -0.051652, -2.004299 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.207786 y=0.000000 z=-0.960168 +[21:42:37.753] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:37.753] If point is visible? 0.926890, -0.051652, -2.004299 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.207786 y=0.000000 z=-0.960168 +[21:42:37.753] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:37.753] If point is visible? 0.477788, 0.029018, -1.352055 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.753] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.753] If point is visible? 0.431562, 0.030663, -1.380053 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.753] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.753] If point is visible? 0.421060, 0.030190, -1.385517 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.753] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.753] If point is visible? 0.243124, -0.285461, -1.340407 mu:2.097425 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.753] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.753] If point is visible? 0.240364, -0.282837, -1.342609 mu:2.097425 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.753] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.753] If point is visible? 0.241753, -0.284598, -1.341179 mu:2.097425 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.753] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.035511, -0.268890, -1.269720 mu:2.097425 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.237619, -0.281095, -1.344114 mu:2.097425 unit_bearing:-0.107700 -0.487042 0.866712 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.234853, -0.278445, -1.346244 mu:2.097425 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.236227, -0.279322, -1.345511 mu:2.097425 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.232066, -0.274876, -1.348977 mu:2.097425 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.232085, -0.275781, -1.348335 mu:2.097425 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.109067, -0.246714, -1.217178 mu:2.097425 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.459417, -0.248588, -1.274307 mu:2.113858 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.142506, Z inverse max: 2.085211 +[21:42:37.754] calculated Z= 0.522847 +[21:42:37.754] update seeds 305 +[21:42:37.754] If point is visible? -0.093341, -0.246982, -1.235195 mu:2.097425 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.110362, -0.244799, -1.217408 mu:2.097425 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.048944, -0.252411, -1.272733 mu:2.097425 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.093770, -0.243591, -1.237738 mu:2.097425 unit_bearing:0.598418 -0.436157 0.672059 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.094871, -0.243363, -1.236738 mu:2.097425 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.049742, -0.263346, -1.324846 mu:2.097425 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.080762, -0.242794, -1.251902 mu:2.097425 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.081894, -0.242583, -1.250954 mu:2.097425 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.080665, -0.243656, -1.251280 mu:2.097425 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.225068, -0.264945, -1.356179 mu:2.097425 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.225049, -0.264028, -1.356792 mu:2.097425 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.056135, -0.238339, -1.277750 mu:2.097425 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.057319, -0.238159, -1.276898 mu:2.097425 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.057401, -0.237274, -1.277493 mu:2.097425 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.058665, -0.236208, -1.277230 mu:2.097425 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.059846, -0.236027, -1.276369 mu:2.097425 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.038145, -0.241595, -1.334565 mu:2.097425 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.223364, -0.247375, -1.367454 mu:2.097425 unit_bearing:-0.079917 -0.410878 0.908181 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.056045, -0.235480, -1.345969 mu:2.097425 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.056002, -0.234548, -1.346519 mu:2.097425 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.063384, -0.222279, -1.283243 mu:2.097425 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.228603, -0.234161, -1.374963 mu:2.097425 unit_bearing:-0.091527 -0.381449 0.919847 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.029776, -0.229881, -1.338038 mu:2.097425 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.063233, -0.224076, -1.282126 mu:2.097425 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.067943, -0.223357, -1.278606 mu:2.097425 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.064641, -0.221202, -1.282924 mu:2.097425 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.065821, -0.221024, -1.282046 mu:2.097425 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.066999, -0.220846, -1.281165 mu:2.097425 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.028531, -0.230708, -1.336944 mu:2.097425 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.065896, -0.220124, -1.282599 mu:2.097425 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.067074, -0.219946, -1.281717 mu:2.097425 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.058418, -0.230043, -1.350153 mu:2.097425 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.428821, -0.218870, -1.321496 mu:2.097425 unit_bearing:-0.504924 -0.363283 0.782992 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.232607, -0.227475, -1.378448 mu:2.097425 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.227129, -0.227539, -1.378702 mu:2.097425 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.024410, -0.225743, -1.337967 mu:2.097425 unit_bearing:0.340283 -0.373381 0.863014 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? 0.428844, -0.217957, -1.322033 mu:2.097425 unit_bearing:-0.505018 -0.361246 0.783874 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.112263, -0.202407, -1.249854 mu:2.097425 unit_bearing:0.636389 -0.347324 0.688749 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.754] If point is visible? -0.112089, -0.204184, -1.248797 mu:2.097425 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.754] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? -0.112176, -0.203296, -1.249327 mu:2.097425 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? -0.111426, -0.199949, -1.252472 mu:2.097425 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.022607, -0.215334, -1.343129 mu:2.097425 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.025065, -0.212708, -1.345768 mu:2.097425 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.242107, -0.220665, -1.381414 mu:2.097425 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.023813, -0.213551, -1.344705 mu:2.097425 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.056503, -0.215818, -1.357478 mu:2.097425 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? -0.137443, -0.189227, -1.229107 mu:2.097425 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:37.755] calculated Z= 0.411799 +[21:42:37.755] update seeds 305 +[21:42:37.755] If point is visible? -0.136684, -0.186807, -1.231759 mu:2.097425 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.447058, -0.203955, -1.318595 mu:2.097425 unit_bearing:-0.542611 -0.332976 0.771168 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.250264, -0.214776, -1.383708 mu:2.097425 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.028833, -0.210167, -1.348916 mu:2.097425 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.052360, -0.210823, -1.358559 mu:2.097425 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.030093, -0.209315, -1.349952 mu:2.097425 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.254358, -0.212775, -1.384287 mu:2.097425 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.036456, -0.205980, -1.354550 mu:2.097425 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? -0.136000, -0.183483, -1.234873 mu:2.097425 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143663, Z inverse max: 2.051186 +[21:42:37.755] calculated Z= 0.415169 +[21:42:37.755] update seeds 305 +[21:42:37.755] If point is visible? 0.041770, -0.208241, -1.355634 mu:2.097425 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.033922, -0.207699, -1.352534 mu:2.097425 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.046984, -0.207633, -1.358100 mu:2.097425 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.045669, -0.207548, -1.357611 mu:2.097425 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.044356, -0.207462, -1.357118 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.258454, -0.210766, -1.384821 mu:2.097425 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.262551, -0.208749, -1.385308 mu:2.097425 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? -0.135913, -0.184374, -1.234385 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] calculated Z= 0.414981 +[21:42:37.755] update seeds 305 +[21:42:37.755] If point is visible? 0.043006, -0.206423, -1.357101 mu:2.097425 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.036495, -0.206932, -1.354069 mu:2.097425 unit_bearing:0.313481 -0.330105 0.890371 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.266649, -0.206723, -1.385750 mu:2.097425 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.265277, -0.206757, -1.385921 mu:2.097425 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.270748, -0.204689, -1.386146 mu:2.097425 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.276219, -0.202609, -1.386297 mu:2.097425 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.235027, -0.203450, -1.390500 mu:2.097425 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.236377, -0.201494, -1.391332 mu:2.097425 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.361981, -0.192904, -1.368005 mu:2.097425 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.360634, -0.192991, -1.368471 mu:2.097425 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.287167, -0.199378, -1.385922 mu:2.097425 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.285797, -0.199422, -1.386154 mu:2.097425 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.284426, -0.199466, -1.386383 mu:2.097425 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.283062, -0.200475, -1.386153 mu:2.097425 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.281691, -0.200517, -1.386373 mu:2.097425 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.363332, -0.191860, -1.367985 mu:2.097425 unit_bearing:-0.372414 -0.295171 0.879876 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.243216, -0.198486, -1.392218 mu:2.097425 unit_bearing:-0.123527 -0.302771 0.945024 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.244570, -0.196521, -1.393003 mu:2.097425 unit_bearing:-0.126421 -0.298480 0.946006 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.247271, -0.191607, -1.394963 mu:2.097425 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? 0.245895, -0.191630, -1.395076 mu:2.097425 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.755] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.755] If point is visible? -0.113709, -0.108140, -1.295228 mu:2.097425 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.091529, -0.113234, -1.408478 mu:2.097425 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:37.756] calculated Z= 0.920740 +[21:42:37.756] update seeds 305 +[21:42:37.756] If point is visible? 0.113266, -0.115933, -1.412877 mu:2.097425 unit_bearing:0.147530 -0.125631 0.981046 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.092893, -0.114293, -1.408561 mu:2.097425 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.122825, -0.118208, -1.414181 mu:2.097425 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.121461, -0.118174, -1.413933 mu:2.097425 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.120097, -0.118140, -1.413680 mu:2.097425 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.122815, -0.117195, -1.414442 mu:2.097425 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.121451, -0.117161, -1.414194 mu:2.097425 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.120087, -0.117127, -1.413941 mu:2.097425 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.111915, -0.116908, -1.412341 mu:2.097425 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.119894, -0.090650, -1.419926 mu:2.097425 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.118530, -0.090617, -1.419670 mu:2.097425 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.117166, -0.090583, -1.419409 mu:2.097425 unit_bearing:0.138992 -0.071189 0.987731 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.114439, -0.090513, -1.418876 mu:2.097425 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.119874, -0.086555, -1.420711 mu:2.097425 unit_bearing:0.133231 -0.062471 0.989114 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.118510, -0.086522, -1.420454 mu:2.097425 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.117146, -0.086488, -1.420194 mu:2.097425 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.113038, -0.082284, -1.420137 mu:2.097425 unit_bearing:0.147670 -0.053727 0.987576 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.111675, -0.082249, -1.419861 mu:2.097425 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.114386, -0.078214, -1.421122 mu:2.097425 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.072367, -0.073819, -1.411313 mu:2.097425 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.285362, -0.073399, -1.424834 mu:2.097425 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.149793, -0.046840, -1.272036 mu:2.097425 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.151887, -0.046539, -1.269664 mu:2.097425 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.108900, -0.057478, -1.423026 mu:2.097425 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.107539, -0.057442, -1.422738 mu:2.097425 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.147701, -0.043233, -1.274934 mu:2.097425 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.141312, -0.036251, -1.282866 mu:2.097425 unit_bearing:0.695874 0.007018 0.718130 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.142385, -0.036112, -1.281718 mu:2.097425 unit_bearing:0.698247 0.007014 0.715823 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.145588, -0.040589, -1.277654 mu:2.097425 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.146648, -0.040445, -1.276488 mu:2.097425 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.146647, -0.041424, -1.276363 mu:2.097425 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.147705, -0.041278, -1.275192 mu:2.097425 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.147703, -0.042256, -1.275065 mu:2.097425 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.139155, -0.034560, -1.285371 mu:2.097421 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143651, Z inverse max: 2.051191 +[21:42:37.756] If point is visible? 0.068303, -0.050012, -1.413338 mu:2.097425 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.136986, -0.033847, -1.287743 mu:2.097425 unit_bearing:0.686316 0.013269 0.727183 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.118453, -0.045296, -1.426309 mu:2.097425 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.117089, -0.045264, -1.426049 mu:2.097425 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.161142, -0.026704, -1.260995 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.160105, -0.023924, -1.262495 mu:2.097425 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.160112, -0.024899, -1.262408 mu:2.097425 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.260476, -0.036644, -1.432609 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.259101, -0.030429, -1.433202 mu:2.097425 unit_bearing:-0.158998 0.057565 0.985599 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? 0.061712, -0.019753, -1.413590 mu:2.097425 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.756] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.756] If point is visible? -0.117958, -0.014146, -1.308032 mu:2.097425 unit_bearing:0.644530 0.059468 0.762263 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.117170, -0.022409, -1.427722 mu:2.097425 unit_bearing:0.138990 0.072859 0.987610 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.115806, -0.022379, -1.427457 mu:2.097425 unit_bearing:0.141875 0.072855 0.987200 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.114443, -0.022348, -1.427188 mu:2.097425 unit_bearing:0.144760 0.072851 0.986781 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.028465, -0.017362, -1.401600 mu:2.097425 unit_bearing:0.327680 0.076690 0.941671 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.115812, -0.021337, -1.427507 mu:2.097425 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.114449, -0.021307, -1.427238 mu:2.097425 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.031115, -0.016445, -1.402702 mu:2.097425 unit_bearing:0.322024 0.078880 0.943440 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.029794, -0.016386, -1.402174 mu:2.097425 unit_bearing:0.324848 0.078868 0.942472 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.061768, -0.012483, -1.413867 mu:2.097425 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.060455, -0.009316, -1.413518 mu:2.097425 unit_bearing:0.259492 0.096486 0.960913 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.061824, -0.006244, -1.414013 mu:2.097425 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.060485, -0.006196, -1.413581 mu:2.097425 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.063173, -0.005250, -1.414458 mu:2.097425 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.061834, -0.005203, -1.414030 mu:2.097425 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.088832, 0.002290, -1.421865 mu:2.097425 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.086130, 0.002366, -1.421160 mu:2.097425 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.084780, 0.002405, -1.420802 mu:2.097425 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.046195, -0.246779, -1.334744 mu:2.097425 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.435157, -0.220853, -1.316321 mu:2.097425 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.046096, -0.244941, -1.335906 mu:2.097425 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.228588, -0.233215, -1.375496 mu:2.097425 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.233977, -0.227457, -1.378374 mu:2.097425 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.407082, -0.203582, -1.342469 mu:2.097425 unit_bearing:-0.461453 -0.326097 0.825059 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.044356, -0.207462, -1.357118 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? -0.135913, -0.184374, -1.234385 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] calculated Z= 0.414967 +[21:42:37.757] update seeds 305 +[21:42:37.757] If point is visible? 0.241738, -0.188763, -1.396672 mu:2.097425 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.241758, -0.190716, -1.395820 mu:2.097425 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.241536, -0.167114, -1.405425 mu:2.097425 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.238778, -0.167149, -1.405612 mu:2.097425 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? -0.135901, -0.045794, -1.287430 mu:2.097425 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? -0.144516, -0.044649, -1.278300 mu:2.097425 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? -0.146641, -0.044357, -1.275972 mu:2.097425 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? -0.135908, -0.037924, -1.288428 mu:2.097425 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? -0.138079, -0.037649, -1.286172 mu:2.097425 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? -0.140238, -0.037372, -1.283897 mu:2.097425 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.268767, -0.067541, -1.428184 mu:2.097425 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? -0.148746, -0.046014, -1.273355 mu:2.097425 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? -0.161142, -0.026704, -1.260995 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.017823, -0.034406, -1.396115 mu:2.097425 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? -0.138075, -0.035681, -1.286397 mu:2.097425 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? -0.140235, -0.035406, -1.284122 mu:2.097425 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.260476, -0.036644, -1.432609 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.260478, -0.034568, -1.432766 mu:2.097425 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.257711, -0.034601, -1.433064 mu:2.097425 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.015274, -0.021904, -1.395804 mu:2.097425 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.394616, 0.000224, -1.398818 mu:2.097425 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] calculated Z= 4.073051 +[21:42:37.757] update seeds 305 +[21:42:37.757] If point is visible? 0.359420, 0.046630, -1.409781 mu:2.097425 unit_bearing:-0.365573 0.211999 0.906318 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.757] If point is visible? 0.490171, 0.033807, -1.342836 mu:2.097425 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.757] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.028441, 0.156184, -1.373400 mu:2.097425 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.053647, -0.239952, -1.342246 mu:2.097425 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.048415, -0.239591, -1.340320 mu:2.097425 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.043198, -0.239216, -1.338328 mu:2.097425 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.052473, -0.213675, -1.357081 mu:2.097425 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.047212, -0.213339, -1.355164 mu:2.097425 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.031519, -0.212252, -1.349010 mu:2.097425 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.242070, -0.217796, -1.382908 mu:2.097425 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? -0.079850, -0.170685, -1.299949 mu:2.097425 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? -0.078587, -0.242349, -1.254405 mu:2.097425 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? -0.087620, -0.240651, -1.246770 mu:2.097425 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.241570, -0.171070, -1.403917 mu:2.097425 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? -0.078965, -0.238882, -1.256861 mu:2.097425 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? -0.088014, -0.237203, -1.249226 mu:2.097425 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.236689, -0.225517, -1.379246 mu:2.097425 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.242022, -0.213960, -1.384866 mu:2.097425 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.043393, -0.242908, -1.336053 mu:2.097425 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.047370, -0.217128, -1.353158 mu:2.097425 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.036900, -0.216410, -1.349120 mu:2.097425 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.241680, -0.182886, -1.399171 mu:2.097425 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.291267, -0.197309, -1.386102 mu:2.097425 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? -0.138065, -0.047473, -1.284901 mu:2.097425 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? -0.133723, -0.044106, -1.289932 mu:2.097425 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? -0.138077, -0.043547, -1.285438 mu:2.097425 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.023169, -0.020220, -1.399289 mu:2.097425 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.071226, -0.005521, -1.416940 mu:2.097425 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.426354, 0.026319, -1.383080 mu:2.097425 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.421091, 0.026081, -1.385774 mu:2.097425 unit_bearing:-0.492427 0.163083 0.854938 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.071188, -0.009685, -1.416859 mu:2.097425 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.477788, 0.029018, -1.352055 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.431562, 0.030663, -1.380053 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.421060, 0.030190, -1.385517 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.207786 y=0.000000 z=-0.960174 +[21:42:37.758] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:37.758] If point is visible? 0.929728, -0.059277, -2.034944 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? 0.824338, -0.060745, -2.098602 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? 0.297120, -0.778501, -1.992549 mu:0.771555 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? 0.293328, -0.773727, -1.996452 mu:0.771555 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? 0.289644, -0.773799, -1.996695 mu:0.771555 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? 0.285792, -0.766570, -2.002349 mu:0.771555 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? -0.458929, -0.732798, -1.795841 mu:0.771555 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? -0.459184, -0.730472, -1.797672 mu:0.771555 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? 0.278248, -0.759375, -2.008138 mu:0.771555 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? 0.270639, -0.749684, -2.015573 mu:0.771555 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? 0.266947, -0.749740, -2.015747 mu:0.771555 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? -0.657900, -0.672295, -1.651873 mu:0.771555 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? -0.658236, -0.670039, -1.653639 mu:0.771555 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] If point is visible? 0.891505, -0.681571, -1.824946 mu:0.771555 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.758] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.758] calculated Z= 0.610897 +[21:42:37.758] update seeds 305 +[21:42:37.759] If point is visible? -0.605622, -0.681855, -1.704003 mu:0.771555 unit_bearing:0.589813 -0.452226 0.669038 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.658570, -0.667780, -1.655398 mu:0.771555 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.661423, -0.667092, -1.652491 mu:0.771555 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.495716, -0.685647, -1.805641 mu:0.771555 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.498928, -0.685150, -1.803361 mu:0.771555 unit_bearing:0.503204 -0.445407 0.740539 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.622324, -0.664940, -1.700858 mu:0.771555 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.619959, -0.660958, -1.707043 mu:0.771555 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.622626, -0.662637, -1.702580 mu:0.771555 unit_bearing:0.603078 -0.437643 0.666907 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.581578, -0.661783, -1.746805 mu:0.771555 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.584913, -0.658865, -1.745900 mu:0.771555 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.656356, -0.644035, -1.680116 mu:0.771555 unit_bearing:0.630157 -0.425510 0.649495 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? 0.243889, -0.712819, -2.042037 mu:0.771555 unit_bearing:-0.079699 -0.444154 0.892399 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.515319, -0.647377, -1.819163 mu:0.771555 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.518523, -0.646886, -1.816827 mu:0.771555 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.522183, -0.641580, -1.817707 mu:0.771555 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.525379, -0.641085, -1.815347 mu:0.771555 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.241623, -0.670263, -1.974384 mu:0.771555 unit_bearing:0.297504 -0.417925 0.858388 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.528800, -0.638180, -1.814580 mu:0.771555 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.263768, -0.651131, -1.976790 mu:0.771555 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.260107, -0.653912, -1.976696 mu:0.771555 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.267570, -0.645835, -1.978396 mu:0.771555 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.259963, -0.656417, -1.975147 mu:0.771555 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.529029, -0.635770, -1.816178 mu:0.771555 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.211603, -0.637299, -2.007936 mu:0.771555 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.535082, -0.603705, -1.833975 mu:0.771555 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.538279, -0.603222, -1.831582 mu:0.771555 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? 0.253510, -0.641766, -2.085292 mu:0.771555 unit_bearing:-0.088642 -0.385673 0.918367 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.538491, -0.600776, -1.833089 mu:0.771555 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.541683, -0.600291, -1.830684 mu:0.771555 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.544870, -0.599803, -1.828268 mu:0.771555 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.208164, -0.634996, -2.010702 mu:0.771555 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.545083, -0.597357, -1.829768 mu:0.771555 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.205086, -0.625056, -2.017853 mu:0.771555 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? 0.812571, -0.604114, -1.934404 mu:0.771555 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.666635, -0.556829, -1.738100 mu:0.771555 unit_bearing:0.635977 -0.353275 0.686098 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? 0.271697, -0.618379, -2.097437 mu:0.771555 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? 0.267973, -0.618425, -2.097615 mu:0.771555 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? 0.253076, -0.618588, -2.098217 mu:0.771555 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.667125, -0.552005, -1.740982 mu:0.771555 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? -0.301098, -0.607937, -1.985500 mu:0.771555 unit_bearing:0.343162 -0.369151 0.863694 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? 0.253124, -0.621172, -2.096807 mu:0.771555 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? 0.848366, -0.560323, -1.937690 mu:0.771555 unit_bearing:-0.539842 -0.337183 0.771284 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.759] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.759] If point is visible? 0.301140, -0.594614, -2.108025 mu:0.771555 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.293721, -0.597333, -2.107193 mu:0.771555 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.302159, -0.587556, -1.996792 mu:0.771555 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.210382, -0.586382, -2.037734 mu:0.771555 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.292127, -0.578139, -2.006924 mu:0.771555 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.295643, -0.577866, -2.005388 mu:0.771555 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.290073, -0.602584, -2.104711 mu:0.771555 unit_bearing:-0.117453 -0.353842 0.927901 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.293761, -0.599931, -2.105833 mu:0.771555 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.221544, -0.575382, -2.039273 mu:0.771555 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.735196, -0.516106, -1.684232 mu:0.771555 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.308523, -0.589284, -2.110148 mu:0.771555 unit_bearing:-0.131834 -0.343145 0.929985 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.285447, -0.570964, -2.014007 mu:0.771555 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.315911, -0.583939, -2.112202 mu:0.771555 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.735706, -0.511305, -1.686968 mu:0.771555 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.260812, -0.570187, -2.025606 mu:0.771555 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.282038, -0.568652, -2.016843 mu:0.771555 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.285566, -0.568388, -2.015343 mu:0.771555 unit_bearing:0.330089 -0.336058 0.882103 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.733427, -0.507130, -1.692825 mu:0.771555 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.278624, -0.566334, -2.019661 mu:0.771555 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.327035, -0.578508, -2.113843 mu:0.771555 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.271781, -0.561682, -2.025243 mu:0.771555 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.243487, -0.561052, -2.037864 mu:0.771555 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.247047, -0.560815, -2.036490 mu:0.771555 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.338164, -0.573054, -2.115360 mu:0.771555 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.264808, -0.559598, -2.029448 mu:0.771555 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.731611, -0.498096, -1.701304 mu:0.771555 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? -0.271668, -0.564267, -2.023927 mu:0.771555 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.345565, -0.567661, -2.117162 mu:0.771555 unit_bearing:-0.160559 -0.325927 0.931661 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.360434, -0.562079, -2.118021 mu:0.771555 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.356702, -0.562168, -2.118464 mu:0.771555 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.252359, -0.576973, -2.119898 mu:0.771555 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.274401, -0.553118, -2.130417 mu:0.771555 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.371574, -0.556559, -2.119165 mu:0.771555 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.386449, -0.550915, -2.119663 mu:0.771555 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.382718, -0.551017, -2.120184 mu:0.771555 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.416222, -0.542154, -2.118823 mu:0.771555 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.412493, -0.542271, -2.119433 mu:0.771555 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.296680, -0.542279, -2.134003 mu:0.771555 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.405055, -0.545126, -2.119383 mu:0.771555 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.292976, -0.544971, -2.133031 mu:0.771555 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.274363, -0.550484, -2.131660 mu:0.771555 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.274326, -0.547849, -2.132896 mu:0.771555 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.645515, -0.525615, -2.061067 mu:0.771555 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.619901, -0.524706, -2.071340 mu:0.771555 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.616239, -0.522334, -2.073807 mu:0.771555 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.311503, -0.531481, -2.137720 mu:0.771555 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.307763, -0.531542, -2.138016 mu:0.771555 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.760] If point is visible? 0.304024, -0.531600, -2.138301 mu:0.771555 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.760] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? 0.307636, -0.520949, -2.142750 mu:0.771555 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? 0.303895, -0.521007, -2.143034 mu:0.771555 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? 0.276844, -0.446440, -2.174985 mu:0.771555 unit_bearing:-0.109531 -0.227659 0.967561 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.671763, -0.295950, -1.864967 mu:0.771555 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.030823, -0.321168, -2.192960 mu:0.771555 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] calculated Z= 0.601665 +[21:42:37.761] update seeds 305 +[21:42:37.761] If point is visible? -0.034527, -0.321074, -2.192264 mu:0.771554 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817625, Z inverse max: 0.725483 +[21:42:37.761] If point is visible? -0.038230, -0.320977, -2.191553 mu:0.771555 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.034555, -0.318319, -2.192971 mu:0.771555 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.038258, -0.318223, -2.192262 mu:0.771555 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.053057, -0.317822, -2.189318 mu:0.771555 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.060449, -0.317612, -2.187780 mu:0.771555 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.671851, -0.293324, -1.865735 mu:0.771555 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.171202, -0.253041, -2.173509 mu:0.771555 unit_bearing:0.236699 -0.079692 0.968309 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.038828, -0.246248, -2.208528 mu:0.771555 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.042533, -0.246154, -2.207809 mu:0.771555 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.053641, -0.245865, -2.205586 mu:0.771555 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.042592, -0.235022, -2.209942 mu:0.771555 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.046296, -0.234928, -2.209212 mu:0.771555 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.068448, -0.242679, -2.203012 mu:0.771555 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.053797, -0.212431, -2.211690 mu:0.771555 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.167852, -0.200398, -2.184339 mu:0.771555 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.053833, -0.201258, -2.213528 mu:0.771555 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? 0.414689, -0.196815, -2.224413 mu:0.771555 unit_bearing:-0.216541 -0.031847 0.975754 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.769439, -0.126612, -1.802101 mu:0.771555 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.775092, -0.125789, -1.795619 mu:0.771555 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.763793, -0.116812, -1.810015 mu:0.771555 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.755217, -0.107358, -1.820953 mu:0.771555 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.760949, -0.111895, -1.813915 mu:0.771555 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.763804, -0.111498, -1.810716 mu:0.771555 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.763800, -0.114155, -1.810369 mu:0.771555 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.766647, -0.113755, -1.807157 mu:0.771555 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.072394, -0.155950, -2.215970 mu:0.771555 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.076339, -0.155987, -2.216261 mu:0.770874 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.816017, Z inverse max: 0.725731 +[21:42:37.761] If point is visible? -0.178892, -0.146886, -2.188486 mu:0.771555 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.740712, -0.093251, -1.838523 mu:0.771555 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.050172, -0.125591, -2.224108 mu:0.771555 unit_bearing:0.141924 0.022668 0.989618 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.740703, -0.090575, -1.838812 mu:0.771555 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.042758, -0.122952, -2.225858 mu:0.771555 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.046463, -0.122864, -2.225127 mu:0.771555 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? -0.178867, -0.124450, -2.190969 mu:0.771555 unit_bearing:0.242529 0.020426 0.969929 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.761] If point is visible? 0.343228, -0.099717, -2.245303 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.761] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? 0.339463, -0.099761, -2.245691 mu:0.771555 unit_bearing:-0.159013 0.044478 0.986274 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.319118, -0.056528, -2.142976 mu:0.771555 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.046208, -0.057903, -2.229811 mu:0.771555 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.049911, -0.057817, -2.229069 mu:0.771555 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.053612, -0.057731, -2.228316 mu:0.771555 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.322694, -0.059155, -2.141248 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.326245, -0.058975, -2.139656 mu:0.771555 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.189510, -0.059313, -2.192441 mu:0.771555 unit_bearing:0.251017 0.070447 0.965416 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.200400, -0.056088, -2.189028 mu:0.771555 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.196584, -0.033638, -2.191108 mu:0.771555 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.196421, -0.016677, -2.191508 mu:0.771555 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.200054, -0.016546, -2.190311 mu:0.771555 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.123112, 0.006467, -2.213294 mu:0.771555 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.130446, 0.006679, -2.211333 mu:0.771555 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.134111, 0.006787, -2.210336 mu:0.771555 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.134079, 0.009624, -2.210326 mu:0.771555 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? 0.820180, 0.058352, -2.100969 mu:0.771555 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? 0.597968, 0.117588, -2.190530 mu:0.771555 unit_bearing:-0.354496 0.205738 0.912143 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? 0.597967, 0.120417, -2.190257 mu:0.771555 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.293143, 0.425097, -2.077405 mu:0.771555 unit_bearing:0.338585 0.430592 0.836631 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] calculated Z= 0.594979 +[21:42:37.762] update seeds 305 +[21:42:37.762] If point is visible? -0.217408, -0.662040, -1.990104 mu:0.771555 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.224503, -0.661545, -1.987465 mu:0.771555 unit_bearing:0.283784 -0.410019 0.866805 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.224227, -0.666556, -1.984337 mu:0.771555 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.231308, -0.666048, -1.981653 mu:0.771555 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.238379, -0.665530, -1.978923 mu:0.771555 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.238093, -0.670527, -1.975767 mu:0.771555 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? 0.805868, -0.592551, -1.945580 mu:0.771555 unit_bearing:-0.507633 -0.361121 0.782241 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.243379, -0.563644, -2.036556 mu:0.771555 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.257601, -0.562680, -2.030991 mu:0.771555 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? 0.656467, -0.524856, -2.057013 mu:0.771555 unit_bearing:-0.397131 -0.298802 0.867758 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? 0.299532, -0.465012, -2.166487 mu:0.771555 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? 0.292574, -0.513205, -2.147303 mu:0.771555 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? 0.292639, -0.518516, -2.144988 mu:0.771555 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? 0.291925, -0.454353, -2.171094 mu:0.771555 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? 0.284426, -0.454443, -2.171559 mu:0.771555 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.766613, -0.124369, -1.805703 mu:0.771555 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.726049, -0.103147, -1.853009 mu:0.771555 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.762] If point is visible? -0.731944, -0.102402, -1.846889 mu:0.771555 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.762] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.737809, -0.101651, -1.840719 mu:0.771555 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.743642, -0.100895, -1.834500 mu:0.771555 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.731925, -0.123796, -1.844175 mu:0.771555 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.755193, -0.120666, -1.819215 mu:0.771555 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.760930, -0.119868, -1.812853 mu:0.771555 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.737799, -0.096301, -1.841331 mu:0.771555 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.743632, -0.095549, -1.835111 mu:0.771555 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.929728, -0.059277, -2.034944 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.343228, -0.099717, -2.245303 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.343237, -0.094073, -2.245728 mu:0.771555 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.335708, -0.094158, -2.246492 mu:0.771555 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.308418, -0.054249, -2.147791 mu:0.771555 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.315539, -0.053899, -2.144687 mu:0.771555 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.708500, 0.000236, -2.155636 mu:0.771555 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.322694, -0.059155, -2.141248 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.823718, 0.061307, -2.098907 mu:0.771555 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.969236, 0.091338, -2.005016 mu:0.771555 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.773572, 0.064573, -2.124459 mu:0.771555 unit_bearing:-0.487114 0.158926 0.858756 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.323338, -0.581190, -2.112871 mu:0.771555 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.308414, -0.581463, -2.114132 mu:0.771555 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.293488, -0.581704, -2.115215 mu:0.771555 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.217944, -0.651983, -1.996280 mu:0.771555 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.232135, -0.650992, -1.990961 mu:0.771555 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.246285, -0.649963, -1.985460 mu:0.771555 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.292034, -0.465110, -2.166996 mu:0.771555 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.590384, -0.637098, -1.758216 mu:0.771555 unit_bearing:0.575914 -0.412853 0.705603 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.600405, -0.653601, -1.734432 mu:0.771555 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.819610, -0.600828, -1.932038 mu:0.771555 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.221326, -0.580549, -2.036589 mu:0.771555 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.235594, -0.579625, -2.031291 mu:0.771555 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.278152, -0.576639, -2.014306 mu:0.771555 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.235140, -0.589926, -2.025842 mu:0.771555 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.263533, -0.587951, -2.014695 mu:0.771555 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.292148, -0.475841, -2.162797 mu:0.771555 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.580011, -0.463418, -1.879120 mu:0.771555 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.307364, -0.497018, -2.153028 mu:0.771555 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? 0.819856, -0.590944, -1.937926 mu:0.771555 unit_bearing:-0.518059 -0.360611 0.775613 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.577039, -0.648810, -1.762007 mu:0.771555 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.601510, -0.644227, -1.741103 mu:0.771555 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.763] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.763] If point is visible? -0.245724, -0.659999, -1.979277 mu:0.771555 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.764] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.764] If point is visible? -0.737770, -0.128357, -1.837265 mu:0.771555 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.764] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.764] If point is visible? -0.726043, -0.119214, -1.851012 mu:0.771555 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.764] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.764] If point is visible? -0.737803, -0.117685, -1.838725 mu:0.771555 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.764] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.764] If point is visible? 0.794926, 0.093429, -2.111861 mu:0.771555 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.764] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.764] If point is visible? -0.286897, -0.044021, -2.157335 mu:0.771555 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.764] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.764] If point is visible? 0.809301, 0.082909, -2.105228 mu:0.771555 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.764] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.764] If point is visible? -0.301287, -0.054594, -2.150849 mu:0.771555 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.764] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.764] If point is visible? 0.824338, -0.060745, -2.098602 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.764] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.764] If point is visible? -0.170908, -0.014733, -2.199617 mu:0.771555 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.764] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.764] If point is visible? -0.171018, -0.026052, -2.199397 mu:0.771555 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.207786 y=0.000000 z=-0.960178 +[21:42:37.764] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:37.764] If point is visible? 0.277016, -0.785336, -2.002850 mu:0.765014 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? 0.276933, -0.782892, -2.004692 mu:0.765014 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? 0.269244, -0.775673, -2.010543 mu:0.765014 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? 0.273131, -0.780512, -2.006716 mu:0.765014 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? 0.265439, -0.773278, -2.012523 mu:0.765014 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.481626, -0.737530, -1.790517 mu:0.765014 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? 0.253932, -0.763588, -2.020138 mu:0.765014 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? 0.249953, -0.756212, -2.025578 mu:0.765014 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? 0.246227, -0.756260, -2.025685 mu:0.765014 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.594739, -0.692615, -1.724991 mu:0.765014 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.680196, -0.671507, -1.645208 mu:0.765014 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.683018, -0.670806, -1.642224 mu:0.765014 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.637934, -0.674648, -1.693873 mu:0.765014 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.683382, -0.668525, -1.643985 mu:0.765014 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? 0.879699, -0.688931, -1.844834 mu:0.765014 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] calculated Z= 0.610264 +[21:42:37.764] update seeds 305 +[21:42:37.764] If point is visible? -0.659398, -0.663148, -1.679154 mu:0.765014 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.642200, -0.664713, -1.698000 mu:0.765014 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.604235, -0.665631, -1.738804 mu:0.765014 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? 0.226560, -0.726493, -2.046717 mu:0.765014 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.607876, -0.660316, -1.739523 mu:0.765014 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.539234, -0.646392, -1.816240 mu:0.765014 unit_bearing:0.515567 -0.411002 0.751843 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.542423, -0.645892, -1.813825 mu:0.765014 unit_bearing:0.518144 -0.410848 0.750154 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.545607, -0.645389, -1.811398 mu:0.765014 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.548785, -0.644882, -1.808960 mu:0.765014 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.244743, -0.671512, -1.986335 mu:0.765014 unit_bearing:0.280893 -0.414218 0.865750 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.549294, -0.640020, -1.812180 mu:0.765014 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.764] If point is visible? -0.552469, -0.639513, -1.809730 mu:0.765014 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.764] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.685481, -0.616470, -1.688696 mu:0.765014 unit_bearing:0.634731 -0.400173 0.661043 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.269359, -0.672156, -1.974697 mu:0.765014 unit_bearing:0.300339 -0.415792 0.858436 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.552214, -0.641945, -1.808123 mu:0.765014 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.284303, -0.658418, -1.976565 mu:0.765014 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.284135, -0.660945, -1.975005 mu:0.765014 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.232511, -0.639457, -2.011816 mu:0.765014 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.236081, -0.639214, -2.010462 mu:0.765014 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.798256, -0.610630, -1.953751 mu:0.765014 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.562478, -0.601729, -1.828118 mu:0.765014 unit_bearing:0.532927 -0.375982 0.758042 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.565653, -0.601234, -1.825634 mu:0.765014 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.568822, -0.600735, -1.823138 mu:0.765014 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.314387, -0.625626, -1.982252 mu:0.765014 unit_bearing:0.334579 -0.379757 0.862462 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.310557, -0.631019, -1.980886 mu:0.765014 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.229516, -0.629439, -2.019085 mu:0.765014 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.231566, -0.644743, -2.097040 mu:0.765014 unit_bearing:-0.088655 -0.383570 0.919246 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.227461, -0.631794, -2.104365 mu:0.765014 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.246177, -0.629032, -2.105411 mu:0.765014 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.242419, -0.629068, -2.105511 mu:0.765014 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.231081, -0.626561, -2.107171 mu:0.765014 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.689875, -0.557155, -1.729908 mu:0.765014 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.690142, -0.554720, -1.731353 mu:0.765014 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.231013, -0.623955, -2.108592 mu:0.765014 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.326928, -0.591398, -1.996053 mu:0.765014 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.275645, -0.602559, -2.118207 mu:0.765014 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.271880, -0.602610, -2.118396 mu:0.765014 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.688270, -0.545549, -1.740025 mu:0.765014 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.316978, -0.581924, -2.006455 mu:0.765014 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.320495, -0.581641, -2.004842 mu:0.765014 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.235137, -0.590422, -2.039035 mu:0.765014 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.271939, -0.605230, -2.117025 mu:0.765014 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.312829, -0.578294, -2.127764 mu:0.765014 unit_bearing:-0.151950 -0.330251 0.931582 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.246396, -0.579303, -2.040381 mu:0.765014 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.238850, -0.587588, -2.039052 mu:0.765014 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.310357, -0.574702, -2.013722 mu:0.765014 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.758207, -0.513518, -1.675619 mu:0.765014 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.246523, -0.576694, -2.041723 mu:0.765014 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? 0.841673, -0.553131, -1.960650 mu:0.765014 unit_bearing:-0.545472 -0.326724 0.771824 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.289805, -0.563286, -2.029674 mu:0.765014 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.285728, -0.573975, -2.025873 mu:0.765014 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.306967, -0.572378, -2.016645 mu:0.765014 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.755736, -0.511743, -1.680208 mu:0.765014 unit_bearing:0.689558 -0.321445 0.648986 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.756007, -0.509313, -1.681567 mu:0.765014 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.765] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.765] If point is visible? -0.754313, -0.500206, -1.690151 mu:0.765014 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.303571, -0.570048, -2.019550 mu:0.765014 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.296630, -0.567979, -2.023980 mu:0.765014 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.756276, -0.506880, -1.682920 mu:0.765014 unit_bearing:0.689848 -0.317499 0.650619 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.268464, -0.564801, -2.038555 mu:0.765014 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.272028, -0.564554, -2.037103 mu:0.765014 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.754050, -0.502648, -1.688818 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.320320, -0.575514, -2.128439 mu:0.765014 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.301677, -0.586396, -2.124669 mu:0.765014 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.305393, -0.583699, -2.125718 mu:0.765014 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.342758, -0.564480, -2.131442 mu:0.765014 unit_bearing:-0.174894 -0.319418 0.931335 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.346485, -0.561751, -2.132319 mu:0.765014 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.357758, -0.558839, -2.132322 mu:0.765014 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.353986, -0.558929, -2.132756 mu:0.765014 unit_bearing:-0.183495 -0.315082 0.931157 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.252069, -0.557972, -2.141458 mu:0.765014 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.365260, -0.556005, -2.132686 mu:0.765014 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.361488, -0.556100, -2.133142 mu:0.765014 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.270771, -0.549798, -2.144438 mu:0.765014 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.252014, -0.555316, -2.142710 mu:0.765014 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.406595, -0.544247, -2.131922 mu:0.765014 unit_bearing:-0.223471 -0.304011 0.926087 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.402823, -0.544363, -2.132503 mu:0.765014 unit_bearing:-0.220629 -0.304045 0.926758 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.399052, -0.544476, -2.133071 mu:0.765014 unit_bearing:-0.217786 -0.304077 0.927419 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.289396, -0.536234, -2.149509 mu:0.765014 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.285620, -0.536287, -2.149738 mu:0.765014 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.281843, -0.536338, -2.149956 mu:0.765014 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.384041, -0.550209, -2.132747 mu:0.765014 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.251960, -0.552659, -2.143957 mu:0.765014 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.556805, -0.524755, -2.105400 mu:0.765014 unit_bearing:-0.336372 -0.291683 0.895419 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.560560, -0.527192, -2.103127 mu:0.765014 unit_bearing:-0.339122 -0.293746 0.893706 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.623927, -0.531320, -2.079660 mu:0.765014 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.285428, -0.525604, -2.154509 mu:0.765014 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.281650, -0.525654, -2.154727 mu:0.765014 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.560545, -0.524556, -2.104345 mu:0.765014 unit_bearing:-0.339162 -0.291630 0.894383 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.867482, -0.481491, -1.980805 mu:0.765014 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? 0.253911, -0.447666, -2.187445 mu:0.765014 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.056376, -0.320568, -2.199601 mu:0.765014 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] calculated Z= 0.578655 +[21:42:37.766] update seeds 305 +[21:42:37.766] If point is visible? -0.060099, -0.320464, -2.198829 mu:0.765014 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] calculated Z= 0.573015 +[21:42:37.766] update seeds 305 +[21:42:37.766] If point is visible? -0.063819, -0.320358, -2.198046 mu:0.765014 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.078687, -0.319921, -2.194803 mu:0.765014 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.086112, -0.319692, -2.193116 mu:0.765014 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.696529, -0.296464, -1.856296 mu:0.765014 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.699460, -0.298665, -1.852595 mu:0.765014 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.160765, -0.247417, -2.189678 mu:0.765014 unit_bearing:0.208064 -0.073239 0.975369 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.766] If point is visible? -0.064531, -0.247767, -2.214439 mu:0.765014 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.766] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.068254, -0.247664, -2.213645 mu:0.765014 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.079413, -0.247347, -2.211199 mu:0.765014 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.072049, -0.236333, -2.214991 mu:0.765014 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.094289, -0.244100, -2.208329 mu:0.765014 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.079607, -0.213627, -2.217351 mu:0.765014 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? 0.373617, -0.213344, -2.239124 mu:0.765014 unit_bearing:-0.202177 -0.042758 0.978415 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.197746, -0.201083, -2.186483 mu:0.765014 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? 0.369820, -0.216219, -2.239128 mu:0.765014 unit_bearing:-0.199302 -0.044940 0.978907 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.793491, -0.122786, -1.791484 mu:0.765014 unit_bearing:0.714674 -0.015730 0.699281 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.796285, -0.122367, -1.788170 mu:0.765014 unit_bearing:0.717000 -0.015721 0.696896 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.098304, -0.167939, -2.219869 mu:0.765014 unit_bearing:0.159235 -0.010076 0.987189 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.787909, -0.115587, -1.799186 mu:0.765014 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.782276, -0.108356, -1.806783 mu:0.765014 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.785104, -0.107952, -1.803515 mu:0.765014 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.153777, -0.163313, -2.205697 mu:0.765014 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.098311, -0.156621, -2.221325 mu:0.765014 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.787921, -0.110228, -1.799893 mu:0.765014 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.787915, -0.112908, -1.799543 mu:0.765014 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.790727, -0.112498, -1.796252 mu:0.765014 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.765098, -0.089177, -1.828652 mu:0.765014 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.205163, -0.135930, -2.192944 mu:0.765014 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.068535, -0.123407, -2.231844 mu:0.765014 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.352657, -0.058242, -2.139680 mu:0.765014 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.356205, -0.058051, -2.137997 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.071939, -0.057795, -2.235768 mu:0.765014 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.075659, -0.057700, -2.234951 mu:0.765014 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.079376, -0.057604, -2.234123 mu:0.765014 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.222997, -0.052915, -2.193199 mu:0.765014 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.222609, -0.015877, -2.194367 mu:0.765014 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.226249, -0.015736, -2.193094 mu:0.765014 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.218931, -0.013163, -2.195676 mu:0.765014 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.222574, -0.013024, -2.194413 mu:0.765014 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.160072, 0.007647, -2.214506 mu:0.765014 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? 0.745961, 0.049323, -2.150410 mu:0.765014 unit_bearing:-0.479178 0.148417 0.865078 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? 0.804353, 0.057485, -2.121866 mu:0.765014 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.313549, 0.429803, -2.079191 mu:0.765014 unit_bearing:0.335833 0.430681 0.837693 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.248293, -0.671251, -1.984933 mu:0.765014 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.255382, -0.670723, -1.982095 mu:0.765014 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.262461, -0.670185, -1.979212 mu:0.765014 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.262125, -0.675224, -1.976035 mu:0.765014 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? 0.805405, -0.607332, -1.951496 mu:0.765014 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.767] If point is visible? -0.268337, -0.567415, -2.037238 mu:0.765014 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.767] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.282573, -0.566411, -2.031363 mu:0.765014 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.754050, -0.502648, -1.688818 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.564313, -0.529625, -2.100836 mu:0.765014 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.603266, -0.486132, -1.862716 mu:0.765014 unit_bearing:0.562856 -0.284982 0.775873 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.270173, -0.517759, -2.158823 mu:0.765014 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.270269, -0.523116, -2.156489 mu:0.765014 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.269212, -0.458403, -2.182802 mu:0.765014 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.261641, -0.458476, -2.183132 mu:0.765014 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.773740, -0.109558, -1.816512 mu:0.765014 unit_bearing:0.698250 -0.003352 0.715846 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.343146, -0.185628, -2.247011 mu:0.765014 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.411606, -0.195758, -2.236444 mu:0.765014 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.756421, -0.122703, -1.834222 mu:0.765014 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.779415, -0.119494, -1.808622 mu:0.765014 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.785080, -0.118676, -1.802101 mu:0.765014 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.750611, -0.101890, -1.843239 mu:0.765014 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.756441, -0.101126, -1.836958 mu:0.765014 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.762239, -0.100355, -1.830628 mu:0.765014 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.768005, -0.099579, -1.824250 mu:0.765014 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.790689, -0.123203, -1.794786 mu:0.765014 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.762229, -0.094959, -1.831245 mu:0.765014 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.767994, -0.094188, -1.824866 mu:0.765014 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.312786, -0.095227, -2.259649 mu:0.765014 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.915754, -0.055885, -2.057617 mu:0.765014 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.908703, -0.056373, -2.062109 mu:0.765014 unit_bearing:-0.598947 0.059929 0.798543 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.349107, -0.058432, -2.141351 mu:0.765014 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.356205, -0.058051, -2.137997 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.690595, 0.004774, -2.174917 mu:0.765014 unit_bearing:-0.438685 0.116876 0.891008 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.807966, 0.060457, -2.119853 mu:0.765014 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.956438, 0.095934, -2.027432 mu:0.765014 unit_bearing:-0.632262 0.172345 0.755342 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.921744, 0.094025, -2.051112 mu:0.765014 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.956507, 0.090412, -2.027866 mu:0.765014 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.601262, 0.126830, -2.200262 mu:0.765014 unit_bearing:-0.371144 0.211918 0.904070 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.271763, -0.597363, -2.121117 mu:0.765014 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? 0.269374, -0.469251, -2.178672 mu:0.765014 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.604651, -0.465571, -1.872261 mu:0.765014 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.598738, -0.662065, -1.747510 mu:0.765014 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.622972, -0.657336, -1.725979 mu:0.765014 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.599910, -0.652557, -1.754217 mu:0.765014 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.624189, -0.647880, -1.732686 mu:0.765014 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.768] If point is visible? -0.242145, -0.656567, -1.997092 mu:0.765014 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.768] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? -0.256354, -0.655536, -1.991466 mu:0.765014 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? -0.270519, -0.654466, -1.985658 mu:0.765014 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? -0.245613, -0.594914, -2.032194 mu:0.765014 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? -0.259890, -0.593940, -2.026585 mu:0.765014 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? -0.302451, -0.590802, -2.008663 mu:0.765014 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? 0.406559, -0.541597, -2.133156 mu:0.765014 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? 0.269894, -0.501648, -2.165669 mu:0.765014 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? 0.848907, -0.542203, -1.962022 mu:0.765014 unit_bearing:-0.550991 -0.318299 0.771424 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? 0.271532, -0.586847, -2.126481 mu:0.765014 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? 0.849076, -0.532066, -1.967335 mu:0.765014 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? -0.750606, -0.118095, -1.841225 mu:0.765014 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? -0.762233, -0.116526, -1.828618 mu:0.765014 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? -0.327688, -0.053881, -2.151429 mu:0.765014 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? -0.762198, -0.127290, -1.827145 mu:0.765014 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? -0.197159, -0.025389, -2.202792 mu:0.765014 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? 0.921802, 0.088478, -2.051538 mu:0.765014 unit_bearing:-0.607294 0.168930 0.776309 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? 0.851480, 0.006701, -2.097863 mu:0.765014 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? 0.778765, 0.092919, -2.132383 mu:0.765014 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? 0.793360, 0.082276, -2.125961 mu:0.765014 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? 0.778807, 0.081663, -2.133201 mu:0.765014 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? 0.764208, 0.081066, -2.140237 mu:0.765014 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.207787 y=0.000000 z=-0.960192 +[21:42:37.769] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:37.769] If point is visible? -6661.417174, -452.590848, -7124.207331 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.207788 y=0.000000 z=-0.960197 +[21:42:37.769] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:37.769] calculated Z= 0.910576 +[21:42:37.769] update seeds 305 +[21:42:37.769] If point is visible? 4211.899083, -399.552156, -8800.093669 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.207788 y=0.000000 z=-0.960197 +[21:42:37.769] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:37.769] If point is visible? -6661.417174, -452.590848, -7124.207331 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.207788 y=0.000000 z=-0.960197 +[21:42:37.769] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:37.769] calculated Z= 0.910576 +[21:42:37.769] update seeds 305 +[21:42:37.769] If point is visible? 4211.899083, -399.552156, -8800.093669 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.207788 y=0.000000 z=-0.960197 +[21:42:37.769] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:37.769] If point is visible? 0.895796, -0.059751, -2.421326 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.769] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.769] If point is visible? 0.822907, -0.687445, -2.287175 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.769] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.769] If point is visible? 1.057065, -0.057362, -2.333973 mu:0.618770 unit_bearing:-0.598870 0.068366 0.797923 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.769] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.769] If point is visible? 2.899348, 0.024463, -5.859597 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.769] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.769] If point is visible? -0.902286, -0.074070, -2.132404 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.769] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.769] If point is visible? 0.270856, -0.965094, -2.254970 mu:0.618770 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.769] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.769] If point is visible? 0.266255, -0.965168, -2.255131 mu:0.618770 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.769] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.769] If point is visible? 0.261270, -0.956135, -2.262029 mu:0.618770 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.769] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.769] If point is visible? 0.246945, -0.944133, -2.271266 mu:0.618770 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.769] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -1.866320, -2.179313, -3.391476 mu:0.258523 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.770] If point is visible? -1.868898, -2.174120, -3.398880 mu:0.258315 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.770] If point is visible? 0.241955, -0.935007, -2.277928 mu:0.618770 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? 0.237347, -0.935059, -2.278003 mu:0.618770 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -38.071900, -28.690370, -29.635344 mu:0.017930 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] If point is visible? -0.876679, -0.818220, -1.835563 mu:0.618770 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -0.797511, -0.854774, -1.893231 mu:0.618770 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? 1.147080, -0.982368, -2.231655 mu:0.537300 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.745155, Z inverse max: 0.329445 +[21:42:37.770] calculated Z= 0.644491 +[21:42:37.770] update seeds 305 +[21:42:37.770] If point is visible? -0.901879, -0.828515, -1.793274 mu:0.618770 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -0.905320, -0.827643, -1.789541 mu:0.618770 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -0.377179, -0.890116, -2.175650 mu:0.618770 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -1.262702, -1.137994, -2.189196 mu:0.448661 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.770] If point is visible? -0.855713, -0.820187, -1.859127 mu:0.618770 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -5.049078, -4.905380, -6.873895 mu:0.107416 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] If point is visible? 0.212764, -0.898219, -2.303700 mu:0.618770 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? 0.212639, -0.895110, -2.305774 mu:0.618770 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -0.809808, -0.818473, -1.912257 mu:0.618770 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -0.813521, -0.817740, -1.908905 mu:0.618770 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -0.809413, -0.821394, -1.910161 mu:0.618770 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -0.729887, -0.800737, -2.004900 mu:0.618770 unit_bearing:0.515451 -0.412999 0.750828 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -0.733790, -0.800111, -2.001865 mu:0.618770 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -0.738022, -0.796478, -2.000814 mu:0.618770 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -0.741912, -0.795846, -1.997750 mu:0.618770 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.770] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.770] If point is visible? -0.746132, -0.792208, -1.996663 mu:0.618770 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.417571, -0.813083, -2.209054 mu:0.618770 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.746468, -0.789201, -1.998646 mu:0.618770 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.417344, -0.816207, -2.207128 mu:0.618770 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.426900, -0.802975, -2.210885 mu:0.618770 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.358041, -0.795754, -2.247999 mu:0.618770 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.753921, -0.755285, -2.016833 mu:0.618770 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.769745, -0.749739, -2.006209 mu:0.618770 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.758746, -0.745521, -2.019361 mu:0.618770 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.762630, -0.744901, -2.016241 mu:0.618770 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.766507, -0.744278, -2.013106 mu:0.618770 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? 0.921184, -0.756061, -2.197637 mu:0.618770 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.445946, -0.776374, -2.217852 mu:0.618770 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.354054, -0.789739, -2.253436 mu:0.618770 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.358446, -0.789432, -2.251707 mu:0.618770 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? 0.925578, -0.758639, -2.193511 mu:0.618770 unit_bearing:-0.514863 -0.372921 0.771911 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? 0.213166, -0.781139, -2.374981 mu:0.618770 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.762940, -0.741849, -2.018103 mu:0.618770 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.766818, -0.741227, -2.014969 mu:0.618770 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.459313, -0.768956, -2.215388 mu:0.618770 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.771] If point is visible? -0.354452, -0.783404, -2.257111 mu:0.618770 unit_bearing:0.270400 -0.383335 0.883141 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.771] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.350445, -0.777359, -2.262468 mu:0.618770 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.463834, -0.765424, -2.215135 mu:0.618770 unit_bearing:0.340228 -0.375458 0.862135 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? 0.236193, -0.774541, -2.378330 mu:0.618770 unit_bearing:-0.100188 -0.368751 0.924113 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? 0.217606, -0.774676, -2.378507 mu:0.618770 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.914941, -0.687118, -1.897836 mu:0.618770 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -2.446320, -1.616713, -3.180274 mu:0.261831 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.772] If point is visible? -0.470441, -0.730142, -2.232486 mu:0.618770 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.352686, -0.739040, -2.283643 mu:0.618770 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? 0.277143, -0.741787, -2.394339 mu:0.618770 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? 0.272485, -0.741844, -2.394527 mu:0.618770 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.466728, -0.720929, -2.239693 mu:0.618770 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.997772, -0.639027, -1.826272 mu:0.618770 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.352864, -0.735830, -2.285355 mu:0.618770 unit_bearing:0.268197 -0.351987 0.896758 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? 0.272573, -0.745086, -2.392842 mu:0.618770 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? 0.267916, -0.745142, -2.393016 mu:0.618770 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? 0.268006, -0.748381, -2.391323 mu:0.618770 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.357452, -0.732324, -2.285348 mu:0.618770 unit_bearing:0.271049 -0.349835 0.896743 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.362389, -0.722378, -2.288688 mu:0.618770 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.432453, -0.717323, -2.259181 mu:0.618770 unit_bearing:0.318803 -0.342595 0.883738 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? 0.295443, -0.728545, -2.400114 mu:0.618770 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.407186, -0.703200, -2.278961 mu:0.618770 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.433374, -0.701245, -2.267480 mu:0.618770 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.772] If point is visible? -0.995856, -0.627843, -1.837050 mu:0.618770 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.772] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? -0.419937, -0.708679, -2.269990 mu:0.618770 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.304686, -0.725153, -2.401234 mu:0.618770 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.309269, -0.721825, -2.402588 mu:0.618770 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? -0.433554, -0.698021, -2.269115 mu:0.618770 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.313854, -0.718493, -2.403921 mu:0.618770 unit_bearing:-0.149074 -0.332399 0.931283 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.336954, -0.708301, -2.407072 mu:0.618770 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? -0.993536, -0.619606, -1.846044 mu:0.618770 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? -0.398773, -0.697369, -2.285935 mu:0.618770 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? -0.559380, -0.875300, -2.622614 mu:0.492766 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.590481, Z inverse max: 0.395051 +[21:42:37.773] If point is visible? 0.341547, -0.704948, -2.408292 mu:0.618770 unit_bearing:-0.166290 -0.323750 0.931415 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.350811, -0.701498, -2.409082 mu:0.618770 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.243152, -0.689916, -2.421220 mu:0.618770 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.364678, -0.694667, -2.410937 mu:0.618770 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.360008, -0.694768, -2.411386 mu:0.618770 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.270832, -0.676507, -2.426548 mu:0.618770 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.420404, -0.676917, -2.412230 mu:0.618770 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.415732, -0.677045, -2.412847 mu:0.618770 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.247654, -0.683308, -2.424206 mu:0.618770 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.242988, -0.683347, -2.424308 mu:0.618770 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.284542, -0.663170, -2.431977 mu:0.618770 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.279870, -0.663226, -2.432188 mu:0.618770 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.406451, -0.680570, -2.412498 mu:0.618770 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.401780, -0.680691, -2.413073 mu:0.618770 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.708477, -0.657382, -2.349075 mu:0.618770 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.671541, -0.656398, -2.362301 mu:0.618770 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.284251, -0.649961, -2.437873 mu:0.618770 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.279578, -0.650016, -2.438083 mu:0.618770 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.773] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.773] If point is visible? 0.274377, -0.662879, -2.765301 mu:0.519719 unit_bearing:-0.121046 -0.227612 0.966199 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.696949, Z inverse max: 0.342489 +[21:42:37.774] If point is visible? -0.924758, -0.361525, -2.054938 mu:0.618770 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.243783, -0.381910, -2.464209 mu:0.618770 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.138612, -0.395815, -2.488320 mu:0.618770 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.215483, -0.477163, -2.801791 mu:0.513104 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.675691, Z inverse max: 0.350518 +[21:42:37.774] calculated Z= 0.763569 +[21:42:37.774] update seeds 305 +[21:42:37.774] If point is visible? -0.222778, -0.478959, -2.808123 mu:0.511003 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.669033, Z inverse max: 0.352973 +[21:42:37.774] calculated Z= 0.762928 +[21:42:37.774] update seeds 305 +[21:42:37.774] If point is visible? -0.166118, -0.394972, -2.482043 mu:0.618770 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.175270, -0.394676, -2.479842 mu:0.618770 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.148786, -0.305792, -2.506538 mu:0.618770 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.153375, -0.305658, -2.505499 mu:0.618770 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.572008, -0.634879, -4.167619 mu:0.297499 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.774] If point is visible? -0.190044, -0.301053, -2.497376 mu:0.618770 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.153478, -0.291777, -2.508156 mu:0.618770 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.158066, -0.291642, -2.507103 mu:0.618770 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.167403, -0.263554, -2.509905 mu:0.618770 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.312950, -0.247821, -2.469912 mu:0.618770 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.167516, -0.235673, -2.514362 mu:0.618770 unit_bearing:0.144807 -0.027543 0.989076 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -1.043147, -0.153193, -1.971885 mu:0.618770 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -1.049938, -0.152141, -1.963589 mu:0.618770 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? 0.411359, -0.249854, -2.543849 mu:0.618770 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -1.036368, -0.140999, -1.981966 mu:0.618770 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.987351, -0.137979, -2.039282 mu:0.618770 unit_bearing:0.676698 -0.003368 0.736253 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -1.032954, -0.131566, -1.987362 mu:0.618770 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.774] If point is visible? -0.266358, -0.204459, -2.519137 mu:0.608931 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.918032, Z inverse max: 0.299830 +[21:42:37.774] calculated Z= 0.635776 +[21:42:37.774] update seeds 305 +[21:42:37.774] If point is visible? -1.036384, -0.134374, -1.982840 mu:0.618770 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.774] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.994437, -0.153681, -2.029241 mu:0.618770 unit_bearing:0.681509 -0.013769 0.731680 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -1.036377, -0.137687, -1.982407 mu:0.618770 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.330787, -0.264273, -3.088107 mu:0.452313 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.775] If point is visible? -0.337946, -0.264517, -3.090054 mu:0.451567 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.775] If point is visible? -0.195051, -0.192897, -2.513366 mu:0.618770 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.322108, -0.181236, -2.476174 mu:0.618770 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -1.008575, -0.108391, -2.018748 mu:0.618770 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.322095, -0.167255, -2.477785 mu:0.618770 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.153768, -0.152033, -2.527994 mu:0.618770 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.267065, -0.197006, -2.992103 mu:0.477115 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.556738, Z inverse max: 0.397492 +[21:42:37.775] calculated Z= 0.733540 +[21:42:37.775] update seeds 305 +[21:42:37.775] If point is visible? -1.076590, -0.081972, -1.937680 mu:0.618770 unit_bearing:0.737625 0.023367 0.674807 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -1.079902, -0.084770, -1.933073 mu:0.618770 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -1.076563, -0.078668, -1.937987 mu:0.618770 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -1.076533, -0.075363, -1.938286 mu:0.618770 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? 0.293802, -0.100450, -2.570891 mu:0.618770 unit_bearing:-0.141692 0.059768 0.988105 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.348506, -0.067917, -2.476029 mu:0.618770 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.494694, -0.067909, -2.414064 mu:0.618770 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.157912, -0.070906, -2.532793 mu:0.618770 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.162498, -0.070782, -2.531725 mu:0.618770 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.167081, -0.070657, -2.530644 mu:0.618770 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.503460, -0.070926, -2.409651 mu:0.618770 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.343455, -0.018795, -2.479276 mu:0.618770 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.347936, -0.018614, -2.477644 mu:0.618770 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.775] If point is visible? -0.343407, -0.015268, -2.479333 mu:0.618770 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.775] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? -0.270884, 0.013861, -2.503733 mu:0.618770 unit_bearing:0.210769 0.124909 0.969523 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.931898, 0.070148, -2.403307 mu:0.618770 unit_bearing:-0.524660 0.151905 0.837649 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.927387, 0.069949, -2.405571 mu:0.618770 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.684875, 0.161082, -2.640667 mu:0.570032 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.836894, Z inverse max: 0.303170 +[21:42:37.776] If point is visible? -0.390178, -0.833903, -2.208741 mu:0.618770 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? -0.758435, -0.748572, -2.017491 mu:0.618770 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? -0.390632, -0.827672, -2.212664 mu:0.618770 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.930064, -0.751998, -2.194959 mu:0.618770 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? -0.418021, -0.806824, -2.212881 mu:0.618770 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.240744, -0.771280, -2.380008 mu:0.618770 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? -0.398600, -0.700601, -2.284309 mu:0.618770 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.265341, -0.640233, -2.442969 mu:0.618770 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.265485, -0.646857, -2.440086 mu:0.618770 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.263894, -0.566846, -2.472599 mu:0.618770 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.254529, -0.566922, -2.472889 mu:0.618770 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.439596, -0.242397, -2.541125 mu:0.618770 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? -1.005079, -0.115545, -2.021998 mu:0.618770 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? -1.012106, -0.114581, -2.014022 mu:0.618770 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.420776, -0.249695, -2.542636 mu:0.618770 unit_bearing:-0.219406 -0.034022 0.975040 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? -0.997999, -0.149856, -2.025767 mu:0.618770 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? -1.032923, -0.144824, -1.985614 mu:0.618770 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.326633, -0.131919, -2.566527 mu:0.618770 unit_bearing:-0.161899 0.040112 0.985992 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? -1.039752, -0.150410, -1.976484 mu:0.618770 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? -1.093051, -0.109042, -1.912953 mu:0.618770 unit_bearing:0.748940 0.004877 0.662620 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.776] If point is visible? 0.317262, -0.117917, -2.568281 mu:0.618770 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.776] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.481534, -0.065117, -2.420477 mu:0.618770 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.490287, -0.064647, -2.416334 mu:0.618770 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.499097, -0.071168, -2.411772 mu:0.618770 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 0.895796, -0.059751, -2.421326 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 0.931891, 0.073616, -2.403138 mu:0.618770 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 0.931905, 0.066680, -2.403468 mu:0.618770 unit_bearing:-0.524697 0.149788 0.838008 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 1.073678, 0.114901, -2.319922 mu:0.618770 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 0.868406, 0.126717, -2.429669 mu:0.618770 unit_bearing:-0.486590 0.188635 0.853022 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 0.877492, 0.134017, -2.424901 mu:0.618770 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.998080, 0.977318, -3.489212 mu:0.337001 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.777] If point is visible? 0.267739, -0.738655, -2.396378 mu:0.618770 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.811616, -0.574049, -2.075142 mu:0.618770 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.804280, -0.805239, -1.929282 mu:0.618770 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.833953, -0.799410, -1.902288 mu:0.618770 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.370482, -0.734643, -2.278425 mu:0.618770 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.388044, -0.733412, -2.271270 mu:0.618770 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.440376, -0.729451, -2.248454 mu:0.618770 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 0.965913, -0.698518, -2.204841 mu:0.618770 unit_bearing:-0.539937 -0.335143 0.772105 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 0.264137, -0.580259, -2.467495 mu:0.618770 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 0.283629, -0.620119, -2.450674 mu:0.618770 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 0.249852, -0.764744, -2.383299 mu:0.618770 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 0.434299, -0.669965, -2.413353 mu:0.618770 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? 0.822907, -0.687445, -2.287175 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.364910, -0.823418, -2.227406 mu:0.618770 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.382372, -0.822103, -2.220228 mu:0.618770 unit_bearing:0.289363 -0.409884 0.865023 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.777] If point is visible? -0.399774, -0.820740, -2.212824 mu:0.618770 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.777] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? 0.267391, -0.725652, -2.403006 mu:0.618770 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? 0.449023, -0.249173, -2.538659 mu:0.618770 unit_bearing:-0.236594 -0.034002 0.971013 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? -1.005039, -0.155517, -2.016929 mu:0.618770 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? -0.990909, -0.144170, -2.034515 mu:0.618770 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? -1.005086, -0.142209, -2.018749 mu:0.618770 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? -0.311962, -0.016490, -2.490364 mu:0.618770 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? 0.895708, 0.072068, -2.420811 mu:0.618770 unit_bearing:-0.503300 0.154404 0.850205 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? -0.455031, -0.052465, -2.433201 mu:0.618770 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? 2.899348, 0.024463, -5.859597 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: -nan, Z inverse max: -nan +[21:42:37.778] If point is visible? -0.902286, -0.074070, -2.132404 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? -0.472766, -0.065581, -2.424563 mu:0.618770 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? -0.312143, -0.030604, -2.490085 mu:0.618770 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.207788 y=0.000000 z=-0.960202 +[21:42:37.778] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:37.778] If point is visible? 0.686377, 0.044790, -2.268630 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? 0.723011, 0.081955, -2.252821 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? 0.191317, -0.837698, -2.074206 mu:0.717420 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? 0.182746, -0.829934, -2.079844 mu:0.717420 unit_bearing:-0.113287 -0.493085 0.862574 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? 0.186926, -0.832515, -2.078011 mu:0.717420 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? -0.598135, -0.779432, -1.788425 mu:0.717420 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? 0.178357, -0.824724, -2.083580 mu:0.717420 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? -0.598562, -0.776926, -1.790361 mu:0.717420 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? 0.173970, -0.819499, -2.087275 mu:0.717420 unit_bearing:-0.107723 -0.485004 0.867852 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? 0.169792, -0.816891, -2.089034 mu:0.717420 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? 0.156846, -0.803740, -2.097929 mu:0.717420 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? -0.796140, -0.712020, -1.614509 mu:0.717420 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? 0.157052, -0.806387, -2.096064 mu:0.717420 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? -0.712796, -0.730464, -1.709814 mu:0.717420 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? -0.797152, -0.707155, -1.618221 mu:0.717420 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? -0.799910, -0.706382, -1.614825 mu:0.717420 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? -0.366521, -0.760995, -1.977087 mu:0.717420 unit_bearing:0.288202 -0.452979 0.843652 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? -0.756092, -0.710897, -1.673313 mu:0.717420 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? -0.637926, -0.728272, -1.795288 mu:0.717420 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? -0.777641, -0.698432, -1.655967 mu:0.717420 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? -0.760859, -0.700261, -1.677367 mu:0.717420 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.778] If point is visible? 0.845619, -0.740811, -1.953873 mu:0.717420 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.778] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.779] calculated Z= 0.619659 +[21:42:37.779] update seeds 305 +[21:42:37.779] If point is visible? -0.723724, -0.701594, -1.723762 mu:0.717420 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.134765, -0.774448, -2.116885 mu:0.717420 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.134567, -0.771765, -2.118664 mu:0.717420 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.727602, -0.695891, -1.724240 mu:0.717420 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.727170, -0.698416, -1.722463 mu:0.717420 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.664851, -0.673319, -1.813504 mu:0.717420 unit_bearing:0.518491 -0.404850 0.753168 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.680743, -0.670476, -1.799222 mu:0.717420 unit_bearing:0.531332 -0.404075 0.744587 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.663363, -0.683713, -1.806732 mu:0.717420 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.666927, -0.680553, -1.805603 mu:0.717420 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.670109, -0.679983, -1.802758 mu:0.717420 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.670857, -0.674792, -1.806145 mu:0.717420 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.674035, -0.674222, -1.803288 mu:0.717420 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.406153, -0.693888, -2.001642 mu:0.717420 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.401979, -0.699621, -2.000258 mu:0.717420 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.681894, -0.639656, -1.821763 mu:0.717420 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.685420, -0.636465, -1.820477 mu:0.717420 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.688594, -0.635905, -1.817585 mu:0.717420 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.691761, -0.635343, -1.814680 mu:0.717420 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.352970, -0.682359, -2.038600 mu:0.717420 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.349787, -0.677196, -2.043494 mu:0.717420 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.347080, -0.666541, -2.051463 mu:0.717420 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.751161, -0.656489, -2.063283 mu:0.717420 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.426911, -0.665076, -2.007977 mu:0.717420 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.133073, -0.690064, -2.169024 mu:0.717420 unit_bearing:-0.085783 -0.385690 0.918632 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.434641, -0.658940, -2.007142 mu:0.717420 unit_bearing:0.334635 -0.377681 0.863352 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.438238, -0.658592, -2.005146 mu:0.717420 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.140569, -0.681781, -2.174154 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.688940, -0.633270, -1.819172 mu:0.717420 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.692108, -0.632709, -1.816267 mu:0.717420 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.151929, -0.670694, -2.180887 mu:0.717420 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.147925, -0.670697, -2.180696 mu:0.717420 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.813408, -0.582499, -1.709084 mu:0.717420 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.438500, -0.655866, -2.006697 mu:0.717420 unit_bearing:0.337460 -0.375531 0.863190 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.135761, -0.667912, -2.181566 mu:0.717420 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.448473, -0.625040, -2.019281 mu:0.717420 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.448717, -0.622287, -2.020750 mu:0.717420 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.349885, -0.633473, -2.069581 mu:0.717420 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.186385, -0.639932, -2.198368 mu:0.717420 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.182365, -0.639951, -2.198282 mu:0.717420 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.182509, -0.642748, -2.196835 mu:0.717420 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? 0.178491, -0.642766, -2.196737 mu:0.717420 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.779] If point is visible? -0.445360, -0.619875, -2.024230 mu:0.717420 unit_bearing:0.340918 -0.348370 0.873163 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.779] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.448959, -0.619532, -2.022212 mu:0.717420 unit_bearing:0.343692 -0.348303 0.872102 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.178637, -0.645561, -2.195284 mu:0.717420 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.354256, -0.624875, -2.072248 mu:0.717420 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.445600, -0.617117, -2.025685 mu:0.717420 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.442233, -0.614695, -2.029139 mu:0.717420 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.201917, -0.628630, -2.204315 mu:0.717420 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.358397, -0.619038, -2.073411 mu:0.717420 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.358177, -0.621817, -2.071973 mu:0.717420 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.432087, -0.607392, -2.039387 mu:0.717420 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.880598, -0.540511, -1.643010 mu:0.717420 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.396317, -0.602207, -2.062659 mu:0.717420 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.418237, -0.600352, -2.051383 mu:0.717420 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.880977, -0.537924, -1.644448 mu:0.717420 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.406852, -0.606851, -2.054257 mu:0.717420 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.879068, -0.533459, -1.650948 mu:0.717420 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.381838, -0.600610, -2.071335 mu:0.717420 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.385518, -0.600316, -2.069533 mu:0.717420 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.389194, -0.600020, -2.067720 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.213732, -0.622924, -2.207181 mu:0.717420 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.225564, -0.617194, -2.209915 mu:0.717420 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.133187, -0.620359, -2.206242 mu:0.717420 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.877496, -0.526369, -1.658815 mu:0.717420 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.411384, -0.595412, -2.057980 mu:0.717420 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.389408, -0.597232, -2.069111 mu:0.717420 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? -0.393080, -0.596934, -2.067286 mu:0.717420 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.780] If point is visible? 0.229468, -0.614341, -2.211259 mu:0.717420 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.249280, -0.605662, -2.214985 mu:0.717420 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.245238, -0.605712, -2.215088 mu:0.717420 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.277110, -0.593973, -2.219336 mu:0.717420 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.269133, -0.596922, -2.218355 mu:0.717420 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.156034, -0.594968, -2.219711 mu:0.717420 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.309180, -0.584916, -2.221401 mu:0.717420 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.305125, -0.584996, -2.221683 mu:0.717420 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.301071, -0.585074, -2.221953 mu:0.717420 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.175764, -0.586432, -2.224362 mu:0.717420 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.297131, -0.587975, -2.220889 mu:0.717420 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.293079, -0.588049, -2.221135 mu:0.717420 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.155902, -0.592135, -2.221039 mu:0.717420 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.155771, -0.589300, -2.222362 mu:0.717420 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.532128, -0.565865, -2.192123 mu:0.717420 unit_bearing:-0.369647 -0.295232 0.881022 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.528073, -0.566068, -2.193090 mu:0.717420 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.556599, -0.570183, -2.183415 mu:0.717420 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.191266, -0.572168, -2.231178 mu:0.717420 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.187232, -0.572186, -2.231111 mu:0.717420 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.190789, -0.560773, -2.236240 mu:0.717420 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.186754, -0.560790, -2.236173 mu:0.717420 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.823888, -0.519450, -2.097574 mu:0.717420 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.780] If point is visible? 0.180139, -0.491832, -2.264184 mu:0.717420 unit_bearing:-0.126762 -0.236215 0.963397 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.780] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.830419, -0.309334, -1.837368 mu:0.717420 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.827574, -0.307013, -1.841536 mu:0.717420 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.174181, -0.341771, -2.256473 mu:0.717420 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.178077, -0.341624, -2.255358 mu:0.717420 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.181970, -0.341476, -2.254230 mu:0.717420 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.309310, -0.320856, -2.214269 mu:0.717420 unit_bearing:0.227977 -0.118832 0.966388 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.247971, -0.329816, -2.235556 mu:0.717420 unit_bearing:0.182072 -0.123351 0.975517 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.251818, -0.329639, -2.234221 mu:0.717420 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.255662, -0.329459, -2.232874 mu:0.717420 unit_bearing:0.187819 -0.123331 0.974430 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.781] If point is visible? -0.259503, -0.329278, -2.231516 mu:0.717420 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.781] If point is visible? -0.174248, -0.338808, -2.257231 mu:0.717420 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.178144, -0.338662, -2.256115 mu:0.717420 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.182037, -0.338513, -2.254988 mu:0.717420 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.205346, -0.337588, -2.247983 mu:0.717420 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.187420, -0.248978, -2.273537 mu:0.717420 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.191313, -0.248831, -2.272387 mu:0.717420 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.218385, -0.256742, -2.262311 mu:0.717420 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.206981, -0.236246, -2.269852 mu:0.717420 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.199401, -0.212528, -2.276278 mu:0.717420 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.322377, -0.210033, -2.232143 mu:0.717420 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.918470, -0.113278, -1.773643 mu:0.717420 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.921195, -0.112813, -1.769922 mu:0.717420 unit_bearing:0.712358 -0.009540 0.701752 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.929246, -0.122802, -1.757099 mu:0.717420 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.276774, -0.170179, -2.256066 mu:0.717420 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.781] If point is visible? -0.215089, -0.163728, -2.278305 mu:0.717420 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.781] If point is visible? -0.218965, -0.163577, -2.277074 mu:0.717420 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.781] If point is visible? -0.330156, -0.164590, -2.235565 mu:0.717420 unit_bearing:0.242536 -0.005697 0.970126 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.907493, -0.100796, -1.790241 mu:0.717420 unit_bearing:0.700618 0.000794 0.713536 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.910258, -0.100345, -1.786567 mu:0.717420 unit_bearing:0.702980 0.000793 0.711209 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.910258, -0.103210, -1.786215 mu:0.717420 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.913013, -0.102757, -1.782529 mu:0.717420 unit_bearing:0.705335 -0.001277 0.708873 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.915756, -0.105163, -1.778472 mu:0.717420 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.918479, -0.110421, -1.774023 mu:0.717420 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.921204, -0.109958, -1.770301 mu:0.717420 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.899092, -0.084893, -1.803165 mu:0.717420 unit_bearing:0.693483 0.013248 0.720351 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.187812, -0.128447, -2.290627 mu:0.717420 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.191645, -0.116184, -2.290610 mu:0.717420 unit_bearing:0.139032 0.033584 0.989718 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.489328, -0.058773, -2.165851 mu:0.717420 unit_bearing:0.364298 0.063557 0.929111 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.492957, -0.058532, -2.163758 mu:0.717420 unit_bearing:0.367100 0.063546 0.928008 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.191182, -0.064538, -2.294252 mu:0.717420 unit_bearing:0.138993 0.070678 0.987768 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.195071, -0.064401, -2.293089 mu:0.717420 unit_bearing:0.141878 0.070674 0.987358 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.198959, -0.064263, -2.291914 mu:0.717420 unit_bearing:0.144763 0.070670 0.986939 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.191106, -0.058450, -2.294555 mu:0.717420 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.194995, -0.058313, -2.293392 mu:0.717420 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.198882, -0.058175, -2.292217 mu:0.717420 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.781] If point is visible? -0.415428, -0.033046, -2.206608 mu:0.717420 unit_bearing:0.307853 0.085440 0.947590 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.781] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.347981, -0.030542, -2.238173 mu:0.717420 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.351469, -0.015160, -2.236926 mu:0.717420 unit_bearing:0.259474 0.100827 0.960472 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.347640, -0.012305, -2.238628 mu:0.717420 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.351409, -0.012120, -2.236985 mu:0.717420 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.290073, 0.015553, -2.262092 mu:0.717420 unit_bearing:0.213635 0.124897 0.968897 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.282435, 0.015230, -2.264992 mu:0.717420 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.588554, 0.002849, -2.301115 mu:0.717420 unit_bearing:-0.413867 0.119263 0.902491 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.686377, 0.044790, -2.268630 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.759342, 0.110056, -2.235628 mu:0.717420 unit_bearing:-0.526557 0.189877 0.828664 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.183895, 0.531769, -2.187730 mu:0.717420 unit_bearing:0.153109 0.485979 0.860455 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.357426, -0.711575, -2.017177 mu:0.717420 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.364751, -0.710954, -2.013647 mu:0.717420 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.372060, -0.710323, -2.010068 mu:0.717420 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.379354, -0.709682, -2.006442 mu:0.717420 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.758974, -0.653042, -2.061451 mu:0.717420 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.127005, -0.720273, -2.150874 mu:0.717420 unit_bearing:-0.079930 -0.408788 0.909122 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.140569, -0.681781, -2.174154 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.402806, -0.691523, -2.005177 mu:0.717420 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.389194, -0.600020, -2.067720 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.403858, -0.598814, -2.060346 mu:0.717420 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.491549, -0.567788, -2.201220 mu:0.717420 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.174537, -0.557973, -2.237148 mu:0.717420 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.180433, -0.500506, -2.260885 mu:0.717420 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.171960, -0.488949, -2.265069 mu:0.717420 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.163883, -0.488953, -2.264820 mu:0.717420 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.329843, -0.204159, -2.333687 mu:0.717420 unit_bearing:-0.236604 -0.025294 0.971277 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.887827, -0.121158, -1.813388 mu:0.717420 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.910222, -0.117523, -1.784348 mu:0.717420 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.915723, -0.116598, -1.776966 mu:0.717420 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.893505, -0.114518, -1.806971 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.899138, -0.102138, -1.801190 mu:0.717420 unit_bearing:0.693500 0.000795 0.720456 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.921152, -0.121373, -1.768742 mu:0.717420 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.471491, -0.093109, -2.173844 mu:0.717420 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.215674, -0.114230, -2.349421 mu:0.717420 unit_bearing:-0.156135 0.040117 0.986921 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.893513, -0.097275, -1.809115 mu:0.717420 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.899132, -0.096393, -1.801876 mu:0.717420 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.223846, -0.108161, -2.349836 mu:0.717420 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.782] If point is visible? 0.215744, -0.102091, -2.350365 mu:0.717420 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.899116, -0.090645, -1.802534 mu:0.717420 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.721957, -0.055732, -2.254637 mu:0.717420 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.478373, -0.056472, -2.172229 mu:0.717420 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.625108, -0.005182, -2.290186 mu:0.717420 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? 0.707275, 0.111508, -2.256780 mu:0.717420 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.427331, 0.463639, -2.111147 mu:0.717420 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.718533, -0.697841, -1.733455 mu:0.717420 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.782] If point is visible? -0.742554, -0.692572, -1.708644 mu:0.717420 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.782] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? 0.172354, -0.500520, -2.260685 mu:0.717420 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.732779, -0.488218, -1.865719 mu:0.717420 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.359033, -0.695353, -2.027068 mu:0.717420 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.373688, -0.694117, -2.019962 mu:0.717420 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.388279, -0.692840, -2.012665 mu:0.717420 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? 0.178202, -0.637169, -2.199623 mu:0.717420 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.365790, -0.618470, -2.069937 mu:0.717420 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.380530, -0.617305, -2.062846 mu:0.717420 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.424375, -0.613583, -2.040429 mu:0.717420 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.387187, -0.703644, -2.006095 mu:0.717420 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.744287, -0.682475, -1.715684 mu:0.717420 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? 0.172761, -0.512064, -2.256193 mu:0.717420 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? 0.177634, -0.625951, -2.205313 mu:0.717420 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? 0.804890, -0.573205, -2.081776 mu:0.717420 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.379627, -0.628390, -2.057050 mu:0.717420 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:37.783] If point is visible? -0.408898, -0.625927, -2.042292 mu:0.717420 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? 0.173620, -0.535074, -2.246887 mu:0.717420 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? 0.321127, -0.579010, -2.223108 mu:0.717420 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.882167, -0.104783, -1.822756 mu:0.717420 unit_bearing:0.679115 0.000797 0.734031 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.893519, -0.103026, -1.808428 mu:0.717420 unit_bearing:0.688727 0.000796 0.725020 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.882152, -0.116299, -1.821297 mu:0.717420 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.893505, -0.114518, -1.806971 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.456350, -0.051823, -2.184642 mu:0.717420 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.321337, -0.022692, -2.249596 mu:0.717420 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? -0.893455, -0.125996, -1.805405 mu:0.717420 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:37.783] If point is visible? 0.723011, 0.081955, -2.252821 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.207794 y=0.000000 z=-0.960247 +[21:42:37.783] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.172] add new frame +[21:42:38.172] update seed +[21:42:38.172] If point is visible? 0.423747, -0.222238, -0.113197 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.210406 y=0.000000 z=-0.889632 +[21:42:38.172] If point is visible? 0.143435, -0.096895, -0.062661 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.210406 y=0.000000 z=-0.889632 +[21:42:38.172] If point is visible? 0.133378, -0.214684, -0.086058 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.210406 y=0.000000 z=-0.889632 +[21:42:38.172] If point is visible? 0.423747, -0.222238, -0.113197 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.210406 y=0.000000 z=-0.889632 +[21:42:38.172] If point is visible? 0.143435, -0.096895, -0.062661 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.210406 y=0.000000 z=-0.889632 +[21:42:38.172] If point is visible? 0.133378, -0.214684, -0.086058 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.210406 y=0.000000 z=-0.889632 +[21:42:38.172] If point is visible? 0.160657, -0.001137, -0.771358 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.172] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.172] If point is visible? 0.201195, -0.015193, -0.762871 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.172] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.172] If point is visible? 0.201190, -0.016349, -0.763012 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.172] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.172] If point is visible? 0.200323, 0.067683, -0.780938 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.172] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.172] If point is visible? 0.243437, 0.057899, -0.780006 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.172] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.172] If point is visible? 0.167117, 0.054614, -0.781615 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.172] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.172] If point is visible? 0.167120, 0.054876, -0.781743 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.172] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] If point is visible? 0.246491, 0.053527, -0.778798 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] calculated Z= 0.195771 +[21:42:38.173] update seeds 305 +[21:42:38.173] If point is visible? 0.243554, 0.053135, -0.777718 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.173] calculated Z= 0.209468 +[21:42:38.173] update seeds 305 +[21:42:38.173] If point is visible? 0.166348, 0.051670, -0.780512 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] If point is visible? 0.165966, 0.050322, -0.780050 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] If point is visible? 0.165579, 0.048439, -0.779379 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] If point is visible? 0.261496, 0.049425, -0.782801 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] If point is visible? 0.261504, 0.049159, -0.782685 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] If point is visible? 0.242162, 0.048913, -0.775470 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] If point is visible? 0.261512, 0.048893, -0.782571 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] If point is visible? 0.188722, 0.047061, -0.772302 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] If point is visible? 0.189099, 0.047071, -0.772240 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] If point is visible? 0.262319, 0.045639, -0.781559 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.173] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.173] If point is visible? 0.251053, 0.046610, -0.777318 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.174] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.174] If point is visible? 0.242215, 0.045941, -0.774289 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.174] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.174] If point is visible? 0.250708, 0.045550, -0.776774 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.174] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.174] If point is visible? 0.164814, 0.045453, -0.778449 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.174] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.174] If point is visible? 0.164812, 0.045185, -0.778344 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.174] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.174] If point is visible? 0.250346, 0.045299, -0.776549 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.174] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.174] If point is visible? 0.250714, 0.045280, -0.776670 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.174] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.174] If point is visible? 0.195143, 0.045856, -0.770879 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.174] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.174] If point is visible? 0.195900, 0.045598, -0.770692 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.174] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.174] If point is visible? 0.242596, 0.045384, -0.774178 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.174] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.175] If point is visible? 0.250352, 0.045028, -0.776446 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.175] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.175] If point is visible? 0.242980, 0.044554, -0.773969 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.175] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.175] If point is visible? 0.243351, 0.044539, -0.774067 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.175] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.175] If point is visible? 0.199688, 0.044295, -0.769834 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.175] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.175] If point is visible? 0.198930, 0.044557, -0.769996 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.175] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.175] If point is visible? 0.203476, 0.044064, -0.769491 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.175] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.175] If point is visible? 0.249989, 0.044777, -0.776224 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.175] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.175] If point is visible? 0.250357, 0.044758, -0.776344 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.175] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.176] If point is visible? 0.244477, 0.043677, -0.774068 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.176] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.176] If point is visible? 0.243355, 0.044267, -0.773967 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.176] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.176] If point is visible? 0.243726, 0.044252, -0.774066 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.176] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.176] If point is visible? 0.164047, 0.041910, -0.777406 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.176] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.176] If point is visible? 0.201586, 0.043224, -0.769309 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.176] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.176] If point is visible? 0.201965, 0.043228, -0.769285 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.176] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.176] If point is visible? 0.202343, 0.043232, -0.769262 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.176] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.176] If point is visible? 0.244851, 0.043389, -0.774072 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.176] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.176] If point is visible? 0.153446, 0.040363, -0.781649 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.176] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.176] If point is visible? 0.153449, 0.040631, -0.781745 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.176] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.177] If point is visible? 0.243731, 0.043980, -0.773966 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.177] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.177] If point is visible? 0.202344, 0.042958, -0.769166 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.177] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.177] If point is visible? 0.203864, 0.042150, -0.768803 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.177] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.177] If point is visible? 0.203865, 0.041875, -0.768710 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.177] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.177] If point is visible? 0.164739, 0.034882, -0.774822 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.177] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.177] If point is visible? 0.200482, 0.031599, -0.765913 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.177] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.177] If point is visible? 0.145050, 0.025064, -0.781740 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.177] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.177] If point is visible? 0.145052, 0.025338, -0.781801 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.177] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.177] If point is visible? 0.224775, 0.025942, -0.765124 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.177] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.177] If point is visible? 0.141853, 0.023163, -0.783255 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.177] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.177] calculated Z= 0.280456 +[21:42:38.177] update seeds 305 +[21:42:38.177] If point is visible? 0.229684, 0.025295, -0.765656 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.177] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.177] If point is visible? 0.224781, 0.023971, -0.764740 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.178] If point is visible? 0.235333, 0.023761, -0.766360 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.178] If point is visible? 0.143607, 0.020838, -0.781720 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.178] If point is visible? 0.146094, 0.020201, -0.780153 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.178] If point is visible? 0.146093, 0.019925, -0.780104 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.178] If point is visible? 0.234964, 0.021798, -0.765933 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.178] If point is visible? 0.224783, 0.023125, -0.764585 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.178] calculated Z= 0.527956 +[21:42:38.178] update seeds 305 +[21:42:38.178] If point is visible? 0.138334, 0.019855, -0.784866 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.178] If point is visible? 0.135559, 0.018789, -0.786570 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.178] If point is visible? 0.141834, 0.019324, -0.782525 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.178] If point is visible? 0.142539, 0.019104, -0.782053 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.178] If point is visible? 0.233843, 0.018150, -0.765146 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.178] If point is visible? 0.235346, 0.018114, -0.765430 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.178] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.179] If point is visible? 0.223655, 0.019183, -0.763812 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.179] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.179] calculated Z= 0.543067 +[21:42:38.179] update seeds 305 +[21:42:38.179] If point is visible? 0.224033, 0.019178, -0.763851 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.179] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.179] If point is visible? 0.224412, 0.019172, -0.763892 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.179] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.179] If point is visible? 0.226681, 0.016870, -0.763843 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.179] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.179] If point is visible? 0.235346, 0.017831, -0.765390 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.179] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.179] If point is visible? 0.235722, 0.016972, -0.765348 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.179] Z inverse min: -7.583360, Z inverse max: 0.000000 +[21:42:38.179] If point is visible? 0.224034, 0.018043, -0.763688 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.179] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.179] If point is visible? 0.224413, 0.018038, -0.763729 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.179] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.179] If point is visible? 0.224792, 0.016046, -0.763508 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.179] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.179] calculated Z= 0.526797 +[21:42:38.179] update seeds 305 +[21:42:38.179] If point is visible? 0.223656, 0.014069, -0.763154 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.179] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.180] If point is visible? 0.224035, 0.014064, -0.763194 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.180] If point is visible? 0.224413, 0.014059, -0.763235 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.180] If point is visible? 0.236849, 0.014958, -0.765328 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.180] calculated Z= 0.713663 +[21:42:38.180] update seeds 305 +[21:42:38.180] If point is visible? 0.238348, 0.014635, -0.765614 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.180] If point is visible? 0.236845, 0.011830, -0.764999 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.180] If point is visible? 0.223655, 0.012929, -0.763035 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.180] If point is visible? 0.224034, 0.012925, -0.763075 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.180] If point is visible? 0.224412, 0.012920, -0.763116 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.180] calculated Z= 0.532314 +[21:42:38.180] update seeds 305 +[21:42:38.180] If point is visible? 0.238709, 0.007790, -0.765093 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.180] If point is visible? 0.225159, 0.007768, -0.762790 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.180] If point is visible? 0.191761, 0.006016, -0.763108 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.180] If point is visible? 0.244659, 0.003336, -0.766379 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.180] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.246517, 0.003279, -0.766901 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.269456, 0.000878, -0.775922 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.240920, 0.001437, -0.765379 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.241291, 0.001141, -0.765466 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.224382, 0.002043, -0.762486 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.224760, 0.002038, -0.762528 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.224371, -0.000257, -0.762469 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.239405, -0.001393, -0.765021 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.239778, -0.001403, -0.765107 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.224360, -0.002272, -0.762488 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.224737, -0.002276, -0.762530 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.225115, -0.002281, -0.762573 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.239402, -0.001681, -0.765024 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.181] If point is visible? 0.239024, -0.002246, -0.764946 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.181] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.182] If point is visible? 0.239022, -0.002533, -0.764951 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.182] If point is visible? 0.247212, -0.002470, -0.767086 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.182] calculated Z= 0.592460 +[21:42:38.182] update seeds 305 +[21:42:38.182] If point is visible? 0.237882, -0.004520, -0.764753 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.182] If point is visible? 0.237880, -0.004807, -0.764763 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.182] If point is visible? 0.166270, -0.013772, -0.769987 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.182] If point is visible? 0.202696, -0.018077, -0.763147 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.182] If point is visible? 0.201088, -0.036260, -0.767121 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.182] If point is visible? 0.201463, -0.036259, -0.767094 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.182] If point is visible? 0.201461, -0.036546, -0.767178 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.182] If point is visible? 0.249117, -0.035548, -0.772798 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.182] If point is visible? 0.254468, -0.037939, -0.775421 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.182] If point is visible? 0.254119, -0.037648, -0.775196 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.182] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.183] If point is visible? 0.229976, -0.049240, -0.772931 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.183] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.183] If point is visible? 0.203340, 0.065664, -0.779521 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.183] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.183] If point is visible? 0.204091, 0.065672, -0.779484 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.183] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.183] If point is visible? 0.202581, 0.066688, -0.780169 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.183] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.183] If point is visible? 0.204846, 0.065162, -0.779153 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.183] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.183] If point is visible? 0.246878, 0.052711, -0.778542 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.183] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.183] calculated Z= 0.196588 +[21:42:38.183] update seeds 305 +[21:42:38.183] If point is visible? 0.243917, 0.053384, -0.777940 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.183] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.183] calculated Z= 0.206916 +[21:42:38.183] update seeds 305 +[21:42:38.183] If point is visible? 0.244655, 0.053350, -0.778144 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.183] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.184] calculated Z= 0.204238 +[21:42:38.184] update seeds 305 +[21:42:38.184] If point is visible? 0.246130, 0.053279, -0.778567 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.184] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.184] calculated Z= 0.197752 +[21:42:38.184] update seeds 305 +[21:42:38.184] If point is visible? 0.245380, 0.053847, -0.778599 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.184] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.184] calculated Z= 0.199519 +[21:42:38.184] update seeds 305 +[21:42:38.184] If point is visible? 0.205699, 0.052487, -0.772734 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.184] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.184] If point is visible? 0.262312, 0.045907, -0.781666 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.184] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.184] If point is visible? 0.204240, 0.042701, -0.768974 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.184] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.184] If point is visible? 0.244097, 0.044237, -0.774166 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.184] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.184] If point is visible? 0.244838, 0.044205, -0.774369 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.184] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.184] If point is visible? 0.243347, 0.044811, -0.774168 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.184] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.184] If point is visible? 0.244088, 0.044780, -0.774367 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.184] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.164369, 0.034861, -0.774958 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.200484, 0.030482, -0.765639 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.201243, 0.031048, -0.765722 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.191382, 0.006582, -0.763190 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.191382, 0.006010, -0.763162 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.192140, 0.006021, -0.763055 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.239046, 0.000625, -0.764933 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.239793, 0.000606, -0.765104 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.246520, 0.003850, -0.766918 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.191382, 0.005437, -0.763137 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.192140, 0.005449, -0.763030 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.245723, -0.002999, -0.766667 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.236770, -0.003344, -0.764480 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.239797, 0.001180, -0.765109 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.185] If point is visible? 0.165164, -0.014090, -0.770423 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.185] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.186] If point is visible? 0.165899, -0.013497, -0.770089 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.186] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.186] If point is visible? 0.202696, -0.018077, -0.763147 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.186] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.186] If point is visible? 0.266329, -0.042434, -0.782249 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.186] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.186] If point is visible? 0.270384, -0.044197, -0.785117 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.186] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.186] If point is visible? 0.244668, 0.052818, -0.777902 mu:-7.630447 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.186] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.186] calculated Z= 0.205477 +[21:42:38.186] update seeds 305 +[21:42:38.186] If point is visible? 0.246142, 0.052747, -0.778324 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.186] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.186] If point is visible? 0.249205, 0.047244, -0.776935 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.186] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.186] If point is visible? 0.196574, 0.068120, -0.781595 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.186] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.186] If point is visible? 0.202715, 0.044877, -0.769827 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.186] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.186] If point is visible? 0.243319, 0.046437, -0.774788 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.186] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.186] If point is visible? 0.244800, 0.046374, -0.775191 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.186] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.187] If point is visible? 0.246279, 0.046307, -0.775612 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.187] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.187] If point is visible? 0.244643, 0.053882, -0.778390 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.187] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.187] calculated Z= 0.201615 +[21:42:38.187] update seeds 305 +[21:42:38.187] If point is visible? 0.199577, 0.067155, -0.780688 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.187] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.187] If point is visible? 0.246299, 0.045225, -0.775196 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.187] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.187] If point is visible? 0.243214, 0.051817, -0.777020 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.187] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.187] calculated Z= 0.214861 +[21:42:38.187] update seeds 305 +[21:42:38.187] If point is visible? 0.199725, 0.030473, -0.765697 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.187] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.187] If point is visible? 0.165103, 0.033806, -0.774369 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.187] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.187] If point is visible? 0.199727, 0.029355, -0.765434 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.187] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.187] If point is visible? 0.141833, 0.019049, -0.782477 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.187] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.187] If point is visible? 0.236050, 0.000694, -0.764290 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.187] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.237523, -0.002786, -0.764626 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.225430, -0.010650, -0.763026 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.160657, -0.001137, -0.771358 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.244981, -0.002977, -0.766459 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:38.188] calculated Z= 0.619979 +[21:42:38.188] update seeds 305 +[21:42:38.188] If point is visible? 0.225440, -0.009495, -0.762938 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.225504, -0.000271, -0.762599 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.227014, -0.000292, -0.762787 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.284798, -0.012718, -0.785840 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.201195, -0.015193, -0.762871 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.201190, -0.016349, -0.763012 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.227007, -0.001443, -0.762794 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.234534, -0.001572, -0.764000 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.236034, -0.001603, -0.764295 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.210058 y=0.000000 z=-0.892739 +[21:42:38.188] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:38.188] If point is visible? 0.157651, 0.310358, -0.396228 mu:-1.675728 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.210323 y=0.000000 z=-0.903200 +[21:42:38.188] If point is visible? 0.689928, -0.416989, -2.186201 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.210317 y=0.000000 z=-0.905493 +[21:42:38.188] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:38.188] If point is visible? 0.689982, -0.405097, -2.189992 mu:0.699435 unit_bearing:-0.371667 -0.171737 0.912343 T_cur_ref: x=0.210317 y=0.000000 z=-0.905493 +[21:42:38.188] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:38.188] If point is visible? 0.689928, -0.416989, -2.186201 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.210317 y=0.000000 z=-0.905493 +[21:42:38.188] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:38.188] If point is visible? -0.714719, 0.121895, -1.988806 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.210317 y=0.000000 z=-0.905493 +[21:42:38.188] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:38.188] If point is visible? 0.689928, -0.416989, -2.186201 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.210317 y=0.000000 z=-0.905493 +[21:42:38.188] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:38.188] If point is visible? 0.689928, -0.416989, -2.186201 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.210317 y=0.000000 z=-0.905493 +[21:42:38.189] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:38.189] If point is visible? -0.714719, 0.121895, -1.988806 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.210317 y=0.000000 z=-0.905493 +[21:42:38.189] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:38.189] If point is visible? 0.000046, 0.024970, -1.156421 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.211023 y=0.000000 z=-0.921428 +[21:42:38.189] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:38.189] If point is visible? 0.000046, 0.024970, -1.156421 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.211023 y=0.000000 z=-0.921428 +[21:42:38.189] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:38.189] If point is visible? -0.183045, -0.017622, -1.538650 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.211629 y=0.000000 z=-0.934684 +[21:42:38.189] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:38.189] calculated Z= 0.492310 +[21:42:38.189] update seeds 305 +[21:42:38.189] If point is visible? 0.487524, -0.006182, -1.601539 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.211629 y=0.000000 z=-0.934684 +[21:42:38.189] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:38.189] If point is visible? 0.471217, -0.006849, -1.608048 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.211629 y=0.000000 z=-0.934684 +[21:42:38.189] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:38.189] If point is visible? -0.183045, -0.017622, -1.538650 mu:1.385615 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.211629 y=0.000000 z=-0.934684 +[21:42:38.189] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:38.189] calculated Z= 0.492310 +[21:42:38.189] update seeds 305 +[21:42:38.189] If point is visible? 0.487524, -0.006182, -1.601539 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.211629 y=0.000000 z=-0.934684 +[21:42:38.189] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:38.189] If point is visible? 0.471217, -0.006849, -1.608048 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.211629 y=0.000000 z=-0.934684 +[21:42:38.189] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:38.189] If point is visible? -53786233.090056, -48168274.646054, -69871637.450142 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.212740 y=0.000000 z=-0.950455 +[21:42:38.189] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:38.189] calculated Z= 0.987437 +[21:42:38.189] update seeds 305 +[21:42:38.189] If point is visible? -85428469.207343, 26760316.897195, -45618519.279401 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.212740 y=0.000000 z=-0.950455 +[21:42:38.189] If point is visible? -53786233.090056, -48168274.646054, -69871637.450142 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.212740 y=0.000000 z=-0.950455 +[21:42:38.189] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:38.189] calculated Z= 0.987437 +[21:42:38.189] update seeds 305 +[21:42:38.189] If point is visible? -85428469.207343, 26760316.897195, -45618519.279401 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.212740 y=0.000000 z=-0.950455 +[21:42:38.189] If point is visible? 0.933138, -0.051652, -2.020516 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.214034 y=0.000000 z=-0.976385 +[21:42:38.189] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:38.189] If point is visible? 0.933138, -0.051652, -2.020516 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.214034 y=0.000000 z=-0.976385 +[21:42:38.189] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:38.189] If point is visible? 0.484036, 0.029018, -1.368272 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.437810, 0.030663, -1.396269 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.427308, 0.030190, -1.401734 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.249372, -0.285461, -1.356624 mu:2.097425 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.246612, -0.282837, -1.358825 mu:2.097425 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.248001, -0.284598, -1.357396 mu:2.097425 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? -0.029263, -0.268890, -1.285937 mu:2.097425 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.243867, -0.281095, -1.360330 mu:2.097425 unit_bearing:-0.107700 -0.487042 0.866712 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.241101, -0.278445, -1.362460 mu:2.097425 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.242475, -0.279322, -1.361727 mu:2.097425 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.238314, -0.274876, -1.365194 mu:2.097425 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.238333, -0.275781, -1.364551 mu:2.097425 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? -0.102819, -0.246714, -1.233394 mu:2.097425 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.465664, -0.248586, -1.290522 mu:2.113871 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.142492, Z inverse max: 2.085250 +[21:42:38.189] calculated Z= 0.521285 +[21:42:38.189] update seeds 305 +[21:42:38.189] If point is visible? -0.087093, -0.246982, -1.251412 mu:2.097425 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? -0.104115, -0.244799, -1.233625 mu:2.097425 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? -0.042696, -0.252411, -1.288949 mu:2.097425 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? -0.087523, -0.243591, -1.253954 mu:2.097425 unit_bearing:0.598418 -0.436157 0.672059 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? -0.088623, -0.243363, -1.252955 mu:2.097425 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.055990, -0.263346, -1.341063 mu:2.097425 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? -0.074514, -0.242794, -1.268119 mu:2.097425 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? -0.075646, -0.242583, -1.267171 mu:2.097425 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? -0.074417, -0.243656, -1.267496 mu:2.097425 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.231316, -0.264945, -1.372395 mu:2.097425 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? 0.231297, -0.264028, -1.373008 mu:2.097425 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.189] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.189] If point is visible? -0.049887, -0.238339, -1.293967 mu:2.097425 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.051071, -0.238159, -1.293114 mu:2.097425 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.051153, -0.237274, -1.293710 mu:2.097425 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.052417, -0.236208, -1.293446 mu:2.097425 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.053598, -0.236027, -1.292585 mu:2.097425 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.044393, -0.241595, -1.350781 mu:2.097425 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.229612, -0.247375, -1.383671 mu:2.097425 unit_bearing:-0.079917 -0.410878 0.908181 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.062293, -0.235480, -1.362186 mu:2.097425 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.062249, -0.234548, -1.362736 mu:2.097425 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.057136, -0.222279, -1.299459 mu:2.097425 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.234851, -0.234161, -1.391179 mu:2.097425 unit_bearing:-0.091527 -0.381449 0.919847 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.036024, -0.229881, -1.354255 mu:2.097425 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.056985, -0.224076, -1.298343 mu:2.097425 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.061695, -0.223357, -1.294823 mu:2.097425 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.058393, -0.221202, -1.299141 mu:2.097425 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.059573, -0.221024, -1.298263 mu:2.097425 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.060751, -0.220846, -1.297381 mu:2.097425 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.034778, -0.230708, -1.353160 mu:2.097425 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.059648, -0.220124, -1.298815 mu:2.097425 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.060826, -0.219946, -1.297934 mu:2.097425 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.064665, -0.230043, -1.366369 mu:2.097425 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.435069, -0.218870, -1.337713 mu:2.097425 unit_bearing:-0.504924 -0.363283 0.782992 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.238855, -0.227475, -1.394665 mu:2.097425 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.233377, -0.227539, -1.394919 mu:2.097425 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.030658, -0.225743, -1.354184 mu:2.097425 unit_bearing:0.340283 -0.373381 0.863014 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.435092, -0.217957, -1.338250 mu:2.097425 unit_bearing:-0.505018 -0.361246 0.783874 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.106015, -0.202407, -1.266070 mu:2.097425 unit_bearing:0.636389 -0.347324 0.688749 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.105841, -0.204184, -1.265014 mu:2.097425 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.105928, -0.203296, -1.265543 mu:2.097425 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.105178, -0.199949, -1.268689 mu:2.097425 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.028855, -0.215334, -1.359346 mu:2.097425 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.031313, -0.212708, -1.361984 mu:2.097425 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.248354, -0.220665, -1.397631 mu:2.097425 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.030061, -0.213551, -1.360922 mu:2.097425 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.062751, -0.215818, -1.373694 mu:2.097425 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.131195, -0.189227, -1.245323 mu:2.097425 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:38.190] calculated Z= 0.411748 +[21:42:38.190] update seeds 305 +[21:42:38.190] If point is visible? -0.130436, -0.186807, -1.247975 mu:2.097425 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.453306, -0.203955, -1.334811 mu:2.097425 unit_bearing:-0.542611 -0.332976 0.771168 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.256512, -0.214776, -1.399924 mu:2.097425 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.035081, -0.210167, -1.365132 mu:2.097425 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.058608, -0.210823, -1.374776 mu:2.097425 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.036341, -0.209315, -1.366168 mu:2.097425 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.260606, -0.212775, -1.400504 mu:2.097425 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? 0.042704, -0.205980, -1.370767 mu:2.097425 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.190] If point is visible? -0.129752, -0.183483, -1.251090 mu:2.097425 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.190] Z inverse min: 2.143663, Z inverse max: 2.051186 +[21:42:38.190] calculated Z= 0.415089 +[21:42:38.190] update seeds 305 +[21:42:38.190] If point is visible? 0.048018, -0.208241, -1.371851 mu:2.097425 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.040170, -0.207699, -1.368751 mu:2.097425 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.053232, -0.207633, -1.374317 mu:2.097425 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.051917, -0.207548, -1.373828 mu:2.097425 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.050604, -0.207462, -1.373334 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.264702, -0.210766, -1.401037 mu:2.097425 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.268799, -0.208749, -1.401525 mu:2.097425 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? -0.129665, -0.184374, -1.250602 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:38.191] calculated Z= 0.414916 +[21:42:38.191] update seeds 305 +[21:42:38.191] If point is visible? 0.049254, -0.206423, -1.373318 mu:2.097425 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.042743, -0.206932, -1.370285 mu:2.097425 unit_bearing:0.313481 -0.330105 0.890371 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.272897, -0.206723, -1.401967 mu:2.097425 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.271525, -0.206757, -1.402138 mu:2.097425 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.276996, -0.204689, -1.402363 mu:2.097425 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.282467, -0.202609, -1.402513 mu:2.097425 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.241274, -0.203450, -1.406716 mu:2.097425 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.242625, -0.201494, -1.407548 mu:2.097425 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.368229, -0.192904, -1.384221 mu:2.097425 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.366882, -0.192991, -1.384687 mu:2.097425 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.293415, -0.199378, -1.402138 mu:2.097425 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.292045, -0.199422, -1.402371 mu:2.097425 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.290674, -0.199466, -1.402599 mu:2.097425 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.289309, -0.200475, -1.402369 mu:2.097425 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.287939, -0.200517, -1.402589 mu:2.097425 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.369580, -0.191860, -1.384201 mu:2.097425 unit_bearing:-0.372414 -0.295171 0.879876 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.249464, -0.198486, -1.408435 mu:2.097425 unit_bearing:-0.123527 -0.302771 0.945024 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.250818, -0.196521, -1.409219 mu:2.097425 unit_bearing:-0.126421 -0.298480 0.946006 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.253519, -0.191607, -1.411180 mu:2.097425 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.252143, -0.191630, -1.411293 mu:2.097425 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? -0.107461, -0.108140, -1.311445 mu:2.097425 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.097777, -0.113234, -1.424695 mu:2.097425 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:38.191] calculated Z= 0.915901 +[21:42:38.191] update seeds 305 +[21:42:38.191] If point is visible? 0.119514, -0.115933, -1.429093 mu:2.097425 unit_bearing:0.147530 -0.125631 0.981046 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.099141, -0.114293, -1.424778 mu:2.097425 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.129073, -0.118208, -1.430398 mu:2.097425 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.127709, -0.118174, -1.430149 mu:2.097425 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.126345, -0.118140, -1.429897 mu:2.097425 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.129063, -0.117195, -1.430659 mu:2.097425 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.127699, -0.117161, -1.430410 mu:2.097425 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.126335, -0.117127, -1.430158 mu:2.097425 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.118162, -0.116908, -1.428558 mu:2.097425 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.126142, -0.090650, -1.436142 mu:2.097425 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.191] If point is visible? 0.124778, -0.090617, -1.435886 mu:2.097425 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.191] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.123414, -0.090583, -1.435626 mu:2.097425 unit_bearing:0.138992 -0.071189 0.987731 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.120687, -0.090513, -1.435093 mu:2.097425 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.126122, -0.086555, -1.436927 mu:2.097425 unit_bearing:0.133231 -0.062471 0.989114 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.124758, -0.086522, -1.436671 mu:2.097425 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.123393, -0.086488, -1.436411 mu:2.097425 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.119286, -0.082284, -1.436354 mu:2.097425 unit_bearing:0.147670 -0.053727 0.987576 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.117923, -0.082249, -1.436078 mu:2.097425 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.120634, -0.078214, -1.437339 mu:2.097425 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.078615, -0.073819, -1.427530 mu:2.097425 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.291610, -0.073399, -1.441050 mu:2.097425 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.143545, -0.046840, -1.288252 mu:2.097425 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.145639, -0.046539, -1.285881 mu:2.097425 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.115148, -0.057478, -1.439243 mu:2.097425 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.113787, -0.057442, -1.438954 mu:2.097425 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.141453, -0.043233, -1.291151 mu:2.097425 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.135065, -0.036251, -1.299083 mu:2.097425 unit_bearing:0.695874 0.007018 0.718130 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.136137, -0.036112, -1.297934 mu:2.097425 unit_bearing:0.698247 0.007014 0.715823 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.139340, -0.040589, -1.293871 mu:2.097425 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.140401, -0.040445, -1.292705 mu:2.097425 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.140399, -0.041424, -1.292580 mu:2.097425 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.141457, -0.041278, -1.291409 mu:2.097425 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.141455, -0.042256, -1.291281 mu:2.097425 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.132907, -0.034560, -1.301587 mu:2.097421 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143651, Z inverse max: 2.051191 +[21:42:38.192] If point is visible? 0.074551, -0.050012, -1.429554 mu:2.097425 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:38.192] calculated Z= 0.921457 +[21:42:38.192] update seeds 305 +[21:42:38.192] If point is visible? -0.130738, -0.033847, -1.303959 mu:2.097425 unit_bearing:0.686316 0.013269 0.727183 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.124701, -0.045296, -1.442526 mu:2.097425 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.123337, -0.045264, -1.442265 mu:2.097425 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.154894, -0.026704, -1.277212 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.153857, -0.023924, -1.278712 mu:2.097425 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.153865, -0.024899, -1.278624 mu:2.097425 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.266723, -0.036644, -1.448826 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.265349, -0.030429, -1.449418 mu:2.097425 unit_bearing:-0.158998 0.057565 0.985599 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.067960, -0.019753, -1.429807 mu:2.097425 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? -0.111710, -0.014146, -1.324248 mu:2.097425 unit_bearing:0.644530 0.059468 0.762263 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.123418, -0.022409, -1.443938 mu:2.097425 unit_bearing:0.138990 0.072859 0.987610 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.122054, -0.022379, -1.443673 mu:2.097425 unit_bearing:0.141875 0.072855 0.987200 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.120691, -0.022348, -1.443404 mu:2.097425 unit_bearing:0.144760 0.072851 0.986781 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.034713, -0.017362, -1.417816 mu:2.097425 unit_bearing:0.327680 0.076690 0.941671 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.122060, -0.021337, -1.443723 mu:2.097425 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.120697, -0.021307, -1.443454 mu:2.097425 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.037362, -0.016445, -1.418918 mu:2.097425 unit_bearing:0.322024 0.078880 0.943440 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.192] If point is visible? 0.036041, -0.016386, -1.418391 mu:2.097425 unit_bearing:0.324848 0.078868 0.942472 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.192] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.068015, -0.012483, -1.430083 mu:2.097425 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.066703, -0.009316, -1.429735 mu:2.097425 unit_bearing:0.259492 0.096486 0.960913 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.068071, -0.006244, -1.430230 mu:2.097425 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.066732, -0.006196, -1.429798 mu:2.097425 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.069421, -0.005250, -1.430674 mu:2.097425 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.068082, -0.005203, -1.430246 mu:2.097425 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.095080, 0.002290, -1.438082 mu:2.097425 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.092378, 0.002366, -1.437377 mu:2.097425 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.091027, 0.002405, -1.437018 mu:2.097425 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.052443, -0.246779, -1.350961 mu:2.097425 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.441405, -0.220853, -1.332538 mu:2.097425 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.052343, -0.244941, -1.352122 mu:2.097425 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.234836, -0.233215, -1.391712 mu:2.097425 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.240225, -0.227457, -1.394591 mu:2.097425 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.413330, -0.203582, -1.358686 mu:2.097425 unit_bearing:-0.461453 -0.326097 0.825059 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.050604, -0.207462, -1.373334 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? -0.129665, -0.184374, -1.250602 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:38.193] calculated Z= 0.414913 +[21:42:38.193] update seeds 305 +[21:42:38.193] If point is visible? 0.247986, -0.188763, -1.412888 mu:2.097425 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.248006, -0.190716, -1.412036 mu:2.097425 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.247784, -0.167114, -1.421641 mu:2.097425 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.245026, -0.167149, -1.421829 mu:2.097425 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? -0.129653, -0.045794, -1.303647 mu:2.097425 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? -0.138268, -0.044649, -1.294516 mu:2.097425 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? -0.140393, -0.044357, -1.292189 mu:2.097425 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? -0.129660, -0.037924, -1.304645 mu:2.097425 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? -0.131831, -0.037649, -1.302388 mu:2.097425 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? -0.133991, -0.037372, -1.300114 mu:2.097425 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.275015, -0.067541, -1.444401 mu:2.097425 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? -0.142498, -0.046014, -1.289571 mu:2.097425 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? -0.154894, -0.026704, -1.277212 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.024070, -0.034406, -1.412331 mu:2.097425 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? -0.131827, -0.035681, -1.302613 mu:2.097425 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? -0.133987, -0.035406, -1.300338 mu:2.097425 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.266723, -0.036644, -1.448826 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.266726, -0.034568, -1.448982 mu:2.097425 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.263959, -0.034601, -1.449280 mu:2.097425 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.021522, -0.021904, -1.412021 mu:2.097425 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.400864, 0.000224, -1.415035 mu:2.097425 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.365668, 0.046630, -1.425998 mu:2.097425 unit_bearing:-0.365573 0.211999 0.906318 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.496419, 0.033807, -1.359053 mu:2.097425 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.034689, 0.156184, -1.389617 mu:2.097425 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] calculated Z= 0.609717 +[21:42:38.193] update seeds 305 +[21:42:38.193] If point is visible? 0.059895, -0.239952, -1.358462 mu:2.097425 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.193] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.193] If point is visible? 0.054663, -0.239591, -1.356537 mu:2.097425 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.049445, -0.239216, -1.354545 mu:2.097425 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.058721, -0.213675, -1.373297 mu:2.097425 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.053460, -0.213339, -1.371380 mu:2.097425 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.037767, -0.212252, -1.365226 mu:2.097425 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.248318, -0.217796, -1.399124 mu:2.097425 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? -0.073602, -0.170685, -1.316165 mu:2.097425 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? -0.072339, -0.242349, -1.270622 mu:2.097425 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? -0.081372, -0.240651, -1.262986 mu:2.097425 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.247818, -0.171070, -1.420133 mu:2.097425 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? -0.072717, -0.238882, -1.273078 mu:2.097425 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? -0.081766, -0.237203, -1.265443 mu:2.097425 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.242937, -0.225517, -1.395462 mu:2.097425 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.248270, -0.213960, -1.401082 mu:2.097425 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.049641, -0.242908, -1.352269 mu:2.097425 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.053618, -0.217128, -1.369375 mu:2.097425 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.043148, -0.216410, -1.365337 mu:2.097425 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.247927, -0.182886, -1.415387 mu:2.097425 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.297514, -0.197309, -1.402318 mu:2.097425 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? -0.131817, -0.047473, -1.301118 mu:2.097425 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? -0.127476, -0.044106, -1.306148 mu:2.097425 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? -0.131829, -0.043547, -1.301655 mu:2.097425 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.029417, -0.020220, -1.415505 mu:2.097425 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.077474, -0.005521, -1.433156 mu:2.097425 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.432602, 0.026319, -1.399297 mu:2.097425 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.427339, 0.026081, -1.401990 mu:2.097425 unit_bearing:-0.492427 0.163083 0.854938 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.077436, -0.009685, -1.433076 mu:2.097425 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.484036, 0.029018, -1.368272 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.437810, 0.030663, -1.396269 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.427308, 0.030190, -1.401734 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.214034 y=0.000000 z=-0.976390 +[21:42:38.194] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:38.194] If point is visible? 0.935975, -0.059277, -2.051160 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? 0.830586, -0.060745, -2.114818 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? 0.303368, -0.778501, -2.008766 mu:0.771555 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? 0.299576, -0.773727, -2.012669 mu:0.771555 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? 0.295892, -0.773799, -2.012912 mu:0.771555 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? 0.292040, -0.766570, -2.018565 mu:0.771555 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? -0.452681, -0.732798, -1.812058 mu:0.771555 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? -0.452936, -0.730472, -1.813889 mu:0.771555 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? 0.284495, -0.759375, -2.024354 mu:0.771555 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? 0.276886, -0.749684, -2.031789 mu:0.771555 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? 0.273195, -0.749740, -2.031963 mu:0.771555 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? -0.651652, -0.672295, -1.668089 mu:0.771555 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? -0.651988, -0.670039, -1.669855 mu:0.771555 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] If point is visible? 0.897753, -0.681571, -1.841163 mu:0.771555 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.194] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.194] calculated Z= 0.603081 +[21:42:38.194] update seeds 305 +[21:42:38.194] If point is visible? -0.599374, -0.681855, -1.720219 mu:0.771555 unit_bearing:0.589813 -0.452226 0.669038 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.652322, -0.667780, -1.671615 mu:0.771555 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.655175, -0.667092, -1.668708 mu:0.771555 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.489468, -0.685647, -1.821857 mu:0.771555 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.492681, -0.685150, -1.819578 mu:0.771555 unit_bearing:0.503204 -0.445407 0.740539 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.616076, -0.664940, -1.717074 mu:0.771555 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.613711, -0.660958, -1.723260 mu:0.771555 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.616378, -0.662637, -1.718797 mu:0.771555 unit_bearing:0.603078 -0.437643 0.666907 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.575330, -0.661783, -1.763022 mu:0.771555 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.578665, -0.658865, -1.762117 mu:0.771555 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.650109, -0.644035, -1.696332 mu:0.771555 unit_bearing:0.630157 -0.425510 0.649495 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? 0.250137, -0.712819, -2.058254 mu:0.771555 unit_bearing:-0.079699 -0.444154 0.892399 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.509071, -0.647377, -1.835380 mu:0.771555 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.512276, -0.646886, -1.833044 mu:0.771555 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.515935, -0.641580, -1.833923 mu:0.771555 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.519131, -0.641085, -1.831563 mu:0.771555 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.235375, -0.670263, -1.990601 mu:0.771555 unit_bearing:0.297504 -0.417925 0.858388 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.522552, -0.638180, -1.830796 mu:0.771555 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.257520, -0.651131, -1.993006 mu:0.771555 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.253859, -0.653912, -1.992913 mu:0.771555 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.261323, -0.645835, -1.994613 mu:0.771555 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.253715, -0.656417, -1.991363 mu:0.771555 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.522781, -0.635770, -1.832394 mu:0.771555 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.205355, -0.637299, -2.024153 mu:0.771555 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.528834, -0.603705, -1.850192 mu:0.771555 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.532031, -0.603222, -1.847799 mu:0.771555 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? 0.259758, -0.641766, -2.101508 mu:0.771555 unit_bearing:-0.088642 -0.385673 0.918367 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.532243, -0.600776, -1.849306 mu:0.771555 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.535435, -0.600291, -1.846901 mu:0.771555 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.538622, -0.599803, -1.844484 mu:0.771555 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.201916, -0.634996, -2.026918 mu:0.771555 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.538835, -0.597357, -1.845985 mu:0.771555 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.198838, -0.625056, -2.034069 mu:0.771555 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? 0.818819, -0.604114, -1.950621 mu:0.771555 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? -0.660388, -0.556829, -1.754317 mu:0.771555 unit_bearing:0.635977 -0.353275 0.686098 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? 0.277945, -0.618379, -2.113654 mu:0.771555 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? 0.274221, -0.618425, -2.113832 mu:0.771555 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.195] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.195] If point is visible? 0.259324, -0.618588, -2.114433 mu:0.771555 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.660878, -0.552005, -1.757199 mu:0.771555 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] calculated Z= 0.675108 +[21:42:38.196] update seeds 305 +[21:42:38.196] If point is visible? -0.294850, -0.607937, -2.001716 mu:0.771555 unit_bearing:0.343162 -0.369151 0.863694 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.259371, -0.621172, -2.113023 mu:0.771555 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.854614, -0.560323, -1.953907 mu:0.771555 unit_bearing:-0.539842 -0.337183 0.771284 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.307387, -0.594614, -2.124242 mu:0.771555 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.299969, -0.597333, -2.123409 mu:0.771555 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.295911, -0.587556, -2.013009 mu:0.771555 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.204134, -0.586382, -2.053950 mu:0.771555 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.285879, -0.578139, -2.023140 mu:0.771555 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.289396, -0.577866, -2.021605 mu:0.771555 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.296321, -0.602584, -2.120928 mu:0.771555 unit_bearing:-0.117453 -0.353842 0.927901 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.300008, -0.599931, -2.122050 mu:0.771555 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.215296, -0.575382, -2.055490 mu:0.771555 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.728948, -0.516106, -1.700449 mu:0.771555 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.314771, -0.589284, -2.126365 mu:0.771555 unit_bearing:-0.131834 -0.343145 0.929985 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.279199, -0.570964, -2.030224 mu:0.771555 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.322159, -0.583939, -2.128418 mu:0.771555 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.729458, -0.511305, -1.703185 mu:0.771555 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.254564, -0.570187, -2.041823 mu:0.771555 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.275790, -0.568652, -2.033060 mu:0.771555 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.279318, -0.568388, -2.031560 mu:0.771555 unit_bearing:0.330089 -0.336058 0.882103 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.727179, -0.507130, -1.709041 mu:0.771555 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.272376, -0.566334, -2.035878 mu:0.771555 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.333283, -0.578508, -2.130060 mu:0.771555 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.265534, -0.561682, -2.041459 mu:0.771555 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.237239, -0.561052, -2.054081 mu:0.771555 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.240799, -0.560815, -2.052707 mu:0.771555 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.344411, -0.573054, -2.131577 mu:0.771555 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.258561, -0.559598, -2.045665 mu:0.771555 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.725363, -0.498096, -1.717520 mu:0.771555 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? -0.265420, -0.564267, -2.040144 mu:0.771555 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.351813, -0.567661, -2.133379 mu:0.771555 unit_bearing:-0.160559 -0.325927 0.931661 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.366682, -0.562079, -2.134238 mu:0.771555 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.362950, -0.562168, -2.134680 mu:0.771555 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.258607, -0.576973, -2.136114 mu:0.771555 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.280649, -0.553118, -2.146633 mu:0.771555 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.377822, -0.556559, -2.135381 mu:0.771555 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.392697, -0.550915, -2.135880 mu:0.771555 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.388966, -0.551017, -2.136400 mu:0.771555 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.422470, -0.542154, -2.135039 mu:0.771555 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.418741, -0.542271, -2.135649 mu:0.771555 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.302927, -0.542279, -2.150220 mu:0.771555 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.411303, -0.545126, -2.135600 mu:0.771555 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.196] If point is visible? 0.299224, -0.544971, -2.149248 mu:0.771555 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.196] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.280611, -0.550484, -2.147876 mu:0.771555 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.280574, -0.547849, -2.149113 mu:0.771555 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.651763, -0.525615, -2.077284 mu:0.771555 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.626149, -0.524706, -2.087556 mu:0.771555 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.622487, -0.522334, -2.090023 mu:0.771555 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.317751, -0.531481, -2.153937 mu:0.771555 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.314011, -0.531542, -2.154233 mu:0.771555 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.310271, -0.531600, -2.154518 mu:0.771555 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.313884, -0.520949, -2.158967 mu:0.771555 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.310143, -0.521007, -2.159251 mu:0.771555 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.283091, -0.446440, -2.191202 mu:0.771555 unit_bearing:-0.109531 -0.227659 0.967561 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.665515, -0.295950, -1.881183 mu:0.771555 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.024575, -0.321168, -2.209177 mu:0.771555 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.028279, -0.321074, -2.208480 mu:0.771554 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817625, Z inverse max: 0.725483 +[21:42:38.197] If point is visible? -0.031982, -0.320977, -2.207770 mu:0.771555 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.028307, -0.318319, -2.209187 mu:0.771555 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.032010, -0.318223, -2.208479 mu:0.771555 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.046810, -0.317822, -2.205534 mu:0.771555 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.054201, -0.317612, -2.203997 mu:0.771555 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.665603, -0.293324, -1.881952 mu:0.771555 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.164954, -0.253041, -2.189726 mu:0.771555 unit_bearing:0.236699 -0.079692 0.968309 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] calculated Z= 0.583161 +[21:42:38.197] update seeds 305 +[21:42:38.197] If point is visible? -0.032580, -0.246248, -2.224745 mu:0.771555 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.036285, -0.246154, -2.224026 mu:0.771555 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.047393, -0.245865, -2.221803 mu:0.771555 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.036344, -0.235022, -2.226159 mu:0.771555 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.040048, -0.234928, -2.225428 mu:0.771555 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.062200, -0.242679, -2.219229 mu:0.771555 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.047549, -0.212431, -2.227906 mu:0.771555 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.161604, -0.200398, -2.200556 mu:0.771555 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.047586, -0.201258, -2.229744 mu:0.771555 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? 0.420937, -0.196815, -2.240630 mu:0.771555 unit_bearing:-0.216541 -0.031847 0.975754 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.763192, -0.126612, -1.818317 mu:0.771555 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.768844, -0.125789, -1.811836 mu:0.771555 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.757546, -0.116812, -1.826231 mu:0.771555 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.748969, -0.107358, -1.837170 mu:0.771555 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.754701, -0.111895, -1.830132 mu:0.771555 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.757557, -0.111498, -1.826932 mu:0.771555 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.757552, -0.114155, -1.826585 mu:0.771555 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.760400, -0.113755, -1.823374 mu:0.771555 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.066146, -0.155950, -2.232187 mu:0.771555 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.070091, -0.155987, -2.232478 mu:0.770874 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.816017, Z inverse max: 0.725731 +[21:42:38.197] If point is visible? -0.172644, -0.146886, -2.204702 mu:0.771555 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.734464, -0.093251, -1.854740 mu:0.771555 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.043924, -0.125591, -2.240325 mu:0.771555 unit_bearing:0.141924 0.022668 0.989618 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.734456, -0.090575, -1.855029 mu:0.771555 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.197] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.197] If point is visible? -0.036510, -0.122952, -2.242074 mu:0.771555 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.040215, -0.122864, -2.241344 mu:0.771555 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.172619, -0.124450, -2.207186 mu:0.771555 unit_bearing:0.242529 0.020426 0.969929 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.349476, -0.099717, -2.261520 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.345711, -0.099761, -2.261908 mu:0.771555 unit_bearing:-0.159013 0.044478 0.986274 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.312870, -0.056528, -2.159193 mu:0.771555 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.039960, -0.057903, -2.246028 mu:0.771555 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.043663, -0.057817, -2.245286 mu:0.771555 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.047364, -0.057731, -2.244532 mu:0.771555 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.316446, -0.059155, -2.157465 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.319997, -0.058975, -2.155872 mu:0.771555 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.183263, -0.059313, -2.208658 mu:0.771555 unit_bearing:0.251017 0.070447 0.965416 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.194152, -0.056088, -2.205245 mu:0.771555 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.190336, -0.033638, -2.207324 mu:0.771555 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.190173, -0.016677, -2.207724 mu:0.771555 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.193806, -0.016546, -2.206528 mu:0.771555 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.116864, 0.006467, -2.229510 mu:0.771555 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.124198, 0.006679, -2.227550 mu:0.771555 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.127863, 0.006787, -2.226553 mu:0.771555 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.127832, 0.009624, -2.226543 mu:0.771555 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.826428, 0.058352, -2.117186 mu:0.771555 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.604216, 0.117588, -2.206747 mu:0.771555 unit_bearing:-0.354496 0.205738 0.912143 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.604215, 0.120417, -2.206473 mu:0.771555 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.286895, 0.425097, -2.093622 mu:0.771555 unit_bearing:0.338585 0.430592 0.836631 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.211160, -0.662040, -2.006320 mu:0.771555 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.218255, -0.661545, -2.003682 mu:0.771555 unit_bearing:0.283784 -0.410019 0.866805 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.217979, -0.666556, -2.000554 mu:0.771555 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.225060, -0.666048, -1.997869 mu:0.771555 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.232131, -0.665530, -1.995139 mu:0.771555 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.231845, -0.670527, -1.991983 mu:0.771555 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.812116, -0.592551, -1.961796 mu:0.771555 unit_bearing:-0.507633 -0.361121 0.782241 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.237131, -0.563644, -2.052773 mu:0.771555 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.251353, -0.562680, -2.047207 mu:0.771555 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.662715, -0.524856, -2.073229 mu:0.771555 unit_bearing:-0.397131 -0.298802 0.867758 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.305779, -0.465012, -2.182704 mu:0.771555 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.298822, -0.513205, -2.163520 mu:0.771555 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.298887, -0.518516, -2.161205 mu:0.771555 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.298173, -0.454353, -2.187311 mu:0.771555 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? 0.290674, -0.454443, -2.187775 mu:0.771555 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.760365, -0.124369, -1.821920 mu:0.771555 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.719801, -0.103147, -1.869226 mu:0.771555 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.725696, -0.102402, -1.863105 mu:0.771555 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.731561, -0.101651, -1.856935 mu:0.771555 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.198] If point is visible? -0.737394, -0.100895, -1.850717 mu:0.771555 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.198] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.725678, -0.123796, -1.860392 mu:0.771555 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.748945, -0.120666, -1.835432 mu:0.771555 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.754682, -0.119868, -1.829070 mu:0.771555 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.731551, -0.096301, -1.857547 mu:0.771555 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.737384, -0.095549, -1.851328 mu:0.771555 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.935975, -0.059277, -2.051160 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.349476, -0.099717, -2.261520 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.349485, -0.094073, -2.261944 mu:0.771555 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.341956, -0.094158, -2.262709 mu:0.771555 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.302170, -0.054249, -2.164008 mu:0.771555 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.309291, -0.053899, -2.160903 mu:0.771555 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.714748, 0.000236, -2.171853 mu:0.771555 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.316446, -0.059155, -2.157465 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.829966, 0.061307, -2.115124 mu:0.771555 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.975484, 0.091338, -2.021233 mu:0.771555 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.779820, 0.064573, -2.140676 mu:0.771555 unit_bearing:-0.487114 0.158926 0.858756 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.329586, -0.581190, -2.129087 mu:0.771555 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.314661, -0.581463, -2.130348 mu:0.771555 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.299736, -0.581704, -2.131431 mu:0.771555 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.211696, -0.651983, -2.012496 mu:0.771555 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.225887, -0.650992, -2.007177 mu:0.771555 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.240037, -0.649963, -2.001676 mu:0.771555 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.298282, -0.465110, -2.183213 mu:0.771555 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.584137, -0.637098, -1.774433 mu:0.771555 unit_bearing:0.575914 -0.412853 0.705603 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.594157, -0.653601, -1.750648 mu:0.771555 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.825858, -0.600828, -1.948255 mu:0.771555 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.215078, -0.580549, -2.052805 mu:0.771555 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.229347, -0.579625, -2.047508 mu:0.771555 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.271904, -0.576639, -2.030523 mu:0.771555 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.228892, -0.589926, -2.042058 mu:0.771555 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.257286, -0.587951, -2.030911 mu:0.771555 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.298396, -0.475841, -2.179014 mu:0.771555 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.573763, -0.463418, -1.895337 mu:0.771555 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.313612, -0.497018, -2.169245 mu:0.771555 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.826104, -0.590944, -1.954142 mu:0.771555 unit_bearing:-0.518059 -0.360611 0.775613 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.570791, -0.648810, -1.778223 mu:0.771555 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.595263, -0.644227, -1.757320 mu:0.771555 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.239477, -0.659999, -1.995494 mu:0.771555 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.731523, -0.128357, -1.853482 mu:0.771555 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.719795, -0.119214, -1.867229 mu:0.771555 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.731555, -0.117685, -1.854942 mu:0.771555 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? 0.801173, 0.093429, -2.128077 mu:0.771555 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.199] If point is visible? -0.280650, -0.044021, -2.173552 mu:0.771555 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.199] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.200] If point is visible? 0.815549, 0.082909, -2.121445 mu:0.771555 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.200] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.200] If point is visible? -0.295039, -0.054594, -2.167066 mu:0.771555 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.200] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.200] If point is visible? 0.830586, -0.060745, -2.114818 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.200] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.200] If point is visible? -0.164661, -0.014733, -2.215833 mu:0.771555 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.200] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.200] If point is visible? -0.164770, -0.026052, -2.215614 mu:0.771555 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.214034 y=0.000000 z=-0.976395 +[21:42:38.200] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:38.200] If point is visible? 0.283264, -0.785336, -2.019067 mu:0.765014 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? 0.283181, -0.782892, -2.020909 mu:0.765014 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? 0.275492, -0.775673, -2.026759 mu:0.765014 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? 0.279379, -0.780512, -2.022933 mu:0.765014 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? 0.271687, -0.773278, -2.028739 mu:0.765014 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.475378, -0.737530, -1.806734 mu:0.765014 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? 0.260180, -0.763588, -2.036355 mu:0.765014 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? 0.256200, -0.756212, -2.041794 mu:0.765014 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? 0.252474, -0.756260, -2.041901 mu:0.765014 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.588491, -0.692615, -1.741208 mu:0.765014 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.673948, -0.671507, -1.661424 mu:0.765014 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.676770, -0.670806, -1.658440 mu:0.765014 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.631686, -0.674648, -1.710090 mu:0.765014 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.677134, -0.668525, -1.660202 mu:0.765014 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? 0.885947, -0.688931, -1.861050 mu:0.765014 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] calculated Z= 0.591005 +[21:42:38.200] update seeds 305 +[21:42:38.200] If point is visible? -0.653150, -0.663148, -1.695370 mu:0.765014 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.635952, -0.664713, -1.714216 mu:0.765014 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.597987, -0.665631, -1.755021 mu:0.765014 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? 0.232807, -0.726493, -2.062934 mu:0.765014 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.601628, -0.660316, -1.755740 mu:0.765014 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.532986, -0.646392, -1.832457 mu:0.765014 unit_bearing:0.515567 -0.411002 0.751843 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.536176, -0.645892, -1.830042 mu:0.765014 unit_bearing:0.518144 -0.410848 0.750154 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.539359, -0.645389, -1.827615 mu:0.765014 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.542537, -0.644882, -1.825176 mu:0.765014 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.238496, -0.671512, -2.002552 mu:0.765014 unit_bearing:0.280893 -0.414218 0.865750 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.543046, -0.640020, -1.828397 mu:0.765014 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.546221, -0.639513, -1.825947 mu:0.765014 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.679233, -0.616470, -1.704913 mu:0.765014 unit_bearing:0.634731 -0.400173 0.661043 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.263111, -0.672156, -1.990913 mu:0.765014 unit_bearing:0.300339 -0.415792 0.858436 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.545966, -0.641945, -1.824340 mu:0.765014 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.278055, -0.658418, -1.992782 mu:0.765014 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.277887, -0.660945, -1.991222 mu:0.765014 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.226263, -0.639457, -2.028033 mu:0.765014 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? -0.229833, -0.639214, -2.026679 mu:0.765014 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.200] If point is visible? 0.804504, -0.610630, -1.969968 mu:0.765014 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.200] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.556230, -0.601729, -1.844335 mu:0.765014 unit_bearing:0.532927 -0.375982 0.758042 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.559405, -0.601234, -1.841851 mu:0.765014 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.562574, -0.600735, -1.839355 mu:0.765014 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.308139, -0.625626, -1.998469 mu:0.765014 unit_bearing:0.334579 -0.379757 0.862462 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.304309, -0.631019, -1.997103 mu:0.765014 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.223269, -0.629439, -2.035301 mu:0.765014 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.237813, -0.644743, -2.113257 mu:0.765014 unit_bearing:-0.088655 -0.383570 0.919246 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.233709, -0.631794, -2.120581 mu:0.765014 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.252425, -0.629032, -2.121628 mu:0.765014 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.248667, -0.629068, -2.121728 mu:0.765014 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.237328, -0.626561, -2.123388 mu:0.765014 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.683627, -0.557155, -1.746124 mu:0.765014 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.683894, -0.554720, -1.747570 mu:0.765014 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.237261, -0.623955, -2.124809 mu:0.765014 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.320681, -0.591398, -2.012270 mu:0.765014 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.281893, -0.602559, -2.134424 mu:0.765014 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.278128, -0.602610, -2.134612 mu:0.765014 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.682022, -0.545549, -1.756242 mu:0.765014 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.310730, -0.581924, -2.022672 mu:0.765014 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.314247, -0.581641, -2.021059 mu:0.765014 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.228889, -0.590422, -2.055251 mu:0.765014 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.278187, -0.605230, -2.133242 mu:0.765014 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.319077, -0.578294, -2.143980 mu:0.765014 unit_bearing:-0.151950 -0.330251 0.931582 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.240148, -0.579303, -2.056597 mu:0.765014 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.232602, -0.587588, -2.055268 mu:0.765014 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.304109, -0.574702, -2.029939 mu:0.765014 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.751959, -0.513518, -1.691836 mu:0.765014 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.240275, -0.576694, -2.057939 mu:0.765014 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.847921, -0.553131, -1.976867 mu:0.765014 unit_bearing:-0.545472 -0.326724 0.771824 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.283558, -0.563286, -2.045891 mu:0.765014 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.279481, -0.573975, -2.042090 mu:0.765014 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.300719, -0.572378, -2.032862 mu:0.765014 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.749488, -0.511743, -1.696425 mu:0.765014 unit_bearing:0.689558 -0.321445 0.648986 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.749759, -0.509313, -1.697784 mu:0.765014 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.748065, -0.500206, -1.706367 mu:0.765014 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.297323, -0.570048, -2.035767 mu:0.765014 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.290383, -0.567979, -2.040196 mu:0.765014 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.750029, -0.506880, -1.699136 mu:0.765014 unit_bearing:0.689848 -0.317499 0.650619 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.262216, -0.564801, -2.054771 mu:0.765014 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.265780, -0.564554, -2.053320 mu:0.765014 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? -0.747802, -0.502648, -1.705034 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.326568, -0.575514, -2.144656 mu:0.765014 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.307925, -0.586396, -2.140885 mu:0.765014 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.201] If point is visible? 0.311641, -0.583699, -2.141934 mu:0.765014 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.201] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.349006, -0.564480, -2.147659 mu:0.765014 unit_bearing:-0.174894 -0.319418 0.931335 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.352733, -0.561751, -2.148535 mu:0.765014 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.364006, -0.558839, -2.148539 mu:0.765014 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.360233, -0.558929, -2.148972 mu:0.765014 unit_bearing:-0.183495 -0.315082 0.931157 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.258317, -0.557972, -2.157674 mu:0.765014 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.371508, -0.556005, -2.148903 mu:0.765014 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.367736, -0.556100, -2.149358 mu:0.765014 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.277018, -0.549798, -2.160654 mu:0.765014 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.258262, -0.555316, -2.158927 mu:0.765014 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.412842, -0.544247, -2.148139 mu:0.765014 unit_bearing:-0.223471 -0.304011 0.926087 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.409071, -0.544363, -2.148719 mu:0.765014 unit_bearing:-0.220629 -0.304045 0.926758 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.405300, -0.544476, -2.149288 mu:0.765014 unit_bearing:-0.217786 -0.304077 0.927419 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.295644, -0.536234, -2.165725 mu:0.765014 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.291867, -0.536287, -2.165955 mu:0.765014 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.288091, -0.536338, -2.166173 mu:0.765014 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.390288, -0.550209, -2.148964 mu:0.765014 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.258208, -0.552659, -2.160173 mu:0.765014 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.563053, -0.524755, -2.121616 mu:0.765014 unit_bearing:-0.336372 -0.291683 0.895419 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.566808, -0.527192, -2.119344 mu:0.765014 unit_bearing:-0.339122 -0.293746 0.893706 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.630175, -0.531320, -2.095876 mu:0.765014 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.291676, -0.525604, -2.170726 mu:0.765014 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.287898, -0.525654, -2.170944 mu:0.765014 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.566793, -0.524556, -2.120561 mu:0.765014 unit_bearing:-0.339162 -0.291630 0.894383 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.873730, -0.481491, -1.997022 mu:0.765014 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.260159, -0.447666, -2.203661 mu:0.765014 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.050129, -0.320568, -2.215818 mu:0.765014 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.053851, -0.320464, -2.215046 mu:0.765014 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.057572, -0.320358, -2.214262 mu:0.765014 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.072439, -0.319921, -2.211020 mu:0.765014 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.079864, -0.319692, -2.209333 mu:0.765014 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.690281, -0.296464, -1.872513 mu:0.765014 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.693212, -0.298665, -1.868812 mu:0.765014 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.154517, -0.247417, -2.205895 mu:0.765014 unit_bearing:0.208064 -0.073239 0.975369 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.058284, -0.247767, -2.230656 mu:0.765014 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.062006, -0.247664, -2.229862 mu:0.765014 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.073165, -0.247347, -2.227415 mu:0.765014 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.065801, -0.236333, -2.231207 mu:0.765014 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.088041, -0.244100, -2.224546 mu:0.765014 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.073359, -0.213627, -2.233568 mu:0.765014 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.379865, -0.213344, -2.255340 mu:0.765014 unit_bearing:-0.202177 -0.042758 0.978415 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.191498, -0.201083, -2.202700 mu:0.765014 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? 0.376068, -0.216219, -2.255344 mu:0.765014 unit_bearing:-0.199302 -0.044940 0.978907 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.787244, -0.122786, -1.807700 mu:0.765014 unit_bearing:0.714674 -0.015730 0.699281 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.202] If point is visible? -0.790037, -0.122367, -1.804386 mu:0.765014 unit_bearing:0.717000 -0.015721 0.696896 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.202] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.092056, -0.167939, -2.236086 mu:0.765014 unit_bearing:0.159235 -0.010076 0.987189 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.781661, -0.115587, -1.815403 mu:0.765014 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.776028, -0.108356, -1.822999 mu:0.765014 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.778856, -0.107952, -1.819732 mu:0.765014 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.147529, -0.163313, -2.221913 mu:0.765014 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.092063, -0.156621, -2.237541 mu:0.765014 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.781673, -0.110228, -1.816109 mu:0.765014 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.781668, -0.112908, -1.815759 mu:0.765014 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.784479, -0.112498, -1.812468 mu:0.765014 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.758850, -0.089177, -1.844869 mu:0.765014 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.198915, -0.135930, -2.209160 mu:0.765014 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.062287, -0.123407, -2.248061 mu:0.765014 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.346409, -0.058242, -2.155896 mu:0.765014 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.349957, -0.058051, -2.154214 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.065691, -0.057795, -2.251985 mu:0.765014 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.069411, -0.057700, -2.251168 mu:0.765014 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.073129, -0.057604, -2.250340 mu:0.765014 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.216750, -0.052915, -2.209416 mu:0.765014 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.216361, -0.015877, -2.210584 mu:0.765014 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.220002, -0.015736, -2.209310 mu:0.765014 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.212683, -0.013163, -2.211892 mu:0.765014 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.216326, -0.013024, -2.210630 mu:0.765014 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.153824, 0.007647, -2.230722 mu:0.765014 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? 0.752208, 0.049323, -2.166626 mu:0.765014 unit_bearing:-0.479178 0.148417 0.865078 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? 0.810601, 0.057485, -2.138083 mu:0.765014 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.307301, 0.429803, -2.095408 mu:0.765014 unit_bearing:0.335833 0.430681 0.837693 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.242045, -0.671251, -2.001150 mu:0.765014 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.249135, -0.670723, -1.998312 mu:0.765014 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.256213, -0.670185, -1.995428 mu:0.765014 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.255878, -0.675224, -1.992251 mu:0.765014 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? 0.811653, -0.607332, -1.967712 mu:0.765014 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.262089, -0.567415, -2.053455 mu:0.765014 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.276325, -0.566411, -2.047579 mu:0.765014 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.747802, -0.502648, -1.705034 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? 0.570561, -0.529625, -2.117053 mu:0.765014 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.597019, -0.486132, -1.878933 mu:0.765014 unit_bearing:0.562856 -0.284982 0.775873 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? 0.276421, -0.517759, -2.175039 mu:0.765014 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? 0.276517, -0.523116, -2.172706 mu:0.765014 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? 0.275460, -0.458403, -2.199019 mu:0.765014 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? 0.267889, -0.458476, -2.199348 mu:0.765014 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? -0.767492, -0.109558, -1.832728 mu:0.765014 unit_bearing:0.698250 -0.003352 0.715846 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.203] If point is visible? 0.349394, -0.185628, -2.263227 mu:0.765014 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.203] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.417854, -0.195758, -2.252660 mu:0.765014 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.750173, -0.122703, -1.850438 mu:0.765014 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.773167, -0.119494, -1.824839 mu:0.765014 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.778833, -0.118676, -1.818318 mu:0.765014 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.744364, -0.101890, -1.859456 mu:0.765014 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.750193, -0.101126, -1.853174 mu:0.765014 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.755991, -0.100355, -1.846845 mu:0.765014 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.761757, -0.099579, -1.840466 mu:0.765014 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.784441, -0.123203, -1.811003 mu:0.765014 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.755981, -0.094959, -1.847462 mu:0.765014 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.761746, -0.094188, -1.841083 mu:0.765014 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.319034, -0.095227, -2.275866 mu:0.765014 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.922002, -0.055885, -2.073834 mu:0.765014 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.914950, -0.056373, -2.078326 mu:0.765014 unit_bearing:-0.598947 0.059929 0.798543 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.342859, -0.058432, -2.157568 mu:0.765014 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.349957, -0.058051, -2.154214 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.696842, 0.004774, -2.191133 mu:0.765014 unit_bearing:-0.438685 0.116876 0.891008 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.814214, 0.060457, -2.136069 mu:0.765014 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.962685, 0.095934, -2.043649 mu:0.765014 unit_bearing:-0.632262 0.172345 0.755342 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.927992, 0.094025, -2.067329 mu:0.765014 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.962754, 0.090412, -2.044082 mu:0.765014 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.607510, 0.126830, -2.216479 mu:0.765014 unit_bearing:-0.371144 0.211918 0.904070 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.278011, -0.597363, -2.137333 mu:0.765014 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.275622, -0.469251, -2.194888 mu:0.765014 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.598403, -0.465571, -1.888478 mu:0.765014 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.592490, -0.662065, -1.763726 mu:0.765014 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.616724, -0.657336, -1.742195 mu:0.765014 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.593662, -0.652557, -1.770434 mu:0.765014 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.617942, -0.647880, -1.748903 mu:0.765014 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.235897, -0.656567, -2.013309 mu:0.765014 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.250107, -0.655536, -2.007683 mu:0.765014 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.264271, -0.654466, -2.001874 mu:0.765014 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.239365, -0.594914, -2.048410 mu:0.765014 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.253642, -0.593940, -2.042802 mu:0.765014 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? -0.296204, -0.590802, -2.024879 mu:0.765014 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.412806, -0.541597, -2.149373 mu:0.765014 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.276142, -0.501648, -2.181885 mu:0.765014 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.855155, -0.542203, -1.978238 mu:0.765014 unit_bearing:-0.550991 -0.318299 0.771424 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.204] If point is visible? 0.277780, -0.586847, -2.142697 mu:0.765014 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.204] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? 0.855324, -0.532066, -1.983551 mu:0.765014 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? -0.744358, -0.118095, -1.857441 mu:0.765014 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? -0.755986, -0.116526, -1.844834 mu:0.765014 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? -0.321440, -0.053881, -2.167645 mu:0.765014 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? -0.755950, -0.127290, -1.843362 mu:0.765014 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? -0.190912, -0.025389, -2.219009 mu:0.765014 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? 0.928050, 0.088478, -2.067755 mu:0.765014 unit_bearing:-0.607294 0.168930 0.776309 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? 0.857728, 0.006701, -2.114080 mu:0.765014 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? 0.785013, 0.092919, -2.148600 mu:0.765014 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? 0.799608, 0.082276, -2.142177 mu:0.765014 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? 0.785055, 0.081663, -2.149417 mu:0.765014 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? 0.770455, 0.081066, -2.156454 mu:0.765014 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.214035 y=0.000000 z=-0.976409 +[21:42:38.205] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:38.205] If point is visible? -6661.736048, -452.612937, -7124.571200 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.214035 y=0.000000 z=-0.976414 +[21:42:38.205] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:38.205] If point is visible? 4211.905331, -399.552156, -8800.109885 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.214035 y=0.000000 z=-0.976414 +[21:42:38.205] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:38.205] If point is visible? -6661.736048, -452.612937, -7124.571200 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.214035 y=0.000000 z=-0.976414 +[21:42:38.205] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:38.205] If point is visible? 4211.905331, -399.552156, -8800.109885 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.214035 y=0.000000 z=-0.976414 +[21:42:38.205] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:38.205] If point is visible? 0.902044, -0.059751, -2.437542 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? 0.829155, -0.687445, -2.303391 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? 1.063313, -0.057362, -2.350189 mu:0.618770 unit_bearing:-0.598870 0.068366 0.797923 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? 2.905596, 0.024463, -5.875813 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: -nan, Z inverse max: -nan +[21:42:38.205] If point is visible? -0.896038, -0.074070, -2.148620 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? 0.277103, -0.965094, -2.271186 mu:0.618770 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? 0.272502, -0.965168, -2.271347 mu:0.618770 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? 0.267518, -0.956135, -2.278245 mu:0.618770 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? 0.253193, -0.944133, -2.287482 mu:0.618770 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? -1.860072, -2.179313, -3.407693 mu:0.258523 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: -nan, Z inverse max: -nan +[21:42:38.205] If point is visible? -1.862650, -2.174120, -3.415097 mu:0.258315 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: -nan, Z inverse max: -nan +[21:42:38.205] If point is visible? 0.248203, -0.935007, -2.294145 mu:0.618770 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? 0.243595, -0.935059, -2.294220 mu:0.618770 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? -38.065652, -28.690370, -29.651560 mu:0.017930 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] If point is visible? -0.870431, -0.818220, -1.851779 mu:0.618770 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? -0.791263, -0.854774, -1.909448 mu:0.618770 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.205] If point is visible? 1.153367, -0.982409, -2.247924 mu:0.537278 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.205] Z inverse min: 0.745082, Z inverse max: 0.329473 +[21:42:38.206] If point is visible? -0.895631, -0.828515, -1.809491 mu:0.618770 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.899073, -0.827643, -1.805758 mu:0.618770 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.370932, -0.890116, -2.191867 mu:0.618770 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -1.256454, -1.137994, -2.205413 mu:0.448661 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: -nan, Z inverse max: -nan +[21:42:38.206] If point is visible? -0.849465, -0.820187, -1.875344 mu:0.618770 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -5.042831, -4.905380, -6.890111 mu:0.107416 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] If point is visible? 0.219012, -0.898219, -2.319916 mu:0.618770 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? 0.218887, -0.895110, -2.321990 mu:0.618770 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.803560, -0.818473, -1.928474 mu:0.618770 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.807273, -0.817740, -1.925121 mu:0.618770 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.803165, -0.821394, -1.926377 mu:0.618770 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.723639, -0.800737, -2.021117 mu:0.618770 unit_bearing:0.515451 -0.412999 0.750828 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.727542, -0.800111, -2.018082 mu:0.618770 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.731774, -0.796478, -2.017031 mu:0.618770 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.735664, -0.795846, -2.013967 mu:0.618770 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.739884, -0.792208, -2.012879 mu:0.618770 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.411323, -0.813083, -2.225270 mu:0.618770 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.740220, -0.789201, -2.014862 mu:0.618770 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.411096, -0.816207, -2.223344 mu:0.618770 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.420653, -0.802975, -2.227102 mu:0.618770 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.206] If point is visible? -0.351793, -0.795754, -2.264215 mu:0.618770 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.206] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.747673, -0.755285, -2.033049 mu:0.618770 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.763497, -0.749739, -2.022425 mu:0.618770 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.752498, -0.745521, -2.035578 mu:0.618770 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.756382, -0.744901, -2.032458 mu:0.618770 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.760259, -0.744278, -2.029323 mu:0.618770 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? 0.927432, -0.756061, -2.213853 mu:0.618770 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.439698, -0.776374, -2.234068 mu:0.618770 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.347806, -0.789739, -2.269652 mu:0.618770 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.352198, -0.789432, -2.267923 mu:0.618770 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? 0.931826, -0.758639, -2.209728 mu:0.618770 unit_bearing:-0.514863 -0.372921 0.771911 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? 0.219414, -0.781139, -2.391198 mu:0.618770 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.756692, -0.741849, -2.034320 mu:0.618770 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.760570, -0.741227, -2.031185 mu:0.618770 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.453065, -0.768956, -2.231604 mu:0.618770 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.348204, -0.783404, -2.273327 mu:0.618770 unit_bearing:0.270400 -0.383335 0.883141 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.344198, -0.777359, -2.278684 mu:0.618770 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.457586, -0.765424, -2.231352 mu:0.618770 unit_bearing:0.340228 -0.375458 0.862135 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? 0.242441, -0.774541, -2.394547 mu:0.618770 unit_bearing:-0.100188 -0.368751 0.924113 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? 0.223854, -0.774676, -2.394724 mu:0.618770 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -0.908693, -0.687118, -1.914052 mu:0.618770 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.207] If point is visible? -2.440072, -1.616713, -3.196491 mu:0.261831 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: -nan, Z inverse max: -nan +[21:42:38.207] If point is visible? -0.464193, -0.730142, -2.248702 mu:0.618770 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.207] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.346438, -0.739040, -2.299860 mu:0.618770 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? 0.283391, -0.741787, -2.410556 mu:0.618770 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? 0.278733, -0.741844, -2.410744 mu:0.618770 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.460480, -0.720929, -2.255910 mu:0.618770 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.991524, -0.639027, -1.842489 mu:0.618770 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.346617, -0.735830, -2.301572 mu:0.618770 unit_bearing:0.268197 -0.351987 0.896758 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? 0.278821, -0.745086, -2.409059 mu:0.618770 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? 0.274164, -0.745142, -2.409233 mu:0.618770 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? 0.274253, -0.748381, -2.407540 mu:0.618770 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.351204, -0.732324, -2.301565 mu:0.618770 unit_bearing:0.271049 -0.349835 0.896743 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.356141, -0.722378, -2.304905 mu:0.618770 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.426205, -0.717323, -2.275398 mu:0.618770 unit_bearing:0.318803 -0.342595 0.883738 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? 0.301691, -0.728545, -2.416331 mu:0.618770 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.400938, -0.703200, -2.295177 mu:0.618770 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.427126, -0.701245, -2.283696 mu:0.618770 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.989608, -0.627843, -1.853266 mu:0.618770 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.413689, -0.708679, -2.286206 mu:0.618770 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? 0.310934, -0.725153, -2.417450 mu:0.618770 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? 0.315517, -0.721825, -2.418805 mu:0.618770 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? -0.427306, -0.698021, -2.285332 mu:0.618770 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? 0.320102, -0.718493, -2.420138 mu:0.618770 unit_bearing:-0.149074 -0.332399 0.931283 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.208] If point is visible? 0.343202, -0.708301, -2.423289 mu:0.618770 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.208] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? -0.987289, -0.619606, -1.862260 mu:0.618770 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? -0.392525, -0.697369, -2.302151 mu:0.618770 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? -0.553132, -0.875300, -2.638830 mu:0.492766 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.590481, Z inverse max: 0.395051 +[21:42:38.209] If point is visible? 0.347795, -0.704948, -2.424508 mu:0.618770 unit_bearing:-0.166290 -0.323750 0.931415 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.357059, -0.701498, -2.425299 mu:0.618770 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.249400, -0.689916, -2.437436 mu:0.618770 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.370926, -0.694667, -2.427153 mu:0.618770 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.366256, -0.694768, -2.427603 mu:0.618770 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.277080, -0.676507, -2.442765 mu:0.618770 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.426652, -0.676917, -2.428447 mu:0.618770 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.421980, -0.677045, -2.429063 mu:0.618770 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.253901, -0.683308, -2.440423 mu:0.618770 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.249236, -0.683347, -2.440524 mu:0.618770 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.290790, -0.663170, -2.448194 mu:0.618770 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.286118, -0.663226, -2.448405 mu:0.618770 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.412699, -0.680570, -2.428715 mu:0.618770 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.408028, -0.680691, -2.429290 mu:0.618770 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.714725, -0.657382, -2.365291 mu:0.618770 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.677789, -0.656398, -2.378518 mu:0.618770 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.290499, -0.649961, -2.454089 mu:0.618770 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.285825, -0.650016, -2.454300 mu:0.618770 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? 0.280625, -0.662879, -2.781518 mu:0.519719 unit_bearing:-0.121046 -0.227612 0.966199 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.696949, Z inverse max: 0.342489 +[21:42:38.209] If point is visible? -0.918510, -0.361525, -2.071155 mu:0.618770 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? -0.237535, -0.381910, -2.480425 mu:0.618770 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? -0.132365, -0.395815, -2.504537 mu:0.618770 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.209] If point is visible? -0.209256, -0.477186, -2.818097 mu:0.513079 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.209] Z inverse min: 0.675609, Z inverse max: 0.350549 +[21:42:38.210] calculated Z= 0.622012 +[21:42:38.210] update seeds 305 +[21:42:38.210] If point is visible? -0.216541, -0.478970, -2.824384 mu:0.510991 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.668992, Z inverse max: 0.352989 +[21:42:38.210] calculated Z= 0.622981 +[21:42:38.210] update seeds 305 +[21:42:38.210] If point is visible? -0.159871, -0.394972, -2.498259 mu:0.618770 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.169022, -0.394676, -2.496058 mu:0.618770 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.142538, -0.305792, -2.522754 mu:0.618770 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.147127, -0.305658, -2.521715 mu:0.618770 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.565760, -0.634879, -4.183835 mu:0.297499 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: -nan, Z inverse max: -nan +[21:42:38.210] If point is visible? -0.183796, -0.301053, -2.513593 mu:0.618770 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.147230, -0.291777, -2.524372 mu:0.618770 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.151818, -0.291642, -2.523320 mu:0.618770 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.161155, -0.263554, -2.526121 mu:0.618770 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] calculated Z= 0.716005 +[21:42:38.210] update seeds 305 +[21:42:38.210] If point is visible? -0.306702, -0.247821, -2.486129 mu:0.618770 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.161268, -0.235673, -2.530578 mu:0.618770 unit_bearing:0.144807 -0.027543 0.989076 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] calculated Z= 0.656676 +[21:42:38.210] update seeds 305 +[21:42:38.210] If point is visible? -1.036899, -0.153193, -1.988101 mu:0.618770 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -1.043690, -0.152141, -1.979806 mu:0.618770 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? 0.417607, -0.249854, -2.560066 mu:0.618770 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -1.030121, -0.140999, -1.998183 mu:0.618770 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.981103, -0.137979, -2.055498 mu:0.618770 unit_bearing:0.676698 -0.003368 0.736253 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -1.026706, -0.131566, -2.003578 mu:0.618770 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.271536, -0.209385, -2.572919 mu:0.594603 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.882999, Z inverse max: 0.306206 +[21:42:38.210] If point is visible? -1.030136, -0.134374, -1.999056 mu:0.618770 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.988189, -0.153681, -2.045458 mu:0.618770 unit_bearing:0.681509 -0.013769 0.731680 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -1.030129, -0.137687, -1.998623 mu:0.618770 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.210] If point is visible? -0.324539, -0.264273, -3.104324 mu:0.452313 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: -nan, Z inverse max: -nan +[21:42:38.210] If point is visible? -0.331698, -0.264517, -3.106271 mu:0.451567 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: -nan, Z inverse max: -nan +[21:42:38.210] If point is visible? -0.188803, -0.192897, -2.529583 mu:0.618770 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.210] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.315860, -0.181236, -2.492391 mu:0.618770 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -1.002328, -0.108391, -2.034964 mu:0.618770 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.315847, -0.167255, -2.494001 mu:0.618770 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.147520, -0.152033, -2.544210 mu:0.618770 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.260817, -0.197006, -3.008320 mu:0.477115 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.556738, Z inverse max: 0.397492 +[21:42:38.211] If point is visible? -1.070342, -0.081972, -1.953896 mu:0.618770 unit_bearing:0.737625 0.023367 0.674807 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -1.073654, -0.084770, -1.949289 mu:0.618770 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -1.070315, -0.078668, -1.954203 mu:0.618770 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -1.070285, -0.075363, -1.954502 mu:0.618770 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? 0.300050, -0.100450, -2.587108 mu:0.618770 unit_bearing:-0.141692 0.059768 0.988105 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.342258, -0.067917, -2.492246 mu:0.618770 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.488447, -0.067909, -2.430280 mu:0.618770 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.151665, -0.070906, -2.549010 mu:0.618770 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.156250, -0.070782, -2.547942 mu:0.618770 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.160833, -0.070657, -2.546861 mu:0.618770 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.497213, -0.070926, -2.425868 mu:0.618770 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.337208, -0.018795, -2.495492 mu:0.618770 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.341688, -0.018614, -2.493861 mu:0.618770 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.337160, -0.015268, -2.495549 mu:0.618770 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.264636, 0.013861, -2.519950 mu:0.618770 unit_bearing:0.210769 0.124909 0.969523 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? 0.938146, 0.070148, -2.419524 mu:0.618770 unit_bearing:-0.524660 0.151905 0.837649 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? 0.933635, 0.069949, -2.421788 mu:0.618770 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? 0.691123, 0.161082, -2.656883 mu:0.570032 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.836894, Z inverse max: 0.303170 +[21:42:38.211] If point is visible? -0.383930, -0.833903, -2.224958 mu:0.618770 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.211] If point is visible? -0.752188, -0.748572, -2.033708 mu:0.618770 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.211] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -0.384384, -0.827672, -2.228880 mu:0.618770 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? 0.936312, -0.751998, -2.211176 mu:0.618770 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -0.411773, -0.806824, -2.229098 mu:0.618770 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? 0.246991, -0.771280, -2.396224 mu:0.618770 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -0.392353, -0.700601, -2.300526 mu:0.618770 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? 0.271588, -0.640233, -2.459185 mu:0.618770 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? 0.271733, -0.646857, -2.456302 mu:0.618770 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? 0.270142, -0.566846, -2.488816 mu:0.618770 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? 0.260777, -0.566922, -2.489106 mu:0.618770 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? 0.445844, -0.242397, -2.557341 mu:0.618770 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -0.998831, -0.115545, -2.038214 mu:0.618770 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -1.005858, -0.114581, -2.030239 mu:0.618770 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? 0.427024, -0.249695, -2.558852 mu:0.618770 unit_bearing:-0.219406 -0.034022 0.975040 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -0.991751, -0.149856, -2.041984 mu:0.618770 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -1.026675, -0.144824, -2.001831 mu:0.618770 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? 0.332881, -0.131919, -2.582744 mu:0.618770 unit_bearing:-0.161899 0.040112 0.985992 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -1.033504, -0.150410, -1.992700 mu:0.618770 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -1.086803, -0.109042, -1.929170 mu:0.618770 unit_bearing:0.748940 0.004877 0.662620 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? 0.323510, -0.117917, -2.584498 mu:0.618770 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -0.475286, -0.065117, -2.436693 mu:0.618770 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -0.484039, -0.064647, -2.432550 mu:0.618770 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? -0.492849, -0.071168, -2.427989 mu:0.618770 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.212] If point is visible? 0.902044, -0.059751, -2.437542 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.212] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.938138, 0.073616, -2.419354 mu:0.618770 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.938153, 0.066680, -2.419684 mu:0.618770 unit_bearing:-0.524697 0.149788 0.838008 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 1.079926, 0.114901, -2.336139 mu:0.618770 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.874654, 0.126717, -2.445886 mu:0.618770 unit_bearing:-0.486590 0.188635 0.853022 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.883739, 0.134017, -2.441118 mu:0.618770 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? -0.991833, 0.977318, -3.505429 mu:0.337001 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: -nan, Z inverse max: -nan +[21:42:38.213] If point is visible? 0.273987, -0.738655, -2.412595 mu:0.618770 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? -0.805368, -0.574049, -2.091359 mu:0.618770 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? -0.798032, -0.805239, -1.945499 mu:0.618770 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? -0.827705, -0.799410, -1.918505 mu:0.618770 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? -0.364234, -0.734643, -2.294642 mu:0.618770 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? -0.381796, -0.733412, -2.287487 mu:0.618770 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? -0.434128, -0.729451, -2.264670 mu:0.618770 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.972161, -0.698518, -2.221058 mu:0.618770 unit_bearing:-0.539937 -0.335143 0.772105 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.270385, -0.580259, -2.483712 mu:0.618770 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.289877, -0.620119, -2.466891 mu:0.618770 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.256100, -0.764744, -2.399515 mu:0.618770 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.440547, -0.669965, -2.429570 mu:0.618770 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.829155, -0.687445, -2.303391 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? -0.358662, -0.823418, -2.243623 mu:0.618770 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? -0.376124, -0.822103, -2.236444 mu:0.618770 unit_bearing:0.289363 -0.409884 0.865023 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? -0.393527, -0.820740, -2.229040 mu:0.618770 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.273639, -0.725652, -2.419223 mu:0.618770 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? 0.455271, -0.249173, -2.554875 mu:0.618770 unit_bearing:-0.236594 -0.034002 0.971013 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.213] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.213] If point is visible? -0.998791, -0.155517, -2.033146 mu:0.618770 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.214] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.214] If point is visible? -0.984661, -0.144170, -2.050731 mu:0.618770 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.214] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.214] If point is visible? -0.998838, -0.142209, -2.034966 mu:0.618770 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.214] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.214] If point is visible? -0.305714, -0.016490, -2.506581 mu:0.618770 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.214] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.214] If point is visible? 0.901956, 0.072068, -2.437028 mu:0.618770 unit_bearing:-0.503300 0.154404 0.850205 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.214] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.214] If point is visible? -0.448783, -0.052465, -2.449417 mu:0.618770 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.214] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.214] If point is visible? 2.905596, 0.024463, -5.875813 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.214] Z inverse min: -nan, Z inverse max: -nan +[21:42:38.214] If point is visible? -0.896038, -0.074070, -2.148620 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.214] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.214] If point is visible? -0.466518, -0.065581, -2.440780 mu:0.618770 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.214] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.214] If point is visible? -0.305895, -0.030604, -2.506302 mu:0.618770 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.214036 y=0.000000 z=-0.976418 +[21:42:38.214] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:38.214] If point is visible? 0.692625, 0.044790, -2.284846 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.729259, 0.081955, -2.269038 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.197564, -0.837698, -2.090423 mu:0.717420 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.188994, -0.829934, -2.096060 mu:0.717420 unit_bearing:-0.113287 -0.493085 0.862574 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.193174, -0.832515, -2.094228 mu:0.717420 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.591887, -0.779432, -1.804642 mu:0.717420 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.184605, -0.824724, -2.099797 mu:0.717420 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.592314, -0.776926, -1.806578 mu:0.717420 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.180218, -0.819499, -2.103492 mu:0.717420 unit_bearing:-0.107723 -0.485004 0.867852 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.176039, -0.816891, -2.105250 mu:0.717420 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.163094, -0.803740, -2.114146 mu:0.717420 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.789892, -0.712020, -1.630726 mu:0.717420 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.163300, -0.806387, -2.112280 mu:0.717420 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.706548, -0.730464, -1.726031 mu:0.717420 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.790904, -0.707155, -1.634438 mu:0.717420 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.793663, -0.706382, -1.631041 mu:0.717420 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.360273, -0.760995, -1.993304 mu:0.717420 unit_bearing:0.288202 -0.452979 0.843652 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.749845, -0.710897, -1.689530 mu:0.717420 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.631678, -0.728272, -1.811505 mu:0.717420 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.771393, -0.698432, -1.672184 mu:0.717420 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.754611, -0.700261, -1.693584 mu:0.717420 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.851867, -0.740811, -1.970089 mu:0.717420 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:38.214] If point is visible? -0.717476, -0.701594, -1.739978 mu:0.717420 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.141012, -0.774448, -2.133101 mu:0.717420 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? 0.140814, -0.771765, -2.134881 mu:0.717420 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.721354, -0.695891, -1.740457 mu:0.717420 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.214] If point is visible? -0.720922, -0.698416, -1.738679 mu:0.717420 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.214] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.658603, -0.673319, -1.829721 mu:0.717420 unit_bearing:0.518491 -0.404850 0.753168 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.674495, -0.670476, -1.815439 mu:0.717420 unit_bearing:0.531332 -0.404075 0.744587 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.657116, -0.683713, -1.822948 mu:0.717420 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.660679, -0.680553, -1.821819 mu:0.717420 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.663861, -0.679983, -1.818975 mu:0.717420 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.664610, -0.674792, -1.822361 mu:0.717420 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.667787, -0.674222, -1.819505 mu:0.717420 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.399905, -0.693888, -2.017859 mu:0.717420 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.395731, -0.699621, -2.016475 mu:0.717420 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.675646, -0.639656, -1.837980 mu:0.717420 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.679173, -0.636465, -1.836694 mu:0.717420 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.682346, -0.635905, -1.833801 mu:0.717420 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.685513, -0.635343, -1.830897 mu:0.717420 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.346722, -0.682359, -2.054816 mu:0.717420 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.343539, -0.677196, -2.059710 mu:0.717420 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.340832, -0.666541, -2.067680 mu:0.717420 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.757409, -0.656489, -2.079500 mu:0.717420 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.420663, -0.665076, -2.024193 mu:0.717420 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.139321, -0.690064, -2.185241 mu:0.717420 unit_bearing:-0.085783 -0.385690 0.918632 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.428393, -0.658940, -2.023359 mu:0.717420 unit_bearing:0.334635 -0.377681 0.863352 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.431990, -0.658592, -2.021363 mu:0.717420 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.146817, -0.681781, -2.190370 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.682692, -0.633270, -1.835388 mu:0.717420 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.685860, -0.632709, -1.832484 mu:0.717420 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.158177, -0.670694, -2.197104 mu:0.717420 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.154173, -0.670697, -2.196913 mu:0.717420 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.807161, -0.582499, -1.725300 mu:0.717420 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] calculated Z= 0.701055 +[21:42:38.215] update seeds 305 +[21:42:38.215] If point is visible? -0.432252, -0.655866, -2.022914 mu:0.717420 unit_bearing:0.337460 -0.375531 0.863190 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.142009, -0.667912, -2.197782 mu:0.717420 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.442225, -0.625040, -2.035498 mu:0.717420 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.442469, -0.622287, -2.036967 mu:0.717420 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.343637, -0.633473, -2.085797 mu:0.717420 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.192633, -0.639932, -2.214584 mu:0.717420 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.188613, -0.639951, -2.214498 mu:0.717420 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.188757, -0.642748, -2.213052 mu:0.717420 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.184738, -0.642766, -2.212954 mu:0.717420 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.439112, -0.619875, -2.040447 mu:0.717420 unit_bearing:0.340918 -0.348370 0.873163 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.442711, -0.619532, -2.038429 mu:0.717420 unit_bearing:0.343692 -0.348303 0.872102 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.184884, -0.645561, -2.211500 mu:0.717420 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.348008, -0.624875, -2.088464 mu:0.717420 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.439352, -0.617117, -2.041902 mu:0.717420 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.435985, -0.614695, -2.045356 mu:0.717420 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? 0.208165, -0.628630, -2.220531 mu:0.717420 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.352149, -0.619038, -2.089628 mu:0.717420 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.351930, -0.621817, -2.088190 mu:0.717420 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.215] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.215] If point is visible? -0.425839, -0.607392, -2.055603 mu:0.717420 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.874351, -0.540511, -1.659227 mu:0.717420 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.390069, -0.602207, -2.078875 mu:0.717420 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.411989, -0.600352, -2.067599 mu:0.717420 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.874729, -0.537924, -1.660664 mu:0.717420 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.400604, -0.606851, -2.070473 mu:0.717420 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.872820, -0.533459, -1.667165 mu:0.717420 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.375591, -0.600610, -2.087552 mu:0.717420 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.379270, -0.600316, -2.085750 mu:0.717420 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.382946, -0.600020, -2.083936 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.219979, -0.622924, -2.223398 mu:0.717420 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.231811, -0.617194, -2.226132 mu:0.717420 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.139434, -0.620359, -2.222458 mu:0.717420 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.871248, -0.526369, -1.675032 mu:0.717420 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.405136, -0.595412, -2.074197 mu:0.717420 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.383160, -0.597232, -2.085328 mu:0.717420 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.386833, -0.596934, -2.083502 mu:0.717420 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:38.216] If point is visible? 0.235716, -0.614341, -2.227475 mu:0.717420 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.255527, -0.605662, -2.231201 mu:0.717420 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.251486, -0.605712, -2.231304 mu:0.717420 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.283357, -0.593973, -2.235553 mu:0.717420 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.275381, -0.596922, -2.234572 mu:0.717420 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.162282, -0.594968, -2.235927 mu:0.717420 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.315428, -0.584916, -2.237617 mu:0.717420 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.311373, -0.584996, -2.237900 mu:0.717420 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.307319, -0.585074, -2.238170 mu:0.717420 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.182012, -0.586432, -2.240578 mu:0.717420 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.303379, -0.587975, -2.237106 mu:0.717420 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.299326, -0.588049, -2.237352 mu:0.717420 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.162150, -0.592135, -2.237256 mu:0.717420 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.162019, -0.589300, -2.238578 mu:0.717420 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.538376, -0.565865, -2.208340 mu:0.717420 unit_bearing:-0.369647 -0.295232 0.881022 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.534320, -0.566068, -2.209307 mu:0.717420 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.562847, -0.570183, -2.199632 mu:0.717420 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.197514, -0.572168, -2.247394 mu:0.717420 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.193480, -0.572186, -2.247327 mu:0.717420 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.197036, -0.560773, -2.252457 mu:0.717420 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.193001, -0.560790, -2.252389 mu:0.717420 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.830136, -0.519450, -2.113791 mu:0.717420 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? 0.186387, -0.491832, -2.280400 mu:0.717420 unit_bearing:-0.126762 -0.236215 0.963397 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.824171, -0.309334, -1.853585 mu:0.717420 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.821326, -0.307013, -1.857753 mu:0.717420 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.167933, -0.341771, -2.272690 mu:0.717420 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.171829, -0.341624, -2.271574 mu:0.717420 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.175722, -0.341476, -2.270447 mu:0.717420 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.303062, -0.320856, -2.230485 mu:0.717420 unit_bearing:0.227977 -0.118832 0.966388 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.216] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.216] If point is visible? -0.241723, -0.329816, -2.251773 mu:0.717420 unit_bearing:0.182072 -0.123351 0.975517 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.245570, -0.329639, -2.250438 mu:0.717420 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.249414, -0.329459, -2.249091 mu:0.717420 unit_bearing:0.187819 -0.123331 0.974430 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:38.217] If point is visible? -0.253255, -0.329278, -2.247732 mu:0.717420 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:38.217] If point is visible? -0.168000, -0.338808, -2.273448 mu:0.717420 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.171896, -0.338662, -2.272332 mu:0.717420 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.175790, -0.338513, -2.271205 mu:0.717420 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.199098, -0.337588, -2.264200 mu:0.717420 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.181172, -0.248978, -2.289754 mu:0.717420 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.185065, -0.248831, -2.288604 mu:0.717420 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.212137, -0.256742, -2.278527 mu:0.717420 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.200733, -0.236246, -2.286068 mu:0.717420 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.193154, -0.212528, -2.292495 mu:0.717420 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.316129, -0.210033, -2.248360 mu:0.717420 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.912222, -0.113278, -1.789860 mu:0.717420 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.914947, -0.112813, -1.786138 mu:0.717420 unit_bearing:0.712358 -0.009540 0.701752 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.922999, -0.122802, -1.773316 mu:0.717420 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.270527, -0.170179, -2.272283 mu:0.717420 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:38.217] If point is visible? -0.208841, -0.163728, -2.294522 mu:0.717420 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:38.217] If point is visible? -0.212717, -0.163577, -2.293291 mu:0.717420 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:38.217] If point is visible? -0.323908, -0.164590, -2.251781 mu:0.717420 unit_bearing:0.242536 -0.005697 0.970126 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.901245, -0.100796, -1.806458 mu:0.717420 unit_bearing:0.700618 0.000794 0.713536 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.904010, -0.100345, -1.802784 mu:0.717420 unit_bearing:0.702980 0.000793 0.711209 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.904010, -0.103210, -1.802431 mu:0.717420 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.906765, -0.102757, -1.798745 mu:0.717420 unit_bearing:0.705335 -0.001277 0.708873 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.909508, -0.105163, -1.794688 mu:0.717420 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.912231, -0.110421, -1.790239 mu:0.717420 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.914956, -0.109958, -1.786518 mu:0.717420 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.892845, -0.084893, -1.819382 mu:0.717420 unit_bearing:0.693483 0.013248 0.720351 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.181564, -0.128447, -2.306844 mu:0.717420 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.185397, -0.116184, -2.306826 mu:0.717420 unit_bearing:0.139032 0.033584 0.989718 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.483080, -0.058773, -2.182068 mu:0.717420 unit_bearing:0.364298 0.063557 0.929111 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.486709, -0.058532, -2.179974 mu:0.717420 unit_bearing:0.367100 0.063546 0.928008 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.184934, -0.064538, -2.310468 mu:0.717420 unit_bearing:0.138993 0.070678 0.987768 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.188824, -0.064401, -2.309305 mu:0.717420 unit_bearing:0.141878 0.070674 0.987358 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.192711, -0.064263, -2.308131 mu:0.717420 unit_bearing:0.144763 0.070670 0.986939 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.184858, -0.058450, -2.310771 mu:0.717420 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.188747, -0.058313, -2.309608 mu:0.717420 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.192634, -0.058175, -2.308434 mu:0.717420 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.409181, -0.033046, -2.222825 mu:0.717420 unit_bearing:0.307853 0.085440 0.947590 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.341733, -0.030542, -2.254390 mu:0.717420 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.345221, -0.015160, -2.253143 mu:0.717420 unit_bearing:0.259474 0.100827 0.960472 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.341392, -0.012305, -2.254844 mu:0.717420 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.345161, -0.012120, -2.253202 mu:0.717420 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.283826, 0.015553, -2.278309 mu:0.717420 unit_bearing:0.213635 0.124897 0.968897 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? -0.276187, 0.015230, -2.281208 mu:0.717420 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.217] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.217] If point is visible? 0.594802, 0.002849, -2.317332 mu:0.717420 unit_bearing:-0.413867 0.119263 0.902491 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] calculated Z= 10.831722 +[21:42:38.218] update seeds 305 +[21:42:38.218] If point is visible? 0.692625, 0.044790, -2.284846 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.765590, 0.110056, -2.251845 mu:0.717420 unit_bearing:-0.526557 0.189877 0.828664 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.177648, 0.531769, -2.203947 mu:0.717420 unit_bearing:0.153109 0.485979 0.860455 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.351178, -0.711575, -2.033394 mu:0.717420 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.358503, -0.710954, -2.029863 mu:0.717420 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.365813, -0.710323, -2.026285 mu:0.717420 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.373106, -0.709682, -2.022659 mu:0.717420 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.765222, -0.653042, -2.077667 mu:0.717420 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.133252, -0.720273, -2.167091 mu:0.717420 unit_bearing:-0.079930 -0.408788 0.909122 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.146817, -0.681781, -2.190370 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.396558, -0.691523, -2.021394 mu:0.717420 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.382946, -0.600020, -2.083936 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.397610, -0.598814, -2.076563 mu:0.717420 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.497797, -0.567788, -2.217436 mu:0.717420 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.180784, -0.557973, -2.253364 mu:0.717420 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.186681, -0.500506, -2.277102 mu:0.717420 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.178208, -0.488949, -2.281285 mu:0.717420 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.170131, -0.488953, -2.281037 mu:0.717420 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.336091, -0.204159, -2.349904 mu:0.717420 unit_bearing:-0.236604 -0.025294 0.971277 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.881579, -0.121158, -1.829605 mu:0.717420 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.903975, -0.117523, -1.800565 mu:0.717420 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.909475, -0.116598, -1.793183 mu:0.717420 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.887257, -0.114518, -1.823188 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.892890, -0.102138, -1.817406 mu:0.717420 unit_bearing:0.693500 0.000795 0.720456 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.914905, -0.121373, -1.784958 mu:0.717420 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.465243, -0.093109, -2.190061 mu:0.717420 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.221921, -0.114230, -2.365637 mu:0.717420 unit_bearing:-0.156135 0.040117 0.986921 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.887265, -0.097275, -1.825331 mu:0.717420 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.892884, -0.096393, -1.818093 mu:0.717420 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.230094, -0.108161, -2.366053 mu:0.717420 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:38.218] If point is visible? 0.221992, -0.102091, -2.366582 mu:0.717420 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.892869, -0.090645, -1.818751 mu:0.717420 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.728205, -0.055732, -2.270853 mu:0.717420 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.472125, -0.056472, -2.188446 mu:0.717420 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.631356, -0.005182, -2.306402 mu:0.717420 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.713523, 0.111508, -2.272997 mu:0.717420 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.421083, 0.463639, -2.127363 mu:0.717420 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.712285, -0.697841, -1.749672 mu:0.717420 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.736306, -0.692572, -1.724861 mu:0.717420 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.178601, -0.500520, -2.276901 mu:0.717420 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.726531, -0.488218, -1.881936 mu:0.717420 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.352785, -0.695353, -2.043285 mu:0.717420 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.367440, -0.694117, -2.036179 mu:0.717420 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.382032, -0.692840, -2.028882 mu:0.717420 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? 0.184449, -0.637169, -2.215840 mu:0.717420 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.218] If point is visible? -0.359542, -0.618470, -2.086154 mu:0.717420 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.218] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.374282, -0.617305, -2.079063 mu:0.717420 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.418127, -0.613583, -2.056646 mu:0.717420 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.380939, -0.703644, -2.022311 mu:0.717420 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.738039, -0.682475, -1.731901 mu:0.717420 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? 0.179009, -0.512064, -2.272410 mu:0.717420 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? 0.183882, -0.625951, -2.221530 mu:0.717420 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? 0.811138, -0.573205, -2.097992 mu:0.717420 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.373379, -0.628390, -2.073267 mu:0.717420 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:38.219] If point is visible? -0.402650, -0.625927, -2.058508 mu:0.717420 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? 0.179868, -0.535074, -2.263104 mu:0.717420 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? 0.327375, -0.579010, -2.239324 mu:0.717420 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.875919, -0.104783, -1.838973 mu:0.717420 unit_bearing:0.679115 0.000797 0.734031 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.887271, -0.103026, -1.824644 mu:0.717420 unit_bearing:0.688727 0.000796 0.725020 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.875905, -0.116299, -1.837513 mu:0.717420 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.887257, -0.114518, -1.823188 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.450102, -0.051823, -2.200858 mu:0.717420 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.315089, -0.022692, -2.265812 mu:0.717420 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? -0.887207, -0.125996, -1.821621 mu:0.717420 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:38.219] If point is visible? 0.729259, 0.081955, -2.269038 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.214041 y=0.000000 z=-0.976464 +[21:42:38.219] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.038] add new frame +[21:42:39.038] update seed +[21:42:39.038] If point is visible? 0.439453, -0.222238, -0.156969 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.226113 y=0.000000 z=-0.933404 +[21:42:39.038] If point is visible? 0.159142, -0.096895, -0.106433 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.226113 y=0.000000 z=-0.933404 +[21:42:39.038] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:39.038] If point is visible? 0.149084, -0.214684, -0.129829 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.226113 y=0.000000 z=-0.933404 +[21:42:39.038] If point is visible? 0.439453, -0.222238, -0.156969 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.226113 y=0.000000 z=-0.933404 +[21:42:39.038] If point is visible? 0.159142, -0.096895, -0.106433 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.226113 y=0.000000 z=-0.933404 +[21:42:39.038] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:39.038] If point is visible? 0.149084, -0.214684, -0.129829 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.226113 y=0.000000 z=-0.933404 +[21:42:39.038] If point is visible? 0.176364, -0.001137, -0.815130 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.038] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.038] If point is visible? 0.216901, -0.015193, -0.806643 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.038] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.038] If point is visible? 0.216897, -0.016349, -0.806783 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.038] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.038] If point is visible? 0.216030, 0.067683, -0.824710 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.038] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.038] If point is visible? 0.259144, 0.057899, -0.823778 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.038] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.038] If point is visible? 0.182824, 0.054614, -0.825387 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.038] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.039] If point is visible? 0.182827, 0.054876, -0.825515 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.039] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.039] If point is visible? 0.262198, 0.053527, -0.822569 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.039] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.039] If point is visible? 0.259260, 0.053135, -0.821490 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.039] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.039] If point is visible? 0.182055, 0.051670, -0.824284 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.039] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.039] If point is visible? 0.181673, 0.050322, -0.823822 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.039] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.039] If point is visible? 0.181285, 0.048439, -0.823151 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.039] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.039] If point is visible? 0.277203, 0.049425, -0.826573 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.039] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.039] If point is visible? 0.277211, 0.049159, -0.826457 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.039] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.039] If point is visible? 0.257868, 0.048913, -0.819242 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.039] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.039] If point is visible? 0.277218, 0.048893, -0.826342 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.039] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.039] If point is visible? 0.204428, 0.047061, -0.816073 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.039] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.040] If point is visible? 0.204805, 0.047071, -0.816011 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.040] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.040] If point is visible? 0.278026, 0.045639, -0.825331 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.040] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.040] If point is visible? 0.266759, 0.046610, -0.821089 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.040] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.040] If point is visible? 0.257922, 0.045941, -0.818060 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.040] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.040] calculated Z= 0.299176 +[21:42:39.040] update seeds 305 +[21:42:39.040] If point is visible? 0.266415, 0.045550, -0.820546 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.040] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.040] If point is visible? 0.180521, 0.045453, -0.822221 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.040] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.040] If point is visible? 0.180518, 0.045185, -0.822116 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.040] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.040] If point is visible? 0.266053, 0.045299, -0.820321 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.040] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.040] If point is visible? 0.266420, 0.045280, -0.820442 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.040] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.040] If point is visible? 0.210849, 0.045856, -0.814651 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.040] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.041] If point is visible? 0.211606, 0.045598, -0.814464 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.041] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.041] If point is visible? 0.258302, 0.045384, -0.817950 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.041] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.041] calculated Z= 0.299147 +[21:42:39.041] update seeds 305 +[21:42:39.041] If point is visible? 0.266058, 0.045028, -0.820218 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.041] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.041] If point is visible? 0.258686, 0.044554, -0.817741 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.041] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.041] calculated Z= 0.323837 +[21:42:39.041] update seeds 305 +[21:42:39.041] If point is visible? 0.259057, 0.044539, -0.817839 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.041] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.041] calculated Z= 0.321950 +[21:42:39.041] update seeds 305 +[21:42:39.041] If point is visible? 0.215394, 0.044295, -0.813606 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.041] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.041] If point is visible? 0.214636, 0.044557, -0.813767 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.041] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.041] If point is visible? 0.219183, 0.044064, -0.813262 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.041] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.041] If point is visible? 0.265696, 0.044777, -0.819996 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.041] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.042] If point is visible? 0.266063, 0.044758, -0.820115 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.042] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.042] If point is visible? 0.260183, 0.043677, -0.817840 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.042] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.042] If point is visible? 0.259062, 0.044267, -0.817739 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.042] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.042] calculated Z= 0.323257 +[21:42:39.042] update seeds 305 +[21:42:39.042] If point is visible? 0.259433, 0.044252, -0.817838 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.042] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.042] If point is visible? 0.179753, 0.041910, -0.821178 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.042] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.042] If point is visible? 0.217292, 0.043224, -0.813081 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.042] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.042] If point is visible? 0.217671, 0.043228, -0.813057 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.042] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.042] If point is visible? 0.218050, 0.043232, -0.813034 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.042] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.042] If point is visible? 0.260558, 0.043389, -0.817844 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.042] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.042] If point is visible? 0.169152, 0.040363, -0.825421 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.042] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.043] If point is visible? 0.169155, 0.040631, -0.825517 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.043] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.043] If point is visible? 0.259437, 0.043980, -0.817738 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.043] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.043] calculated Z= 0.321108 +[21:42:39.043] update seeds 305 +[21:42:39.043] If point is visible? 0.218051, 0.042958, -0.812938 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.043] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.043] If point is visible? 0.219570, 0.042150, -0.812575 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.043] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.043] If point is visible? 0.219571, 0.041875, -0.812482 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.043] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.043] If point is visible? 0.180445, 0.034882, -0.818593 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.043] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.043] calculated Z= 0.149715 +[21:42:39.043] update seeds 305 +[21:42:39.043] If point is visible? 0.216189, 0.031599, -0.809684 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.043] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.043] calculated Z= 0.153962 +[21:42:39.043] update seeds 305 +[21:42:39.043] If point is visible? 0.160756, 0.025064, -0.825511 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.043] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.043] If point is visible? 0.160758, 0.025338, -0.825573 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.043] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.043] calculated Z= 0.108127 +[21:42:39.043] update seeds 305 +[21:42:39.043] If point is visible? 0.240481, 0.025942, -0.808896 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.043] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.043] If point is visible? 0.157560, 0.023163, -0.827027 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.043] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.043] If point is visible? 0.245391, 0.025295, -0.809428 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.044] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.044] If point is visible? 0.240487, 0.023971, -0.808512 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.044] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.044] If point is visible? 0.251039, 0.023761, -0.810131 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.044] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.044] If point is visible? 0.159313, 0.020838, -0.825492 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.044] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.044] If point is visible? 0.161800, 0.020201, -0.823925 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.044] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.044] calculated Z= 0.291300 +[21:42:39.044] update seeds 305 +[21:42:39.044] If point is visible? 0.161799, 0.019925, -0.823876 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.044] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.044] calculated Z= 0.295761 +[21:42:39.044] update seeds 305 +[21:42:39.044] If point is visible? 0.250670, 0.021798, -0.809705 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.044] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.044] If point is visible? 0.240489, 0.023125, -0.808356 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.044] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.044] If point is visible? 0.154040, 0.019855, -0.828638 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.044] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.044] If point is visible? 0.151265, 0.018789, -0.830341 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.044] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.044] If point is visible? 0.157540, 0.019324, -0.826296 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.044] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.045] If point is visible? 0.158245, 0.019104, -0.825825 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.045] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.045] calculated Z= 0.412672 +[21:42:39.045] update seeds 305 +[21:42:39.045] If point is visible? 0.249549, 0.018150, -0.808918 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.045] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.045] If point is visible? 0.251052, 0.018114, -0.809202 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.045] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.045] If point is visible? 0.239361, 0.019183, -0.807583 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.045] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.045] If point is visible? 0.239740, 0.019178, -0.807623 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.045] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.045] If point is visible? 0.240118, 0.019172, -0.807664 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.045] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.045] If point is visible? 0.242388, 0.016870, -0.807615 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.045] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.045] If point is visible? 0.251053, 0.017831, -0.809162 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.045] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.045] If point is visible? 0.251429, 0.016972, -0.809120 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.045] Z inverse min: -7.583360, Z inverse max: 0.000000 +[21:42:39.045] If point is visible? 0.239741, 0.018043, -0.807460 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.045] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.045] If point is visible? 0.240119, 0.018038, -0.807500 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.045] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.046] If point is visible? 0.240498, 0.016046, -0.807280 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.046] calculated Z= 0.639005 +[21:42:39.046] update seeds 305 +[21:42:39.046] If point is visible? 0.239363, 0.014069, -0.806926 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.046] If point is visible? 0.239741, 0.014064, -0.806965 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.046] If point is visible? 0.240119, 0.014059, -0.807006 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.046] If point is visible? 0.252555, 0.014958, -0.809099 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.046] If point is visible? 0.254054, 0.014635, -0.809386 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.046] If point is visible? 0.252552, 0.011830, -0.808770 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.046] If point is visible? 0.239362, 0.012929, -0.806807 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.046] If point is visible? 0.239740, 0.012925, -0.806847 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.046] If point is visible? 0.240118, 0.012920, -0.806888 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.046] If point is visible? 0.254415, 0.007790, -0.808864 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.046] If point is visible? 0.240865, 0.007768, -0.806562 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.046] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.207468, 0.006016, -0.806880 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.260366, 0.003336, -0.810151 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.262223, 0.003279, -0.810673 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.285162, 0.000878, -0.819693 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.256626, 0.001437, -0.809151 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.256997, 0.001141, -0.809238 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.240089, 0.002043, -0.806258 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.240466, 0.002038, -0.806300 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.240077, -0.000257, -0.806241 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.255111, -0.001393, -0.808792 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.255485, -0.001403, -0.808879 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.240066, -0.002272, -0.806259 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.047] If point is visible? 0.240444, -0.002276, -0.806301 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.047] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.240821, -0.002281, -0.806345 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.255109, -0.001681, -0.808795 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.254730, -0.002246, -0.808718 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.254728, -0.002533, -0.808723 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.262918, -0.002470, -0.810858 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.253589, -0.004520, -0.808524 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.253586, -0.004807, -0.808534 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.181977, -0.013772, -0.813759 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.218402, -0.018077, -0.806919 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.216794, -0.036260, -0.810893 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.217169, -0.036259, -0.810866 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.217168, -0.036546, -0.810950 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.048] If point is visible? 0.264823, -0.035548, -0.816570 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.048] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.049] If point is visible? 0.270175, -0.037939, -0.819193 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.049] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.049] If point is visible? 0.269825, -0.037648, -0.818967 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.049] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.049] If point is visible? 0.245682, -0.049240, -0.816703 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.049] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.049] If point is visible? 0.219046, 0.065664, -0.823293 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.049] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.049] If point is visible? 0.219797, 0.065672, -0.823256 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.049] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.049] If point is visible? 0.218287, 0.066688, -0.823941 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.049] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.049] If point is visible? 0.220552, 0.065162, -0.822924 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.049] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.049] If point is visible? 0.262585, 0.052711, -0.822314 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.049] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.050] calculated Z= 0.108463 +[21:42:39.050] update seeds 305 +[21:42:39.050] If point is visible? 0.259624, 0.053384, -0.821712 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.050] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.050] If point is visible? 0.260362, 0.053350, -0.821916 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.050] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.050] If point is visible? 0.261836, 0.053279, -0.822339 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.050] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.050] If point is visible? 0.261086, 0.053847, -0.822370 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.050] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.050] calculated Z= 0.107596 +[21:42:39.050] update seeds 305 +[21:42:39.050] If point is visible? 0.221406, 0.052487, -0.816506 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.050] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.050] If point is visible? 0.278019, 0.045907, -0.825438 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.050] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.050] If point is visible? 0.219946, 0.042701, -0.812745 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.050] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.050] If point is visible? 0.259803, 0.044237, -0.817938 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.050] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.050] calculated Z= 0.318584 +[21:42:39.050] update seeds 305 +[21:42:39.050] If point is visible? 0.260544, 0.044205, -0.818141 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.050] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.051] If point is visible? 0.259053, 0.044811, -0.817940 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.051] calculated Z= 0.320599 +[21:42:39.051] update seeds 305 +[21:42:39.051] If point is visible? 0.259794, 0.044780, -0.818139 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.051] calculated Z= 0.316528 +[21:42:39.051] update seeds 305 +[21:42:39.051] If point is visible? 0.180075, 0.034861, -0.818730 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.051] If point is visible? 0.216191, 0.030482, -0.809411 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.051] calculated Z= 0.152524 +[21:42:39.051] update seeds 305 +[21:42:39.051] If point is visible? 0.216949, 0.031048, -0.809493 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.051] calculated Z= 0.149027 +[21:42:39.051] update seeds 305 +[21:42:39.051] If point is visible? 0.207089, 0.006582, -0.806961 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.051] If point is visible? 0.207088, 0.006010, -0.806934 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.051] If point is visible? 0.207847, 0.006021, -0.806827 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.051] If point is visible? 0.254752, 0.000625, -0.808704 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.051] If point is visible? 0.255500, 0.000606, -0.808876 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.051] If point is visible? 0.262227, 0.003850, -0.810690 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.051] If point is visible? 0.207088, 0.005437, -0.806908 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.051] If point is visible? 0.207846, 0.005449, -0.806802 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.051] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.261430, -0.002999, -0.810439 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.252476, -0.003344, -0.808252 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.255504, 0.001180, -0.808881 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.180871, -0.014090, -0.814195 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.181605, -0.013497, -0.813861 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.218402, -0.018077, -0.806919 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.282036, -0.042434, -0.826021 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.286090, -0.044197, -0.828888 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.260374, 0.052818, -0.821674 mu:-7.630447 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.261849, 0.052747, -0.822096 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.264912, 0.047244, -0.820707 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.212281, 0.068120, -0.825367 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.052] If point is visible? 0.218421, 0.044877, -0.813599 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.052] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.053] If point is visible? 0.259025, 0.046437, -0.818560 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.053] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.053] calculated Z= 0.292678 +[21:42:39.053] update seeds 305 +[21:42:39.053] If point is visible? 0.260506, 0.046374, -0.818963 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.053] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.053] If point is visible? 0.261985, 0.046307, -0.819383 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.053] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.053] If point is visible? 0.260349, 0.053882, -0.822161 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.053] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.053] If point is visible? 0.215283, 0.067155, -0.824460 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.053] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.053] If point is visible? 0.262005, 0.045225, -0.818967 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.053] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.053] If point is visible? 0.258920, 0.051817, -0.820792 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.053] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.053] If point is visible? 0.215431, 0.030473, -0.809469 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.053] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.180810, 0.033806, -0.818141 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.215433, 0.029355, -0.809205 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.157539, 0.019049, -0.826249 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.251756, 0.000694, -0.808062 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.253230, -0.002786, -0.808397 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.241136, -0.010650, -0.806798 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.176364, -0.001137, -0.815130 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.260687, -0.002977, -0.810231 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.241146, -0.009495, -0.806709 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.241211, -0.000271, -0.806371 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.242720, -0.000292, -0.806559 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.300504, -0.012718, -0.829612 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.216901, -0.015193, -0.806643 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.054] If point is visible? 0.216897, -0.016349, -0.806783 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.054] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.055] If point is visible? 0.242714, -0.001443, -0.806566 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.055] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.055] If point is visible? 0.250240, -0.001572, -0.807772 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.055] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.055] If point is visible? 0.251740, -0.001603, -0.808067 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.225765 y=0.000000 z=-0.936511 +[21:42:39.055] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.055] If point is visible? 0.173358, 0.310358, -0.440000 mu:-1.675728 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.226029 y=0.000000 z=-0.946972 +[21:42:39.055] If point is visible? 0.705634, -0.416989, -2.229972 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.226024 y=0.000000 z=-0.949265 +[21:42:39.055] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.055] If point is visible? 0.705688, -0.405097, -2.233763 mu:0.699435 unit_bearing:-0.371667 -0.171737 0.912343 T_cur_ref: x=0.226024 y=0.000000 z=-0.949265 +[21:42:39.055] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.055] If point is visible? 0.705634, -0.416989, -2.229972 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.226024 y=0.000000 z=-0.949265 +[21:42:39.055] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.055] If point is visible? -0.699012, 0.121895, -2.032578 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.226024 y=0.000000 z=-0.949265 +[21:42:39.055] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.055] If point is visible? 0.705634, -0.416989, -2.229972 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.226024 y=0.000000 z=-0.949265 +[21:42:39.055] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.055] If point is visible? 0.705634, -0.416989, -2.229972 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.226024 y=0.000000 z=-0.949265 +[21:42:39.055] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.055] If point is visible? -0.699012, 0.121895, -2.032578 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.226024 y=0.000000 z=-0.949265 +[21:42:39.055] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.055] If point is visible? 0.015752, 0.024970, -1.200193 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.226729 y=0.000000 z=-0.965200 +[21:42:39.055] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:39.055] If point is visible? 0.015752, 0.024970, -1.200193 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.226729 y=0.000000 z=-0.965200 +[21:42:39.055] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:39.055] If point is visible? -0.167338, -0.017622, -1.582422 mu:1.385614 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.227335 y=0.000000 z=-0.978455 +[21:42:39.055] Z inverse min: 1.501398, Z inverse max: 1.269830 +[21:42:39.055] If point is visible? 0.503230, -0.006182, -1.645311 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.227335 y=0.000000 z=-0.978455 +[21:42:39.055] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:39.055] If point is visible? 0.486924, -0.006849, -1.651820 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.227335 y=0.000000 z=-0.978455 +[21:42:39.055] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:39.055] If point is visible? -0.167338, -0.017622, -1.582422 mu:1.385614 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.227335 y=0.000000 z=-0.978455 +[21:42:39.055] Z inverse min: 1.501398, Z inverse max: 1.269830 +[21:42:39.055] If point is visible? 0.503230, -0.006182, -1.645311 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.227335 y=0.000000 z=-0.978455 +[21:42:39.055] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:39.055] If point is visible? 0.486924, -0.006849, -1.651820 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.227335 y=0.000000 z=-0.978455 +[21:42:39.055] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:39.055] If point is visible? -53786233.074349, -48168274.646054, -69871637.493913 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.228447 y=0.000000 z=-0.994227 +[21:42:39.055] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:39.055] If point is visible? -85428469.191637, 26760316.897195, -45618519.323172 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.228447 y=0.000000 z=-0.994227 +[21:42:39.055] If point is visible? -53786233.074349, -48168274.646054, -69871637.493913 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.228447 y=0.000000 z=-0.994227 +[21:42:39.055] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:39.055] If point is visible? -85428469.191637, 26760316.897195, -45618519.323172 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.228447 y=0.000000 z=-0.994227 +[21:42:39.055] If point is visible? 0.948845, -0.051652, -2.064287 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.229740 y=0.000000 z=-1.020157 +[21:42:39.055] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:39.055] If point is visible? 0.948845, -0.051652, -2.064287 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.229740 y=0.000000 z=-1.020157 +[21:42:39.055] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:39.055] If point is visible? 0.499743, 0.029018, -1.412044 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.055] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.055] If point is visible? 0.453516, 0.030663, -1.440041 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.055] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.055] If point is visible? 0.443015, 0.030190, -1.445506 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.055] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.055] If point is visible? 0.265078, -0.285461, -1.400396 mu:2.097425 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.055] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.055] If point is visible? 0.262318, -0.282837, -1.402597 mu:2.097425 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.055] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.055] If point is visible? 0.263707, -0.284598, -1.401167 mu:2.097425 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.055] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.055] If point is visible? -0.013557, -0.268890, -1.329709 mu:2.097425 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.055] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.055] If point is visible? 0.259573, -0.281095, -1.404102 mu:2.097425 unit_bearing:-0.107700 -0.487042 0.866712 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.055] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.055] If point is visible? 0.256807, -0.278445, -1.406232 mu:2.097425 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.055] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.055] If point is visible? 0.258182, -0.279322, -1.405499 mu:2.097425 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.055] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.254021, -0.274876, -1.408966 mu:2.097425 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.254039, -0.275781, -1.408323 mu:2.097425 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.087113, -0.246714, -1.277166 mu:2.097425 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.481367, -0.248583, -1.334290 mu:2.113893 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.142486, Z inverse max: 2.085300 +[21:42:39.056] If point is visible? -0.071387, -0.246982, -1.295184 mu:2.097425 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.088408, -0.244799, -1.277397 mu:2.097425 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.026990, -0.252411, -1.332721 mu:2.097425 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.071816, -0.243591, -1.297726 mu:2.097425 unit_bearing:0.598418 -0.436157 0.672059 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.072917, -0.243363, -1.296726 mu:2.097425 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.071697, -0.263346, -1.384834 mu:2.097425 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.058808, -0.242794, -1.311890 mu:2.097425 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.059940, -0.242583, -1.310942 mu:2.097425 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.058710, -0.243656, -1.311268 mu:2.097425 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.247022, -0.264945, -1.416167 mu:2.097425 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.247003, -0.264028, -1.416780 mu:2.097425 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.034181, -0.238339, -1.337739 mu:2.097425 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.035365, -0.238159, -1.336886 mu:2.097425 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.035447, -0.237274, -1.337482 mu:2.097425 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.036711, -0.236208, -1.337218 mu:2.097425 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.037892, -0.236027, -1.336357 mu:2.097425 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.060099, -0.241595, -1.394553 mu:2.097425 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.245318, -0.247375, -1.427442 mu:2.097425 unit_bearing:-0.079917 -0.410878 0.908181 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.078000, -0.235480, -1.405958 mu:2.097425 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.077956, -0.234548, -1.406508 mu:2.097425 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.041430, -0.222279, -1.343231 mu:2.097425 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.250558, -0.234161, -1.434951 mu:2.097425 unit_bearing:-0.091527 -0.381449 0.919847 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.051730, -0.229881, -1.398027 mu:2.097425 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.041279, -0.224076, -1.342114 mu:2.097425 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.045989, -0.223357, -1.338595 mu:2.097425 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.042687, -0.221202, -1.342912 mu:2.097425 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.043866, -0.221024, -1.342035 mu:2.097425 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.045044, -0.220846, -1.341153 mu:2.097425 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.050485, -0.230708, -1.396932 mu:2.097425 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.043942, -0.220124, -1.342587 mu:2.097425 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? -0.045120, -0.219946, -1.341705 mu:2.097425 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.080372, -0.230043, -1.410141 mu:2.097425 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.450775, -0.218870, -1.381484 mu:2.097425 unit_bearing:-0.504924 -0.363283 0.782992 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.254561, -0.227475, -1.438436 mu:2.097425 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.249083, -0.227539, -1.438691 mu:2.097425 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.046365, -0.225743, -1.397956 mu:2.097425 unit_bearing:0.340283 -0.373381 0.863014 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.056] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.056] If point is visible? 0.450799, -0.217957, -1.382022 mu:2.097425 unit_bearing:-0.505018 -0.361246 0.783874 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? -0.090309, -0.202407, -1.309842 mu:2.097425 unit_bearing:0.636389 -0.347324 0.688749 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? -0.090135, -0.204184, -1.308786 mu:2.097425 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? -0.090222, -0.203296, -1.309315 mu:2.097425 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? -0.089472, -0.199949, -1.312461 mu:2.097425 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.044562, -0.215334, -1.403117 mu:2.097425 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.047020, -0.212708, -1.405756 mu:2.097425 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.264061, -0.220665, -1.441403 mu:2.097425 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.045767, -0.213551, -1.404693 mu:2.097425 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.078457, -0.215818, -1.417466 mu:2.097425 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? -0.115489, -0.189227, -1.289095 mu:2.097425 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? -0.114730, -0.186807, -1.291747 mu:2.097425 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.057] calculated Z= 0.414168 +[21:42:39.057] update seeds 305 +[21:42:39.057] If point is visible? 0.469012, -0.203955, -1.378583 mu:2.097425 unit_bearing:-0.542611 -0.332976 0.771168 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.272219, -0.214776, -1.443696 mu:2.097425 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.050788, -0.210167, -1.408904 mu:2.097425 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.074314, -0.210823, -1.418547 mu:2.097425 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.052047, -0.209315, -1.409940 mu:2.097425 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.276313, -0.212775, -1.444275 mu:2.097425 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.058411, -0.205980, -1.414539 mu:2.097425 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? -0.114045, -0.183483, -1.294862 mu:2.097425 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143663, Z inverse max: 2.051186 +[21:42:39.057] calculated Z= 0.415883 +[21:42:39.057] update seeds 305 +[21:42:39.057] If point is visible? 0.063725, -0.208241, -1.415623 mu:2.097425 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.055876, -0.207699, -1.412523 mu:2.097425 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.068938, -0.207633, -1.418089 mu:2.097425 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.067624, -0.207548, -1.417600 mu:2.097425 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.066310, -0.207462, -1.417106 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.280408, -0.210766, -1.444809 mu:2.097425 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.284505, -0.208749, -1.445297 mu:2.097425 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? -0.113959, -0.184374, -1.294373 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.057] calculated Z= 0.415735 +[21:42:39.057] update seeds 305 +[21:42:39.057] If point is visible? 0.064960, -0.206423, -1.417090 mu:2.097425 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.058449, -0.206932, -1.414057 mu:2.097425 unit_bearing:0.313481 -0.330105 0.890371 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.288603, -0.206723, -1.445738 mu:2.097425 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.287231, -0.206757, -1.445910 mu:2.097425 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.292702, -0.204689, -1.446135 mu:2.097425 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.298174, -0.202609, -1.446285 mu:2.097425 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.256981, -0.203450, -1.450488 mu:2.097425 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.258332, -0.201494, -1.451320 mu:2.097425 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.383935, -0.192904, -1.427993 mu:2.097425 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.382589, -0.192991, -1.428459 mu:2.097425 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.309121, -0.199378, -1.445910 mu:2.097425 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.307751, -0.199422, -1.446143 mu:2.097425 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.306380, -0.199466, -1.446371 mu:2.097425 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.305016, -0.200475, -1.446141 mu:2.097425 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.303645, -0.200517, -1.446361 mu:2.097425 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.385286, -0.191860, -1.427973 mu:2.097425 unit_bearing:-0.372414 -0.295171 0.879876 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.057] If point is visible? 0.265171, -0.198486, -1.452207 mu:2.097425 unit_bearing:-0.123527 -0.302771 0.945024 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.057] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.266524, -0.196521, -1.452991 mu:2.097425 unit_bearing:-0.126421 -0.298480 0.946006 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.269225, -0.191607, -1.454952 mu:2.097425 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.267850, -0.191630, -1.455065 mu:2.097425 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.091755, -0.108140, -1.355216 mu:2.097425 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.113483, -0.113234, -1.468467 mu:2.097425 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.135220, -0.115933, -1.472865 mu:2.097425 unit_bearing:0.147530 -0.125631 0.981046 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.114847, -0.114293, -1.468549 mu:2.097425 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] calculated Z= 0.909103 +[21:42:39.058] update seeds 305 +[21:42:39.058] If point is visible? 0.144779, -0.118208, -1.474170 mu:2.097425 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.143415, -0.118174, -1.473921 mu:2.097425 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.142051, -0.118140, -1.473669 mu:2.097425 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.144770, -0.117195, -1.474431 mu:2.097425 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.143405, -0.117161, -1.474182 mu:2.097425 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.142042, -0.117127, -1.473929 mu:2.097425 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.133869, -0.116908, -1.472330 mu:2.097425 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.141848, -0.090650, -1.479914 mu:2.097425 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.140484, -0.090617, -1.479658 mu:2.097425 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.139120, -0.090583, -1.479398 mu:2.097425 unit_bearing:0.138992 -0.071189 0.987731 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.136393, -0.090513, -1.478865 mu:2.097425 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.141829, -0.086555, -1.480699 mu:2.097425 unit_bearing:0.133231 -0.062471 0.989114 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.140464, -0.086522, -1.480443 mu:2.097425 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.139100, -0.086488, -1.480182 mu:2.097425 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.134992, -0.082284, -1.480126 mu:2.097425 unit_bearing:0.147670 -0.053727 0.987576 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.133630, -0.082249, -1.479849 mu:2.097425 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.136340, -0.078214, -1.481110 mu:2.097425 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.094321, -0.073819, -1.471302 mu:2.097425 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.307316, -0.073399, -1.484822 mu:2.097425 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.127839, -0.046840, -1.332024 mu:2.097425 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.129932, -0.046539, -1.329652 mu:2.097425 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.130855, -0.057478, -1.483015 mu:2.097425 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.129493, -0.057442, -1.482726 mu:2.097425 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.125747, -0.043233, -1.334923 mu:2.097425 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.119358, -0.036251, -1.342855 mu:2.097425 unit_bearing:0.695874 0.007018 0.718130 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.120431, -0.036112, -1.341706 mu:2.097425 unit_bearing:0.698247 0.007014 0.715823 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.123633, -0.040589, -1.337643 mu:2.097425 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.124694, -0.040445, -1.336477 mu:2.097425 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.124693, -0.041424, -1.336351 mu:2.097425 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.125751, -0.041278, -1.335181 mu:2.097425 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.125749, -0.042256, -1.335053 mu:2.097425 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.117200, -0.034560, -1.345359 mu:2.097421 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143651, Z inverse max: 2.051191 +[21:42:39.058] If point is visible? 0.090257, -0.050012, -1.473326 mu:2.097425 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.115031, -0.033847, -1.347731 mu:2.097425 unit_bearing:0.686316 0.013269 0.727183 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.140408, -0.045296, -1.486298 mu:2.097425 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? 0.139043, -0.045264, -1.486037 mu:2.097425 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.058] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.058] If point is visible? -0.139188, -0.026704, -1.320983 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? -0.138151, -0.023924, -1.322484 mu:2.097425 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? -0.138158, -0.024899, -1.322396 mu:2.097425 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.282430, -0.036644, -1.492598 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.281055, -0.030429, -1.493190 mu:2.097425 unit_bearing:-0.158998 0.057565 0.985599 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.083666, -0.019753, -1.473579 mu:2.097425 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? -0.096004, -0.014146, -1.368020 mu:2.097425 unit_bearing:0.644530 0.059468 0.762263 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.139124, -0.022409, -1.487710 mu:2.097425 unit_bearing:0.138990 0.072859 0.987610 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.137760, -0.022379, -1.487445 mu:2.097425 unit_bearing:0.141875 0.072855 0.987200 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.136397, -0.022348, -1.487176 mu:2.097425 unit_bearing:0.144760 0.072851 0.986781 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.050419, -0.017362, -1.461588 mu:2.097425 unit_bearing:0.327680 0.076690 0.941671 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.137766, -0.021337, -1.487495 mu:2.097425 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.136403, -0.021307, -1.487226 mu:2.097425 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.053069, -0.016445, -1.462690 mu:2.097425 unit_bearing:0.322024 0.078880 0.943440 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.051748, -0.016386, -1.462163 mu:2.097425 unit_bearing:0.324848 0.078868 0.942472 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.083722, -0.012483, -1.473855 mu:2.097425 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.082410, -0.009316, -1.473507 mu:2.097425 unit_bearing:0.259492 0.096486 0.960913 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.083778, -0.006244, -1.474002 mu:2.097425 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.082439, -0.006196, -1.473570 mu:2.097425 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.085128, -0.005250, -1.474446 mu:2.097425 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.083788, -0.005203, -1.474018 mu:2.097425 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.110787, 0.002290, -1.481854 mu:2.097425 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.108084, 0.002366, -1.481149 mu:2.097425 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.106734, 0.002405, -1.480790 mu:2.097425 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.068149, -0.246779, -1.394733 mu:2.097425 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.457111, -0.220853, -1.376310 mu:2.097425 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.068050, -0.244941, -1.395894 mu:2.097425 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.250542, -0.233215, -1.435484 mu:2.097425 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.255931, -0.227457, -1.438363 mu:2.097425 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.429037, -0.203582, -1.402457 mu:2.097425 unit_bearing:-0.461453 -0.326097 0.825059 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.066310, -0.207462, -1.417106 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? -0.113959, -0.184374, -1.294373 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.059] calculated Z= 0.415763 +[21:42:39.059] update seeds 305 +[21:42:39.059] If point is visible? 0.263692, -0.188763, -1.456660 mu:2.097425 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.263713, -0.190716, -1.455808 mu:2.097425 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.263490, -0.167114, -1.465413 mu:2.097425 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? 0.260733, -0.167149, -1.465600 mu:2.097425 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? -0.113947, -0.045794, -1.347418 mu:2.097425 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? -0.122562, -0.044649, -1.338288 mu:2.097425 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? -0.124686, -0.044357, -1.335961 mu:2.097425 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? -0.113953, -0.037924, -1.348417 mu:2.097425 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? -0.116125, -0.037649, -1.346160 mu:2.097425 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.059] If point is visible? -0.118284, -0.037372, -1.343885 mu:2.097425 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.059] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.290721, -0.067541, -1.488173 mu:2.097425 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.126791, -0.046014, -1.333343 mu:2.097425 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.139188, -0.026704, -1.320983 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.039777, -0.034406, -1.456103 mu:2.097425 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.116121, -0.035681, -1.346385 mu:2.097425 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.118281, -0.035406, -1.344110 mu:2.097425 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.282430, -0.036644, -1.492598 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.282433, -0.034568, -1.492754 mu:2.097425 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.279665, -0.034601, -1.493052 mu:2.097425 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.037229, -0.021904, -1.455793 mu:2.097425 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.416570, 0.000224, -1.458806 mu:2.097425 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.381374, 0.046630, -1.469770 mu:2.097425 unit_bearing:-0.365573 0.211999 0.906318 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] calculated Z= 3.883219 +[21:42:39.060] update seeds 305 +[21:42:39.060] If point is visible? 0.512125, 0.033807, -1.402824 mu:2.097425 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.050395, 0.156184, -1.433389 mu:2.097425 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.075601, -0.239952, -1.402234 mu:2.097425 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.070369, -0.239591, -1.400309 mu:2.097425 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.065152, -0.239216, -1.398316 mu:2.097425 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.074427, -0.213675, -1.417069 mu:2.097425 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.069166, -0.213339, -1.415152 mu:2.097425 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.053473, -0.212252, -1.408998 mu:2.097425 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.264024, -0.217796, -1.442896 mu:2.097425 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.057895, -0.170685, -1.359937 mu:2.097425 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.056633, -0.242349, -1.314394 mu:2.097425 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.065665, -0.240651, -1.306758 mu:2.097425 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.263524, -0.171070, -1.463905 mu:2.097425 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.057011, -0.238882, -1.316850 mu:2.097425 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.066060, -0.237203, -1.309215 mu:2.097425 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.258643, -0.225517, -1.439234 mu:2.097425 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.263976, -0.213960, -1.444854 mu:2.097425 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.065347, -0.242908, -1.396041 mu:2.097425 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.069325, -0.217128, -1.413146 mu:2.097425 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.058855, -0.216410, -1.409109 mu:2.097425 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.263634, -0.182886, -1.459159 mu:2.097425 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.313221, -0.197309, -1.446090 mu:2.097425 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.116111, -0.047473, -1.344889 mu:2.097425 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.111769, -0.044106, -1.349920 mu:2.097425 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? -0.116123, -0.043547, -1.345427 mu:2.097425 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.045123, -0.020220, -1.459277 mu:2.097425 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.093180, -0.005521, -1.476928 mu:2.097425 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.448308, 0.026319, -1.443069 mu:2.097425 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.443045, 0.026081, -1.445762 mu:2.097425 unit_bearing:-0.492427 0.163083 0.854938 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.093143, -0.009685, -1.476848 mu:2.097425 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.499743, 0.029018, -1.412044 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.453516, 0.030663, -1.440041 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.060] If point is visible? 0.443015, 0.030190, -1.445506 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.229740 y=0.000000 z=-1.020162 +[21:42:39.060] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.061] If point is visible? 0.951682, -0.059277, -2.094932 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? 0.846292, -0.060745, -2.158590 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? 0.319075, -0.778501, -2.052538 mu:0.771555 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? 0.315282, -0.773727, -2.056441 mu:0.771555 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? 0.311598, -0.773799, -2.056684 mu:0.771555 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? 0.307746, -0.766570, -2.062337 mu:0.771555 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.436974, -0.732798, -1.855830 mu:0.771555 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.437230, -0.730472, -1.857660 mu:0.771555 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? 0.300202, -0.759375, -2.068126 mu:0.771555 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? 0.292593, -0.749684, -2.075561 mu:0.771555 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? 0.288901, -0.749740, -2.075735 mu:0.771555 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.635946, -0.672295, -1.711861 mu:0.771555 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.636282, -0.670039, -1.713627 mu:0.771555 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? 0.913459, -0.681571, -1.884935 mu:0.771555 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] calculated Z= 0.603147 +[21:42:39.061] update seeds 305 +[21:42:39.061] If point is visible? -0.583668, -0.681855, -1.763991 mu:0.771555 unit_bearing:0.589813 -0.452226 0.669038 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.636615, -0.667780, -1.715387 mu:0.771555 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.639469, -0.667092, -1.712480 mu:0.771555 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.473762, -0.685647, -1.865629 mu:0.771555 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.476974, -0.685150, -1.863350 mu:0.771555 unit_bearing:0.503204 -0.445407 0.740539 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.600370, -0.664940, -1.760846 mu:0.771555 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.598004, -0.660958, -1.767032 mu:0.771555 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.600672, -0.662637, -1.762569 mu:0.771555 unit_bearing:0.603078 -0.437643 0.666907 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.559623, -0.661783, -1.806794 mu:0.771555 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.562959, -0.658865, -1.805889 mu:0.771555 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.634402, -0.644035, -1.740104 mu:0.771555 unit_bearing:0.630157 -0.425510 0.649495 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? 0.265843, -0.712819, -2.102026 mu:0.771555 unit_bearing:-0.079699 -0.444154 0.892399 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.493365, -0.647377, -1.879152 mu:0.771555 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.496569, -0.646886, -1.876815 mu:0.771555 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.500228, -0.641580, -1.877695 mu:0.771555 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.503424, -0.641085, -1.875335 mu:0.771555 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.219669, -0.670263, -2.034373 mu:0.771555 unit_bearing:0.297504 -0.417925 0.858388 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.506845, -0.638180, -1.874568 mu:0.771555 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.241814, -0.651131, -2.036778 mu:0.771555 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.238152, -0.653912, -2.036685 mu:0.771555 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.061] If point is visible? -0.245616, -0.645835, -2.038385 mu:0.771555 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.061] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.238009, -0.656417, -2.035135 mu:0.771555 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.507074, -0.635770, -1.876166 mu:0.771555 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.189649, -0.637299, -2.067925 mu:0.771555 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.513128, -0.603705, -1.893964 mu:0.771555 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.516325, -0.603222, -1.891571 mu:0.771555 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.275464, -0.641766, -2.145280 mu:0.771555 unit_bearing:-0.088642 -0.385673 0.918367 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.516536, -0.600776, -1.893077 mu:0.771555 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.519729, -0.600291, -1.890673 mu:0.771555 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.522916, -0.599803, -1.888256 mu:0.771555 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.186210, -0.634996, -2.070690 mu:0.771555 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.523129, -0.597357, -1.889757 mu:0.771555 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.183131, -0.625056, -2.077841 mu:0.771555 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.834525, -0.604114, -1.994393 mu:0.771555 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.644681, -0.556829, -1.798088 mu:0.771555 unit_bearing:0.635977 -0.353275 0.686098 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.293651, -0.618379, -2.157425 mu:0.771555 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.289927, -0.618425, -2.157604 mu:0.771555 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.275031, -0.618588, -2.158205 mu:0.771555 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.645171, -0.552005, -1.800971 mu:0.771555 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.279143, -0.607937, -2.045488 mu:0.771555 unit_bearing:0.343162 -0.369151 0.863694 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.275078, -0.621172, -2.156795 mu:0.771555 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.870320, -0.560323, -1.997679 mu:0.771555 unit_bearing:-0.539842 -0.337183 0.771284 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.323094, -0.594614, -2.168014 mu:0.771555 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.315675, -0.597333, -2.167181 mu:0.771555 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.280205, -0.587556, -2.056781 mu:0.771555 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.188428, -0.586382, -2.097722 mu:0.771555 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.270173, -0.578139, -2.066912 mu:0.771555 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.273689, -0.577866, -2.065376 mu:0.771555 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.312027, -0.602584, -2.164700 mu:0.771555 unit_bearing:-0.117453 -0.353842 0.927901 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.315715, -0.599931, -2.165822 mu:0.771555 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.199589, -0.575382, -2.099261 mu:0.771555 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.713241, -0.516106, -1.744220 mu:0.771555 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.330478, -0.589284, -2.170137 mu:0.771555 unit_bearing:-0.131834 -0.343145 0.929985 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.263493, -0.570964, -2.073996 mu:0.771555 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.337866, -0.583939, -2.172190 mu:0.771555 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.713752, -0.511305, -1.746957 mu:0.771555 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.238858, -0.570187, -2.085594 mu:0.771555 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.260084, -0.568652, -2.076832 mu:0.771555 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.263612, -0.568388, -2.075331 mu:0.771555 unit_bearing:0.330089 -0.336058 0.882103 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.711473, -0.507130, -1.752813 mu:0.771555 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.256670, -0.566334, -2.079650 mu:0.771555 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? 0.348989, -0.578508, -2.173832 mu:0.771555 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.249827, -0.561682, -2.085231 mu:0.771555 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.221533, -0.561052, -2.097853 mu:0.771555 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.062] If point is visible? -0.225093, -0.560815, -2.096478 mu:0.771555 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.062] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.360118, -0.573054, -2.175349 mu:0.771555 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.242854, -0.559598, -2.089437 mu:0.771555 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.709657, -0.498096, -1.761292 mu:0.771555 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.249713, -0.564267, -2.083915 mu:0.771555 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.367519, -0.567661, -2.177151 mu:0.771555 unit_bearing:-0.160559 -0.325927 0.931661 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.382388, -0.562079, -2.178009 mu:0.771555 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.378656, -0.562168, -2.178452 mu:0.771555 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.274313, -0.576973, -2.179886 mu:0.771555 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.296355, -0.553118, -2.190405 mu:0.771555 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.393529, -0.556559, -2.179153 mu:0.771555 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.408404, -0.550915, -2.179652 mu:0.771555 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.404672, -0.551017, -2.180172 mu:0.771555 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.438176, -0.542154, -2.178811 mu:0.771555 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.434447, -0.542271, -2.179421 mu:0.771555 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.318634, -0.542279, -2.193992 mu:0.771555 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.427010, -0.545126, -2.179372 mu:0.771555 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.314931, -0.544971, -2.193019 mu:0.771555 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.296317, -0.550484, -2.191648 mu:0.771555 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.296280, -0.547849, -2.192885 mu:0.771555 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.667470, -0.525615, -2.121055 mu:0.771555 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.641855, -0.524706, -2.131328 mu:0.771555 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.638193, -0.522334, -2.133795 mu:0.771555 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.333457, -0.531481, -2.197709 mu:0.771555 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.329717, -0.531542, -2.198005 mu:0.771555 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.325978, -0.531600, -2.198290 mu:0.771555 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.329591, -0.520949, -2.202738 mu:0.771555 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.325849, -0.521007, -2.203023 mu:0.771555 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? 0.298798, -0.446440, -2.234974 mu:0.771555 unit_bearing:-0.109531 -0.227659 0.967561 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.649808, -0.295950, -1.924955 mu:0.771555 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.008869, -0.321168, -2.252948 mu:0.771555 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] calculated Z= 0.558019 +[21:42:39.063] update seeds 305 +[21:42:39.063] If point is visible? -0.012573, -0.321074, -2.252252 mu:0.771554 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817625, Z inverse max: 0.725483 +[21:42:39.063] If point is visible? -0.016276, -0.320977, -2.251542 mu:0.771555 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.012601, -0.318319, -2.252959 mu:0.771555 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.016304, -0.318223, -2.252250 mu:0.771555 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.031103, -0.317822, -2.249306 mu:0.771555 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.038495, -0.317612, -2.247769 mu:0.771555 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.649897, -0.293324, -1.925724 mu:0.771555 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.149248, -0.253041, -2.233498 mu:0.771555 unit_bearing:0.236699 -0.079692 0.968309 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.016874, -0.246248, -2.268517 mu:0.771555 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.020579, -0.246154, -2.267797 mu:0.771555 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.031686, -0.245865, -2.265574 mu:0.771555 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.020638, -0.235022, -2.269930 mu:0.771555 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.024342, -0.234928, -2.269200 mu:0.771555 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.046493, -0.242679, -2.263001 mu:0.771555 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.063] If point is visible? -0.031843, -0.212431, -2.271678 mu:0.771555 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.063] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.145898, -0.200398, -2.244328 mu:0.771555 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.031879, -0.201258, -2.273516 mu:0.771555 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? 0.436643, -0.196815, -2.284401 mu:0.771555 unit_bearing:-0.216541 -0.031847 0.975754 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.747485, -0.126612, -1.862089 mu:0.771555 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.753138, -0.125789, -1.855608 mu:0.771555 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.741839, -0.116812, -1.870003 mu:0.771555 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.733262, -0.107358, -1.880942 mu:0.771555 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.738994, -0.111895, -1.873904 mu:0.771555 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.741850, -0.111498, -1.870704 mu:0.771555 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.741846, -0.114155, -1.870357 mu:0.771555 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.744693, -0.113755, -1.867145 mu:0.771555 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.050439, -0.155950, -2.275958 mu:0.771555 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.054385, -0.155987, -2.276249 mu:0.770874 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.816017, Z inverse max: 0.725731 +[21:42:39.064] If point is visible? -0.156938, -0.146886, -2.248474 mu:0.771555 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.718758, -0.093251, -1.898511 mu:0.771555 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.028218, -0.125591, -2.284096 mu:0.771555 unit_bearing:0.141924 0.022668 0.989618 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.718749, -0.090575, -1.898801 mu:0.771555 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.020804, -0.122952, -2.285846 mu:0.771555 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.024509, -0.122864, -2.285116 mu:0.771555 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.156912, -0.124450, -2.250957 mu:0.771555 unit_bearing:0.242529 0.020426 0.969929 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? 0.365182, -0.099717, -2.305292 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? 0.361418, -0.099761, -2.305679 mu:0.771555 unit_bearing:-0.159013 0.044478 0.986274 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.297164, -0.056528, -2.202964 mu:0.771555 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.024254, -0.057903, -2.289800 mu:0.771555 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.027956, -0.057817, -2.289057 mu:0.771555 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.031657, -0.057731, -2.288304 mu:0.771555 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.300740, -0.059155, -2.201236 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.304290, -0.058975, -2.199644 mu:0.771555 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.167556, -0.059313, -2.252429 mu:0.771555 unit_bearing:0.251017 0.070447 0.965416 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.178446, -0.056088, -2.249017 mu:0.771555 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.174629, -0.033638, -2.251096 mu:0.771555 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.174467, -0.016677, -2.251496 mu:0.771555 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.178100, -0.016546, -2.250300 mu:0.771555 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.101157, 0.006467, -2.273282 mu:0.771555 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.108492, 0.006679, -2.271321 mu:0.771555 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.112157, 0.006787, -2.270324 mu:0.771555 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.112125, 0.009624, -2.270314 mu:0.771555 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? 0.842134, 0.058352, -2.160957 mu:0.771555 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? 0.619922, 0.117588, -2.250518 mu:0.771555 unit_bearing:-0.354496 0.205738 0.912143 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? 0.619921, 0.120417, -2.250245 mu:0.771555 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.271189, 0.425097, -2.137394 mu:0.771555 unit_bearing:0.338585 0.430592 0.836631 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.195454, -0.662040, -2.050092 mu:0.771555 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.064] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.064] If point is visible? -0.202549, -0.661545, -2.047454 mu:0.771555 unit_bearing:0.283784 -0.410019 0.866805 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.202273, -0.666556, -2.044326 mu:0.771555 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.209354, -0.666048, -2.041641 mu:0.771555 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.216425, -0.665530, -2.038911 mu:0.771555 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.216139, -0.670527, -2.035755 mu:0.771555 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.827822, -0.592551, -2.005568 mu:0.771555 unit_bearing:-0.507633 -0.361121 0.782241 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.221425, -0.563644, -2.096545 mu:0.771555 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.235647, -0.562680, -2.090979 mu:0.771555 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.678421, -0.524856, -2.117001 mu:0.771555 unit_bearing:-0.397131 -0.298802 0.867758 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.321486, -0.465012, -2.226476 mu:0.771555 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.314528, -0.513205, -2.207292 mu:0.771555 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.314593, -0.518516, -2.204977 mu:0.771555 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.313879, -0.454353, -2.231083 mu:0.771555 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.306380, -0.454443, -2.231547 mu:0.771555 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.744659, -0.124369, -1.865692 mu:0.771555 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.704094, -0.103147, -1.912998 mu:0.771555 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.709990, -0.102402, -1.906877 mu:0.771555 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.715854, -0.101651, -1.900707 mu:0.771555 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.721688, -0.100895, -1.894489 mu:0.771555 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.709971, -0.123796, -1.904164 mu:0.771555 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.733239, -0.120666, -1.879203 mu:0.771555 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.738976, -0.119868, -1.872842 mu:0.771555 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.715845, -0.096301, -1.901319 mu:0.771555 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.721678, -0.095549, -1.895100 mu:0.771555 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.951682, -0.059277, -2.094932 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.365182, -0.099717, -2.305292 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.365191, -0.094073, -2.305716 mu:0.771555 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.357663, -0.094158, -2.306481 mu:0.771555 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.286464, -0.054249, -2.207779 mu:0.771555 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.293584, -0.053899, -2.204675 mu:0.771555 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] calculated Z= 0.600006 +[21:42:39.065] update seeds 305 +[21:42:39.065] If point is visible? 0.730454, 0.000236, -2.215625 mu:0.771555 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.300740, -0.059155, -2.201236 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.845672, 0.061307, -2.158896 mu:0.771555 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.991190, 0.091338, -2.065004 mu:0.771555 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.795527, 0.064573, -2.184448 mu:0.771555 unit_bearing:-0.487114 0.158926 0.858756 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.345292, -0.581190, -2.172859 mu:0.771555 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.330368, -0.581463, -2.174120 mu:0.771555 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.315442, -0.581704, -2.175203 mu:0.771555 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.195990, -0.651983, -2.056268 mu:0.771555 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.210181, -0.650992, -2.050949 mu:0.771555 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.224331, -0.649963, -2.045448 mu:0.771555 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.313989, -0.465110, -2.226985 mu:0.771555 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.568430, -0.637098, -1.818205 mu:0.771555 unit_bearing:0.575914 -0.412853 0.705603 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? -0.578450, -0.653601, -1.794420 mu:0.771555 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.065] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.065] If point is visible? 0.841564, -0.600828, -1.992027 mu:0.771555 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.199372, -0.580549, -2.096577 mu:0.771555 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.213640, -0.579625, -2.091279 mu:0.771555 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.256198, -0.576639, -2.074295 mu:0.771555 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.213186, -0.589926, -2.085830 mu:0.771555 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.241579, -0.587951, -2.074683 mu:0.771555 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? 0.314102, -0.475841, -2.222786 mu:0.771555 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.558057, -0.463418, -1.939109 mu:0.771555 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? 0.329318, -0.497018, -2.213017 mu:0.771555 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? 0.841810, -0.590944, -1.997914 mu:0.771555 unit_bearing:-0.518059 -0.360611 0.775613 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.555085, -0.648810, -1.821995 mu:0.771555 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.579556, -0.644227, -1.801092 mu:0.771555 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.223770, -0.659999, -2.039266 mu:0.771555 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.715816, -0.128357, -1.897253 mu:0.771555 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.704089, -0.119214, -1.911000 mu:0.771555 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.715849, -0.117685, -1.898714 mu:0.771555 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? 0.816880, 0.093429, -2.171849 mu:0.771555 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.264943, -0.044021, -2.217323 mu:0.771555 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? 0.831255, 0.082909, -2.165217 mu:0.771555 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.279333, -0.054594, -2.210838 mu:0.771555 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? 0.846292, -0.060745, -2.158590 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.148954, -0.014733, -2.259605 mu:0.771555 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? -0.149063, -0.026052, -2.259385 mu:0.771555 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.229740 y=0.000000 z=-1.020167 +[21:42:39.066] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.066] If point is visible? 0.298971, -0.785336, -2.062839 mu:0.765014 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? 0.298888, -0.782892, -2.064681 mu:0.765014 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? 0.291198, -0.775673, -2.070531 mu:0.765014 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? 0.295085, -0.780512, -2.066704 mu:0.765014 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? 0.287393, -0.773278, -2.072511 mu:0.765014 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? -0.459672, -0.737530, -1.850506 mu:0.765014 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? 0.275886, -0.763588, -2.080127 mu:0.765014 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? 0.271907, -0.756212, -2.085566 mu:0.765014 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? 0.268181, -0.756260, -2.085673 mu:0.765014 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? -0.572785, -0.692615, -1.784979 mu:0.765014 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? -0.658241, -0.671507, -1.705196 mu:0.765014 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? -0.661064, -0.670806, -1.702212 mu:0.765014 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? -0.615980, -0.674648, -1.753861 mu:0.765014 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? -0.661427, -0.668525, -1.703974 mu:0.765014 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? 0.901653, -0.688931, -1.904822 mu:0.765014 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] calculated Z= 0.591044 +[21:42:39.066] update seeds 305 +[21:42:39.066] If point is visible? -0.637444, -0.663148, -1.739142 mu:0.765014 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? -0.620246, -0.664713, -1.757988 mu:0.765014 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? -0.582281, -0.665631, -1.798793 mu:0.765014 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.066] If point is visible? 0.248514, -0.726493, -2.106706 mu:0.765014 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.066] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.585922, -0.660316, -1.799512 mu:0.765014 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.517280, -0.646392, -1.876228 mu:0.765014 unit_bearing:0.515567 -0.411002 0.751843 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.520469, -0.645892, -1.873813 mu:0.765014 unit_bearing:0.518144 -0.410848 0.750154 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.523653, -0.645389, -1.871387 mu:0.765014 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.526831, -0.644882, -1.868948 mu:0.765014 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.222789, -0.671512, -2.046324 mu:0.765014 unit_bearing:0.280893 -0.414218 0.865750 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.527340, -0.640020, -1.872169 mu:0.765014 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.530515, -0.639513, -1.869718 mu:0.765014 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.663527, -0.616470, -1.748684 mu:0.765014 unit_bearing:0.634731 -0.400173 0.661043 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.247404, -0.672156, -2.034685 mu:0.765014 unit_bearing:0.300339 -0.415792 0.858436 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.530260, -0.641945, -1.868111 mu:0.765014 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.262349, -0.658418, -2.036554 mu:0.765014 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.262181, -0.660945, -2.034994 mu:0.765014 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.210557, -0.639457, -2.071805 mu:0.765014 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.214127, -0.639214, -2.070451 mu:0.765014 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? 0.820210, -0.610630, -2.013740 mu:0.765014 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.540524, -0.601729, -1.888106 mu:0.765014 unit_bearing:0.532927 -0.375982 0.758042 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.543699, -0.601234, -1.885622 mu:0.765014 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.546868, -0.600735, -1.883127 mu:0.765014 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.292433, -0.625626, -2.042241 mu:0.765014 unit_bearing:0.334579 -0.379757 0.862462 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.288602, -0.631019, -2.040875 mu:0.765014 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.207562, -0.629439, -2.079073 mu:0.765014 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? 0.253520, -0.644743, -2.157028 mu:0.765014 unit_bearing:-0.088655 -0.383570 0.919246 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? 0.249416, -0.631794, -2.164353 mu:0.765014 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? 0.268131, -0.629032, -2.165400 mu:0.765014 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? 0.264374, -0.629068, -2.165500 mu:0.765014 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? 0.253035, -0.626561, -2.167160 mu:0.765014 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.667921, -0.557155, -1.789896 mu:0.765014 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.668188, -0.554720, -1.791341 mu:0.765014 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? 0.252967, -0.623955, -2.168581 mu:0.765014 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.304974, -0.591398, -2.056042 mu:0.765014 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? 0.297599, -0.602559, -2.178196 mu:0.765014 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? 0.293834, -0.602610, -2.178384 mu:0.765014 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.666315, -0.545549, -1.800014 mu:0.765014 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.295024, -0.581924, -2.066444 mu:0.765014 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.298541, -0.581641, -2.064830 mu:0.765014 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.213183, -0.590422, -2.099023 mu:0.765014 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? 0.293894, -0.605230, -2.177014 mu:0.765014 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? 0.334783, -0.578294, -2.187752 mu:0.765014 unit_bearing:-0.151950 -0.330251 0.931582 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.224441, -0.579303, -2.100369 mu:0.765014 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.067] If point is visible? -0.216895, -0.587588, -2.099040 mu:0.765014 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.067] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.288403, -0.574702, -2.073710 mu:0.765014 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.736253, -0.513518, -1.735608 mu:0.765014 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.224569, -0.576694, -2.101711 mu:0.765014 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.863628, -0.553131, -2.020638 mu:0.765014 unit_bearing:-0.545472 -0.326724 0.771824 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.267851, -0.563286, -2.089663 mu:0.765014 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.263774, -0.573975, -2.085862 mu:0.765014 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.285013, -0.572378, -2.076633 mu:0.765014 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.733782, -0.511743, -1.740197 mu:0.765014 unit_bearing:0.689558 -0.321445 0.648986 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.734053, -0.509313, -1.741556 mu:0.765014 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.732358, -0.500206, -1.750139 mu:0.765014 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.281617, -0.570048, -2.079538 mu:0.765014 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.274676, -0.567979, -2.083968 mu:0.765014 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.734322, -0.506880, -1.742908 mu:0.765014 unit_bearing:0.689848 -0.317499 0.650619 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.246510, -0.564801, -2.098543 mu:0.765014 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.250074, -0.564554, -2.097092 mu:0.765014 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? -0.732096, -0.502648, -1.748806 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.342274, -0.575514, -2.188428 mu:0.765014 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.323631, -0.586396, -2.184657 mu:0.765014 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.327347, -0.583699, -2.185706 mu:0.765014 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.364712, -0.564480, -2.191431 mu:0.765014 unit_bearing:-0.174894 -0.319418 0.931335 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.368439, -0.561751, -2.192307 mu:0.765014 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.379712, -0.558839, -2.192311 mu:0.765014 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.375940, -0.558929, -2.192744 mu:0.765014 unit_bearing:-0.183495 -0.315082 0.931157 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.274023, -0.557972, -2.201446 mu:0.765014 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.387214, -0.556005, -2.192674 mu:0.765014 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.383442, -0.556100, -2.193130 mu:0.765014 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.292725, -0.549798, -2.204426 mu:0.765014 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.273968, -0.555316, -2.202699 mu:0.765014 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.428549, -0.544247, -2.191911 mu:0.765014 unit_bearing:-0.223471 -0.304011 0.926087 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.424778, -0.544363, -2.192491 mu:0.765014 unit_bearing:-0.220629 -0.304045 0.926758 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.421006, -0.544476, -2.193060 mu:0.765014 unit_bearing:-0.217786 -0.304077 0.927419 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.311350, -0.536234, -2.209497 mu:0.765014 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.307574, -0.536287, -2.209727 mu:0.765014 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.303797, -0.536338, -2.209945 mu:0.765014 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.405995, -0.550209, -2.192736 mu:0.765014 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.273914, -0.552659, -2.203945 mu:0.765014 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.578759, -0.524755, -2.165388 mu:0.765014 unit_bearing:-0.336372 -0.291683 0.895419 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.582514, -0.527192, -2.163116 mu:0.765014 unit_bearing:-0.339122 -0.293746 0.893706 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.645881, -0.531320, -2.139648 mu:0.765014 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.307382, -0.525604, -2.214498 mu:0.765014 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.303604, -0.525654, -2.214716 mu:0.765014 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.582499, -0.524556, -2.164333 mu:0.765014 unit_bearing:-0.339162 -0.291630 0.894383 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.068] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.068] If point is visible? 0.889436, -0.481491, -2.040794 mu:0.765014 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? 0.275865, -0.447666, -2.247433 mu:0.765014 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.034422, -0.320568, -2.259590 mu:0.765014 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.038144, -0.320464, -2.258817 mu:0.765014 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.041865, -0.320358, -2.258034 mu:0.765014 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.056733, -0.319921, -2.254792 mu:0.765014 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.064157, -0.319692, -2.253105 mu:0.765014 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.674575, -0.296464, -1.916284 mu:0.765014 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.677505, -0.298665, -1.912584 mu:0.765014 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.138811, -0.247417, -2.249666 mu:0.765014 unit_bearing:0.208064 -0.073239 0.975369 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.042577, -0.247767, -2.274428 mu:0.765014 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.046300, -0.247664, -2.273634 mu:0.765014 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.057458, -0.247347, -2.271187 mu:0.765014 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.050095, -0.236333, -2.274979 mu:0.765014 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.072335, -0.244100, -2.268318 mu:0.765014 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.057653, -0.213627, -2.277340 mu:0.765014 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? 0.395571, -0.213344, -2.299112 mu:0.765014 unit_bearing:-0.202177 -0.042758 0.978415 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.175792, -0.201083, -2.246472 mu:0.765014 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? 0.391775, -0.216219, -2.299116 mu:0.765014 unit_bearing:-0.199302 -0.044940 0.978907 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.771537, -0.122786, -1.851472 mu:0.765014 unit_bearing:0.714674 -0.015730 0.699281 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.774331, -0.122367, -1.848158 mu:0.765014 unit_bearing:0.717000 -0.015721 0.696896 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.076350, -0.167939, -2.279858 mu:0.765014 unit_bearing:0.159235 -0.010076 0.987189 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.765954, -0.115587, -1.859174 mu:0.765014 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.760322, -0.108356, -1.866771 mu:0.765014 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.763150, -0.107952, -1.863504 mu:0.765014 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.131822, -0.163313, -2.265685 mu:0.765014 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.076356, -0.156621, -2.281313 mu:0.765014 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.765966, -0.110228, -1.859881 mu:0.765014 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.765961, -0.112908, -1.859531 mu:0.765014 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.768772, -0.112498, -1.856240 mu:0.765014 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.743144, -0.089177, -1.888641 mu:0.765014 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.183209, -0.135930, -2.252932 mu:0.765014 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.046581, -0.123407, -2.291832 mu:0.765014 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.330703, -0.058242, -2.199668 mu:0.765014 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.334251, -0.058051, -2.197986 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.049985, -0.057795, -2.295757 mu:0.765014 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.053704, -0.057700, -2.294940 mu:0.765014 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.057422, -0.057604, -2.294112 mu:0.765014 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.201043, -0.052915, -2.253187 mu:0.765014 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.200654, -0.015877, -2.254356 mu:0.765014 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.069] If point is visible? -0.204295, -0.015736, -2.253082 mu:0.765014 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.069] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.196977, -0.013163, -2.255664 mu:0.765014 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.200619, -0.013024, -2.254402 mu:0.765014 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.138117, 0.007647, -2.274494 mu:0.765014 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.767915, 0.049323, -2.210398 mu:0.765014 unit_bearing:-0.479178 0.148417 0.865078 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.826307, 0.057485, -2.181855 mu:0.765014 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.291594, 0.429803, -2.139180 mu:0.765014 unit_bearing:0.335833 0.430681 0.837693 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.226338, -0.671251, -2.044922 mu:0.765014 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.233428, -0.670723, -2.042084 mu:0.765014 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.240506, -0.670185, -2.039200 mu:0.765014 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.240171, -0.675224, -2.036023 mu:0.765014 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.827359, -0.607332, -2.011484 mu:0.765014 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.246383, -0.567415, -2.097226 mu:0.765014 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.260619, -0.566411, -2.091351 mu:0.765014 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.732096, -0.502648, -1.748806 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] calculated Z= 0.676127 +[21:42:39.070] update seeds 305 +[21:42:39.070] If point is visible? 0.586267, -0.529625, -2.160824 mu:0.765014 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.581312, -0.486132, -1.922704 mu:0.765014 unit_bearing:0.562856 -0.284982 0.775873 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.292127, -0.517759, -2.218811 mu:0.765014 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.292223, -0.523116, -2.216478 mu:0.765014 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.291167, -0.458403, -2.242791 mu:0.765014 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.283596, -0.458476, -2.243120 mu:0.765014 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.751786, -0.109558, -1.876500 mu:0.765014 unit_bearing:0.698250 -0.003352 0.715846 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.365100, -0.185628, -2.306999 mu:0.765014 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.433560, -0.195758, -2.296432 mu:0.765014 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.734467, -0.122703, -1.894210 mu:0.765014 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.757461, -0.119494, -1.868611 mu:0.765014 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.763126, -0.118676, -1.862090 mu:0.765014 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.728657, -0.101890, -1.903227 mu:0.765014 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.734487, -0.101126, -1.896946 mu:0.765014 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.740285, -0.100355, -1.890616 mu:0.765014 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.746051, -0.099579, -1.884238 mu:0.765014 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.768735, -0.123203, -1.854775 mu:0.765014 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.740274, -0.094959, -1.891234 mu:0.765014 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.746040, -0.094188, -1.884855 mu:0.765014 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.334740, -0.095227, -2.319638 mu:0.765014 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.937708, -0.055885, -2.117605 mu:0.765014 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.930657, -0.056373, -2.122098 mu:0.765014 unit_bearing:-0.598947 0.059929 0.798543 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.327152, -0.058432, -2.201339 mu:0.765014 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? -0.334251, -0.058051, -2.197986 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.712549, 0.004774, -2.234905 mu:0.765014 unit_bearing:-0.438685 0.116876 0.891008 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.829920, 0.060457, -2.179841 mu:0.765014 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.070] If point is visible? 0.978392, 0.095934, -2.087420 mu:0.765014 unit_bearing:-0.632262 0.172345 0.755342 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.070] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.943698, 0.094025, -2.111101 mu:0.765014 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.978461, 0.090412, -2.087854 mu:0.765014 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.623216, 0.126830, -2.260250 mu:0.765014 unit_bearing:-0.371144 0.211918 0.904070 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] calculated Z= 4.424813 +[21:42:39.071] update seeds 305 +[21:42:39.071] If point is visible? 0.293717, -0.597363, -2.181105 mu:0.765014 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.291328, -0.469251, -2.238660 mu:0.765014 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.582697, -0.465571, -1.932249 mu:0.765014 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.576784, -0.662065, -1.807498 mu:0.765014 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.601018, -0.657336, -1.785967 mu:0.765014 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.577956, -0.652557, -1.814205 mu:0.765014 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.602235, -0.647880, -1.792675 mu:0.765014 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.220191, -0.656567, -2.057081 mu:0.765014 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.234400, -0.655536, -2.051455 mu:0.765014 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.248564, -0.654466, -2.045646 mu:0.765014 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.223658, -0.594914, -2.092182 mu:0.765014 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.237936, -0.593940, -2.086574 mu:0.765014 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.280497, -0.590802, -2.068651 mu:0.765014 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.428513, -0.541597, -2.193145 mu:0.765014 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.291848, -0.501648, -2.225657 mu:0.765014 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.870861, -0.542203, -2.022010 mu:0.765014 unit_bearing:-0.550991 -0.318299 0.771424 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.293487, -0.586847, -2.186469 mu:0.765014 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.871030, -0.532066, -2.027323 mu:0.765014 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.728651, -0.118095, -1.901213 mu:0.765014 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.740279, -0.116526, -1.888606 mu:0.765014 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.305734, -0.053881, -2.211417 mu:0.765014 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.740243, -0.127290, -1.887134 mu:0.765014 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -0.175205, -0.025389, -2.262781 mu:0.765014 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.943756, 0.088478, -2.111526 mu:0.765014 unit_bearing:-0.607294 0.168930 0.776309 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.873435, 0.006701, -2.157852 mu:0.765014 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.800720, 0.092919, -2.192371 mu:0.765014 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.815314, 0.082276, -2.185949 mu:0.765014 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.800762, 0.081663, -2.193189 mu:0.765014 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? 0.786162, 0.081066, -2.200226 mu:0.765014 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.229741 y=0.000000 z=-1.020181 +[21:42:39.071] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.071] If point is visible? -6661.720342, -452.612937, -7124.614971 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.229742 y=0.000000 z=-1.020186 +[21:42:39.071] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:39.071] If point is visible? 4211.921037, -399.552156, -8800.153657 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.229742 y=0.000000 z=-1.020186 +[21:42:39.071] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:39.071] If point is visible? -6661.720342, -452.612937, -7124.614971 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.229742 y=0.000000 z=-1.020186 +[21:42:39.071] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:39.071] If point is visible? 4211.921037, -399.552156, -8800.153657 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.229742 y=0.000000 z=-1.020186 +[21:42:39.071] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:39.072] If point is visible? 0.917750, -0.059751, -2.481314 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? 0.844861, -0.687445, -2.347163 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? 1.079019, -0.057362, -2.393961 mu:0.618770 unit_bearing:-0.598870 0.068366 0.797923 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? 2.921302, 0.024463, -5.919585 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.072] If point is visible? -0.880332, -0.074070, -2.192392 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? 0.292810, -0.965094, -2.314958 mu:0.618770 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? 0.288209, -0.965168, -2.315119 mu:0.618770 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? 0.283224, -0.956135, -2.322017 mu:0.618770 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? 0.268899, -0.944133, -2.331254 mu:0.618770 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? -1.844366, -2.179313, -3.451465 mu:0.258523 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.072] If point is visible? -1.846943, -2.174120, -3.458869 mu:0.258315 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.072] If point is visible? 0.263909, -0.935007, -2.337917 mu:0.618770 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? 0.259301, -0.935059, -2.337991 mu:0.618770 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? -38.049946, -28.690370, -29.695332 mu:0.017930 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] If point is visible? -0.854725, -0.818220, -1.895551 mu:0.618770 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? -0.775557, -0.854774, -1.953219 mu:0.618770 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? 1.169073, -0.982409, -2.291696 mu:0.537278 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.745082, Z inverse max: 0.329473 +[21:42:39.072] calculated Z= 0.709633 +[21:42:39.072] update seeds 305 +[21:42:39.072] If point is visible? -0.879925, -0.828515, -1.853263 mu:0.618770 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? -0.883366, -0.827643, -1.849530 mu:0.618770 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? -0.355225, -0.890116, -2.235639 mu:0.618770 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? -1.240748, -1.137994, -2.249185 mu:0.448661 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.072] If point is visible? -0.833759, -0.820187, -1.919116 mu:0.618770 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? -5.027124, -4.905380, -6.933883 mu:0.107416 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] If point is visible? 0.234718, -0.898219, -2.363688 mu:0.618770 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.072] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.072] If point is visible? 0.234593, -0.895110, -2.365762 mu:0.618770 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.787854, -0.818473, -1.972246 mu:0.618770 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.791567, -0.817740, -1.968893 mu:0.618770 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.787459, -0.821394, -1.970149 mu:0.618770 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.707932, -0.800737, -2.064889 mu:0.618770 unit_bearing:0.515451 -0.412999 0.750828 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.711835, -0.800111, -2.061854 mu:0.618770 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.716068, -0.796478, -2.060803 mu:0.618770 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.719958, -0.795846, -2.057739 mu:0.618770 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.724178, -0.792208, -2.056651 mu:0.618770 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.395617, -0.813083, -2.269042 mu:0.618770 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.724513, -0.789201, -2.058634 mu:0.618770 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.395390, -0.816207, -2.267116 mu:0.618770 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.404946, -0.802975, -2.270874 mu:0.618770 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.336087, -0.795754, -2.307987 mu:0.618770 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.731967, -0.755285, -2.076821 mu:0.618770 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.747790, -0.749739, -2.066197 mu:0.618770 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.736792, -0.745521, -2.079349 mu:0.618770 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.073] If point is visible? -0.740676, -0.744901, -2.076229 mu:0.618770 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.073] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.744553, -0.744278, -2.073095 mu:0.618770 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? 0.943139, -0.756061, -2.257625 mu:0.618770 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.423992, -0.776374, -2.277840 mu:0.618770 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.332100, -0.789739, -2.313424 mu:0.618770 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.336492, -0.789432, -2.311695 mu:0.618770 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? 0.947533, -0.758639, -2.253500 mu:0.618770 unit_bearing:-0.514863 -0.372921 0.771911 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? 0.235120, -0.781139, -2.434969 mu:0.618770 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.740986, -0.741849, -2.078091 mu:0.618770 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.744864, -0.741227, -2.074957 mu:0.618770 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.437359, -0.768956, -2.275376 mu:0.618770 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.332497, -0.783404, -2.317099 mu:0.618770 unit_bearing:0.270400 -0.383335 0.883141 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.328491, -0.777359, -2.322456 mu:0.618770 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.441880, -0.765424, -2.275124 mu:0.618770 unit_bearing:0.340228 -0.375458 0.862135 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? 0.258147, -0.774541, -2.438318 mu:0.618770 unit_bearing:-0.100188 -0.368751 0.924113 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? 0.239560, -0.774676, -2.438495 mu:0.618770 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.892987, -0.687118, -1.957824 mu:0.618770 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -2.424366, -1.616713, -3.240263 mu:0.261831 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.074] If point is visible? -0.448487, -0.730142, -2.292474 mu:0.618770 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? -0.330731, -0.739040, -2.343632 mu:0.618770 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? 0.299097, -0.741787, -2.454328 mu:0.618770 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.074] If point is visible? 0.294439, -0.741844, -2.454516 mu:0.618770 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.074] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.444774, -0.720929, -2.299682 mu:0.618770 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.975818, -0.639027, -1.886260 mu:0.618770 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.330910, -0.735830, -2.345344 mu:0.618770 unit_bearing:0.268197 -0.351987 0.896758 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? 0.294527, -0.745086, -2.452830 mu:0.618770 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? 0.289870, -0.745142, -2.453004 mu:0.618770 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? 0.289960, -0.748381, -2.451311 mu:0.618770 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.335498, -0.732324, -2.345337 mu:0.618770 unit_bearing:0.271049 -0.349835 0.896743 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.340434, -0.722378, -2.348677 mu:0.618770 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.410499, -0.717323, -2.319169 mu:0.618770 unit_bearing:0.318803 -0.342595 0.883738 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? 0.317397, -0.728545, -2.460102 mu:0.618770 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.385231, -0.703200, -2.338949 mu:0.618770 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.411420, -0.701245, -2.327468 mu:0.618770 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.973902, -0.627843, -1.897038 mu:0.618770 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.397983, -0.708679, -2.329978 mu:0.618770 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? 0.326640, -0.725153, -2.461222 mu:0.618770 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? 0.331223, -0.721825, -2.462577 mu:0.618770 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.411600, -0.698021, -2.329104 mu:0.618770 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? 0.335808, -0.718493, -2.463910 mu:0.618770 unit_bearing:-0.149074 -0.332399 0.931283 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? 0.358908, -0.708301, -2.467061 mu:0.618770 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.971582, -0.619606, -1.906032 mu:0.618770 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.075] If point is visible? -0.376819, -0.697369, -2.345923 mu:0.618770 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.075] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? -0.537426, -0.875300, -2.682602 mu:0.492766 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.590481, Z inverse max: 0.395051 +[21:42:39.076] If point is visible? 0.363501, -0.704948, -2.468280 mu:0.618770 unit_bearing:-0.166290 -0.323750 0.931415 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.372765, -0.701498, -2.469070 mu:0.618770 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.265106, -0.689916, -2.481208 mu:0.618770 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.386632, -0.694667, -2.470925 mu:0.618770 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.381962, -0.694768, -2.471374 mu:0.618770 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.292786, -0.676507, -2.486537 mu:0.618770 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.442358, -0.676917, -2.472218 mu:0.618770 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.437687, -0.677045, -2.472835 mu:0.618770 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.269608, -0.683308, -2.484194 mu:0.618770 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.264942, -0.683347, -2.484296 mu:0.618770 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.306496, -0.663170, -2.491966 mu:0.618770 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.301824, -0.663226, -2.492177 mu:0.618770 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.428406, -0.680570, -2.472487 mu:0.618770 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.423734, -0.680691, -2.473061 mu:0.618770 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.730431, -0.657382, -2.409063 mu:0.618770 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.693495, -0.656398, -2.422290 mu:0.618770 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.306206, -0.649961, -2.497861 mu:0.618770 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.301532, -0.650016, -2.498072 mu:0.618770 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? 0.296331, -0.662879, -2.825290 mu:0.519719 unit_bearing:-0.121046 -0.227612 0.966199 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.696949, Z inverse max: 0.342489 +[21:42:39.076] If point is visible? -0.902804, -0.361525, -2.114926 mu:0.618770 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] calculated Z= 0.826001 +[21:42:39.076] update seeds 305 +[21:42:39.076] If point is visible? -0.221829, -0.381910, -2.524197 mu:0.618770 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? -0.116658, -0.395815, -2.548308 mu:0.618770 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.076] If point is visible? -0.193549, -0.477186, -2.861869 mu:0.513079 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.675609, Z inverse max: 0.350549 +[21:42:39.076] If point is visible? -0.200834, -0.478970, -2.868155 mu:0.510991 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.668992, Z inverse max: 0.352989 +[21:42:39.076] If point is visible? -0.144164, -0.394972, -2.542031 mu:0.618770 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.076] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -0.153316, -0.394676, -2.539830 mu:0.618770 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -0.126831, -0.305792, -2.566526 mu:0.618770 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -0.131421, -0.305658, -2.565487 mu:0.618770 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -0.550054, -0.634879, -4.227607 mu:0.297499 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.077] If point is visible? -0.168090, -0.301053, -2.557364 mu:0.618770 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -0.131524, -0.291777, -2.568144 mu:0.618770 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] calculated Z= 0.683384 +[21:42:39.077] update seeds 305 +[21:42:39.077] If point is visible? -0.136112, -0.291642, -2.567092 mu:0.618770 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] calculated Z= 0.681390 +[21:42:39.077] update seeds 305 +[21:42:39.077] If point is visible? -0.200442, -0.302184, -2.797038 mu:0.539669 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.761461, Z inverse max: 0.317877 +[21:42:39.077] If point is visible? -0.290996, -0.247821, -2.529901 mu:0.618770 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -0.166204, -0.248635, -2.659829 mu:0.586512 unit_bearing:0.144807 -0.027543 0.989076 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.868437, Z inverse max: 0.304587 +[21:42:39.077] calculated Z= 0.724943 +[21:42:39.077] update seeds 305 +[21:42:39.077] If point is visible? -1.021192, -0.153193, -2.031873 mu:0.618770 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -1.027984, -0.152141, -2.023578 mu:0.618770 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? 0.433314, -0.249854, -2.603838 mu:0.618770 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -1.014414, -0.140999, -2.041955 mu:0.618770 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -0.965396, -0.137979, -2.099270 mu:0.618770 unit_bearing:0.676698 -0.003368 0.736253 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -1.011000, -0.131566, -2.047350 mu:0.618770 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -0.255829, -0.209385, -2.616691 mu:0.594603 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.882999, Z inverse max: 0.306206 +[21:42:39.077] calculated Z= 0.576677 +[21:42:39.077] update seeds 305 +[21:42:39.077] If point is visible? -1.014430, -0.134374, -2.042828 mu:0.618770 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -0.972483, -0.153681, -2.089230 mu:0.618770 unit_bearing:0.681509 -0.013769 0.731680 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] calculated Z= 0.632367 +[21:42:39.077] update seeds 305 +[21:42:39.077] If point is visible? -1.014423, -0.137687, -2.042395 mu:0.618770 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] If point is visible? -0.308833, -0.264273, -3.148096 mu:0.452313 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.077] If point is visible? -0.315992, -0.264517, -3.150043 mu:0.451567 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.077] If point is visible? -0.173096, -0.192897, -2.573355 mu:0.618770 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.077] calculated Z= 0.619182 +[21:42:39.077] update seeds 305 +[21:42:39.077] If point is visible? -0.300154, -0.181236, -2.536163 mu:0.618770 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.077] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.986621, -0.108391, -2.078736 mu:0.618770 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.300140, -0.167255, -2.537773 mu:0.618770 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] calculated Z= 0.697638 +[21:42:39.078] update seeds 305 +[21:42:39.078] If point is visible? -0.131814, -0.152033, -2.587982 mu:0.618770 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] calculated Z= 0.730524 +[21:42:39.078] update seeds 305 +[21:42:39.078] If point is visible? -0.245111, -0.197006, -3.052092 mu:0.477115 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.556738, Z inverse max: 0.397492 +[21:42:39.078] If point is visible? -1.054635, -0.081972, -1.997668 mu:0.618770 unit_bearing:0.737625 0.023367 0.674807 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -1.057947, -0.084770, -1.993061 mu:0.618770 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -1.054608, -0.078668, -1.997975 mu:0.618770 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -1.054579, -0.075363, -1.998274 mu:0.618770 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? 0.315756, -0.100450, -2.630879 mu:0.618770 unit_bearing:-0.141692 0.059768 0.988105 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.326551, -0.067917, -2.536018 mu:0.618770 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.472740, -0.067909, -2.474052 mu:0.618770 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.135958, -0.070906, -2.592782 mu:0.618770 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.140544, -0.070782, -2.591714 mu:0.618770 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.145127, -0.070657, -2.590633 mu:0.618770 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.481506, -0.070926, -2.469640 mu:0.618770 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.321501, -0.018795, -2.539264 mu:0.618770 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.325982, -0.018614, -2.537633 mu:0.618770 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.321453, -0.015268, -2.539321 mu:0.618770 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? -0.248930, 0.013861, -2.563722 mu:0.618770 unit_bearing:0.210769 0.124909 0.969523 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.078] If point is visible? 0.953852, 0.070148, -2.463295 mu:0.618770 unit_bearing:-0.524660 0.151905 0.837649 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.078] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? 0.949342, 0.069949, -2.465559 mu:0.618770 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] calculated Z= 0.694271 +[21:42:39.079] update seeds 305 +[21:42:39.079] If point is visible? 0.706829, 0.161082, -2.700655 mu:0.570032 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.836894, Z inverse max: 0.303170 +[21:42:39.079] If point is visible? -0.368224, -0.833903, -2.268730 mu:0.618770 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? -0.736481, -0.748572, -2.077479 mu:0.618770 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? -0.368678, -0.827672, -2.272652 mu:0.618770 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? 0.952018, -0.751998, -2.254947 mu:0.618770 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? -0.396066, -0.806824, -2.272870 mu:0.618770 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? 0.262698, -0.771280, -2.439996 mu:0.618770 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? -0.376646, -0.700601, -2.344297 mu:0.618770 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? 0.287295, -0.640233, -2.502957 mu:0.618770 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? 0.287439, -0.646857, -2.500074 mu:0.618770 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? 0.285848, -0.566846, -2.532588 mu:0.618770 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? 0.276483, -0.566922, -2.532878 mu:0.618770 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? 0.461550, -0.242397, -2.601113 mu:0.618770 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? -0.983125, -0.115545, -2.081986 mu:0.618770 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? -0.990152, -0.114581, -2.074011 mu:0.618770 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? 0.442730, -0.249695, -2.602624 mu:0.618770 unit_bearing:-0.219406 -0.034022 0.975040 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? -0.976044, -0.149856, -2.085756 mu:0.618770 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? -1.010969, -0.144824, -2.045602 mu:0.618770 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? 0.348587, -0.131919, -2.626516 mu:0.618770 unit_bearing:-0.161899 0.040112 0.985992 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? -1.017798, -0.150410, -2.036472 mu:0.618770 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? -1.071097, -0.109042, -1.972942 mu:0.618770 unit_bearing:0.748940 0.004877 0.662620 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.079] If point is visible? 0.339216, -0.117917, -2.628270 mu:0.618770 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.079] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? -0.459580, -0.065117, -2.480465 mu:0.618770 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? -0.468333, -0.064647, -2.476322 mu:0.618770 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? -0.477143, -0.071168, -2.471761 mu:0.618770 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 0.917750, -0.059751, -2.481314 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 0.953845, 0.073616, -2.463126 mu:0.618770 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 0.953859, 0.066680, -2.463456 mu:0.618770 unit_bearing:-0.524697 0.149788 0.838008 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 1.095632, 0.114901, -2.379911 mu:0.618770 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 0.890361, 0.126717, -2.489658 mu:0.618770 unit_bearing:-0.486590 0.188635 0.853022 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 0.899446, 0.134017, -2.484890 mu:0.618770 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? -0.976126, 0.977318, -3.549201 mu:0.337001 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.080] If point is visible? 0.289693, -0.738655, -2.456367 mu:0.618770 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? -0.789661, -0.574049, -2.135131 mu:0.618770 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? -0.782326, -0.805239, -1.989270 mu:0.618770 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? -0.811999, -0.799410, -1.962277 mu:0.618770 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? -0.348528, -0.734643, -2.338413 mu:0.618770 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? -0.366089, -0.733412, -2.331258 mu:0.618770 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? -0.418422, -0.729451, -2.308442 mu:0.618770 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 0.987867, -0.698518, -2.264830 mu:0.618770 unit_bearing:-0.539937 -0.335143 0.772105 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 0.286092, -0.580259, -2.527483 mu:0.618770 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 0.305583, -0.620119, -2.510663 mu:0.618770 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 0.271806, -0.764744, -2.443287 mu:0.618770 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 0.456254, -0.669965, -2.473341 mu:0.618770 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.080] If point is visible? 0.844861, -0.687445, -2.347163 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.080] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? -0.342956, -0.823418, -2.287395 mu:0.618770 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? -0.360418, -0.822103, -2.280216 mu:0.618770 unit_bearing:0.289363 -0.409884 0.865023 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? -0.377820, -0.820740, -2.272812 mu:0.618770 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? 0.289345, -0.725652, -2.462995 mu:0.618770 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? 0.470977, -0.249173, -2.598647 mu:0.618770 unit_bearing:-0.236594 -0.034002 0.971013 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? -0.983085, -0.155517, -2.076918 mu:0.618770 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? -0.968955, -0.144170, -2.094503 mu:0.618770 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? -0.983131, -0.142209, -2.078738 mu:0.618770 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? -0.290008, -0.016490, -2.550352 mu:0.618770 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? 0.917663, 0.072068, -2.480800 mu:0.618770 unit_bearing:-0.503300 0.154404 0.850205 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? -0.433077, -0.052465, -2.493189 mu:0.618770 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? 2.921302, 0.024463, -5.919585 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.081] If point is visible? -0.880332, -0.074070, -2.192392 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? -0.450812, -0.065581, -2.484551 mu:0.618770 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? -0.290188, -0.030604, -2.550074 mu:0.618770 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.229742 y=0.000000 z=-1.020190 +[21:42:39.081] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.081] If point is visible? 0.708332, 0.044790, -2.328618 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? 0.744965, 0.081955, -2.312810 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? 0.213271, -0.837698, -2.134194 mu:0.717420 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? 0.204700, -0.829934, -2.139832 mu:0.717420 unit_bearing:-0.113287 -0.493085 0.862574 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? 0.208880, -0.832515, -2.138000 mu:0.717420 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? -0.576181, -0.779432, -1.848413 mu:0.717420 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? 0.200312, -0.824724, -2.143569 mu:0.717420 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? -0.576608, -0.776926, -1.850350 mu:0.717420 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? 0.195924, -0.819499, -2.147264 mu:0.717420 unit_bearing:-0.107723 -0.485004 0.867852 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? 0.191746, -0.816891, -2.149022 mu:0.717420 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? 0.178801, -0.803740, -2.157918 mu:0.717420 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? -0.774186, -0.712020, -1.674498 mu:0.717420 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? 0.179006, -0.806387, -2.156052 mu:0.717420 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? -0.690842, -0.730464, -1.769802 mu:0.717420 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? -0.775198, -0.707155, -1.678209 mu:0.717420 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.081] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.081] If point is visible? -0.777956, -0.706382, -1.674813 mu:0.717420 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.344567, -0.760995, -2.037076 mu:0.717420 unit_bearing:0.288202 -0.452979 0.843652 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.734138, -0.710897, -1.733301 mu:0.717420 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.615971, -0.728272, -1.855277 mu:0.717420 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.755687, -0.698432, -1.715956 mu:0.717420 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.738905, -0.700261, -1.737356 mu:0.717420 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? 0.867573, -0.740811, -2.013861 mu:0.717420 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.082] calculated Z= 0.628205 +[21:42:39.082] update seeds 305 +[21:42:39.082] If point is visible? -0.701770, -0.701594, -1.783750 mu:0.717420 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? 0.156719, -0.774448, -2.176873 mu:0.717420 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? 0.156521, -0.771765, -2.178653 mu:0.717420 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.705647, -0.695891, -1.784229 mu:0.717420 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.705216, -0.698416, -1.782451 mu:0.717420 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.642896, -0.673319, -1.873492 mu:0.717420 unit_bearing:0.518491 -0.404850 0.753168 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.658788, -0.670476, -1.859211 mu:0.717420 unit_bearing:0.531332 -0.404075 0.744587 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.641409, -0.683713, -1.866720 mu:0.717420 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.644973, -0.680553, -1.865591 mu:0.717420 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.648154, -0.679983, -1.862747 mu:0.717420 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.648903, -0.674792, -1.866133 mu:0.717420 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.652080, -0.674222, -1.863277 mu:0.717420 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.384198, -0.693888, -2.061631 mu:0.717420 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.380025, -0.699621, -2.060246 mu:0.717420 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.659940, -0.639656, -1.881752 mu:0.717420 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.663466, -0.636465, -1.880465 mu:0.717420 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.666640, -0.635905, -1.877573 mu:0.717420 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.669806, -0.635343, -1.874669 mu:0.717420 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.331015, -0.682359, -2.098588 mu:0.717420 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.327833, -0.677196, -2.103482 mu:0.717420 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.325126, -0.666541, -2.111452 mu:0.717420 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? 0.773116, -0.656489, -2.123271 mu:0.717420 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.404957, -0.665076, -2.067965 mu:0.717420 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? 0.155028, -0.690064, -2.229013 mu:0.717420 unit_bearing:-0.085783 -0.385690 0.918632 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.412687, -0.658940, -2.067131 mu:0.717420 unit_bearing:0.334635 -0.377681 0.863352 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.416284, -0.658592, -2.065135 mu:0.717420 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? 0.162523, -0.681781, -2.234142 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.666986, -0.633270, -1.879160 mu:0.717420 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.670153, -0.632709, -1.876256 mu:0.717420 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? 0.173884, -0.670694, -2.240876 mu:0.717420 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? 0.169880, -0.670697, -2.240685 mu:0.717420 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.791454, -0.582499, -1.769072 mu:0.717420 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.082] If point is visible? -0.416546, -0.655866, -2.066686 mu:0.717420 unit_bearing:0.337460 -0.375531 0.863190 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? 0.157715, -0.667912, -2.241554 mu:0.717420 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.426519, -0.625040, -2.079269 mu:0.717420 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.082] If point is visible? -0.426763, -0.622287, -2.080738 mu:0.717420 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.082] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.327930, -0.633473, -2.129569 mu:0.717420 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.208339, -0.639932, -2.258356 mu:0.717420 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.204319, -0.639951, -2.258270 mu:0.717420 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.204463, -0.642748, -2.256823 mu:0.717420 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.200445, -0.642766, -2.256726 mu:0.717420 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.423406, -0.619875, -2.084219 mu:0.717420 unit_bearing:0.340918 -0.348370 0.873163 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.427005, -0.619532, -2.082200 mu:0.717420 unit_bearing:0.343692 -0.348303 0.872102 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.200591, -0.645561, -2.255272 mu:0.717420 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.332302, -0.624875, -2.132236 mu:0.717420 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.423646, -0.617117, -2.085674 mu:0.717420 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.420279, -0.614695, -2.089128 mu:0.717420 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.223872, -0.628630, -2.264303 mu:0.717420 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.336443, -0.619038, -2.133400 mu:0.717420 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.336223, -0.621817, -2.131962 mu:0.717420 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.410133, -0.607392, -2.099375 mu:0.717420 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.858644, -0.540511, -1.702998 mu:0.717420 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.374362, -0.602207, -2.122647 mu:0.717420 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.396283, -0.600352, -2.111371 mu:0.717420 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.859023, -0.537924, -1.704436 mu:0.717420 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.384898, -0.606851, -2.114245 mu:0.717420 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.857114, -0.533459, -1.710936 mu:0.717420 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.359884, -0.600610, -2.131323 mu:0.717420 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.363564, -0.600316, -2.129522 mu:0.717420 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.367240, -0.600020, -2.127708 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.235686, -0.622924, -2.267170 mu:0.717420 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.247518, -0.617194, -2.269904 mu:0.717420 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.155141, -0.620359, -2.266230 mu:0.717420 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.855541, -0.526369, -1.718804 mu:0.717420 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.389430, -0.595412, -2.117968 mu:0.717420 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.367454, -0.597232, -2.129099 mu:0.717420 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? -0.371126, -0.596934, -2.127274 mu:0.717420 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.083] If point is visible? 0.251422, -0.614341, -2.271247 mu:0.717420 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.271234, -0.605662, -2.274973 mu:0.717420 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.267193, -0.605712, -2.275076 mu:0.717420 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.299064, -0.593973, -2.279324 mu:0.717420 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.291087, -0.596922, -2.278344 mu:0.717420 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.177988, -0.594968, -2.279699 mu:0.717420 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.331134, -0.584916, -2.281389 mu:0.717420 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.327079, -0.584996, -2.281671 mu:0.717420 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.323025, -0.585074, -2.281942 mu:0.717420 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.197718, -0.586432, -2.284350 mu:0.717420 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.319085, -0.587975, -2.280877 mu:0.717420 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.315033, -0.588049, -2.281124 mu:0.717420 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.177856, -0.592135, -2.281028 mu:0.717420 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.083] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.083] If point is visible? 0.177726, -0.589300, -2.282350 mu:0.717420 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? 0.554082, -0.565865, -2.252112 mu:0.717420 unit_bearing:-0.369647 -0.295232 0.881022 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? 0.550027, -0.566068, -2.253079 mu:0.717420 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? 0.578554, -0.570183, -2.243404 mu:0.717420 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? 0.213220, -0.572168, -2.291166 mu:0.717420 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? 0.209187, -0.572186, -2.291099 mu:0.717420 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? 0.212743, -0.560773, -2.296229 mu:0.717420 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? 0.208708, -0.560790, -2.296161 mu:0.717420 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? 0.845843, -0.519450, -2.157562 mu:0.717420 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? 0.202093, -0.491832, -2.324172 mu:0.717420 unit_bearing:-0.126762 -0.236215 0.963397 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.808465, -0.309334, -1.897357 mu:0.717420 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.805620, -0.307013, -1.901525 mu:0.717420 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.152227, -0.341771, -2.316462 mu:0.717420 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.156123, -0.341624, -2.315346 mu:0.717420 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.160016, -0.341476, -2.314219 mu:0.717420 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.287355, -0.320856, -2.274257 mu:0.717420 unit_bearing:0.227977 -0.118832 0.966388 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.226017, -0.329816, -2.295545 mu:0.717420 unit_bearing:0.182072 -0.123351 0.975517 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.229864, -0.329639, -2.294210 mu:0.717420 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.233707, -0.329459, -2.292863 mu:0.717420 unit_bearing:0.187819 -0.123331 0.974430 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.084] If point is visible? -0.237549, -0.329278, -2.291504 mu:0.717420 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.084] If point is visible? -0.152294, -0.338808, -2.317219 mu:0.717420 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.156190, -0.338662, -2.316104 mu:0.717420 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.160083, -0.338513, -2.314977 mu:0.717420 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.183392, -0.337588, -2.307972 mu:0.717420 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.165466, -0.248978, -2.333525 mu:0.717420 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.169359, -0.248831, -2.332375 mu:0.717420 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.196431, -0.256742, -2.322299 mu:0.717420 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.185026, -0.236246, -2.329840 mu:0.717420 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.177447, -0.212528, -2.336267 mu:0.717420 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.300423, -0.210033, -2.292131 mu:0.717420 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.896516, -0.113278, -1.833632 mu:0.717420 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.899241, -0.112813, -1.829910 mu:0.717420 unit_bearing:0.712358 -0.009540 0.701752 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.907292, -0.122802, -1.817088 mu:0.717420 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.254820, -0.170179, -2.316055 mu:0.717420 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.084] If point is visible? -0.193135, -0.163728, -2.338294 mu:0.717420 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.084] calculated Z= 0.778546 +[21:42:39.084] update seeds 305 +[21:42:39.084] If point is visible? -0.197011, -0.163577, -2.337063 mu:0.717420 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.084] calculated Z= 0.773209 +[21:42:39.084] update seeds 305 +[21:42:39.084] If point is visible? -0.308202, -0.164590, -2.295553 mu:0.717420 unit_bearing:0.242536 -0.005697 0.970126 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.885539, -0.100796, -1.850230 mu:0.717420 unit_bearing:0.700618 0.000794 0.713536 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.888304, -0.100345, -1.846556 mu:0.717420 unit_bearing:0.702980 0.000793 0.711209 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.888304, -0.103210, -1.846203 mu:0.717420 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.891059, -0.102757, -1.842517 mu:0.717420 unit_bearing:0.705335 -0.001277 0.708873 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.893802, -0.105163, -1.838460 mu:0.717420 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.084] If point is visible? -0.896525, -0.110421, -1.834011 mu:0.717420 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.084] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.899250, -0.109958, -1.830289 mu:0.717420 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.877138, -0.084893, -1.863154 mu:0.717420 unit_bearing:0.693483 0.013248 0.720351 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.165858, -0.128447, -2.350616 mu:0.717420 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.169690, -0.116184, -2.350598 mu:0.717420 unit_bearing:0.139032 0.033584 0.989718 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.467373, -0.058773, -2.225840 mu:0.717420 unit_bearing:0.364298 0.063557 0.929111 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.471002, -0.058532, -2.223746 mu:0.717420 unit_bearing:0.367100 0.063546 0.928008 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.169228, -0.064538, -2.354240 mu:0.717420 unit_bearing:0.138993 0.070678 0.987768 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.173117, -0.064401, -2.353077 mu:0.717420 unit_bearing:0.141878 0.070674 0.987358 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.177004, -0.064263, -2.351903 mu:0.717420 unit_bearing:0.144763 0.070670 0.986939 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.169151, -0.058450, -2.354543 mu:0.717420 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.173041, -0.058313, -2.353380 mu:0.717420 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.176928, -0.058175, -2.352206 mu:0.717420 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.393474, -0.033046, -2.266597 mu:0.717420 unit_bearing:0.307853 0.085440 0.947590 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.326027, -0.030542, -2.298162 mu:0.717420 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.329515, -0.015160, -2.296915 mu:0.717420 unit_bearing:0.259474 0.100827 0.960472 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.325686, -0.012305, -2.298616 mu:0.717420 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.329455, -0.012120, -2.296973 mu:0.717420 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.268119, 0.015553, -2.322081 mu:0.717420 unit_bearing:0.213635 0.124897 0.968897 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.260481, 0.015230, -2.324980 mu:0.717420 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? 0.610508, 0.002849, -2.361104 mu:0.717420 unit_bearing:-0.413867 0.119263 0.902491 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.085] If point is visible? 0.708332, 0.044790, -2.328618 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? 0.781296, 0.110056, -2.295616 mu:0.717420 unit_bearing:-0.526557 0.189877 0.828664 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.161941, 0.531769, -2.247719 mu:0.717420 unit_bearing:0.153109 0.485979 0.860455 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.335472, -0.711575, -2.077166 mu:0.717420 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.342797, -0.710954, -2.073635 mu:0.717420 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.350106, -0.710323, -2.070057 mu:0.717420 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.357400, -0.709682, -2.066430 mu:0.717420 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? 0.780928, -0.653042, -2.121439 mu:0.717420 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? 0.148959, -0.720273, -2.210863 mu:0.717420 unit_bearing:-0.079930 -0.408788 0.909122 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? 0.162523, -0.681781, -2.234142 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.380852, -0.691523, -2.065165 mu:0.717420 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.367240, -0.600020, -2.127708 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.381904, -0.598814, -2.120335 mu:0.717420 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? 0.513504, -0.567788, -2.261208 mu:0.717420 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? 0.196491, -0.557973, -2.297136 mu:0.717420 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? 0.202387, -0.500506, -2.320873 mu:0.717420 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? 0.193915, -0.488949, -2.325057 mu:0.717420 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? 0.185837, -0.488953, -2.324809 mu:0.717420 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? 0.351797, -0.204159, -2.393675 mu:0.717420 unit_bearing:-0.236604 -0.025294 0.971277 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.865873, -0.121158, -1.873377 mu:0.717420 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.888268, -0.117523, -1.844337 mu:0.717420 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.893769, -0.116598, -1.836954 mu:0.717420 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.871550, -0.114518, -1.866960 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.877184, -0.102138, -1.861178 mu:0.717420 unit_bearing:0.693500 0.000795 0.720456 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.085] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.085] If point is visible? -0.899198, -0.121373, -1.828730 mu:0.717420 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.449536, -0.093109, -2.233833 mu:0.717420 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.237628, -0.114230, -2.409409 mu:0.717420 unit_bearing:-0.156135 0.040117 0.986921 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.871559, -0.097275, -1.869103 mu:0.717420 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.877177, -0.096393, -1.861864 mu:0.717420 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.245800, -0.108161, -2.409824 mu:0.717420 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.086] If point is visible? 0.237698, -0.102091, -2.410354 mu:0.717420 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.877162, -0.090645, -1.862523 mu:0.717420 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.743911, -0.055732, -2.314625 mu:0.717420 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.456419, -0.056472, -2.232218 mu:0.717420 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.647062, -0.005182, -2.350174 mu:0.717420 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.729229, 0.111508, -2.316769 mu:0.717420 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.405377, 0.463639, -2.171135 mu:0.717420 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.696579, -0.697841, -1.793444 mu:0.717420 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.720600, -0.692572, -1.768633 mu:0.717420 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.194308, -0.500520, -2.320673 mu:0.717420 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.710825, -0.488218, -1.925708 mu:0.717420 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.337079, -0.695353, -2.087056 mu:0.717420 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.351734, -0.694117, -2.079950 mu:0.717420 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.366325, -0.692840, -2.072653 mu:0.717420 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.200156, -0.637169, -2.259612 mu:0.717420 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.343835, -0.618470, -2.129925 mu:0.717420 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.358576, -0.617305, -2.122835 mu:0.717420 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.402420, -0.613583, -2.100417 mu:0.717420 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.365233, -0.703644, -2.066083 mu:0.717420 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.722333, -0.682475, -1.775672 mu:0.717420 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.194715, -0.512064, -2.316182 mu:0.717420 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.199589, -0.625951, -2.265302 mu:0.717420 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.826844, -0.573205, -2.141764 mu:0.717420 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.357673, -0.628390, -2.117038 mu:0.717420 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.086] If point is visible? -0.386944, -0.625927, -2.102280 mu:0.717420 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.195574, -0.535074, -2.306875 mu:0.717420 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.343082, -0.579010, -2.283096 mu:0.717420 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.860212, -0.104783, -1.882744 mu:0.717420 unit_bearing:0.679115 0.000797 0.734031 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.871565, -0.103026, -1.868416 mu:0.717420 unit_bearing:0.688727 0.000796 0.725020 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.860198, -0.116299, -1.881285 mu:0.717420 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.871550, -0.114518, -1.866960 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.434395, -0.051823, -2.244630 mu:0.717420 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.299383, -0.022692, -2.309584 mu:0.717420 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? -0.871501, -0.125996, -1.865393 mu:0.717420 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.086] If point is visible? 0.744965, 0.081955, -2.312810 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.229748 y=0.000000 z=-1.020236 +[21:42:39.086] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.476] add new frame +[21:42:39.476] update seed +[21:42:39.476] If point is visible? 0.446338, -0.222238, -0.170106 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.232997 y=0.000000 z=-0.946541 +[21:42:39.476] If point is visible? 0.166026, -0.096895, -0.119570 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.232997 y=0.000000 z=-0.946541 +[21:42:39.476] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:39.476] If point is visible? 0.155969, -0.214684, -0.142966 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.232997 y=0.000000 z=-0.946541 +[21:42:39.476] If point is visible? 0.446338, -0.222238, -0.170106 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.232997 y=0.000000 z=-0.946541 +[21:42:39.476] If point is visible? 0.166026, -0.096895, -0.119570 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.232997 y=0.000000 z=-0.946541 +[21:42:39.476] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:39.476] If point is visible? 0.155969, -0.214684, -0.142966 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.232997 y=0.000000 z=-0.946541 +[21:42:39.476] If point is visible? 0.183249, -0.001137, -0.828267 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.476] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.476] If point is visible? 0.223786, -0.015193, -0.819780 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.476] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.476] If point is visible? 0.223782, -0.016349, -0.819920 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.476] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.476] If point is visible? 0.222914, 0.067683, -0.837847 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.476] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.477] If point is visible? 0.266029, 0.057899, -0.836915 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.477] If point is visible? 0.189708, 0.054614, -0.838524 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.477] If point is visible? 0.189711, 0.054876, -0.838652 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.477] If point is visible? 0.269082, 0.053527, -0.835707 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.477] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.477] If point is visible? 0.266145, 0.053135, -0.834627 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.477] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.477] If point is visible? 0.188940, 0.051670, -0.837421 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.477] If point is visible? 0.188557, 0.050322, -0.836959 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.477] If point is visible? 0.188170, 0.048439, -0.836288 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.477] If point is visible? 0.284087, 0.049425, -0.839710 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.477] If point is visible? 0.284095, 0.049159, -0.839594 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.478] If point is visible? 0.264753, 0.048913, -0.832379 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.478] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.478] If point is visible? 0.284103, 0.048893, -0.839480 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.478] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.478] If point is visible? 0.211313, 0.047061, -0.829211 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.478] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.478] If point is visible? 0.211690, 0.047071, -0.829148 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.478] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.478] If point is visible? 0.284910, 0.045639, -0.838468 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.478] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.478] If point is visible? 0.273644, 0.046610, -0.834226 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.478] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.478] If point is visible? 0.264806, 0.045941, -0.831198 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.478] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.478] If point is visible? 0.273299, 0.045550, -0.833683 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.478] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.478] If point is visible? 0.187405, 0.045453, -0.835358 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.478] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.478] If point is visible? 0.187403, 0.045185, -0.835253 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.478] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.479] If point is visible? 0.272937, 0.045299, -0.833458 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.479] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.479] If point is visible? 0.273305, 0.045280, -0.833579 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.479] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.479] If point is visible? 0.217734, 0.045856, -0.827788 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.479] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.479] If point is visible? 0.218491, 0.045598, -0.827601 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.479] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.479] If point is visible? 0.265187, 0.045384, -0.831087 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.479] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.479] calculated Z= 0.332229 +[21:42:39.479] update seeds 305 +[21:42:39.479] If point is visible? 0.272943, 0.045028, -0.833355 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.479] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.479] If point is visible? 0.265571, 0.044554, -0.830878 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.479] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.479] calculated Z= 0.333807 +[21:42:39.479] update seeds 305 +[21:42:39.479] If point is visible? 0.265942, 0.044539, -0.830976 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.479] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.479] calculated Z= 0.331556 +[21:42:39.479] update seeds 305 +[21:42:39.479] If point is visible? 0.222279, 0.044295, -0.826743 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.479] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.480] If point is visible? 0.221521, 0.044557, -0.826905 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.480] If point is visible? 0.226067, 0.044064, -0.826400 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.480] If point is visible? 0.272581, 0.044777, -0.833133 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.480] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.480] If point is visible? 0.272948, 0.044758, -0.833253 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.480] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.480] If point is visible? 0.267068, 0.043677, -0.830977 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.480] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.480] calculated Z= 0.349614 +[21:42:39.480] update seeds 305 +[21:42:39.480] If point is visible? 0.265947, 0.044267, -0.830876 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.480] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.480] calculated Z= 0.332468 +[21:42:39.480] update seeds 305 +[21:42:39.480] If point is visible? 0.266317, 0.044252, -0.830975 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.480] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.480] calculated Z= 0.330054 +[21:42:39.480] update seeds 305 +[21:42:39.480] If point is visible? 0.186638, 0.041910, -0.834315 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.480] If point is visible? 0.224177, 0.043224, -0.826218 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.481] If point is visible? 0.224556, 0.043228, -0.826194 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.481] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.481] If point is visible? 0.224934, 0.043232, -0.826171 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.481] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.481] If point is visible? 0.267442, 0.043389, -0.830981 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.481] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.481] If point is visible? 0.176037, 0.040363, -0.838558 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.481] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.481] If point is visible? 0.176040, 0.040631, -0.838654 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.481] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.481] If point is visible? 0.266322, 0.043980, -0.830875 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.481] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.481] calculated Z= 0.330890 +[21:42:39.481] update seeds 305 +[21:42:39.481] If point is visible? 0.224936, 0.042958, -0.826075 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.481] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.481] If point is visible? 0.226455, 0.042150, -0.825712 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.481] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.481] If point is visible? 0.226456, 0.041875, -0.825619 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.481] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.481] If point is visible? 0.187330, 0.034882, -0.831730 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.481] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.481] If point is visible? 0.223073, 0.031599, -0.822821 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.481] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.482] If point is visible? 0.167641, 0.025064, -0.838649 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.482] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.482] If point is visible? 0.167643, 0.025338, -0.838710 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.482] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.482] If point is visible? 0.247366, 0.025942, -0.822033 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.482] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.482] If point is visible? 0.164444, 0.023163, -0.840164 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.482] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.482] If point is visible? 0.252275, 0.025295, -0.822565 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.482] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.482] If point is visible? 0.247372, 0.023971, -0.821649 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.482] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.482] If point is visible? 0.257924, 0.023761, -0.823269 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.482] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.482] If point is visible? 0.166198, 0.020838, -0.838629 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.482] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.482] If point is visible? 0.168685, 0.020201, -0.837062 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.482] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.482] If point is visible? 0.168684, 0.019925, -0.837013 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.482] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.482] If point is visible? 0.257555, 0.021798, -0.822842 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.482] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.247374, 0.023125, -0.821494 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.160925, 0.019855, -0.841775 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.158150, 0.018789, -0.843479 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.164425, 0.019324, -0.839434 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.165130, 0.019104, -0.838962 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.256434, 0.018150, -0.822055 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.257937, 0.018114, -0.822339 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.246246, 0.019183, -0.820720 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.246624, 0.019178, -0.820760 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.247003, 0.019172, -0.820801 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.249273, 0.016870, -0.820752 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.483] If point is visible? 0.257937, 0.017831, -0.822299 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.483] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.484] If point is visible? 0.258313, 0.016972, -0.822257 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.484] Z inverse min: -7.583360, Z inverse max: 0.000000 +[21:42:39.484] If point is visible? 0.246625, 0.018043, -0.820597 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.484] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.484] If point is visible? 0.247004, 0.018038, -0.820637 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.484] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.484] If point is visible? 0.247383, 0.016046, -0.820417 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.484] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.484] calculated Z= 0.685264 +[21:42:39.484] update seeds 305 +[21:42:39.484] If point is visible? 0.246247, 0.014069, -0.820063 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.484] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.484] If point is visible? 0.246626, 0.014064, -0.820103 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.484] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.484] If point is visible? 0.247004, 0.014059, -0.820143 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.484] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.484] calculated Z= 0.689199 +[21:42:39.484] update seeds 305 +[21:42:39.484] If point is visible? 0.259440, 0.014958, -0.822236 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.484] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.484] calculated Z= 0.301613 +[21:42:39.484] update seeds 305 +[21:42:39.484] If point is visible? 0.260939, 0.014635, -0.822523 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.484] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.484] If point is visible? 0.259437, 0.011830, -0.821907 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.484] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.484] If point is visible? 0.246246, 0.012929, -0.819944 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.484] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.246625, 0.012925, -0.819984 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.247003, 0.012920, -0.820025 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.261300, 0.007790, -0.822002 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.247750, 0.007768, -0.819699 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.214352, 0.006016, -0.820017 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.267250, 0.003336, -0.823288 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.269108, 0.003279, -0.823810 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.292047, 0.000878, -0.832831 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.263511, 0.001437, -0.822288 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.263882, 0.001141, -0.822375 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.246973, 0.002043, -0.819395 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.247351, 0.002038, -0.819437 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.485] If point is visible? 0.246962, -0.000257, -0.819378 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.485] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.261996, -0.001393, -0.821930 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.262369, -0.001403, -0.822016 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.246951, -0.002272, -0.819397 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.247329, -0.002276, -0.819439 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.247706, -0.002281, -0.819482 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.261994, -0.001681, -0.821933 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.261615, -0.002246, -0.821855 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.261613, -0.002533, -0.821860 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.269803, -0.002470, -0.823995 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.260474, -0.004520, -0.821662 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.260471, -0.004807, -0.821671 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.188861, -0.013772, -0.826896 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.225287, -0.018077, -0.820056 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.486] If point is visible? 0.223679, -0.036260, -0.824030 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.486] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.487] If point is visible? 0.224054, -0.036259, -0.824003 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.487] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.487] If point is visible? 0.224052, -0.036546, -0.824087 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.487] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.487] calculated Z= 0.051199 +[21:42:39.487] update seeds 305 +[21:42:39.487] If point is visible? 0.271708, -0.035548, -0.829707 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.487] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.487] If point is visible? 0.277059, -0.037939, -0.832330 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.487] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.487] If point is visible? 0.276710, -0.037648, -0.832105 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.487] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.487] If point is visible? 0.252567, -0.049240, -0.829840 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.487] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.487] If point is visible? 0.225931, 0.065664, -0.836430 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.487] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.487] If point is visible? 0.226682, 0.065672, -0.836393 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.487] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.488] If point is visible? 0.225172, 0.066688, -0.837078 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.488] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.488] If point is visible? 0.227437, 0.065162, -0.836062 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.488] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.488] If point is visible? 0.269470, 0.052711, -0.835451 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.488] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.488] If point is visible? 0.266508, 0.053384, -0.834849 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.488] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.488] If point is visible? 0.267246, 0.053350, -0.835053 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.488] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.488] If point is visible? 0.268721, 0.053279, -0.835476 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.488] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.488] If point is visible? 0.267971, 0.053847, -0.835508 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.488] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.488] If point is visible? 0.228290, 0.052487, -0.829643 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.488] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.489] If point is visible? 0.284903, 0.045907, -0.838575 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.489] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.489] If point is visible? 0.226831, 0.042701, -0.825883 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.489] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.489] If point is visible? 0.266688, 0.044237, -0.831075 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.489] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.489] calculated Z= 0.328858 +[21:42:39.489] update seeds 305 +[21:42:39.489] If point is visible? 0.267429, 0.044205, -0.831278 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.489] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.489] calculated Z= 0.344753 +[21:42:39.489] update seeds 305 +[21:42:39.489] If point is visible? 0.265938, 0.044811, -0.831077 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.489] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.489] calculated Z= 0.330746 +[21:42:39.489] update seeds 305 +[21:42:39.489] If point is visible? 0.266679, 0.044780, -0.831276 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.489] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.489] calculated Z= 0.326974 +[21:42:39.489] update seeds 305 +[21:42:39.489] If point is visible? 0.186960, 0.034861, -0.831867 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.489] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.489] If point is visible? 0.223075, 0.030482, -0.822548 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.489] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.489] calculated Z= 0.130845 +[21:42:39.489] update seeds 305 +[21:42:39.489] If point is visible? 0.223834, 0.031048, -0.822631 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.489] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.489] If point is visible? 0.213973, 0.006582, -0.820099 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.489] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.213973, 0.006010, -0.820071 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.214731, 0.006021, -0.819964 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.261637, 0.000625, -0.821842 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.262384, 0.000606, -0.822013 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.269111, 0.003850, -0.823827 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.213973, 0.005437, -0.820046 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.214731, 0.005449, -0.819939 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.268314, -0.002999, -0.823576 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.259361, -0.003344, -0.821389 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.262388, 0.001180, -0.822018 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.187755, -0.014090, -0.827332 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.188490, -0.013497, -0.826998 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.225287, -0.018077, -0.820056 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.288921, -0.042434, -0.839158 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.292975, -0.044197, -0.842026 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.490] If point is visible? 0.267259, 0.052818, -0.834811 mu:-7.630447 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.490] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.491] If point is visible? 0.268733, 0.052747, -0.835233 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.491] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.491] calculated Z= 0.048642 +[21:42:39.491] update seeds 305 +[21:42:39.491] If point is visible? 0.271797, 0.047244, -0.833844 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.491] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.491] calculated Z= 0.293293 +[21:42:39.491] update seeds 305 +[21:42:39.491] If point is visible? 0.219166, 0.068120, -0.838504 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.491] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.491] If point is visible? 0.225306, 0.044877, -0.826736 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.491] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.491] If point is visible? 0.265910, 0.046437, -0.831697 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.491] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.491] If point is visible? 0.267391, 0.046374, -0.832100 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.491] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.491] calculated Z= 0.318266 +[21:42:39.491] update seeds 305 +[21:42:39.491] If point is visible? 0.268870, 0.046307, -0.832521 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.491] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.492] calculated Z= 0.311831 +[21:42:39.492] update seeds 305 +[21:42:39.492] If point is visible? 0.267234, 0.053882, -0.835299 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.492] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.492] If point is visible? 0.222168, 0.067155, -0.837597 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.492] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.492] If point is visible? 0.268890, 0.045225, -0.832104 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.492] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.492] calculated Z= 0.315092 +[21:42:39.492] update seeds 305 +[21:42:39.492] If point is visible? 0.265805, 0.051817, -0.833929 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.492] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.492] If point is visible? 0.222316, 0.030473, -0.822606 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.492] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.492] If point is visible? 0.187694, 0.033806, -0.831278 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.492] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.492] If point is visible? 0.222318, 0.029355, -0.822342 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.492] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.492] If point is visible? 0.164424, 0.019049, -0.839386 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.492] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.492] If point is visible? 0.258641, 0.000694, -0.821199 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.492] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.492] If point is visible? 0.260114, -0.002786, -0.821535 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.492] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.248021, -0.010650, -0.819935 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.183249, -0.001137, -0.828267 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.267572, -0.002977, -0.823368 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.248031, -0.009495, -0.819847 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.248095, -0.000271, -0.819508 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.249605, -0.000292, -0.819696 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.307389, -0.012718, -0.842749 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.223786, -0.015193, -0.819780 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.223782, -0.016349, -0.819920 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.249598, -0.001443, -0.819703 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.257125, -0.001572, -0.820909 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.258625, -0.001603, -0.821204 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.232649 y=0.000000 z=-0.949648 +[21:42:39.493] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:39.493] If point is visible? 0.180242, 0.310358, -0.453137 mu:-1.675728 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.232914 y=0.000000 z=-0.960109 +[21:42:39.493] If point is visible? 0.712519, -0.416989, -2.243110 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.232909 y=0.000000 z=-0.962402 +[21:42:39.493] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.493] If point is visible? 0.712573, -0.405097, -2.246900 mu:0.699435 unit_bearing:-0.371667 -0.171737 0.912343 T_cur_ref: x=0.232909 y=0.000000 z=-0.962402 +[21:42:39.493] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.493] If point is visible? 0.712519, -0.416989, -2.243110 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.232909 y=0.000000 z=-0.962402 +[21:42:39.493] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.493] If point is visible? -0.692128, 0.121895, -2.045715 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.232909 y=0.000000 z=-0.962402 +[21:42:39.493] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.493] If point is visible? 0.712519, -0.416989, -2.243110 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.232909 y=0.000000 z=-0.962402 +[21:42:39.493] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.493] If point is visible? 0.712519, -0.416989, -2.243110 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.232909 y=0.000000 z=-0.962402 +[21:42:39.493] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.493] If point is visible? -0.692128, 0.121895, -2.045715 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.232909 y=0.000000 z=-0.962402 +[21:42:39.493] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:39.493] If point is visible? 0.022637, 0.024970, -1.213330 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.233614 y=0.000000 z=-0.978337 +[21:42:39.493] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:39.493] If point is visible? 0.022637, 0.024970, -1.213330 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.233614 y=0.000000 z=-0.978337 +[21:42:39.493] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:39.494] If point is visible? -0.160454, -0.017622, -1.595559 mu:1.385614 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.234220 y=0.000000 z=-0.991593 +[21:42:39.494] Z inverse min: 1.501398, Z inverse max: 1.269830 +[21:42:39.494] If point is visible? 0.510115, -0.006182, -1.658448 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.234220 y=0.000000 z=-0.991593 +[21:42:39.494] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:39.494] If point is visible? 0.493809, -0.006849, -1.664957 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.234220 y=0.000000 z=-0.991593 +[21:42:39.494] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:39.494] If point is visible? -0.160454, -0.017622, -1.595559 mu:1.385614 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.234220 y=0.000000 z=-0.991593 +[21:42:39.494] Z inverse min: 1.501398, Z inverse max: 1.269830 +[21:42:39.494] If point is visible? 0.510115, -0.006182, -1.658448 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.234220 y=0.000000 z=-0.991593 +[21:42:39.494] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:39.494] If point is visible? 0.493809, -0.006849, -1.664957 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.234220 y=0.000000 z=-0.991593 +[21:42:39.494] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:39.494] If point is visible? -53786233.067465, -48168274.646054, -69871637.507051 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.235331 y=0.000000 z=-1.007364 +[21:42:39.494] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:39.494] If point is visible? -85428469.184752, 26760316.897195, -45618519.336310 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.235331 y=0.000000 z=-1.007364 +[21:42:39.494] If point is visible? -53786233.067465, -48168274.646054, -69871637.507051 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.235331 y=0.000000 z=-1.007364 +[21:42:39.494] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:39.494] If point is visible? -85428469.184752, 26760316.897195, -45618519.336310 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.235331 y=0.000000 z=-1.007364 +[21:42:39.494] If point is visible? 0.955729, -0.051652, -2.077425 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.236625 y=0.000000 z=-1.033294 +[21:42:39.494] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:39.494] If point is visible? 0.955729, -0.051652, -2.077425 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.236625 y=0.000000 z=-1.033294 +[21:42:39.494] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:39.494] If point is visible? 0.506627, 0.029018, -1.425181 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.460401, 0.030663, -1.453178 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.449899, 0.030190, -1.458643 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.271963, -0.285461, -1.413533 mu:2.097425 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.269203, -0.282837, -1.415734 mu:2.097425 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.270592, -0.284598, -1.414304 mu:2.097425 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.006672, -0.268890, -1.342846 mu:2.097425 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.266458, -0.281095, -1.417239 mu:2.097425 unit_bearing:-0.107700 -0.487042 0.866712 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.263692, -0.278445, -1.419369 mu:2.097425 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.265066, -0.279322, -1.418636 mu:2.097425 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.260905, -0.274876, -1.422103 mu:2.097425 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.260924, -0.275781, -1.421460 mu:2.097425 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.080228, -0.246714, -1.290303 mu:2.097425 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.488252, -0.248583, -1.347427 mu:2.113893 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.142486, Z inverse max: 2.085300 +[21:42:39.494] If point is visible? -0.064502, -0.246982, -1.308321 mu:2.097425 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.081523, -0.244799, -1.290534 mu:2.097425 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.020105, -0.252411, -1.345858 mu:2.097425 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.064931, -0.243591, -1.310863 mu:2.097425 unit_bearing:0.598418 -0.436157 0.672059 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.066032, -0.243363, -1.309864 mu:2.097425 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.078581, -0.263346, -1.397971 mu:2.097425 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.051923, -0.242794, -1.325028 mu:2.097425 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.053055, -0.242583, -1.324080 mu:2.097425 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.051826, -0.243656, -1.324405 mu:2.097425 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.253907, -0.264945, -1.429304 mu:2.097425 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.253888, -0.264028, -1.429917 mu:2.097425 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.027296, -0.238339, -1.350876 mu:2.097425 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.028480, -0.238159, -1.350023 mu:2.097425 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.028562, -0.237274, -1.350619 mu:2.097425 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.029826, -0.236208, -1.350355 mu:2.097425 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? -0.031007, -0.236027, -1.349494 mu:2.097425 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.494] If point is visible? 0.066984, -0.241595, -1.407690 mu:2.097425 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.494] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.252203, -0.247375, -1.440579 mu:2.097425 unit_bearing:-0.079917 -0.410878 0.908181 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.084884, -0.235480, -1.419095 mu:2.097425 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.084841, -0.234548, -1.419645 mu:2.097425 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.034545, -0.222279, -1.356368 mu:2.097425 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.257442, -0.234161, -1.448088 mu:2.097425 unit_bearing:-0.091527 -0.381449 0.919847 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.058615, -0.229881, -1.411164 mu:2.097425 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.034394, -0.224076, -1.355251 mu:2.097425 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.039104, -0.223357, -1.351732 mu:2.097425 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.035802, -0.221202, -1.356050 mu:2.097425 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.036982, -0.221024, -1.355172 mu:2.097425 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.038160, -0.220846, -1.354290 mu:2.097425 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.057370, -0.230708, -1.410069 mu:2.097425 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.037057, -0.220124, -1.355724 mu:2.097425 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.038235, -0.219946, -1.354843 mu:2.097425 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.087257, -0.230043, -1.423278 mu:2.097425 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.457660, -0.218870, -1.394622 mu:2.097425 unit_bearing:-0.504924 -0.363283 0.782992 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.261446, -0.227475, -1.451574 mu:2.097425 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.255968, -0.227539, -1.451828 mu:2.097425 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.053249, -0.225743, -1.411093 mu:2.097425 unit_bearing:0.340283 -0.373381 0.863014 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.457683, -0.217957, -1.395159 mu:2.097425 unit_bearing:-0.505018 -0.361246 0.783874 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.083424, -0.202407, -1.322979 mu:2.097425 unit_bearing:0.636389 -0.347324 0.688749 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.083250, -0.204184, -1.321923 mu:2.097425 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.083337, -0.203296, -1.322452 mu:2.097425 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.082587, -0.199949, -1.325598 mu:2.097425 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.051446, -0.215334, -1.416254 mu:2.097425 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.053904, -0.212708, -1.418893 mu:2.097425 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.270945, -0.220665, -1.454540 mu:2.097425 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.052652, -0.213551, -1.417830 mu:2.097425 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.085342, -0.215818, -1.430603 mu:2.097425 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.108604, -0.189227, -1.302232 mu:2.097425 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.495] calculated Z= 0.411484 +[21:42:39.495] update seeds 305 +[21:42:39.495] If point is visible? -0.107845, -0.186807, -1.304884 mu:2.097425 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.495] calculated Z= 0.412924 +[21:42:39.495] update seeds 305 +[21:42:39.495] If point is visible? 0.475897, -0.203955, -1.391720 mu:2.097425 unit_bearing:-0.542611 -0.332976 0.771168 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.279103, -0.214776, -1.456833 mu:2.097425 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.057672, -0.210167, -1.422041 mu:2.097425 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.081199, -0.210823, -1.431685 mu:2.097425 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.058932, -0.209315, -1.423077 mu:2.097425 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.283197, -0.212775, -1.457413 mu:2.097425 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.065295, -0.205980, -1.427676 mu:2.097425 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? -0.107161, -0.183483, -1.307999 mu:2.097425 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143658, Z inverse max: 2.051191 +[21:42:39.495] calculated Z= 0.414590 +[21:42:39.495] update seeds 305 +[21:42:39.495] If point is visible? 0.070609, -0.208241, -1.428760 mu:2.097425 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.062761, -0.207699, -1.425660 mu:2.097425 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.075823, -0.207633, -1.431226 mu:2.097425 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.074508, -0.207548, -1.430737 mu:2.097425 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.073195, -0.207462, -1.430243 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.287293, -0.210766, -1.457946 mu:2.097425 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.495] If point is visible? 0.291390, -0.208749, -1.458434 mu:2.097425 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.495] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? -0.107074, -0.184374, -1.307511 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.496] calculated Z= 0.414447 +[21:42:39.496] update seeds 305 +[21:42:39.496] If point is visible? 0.071845, -0.206423, -1.430227 mu:2.097425 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.065334, -0.206932, -1.427194 mu:2.097425 unit_bearing:0.313481 -0.330105 0.890371 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.295488, -0.206723, -1.458876 mu:2.097425 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.294116, -0.206757, -1.459047 mu:2.097425 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.299587, -0.204689, -1.459272 mu:2.097425 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.305058, -0.202609, -1.459422 mu:2.097425 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.263866, -0.203450, -1.463625 mu:2.097425 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.265216, -0.201494, -1.464457 mu:2.097425 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.390820, -0.192904, -1.441130 mu:2.097425 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.389473, -0.192991, -1.441596 mu:2.097425 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.316006, -0.199378, -1.459047 mu:2.097425 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.314636, -0.199422, -1.459280 mu:2.097425 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.313265, -0.199466, -1.459508 mu:2.097425 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.311901, -0.200475, -1.459278 mu:2.097425 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.310530, -0.200517, -1.459498 mu:2.097425 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.392171, -0.191860, -1.441110 mu:2.097425 unit_bearing:-0.372414 -0.295171 0.879876 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.272055, -0.198486, -1.465344 mu:2.097425 unit_bearing:-0.123527 -0.302771 0.945024 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.273409, -0.196521, -1.466128 mu:2.097425 unit_bearing:-0.126421 -0.298480 0.946006 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.276110, -0.191607, -1.468089 mu:2.097425 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.274734, -0.191630, -1.468202 mu:2.097425 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] calculated Z= 1.172656 +[21:42:39.496] update seeds 305 +[21:42:39.496] If point is visible? -0.084870, -0.108140, -1.368354 mu:2.097425 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.120368, -0.113234, -1.481604 mu:2.097425 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.142105, -0.115933, -1.486002 mu:2.097425 unit_bearing:0.147530 -0.125631 0.981046 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.121732, -0.114293, -1.481687 mu:2.097425 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.151664, -0.118208, -1.487307 mu:2.097425 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.150300, -0.118174, -1.487058 mu:2.097425 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.148936, -0.118140, -1.486806 mu:2.097425 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.151654, -0.117195, -1.487568 mu:2.097425 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.150290, -0.117161, -1.487319 mu:2.097425 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.148926, -0.117127, -1.487067 mu:2.097425 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.140754, -0.116908, -1.485467 mu:2.097425 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.148733, -0.090650, -1.493051 mu:2.097425 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.147369, -0.090617, -1.492795 mu:2.097425 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.146005, -0.090583, -1.492535 mu:2.097425 unit_bearing:0.138992 -0.071189 0.987731 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.143278, -0.090513, -1.492002 mu:2.097425 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.148713, -0.086555, -1.493836 mu:2.097425 unit_bearing:0.133231 -0.062471 0.989114 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.147349, -0.086522, -1.493580 mu:2.097425 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.145984, -0.086488, -1.493319 mu:2.097425 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.141877, -0.082284, -1.493263 mu:2.097425 unit_bearing:0.147670 -0.053727 0.987576 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.140514, -0.082249, -1.492986 mu:2.097425 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.143225, -0.078214, -1.494248 mu:2.097425 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.496] If point is visible? 0.101206, -0.073819, -1.484439 mu:2.097425 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.496] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.497] calculated Z= 0.891161 +[21:42:39.497] update seeds 305 +[21:42:39.497] If point is visible? 0.314201, -0.073399, -1.497959 mu:2.097425 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.120954, -0.046840, -1.345161 mu:2.097425 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.123048, -0.046539, -1.342790 mu:2.097425 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.137739, -0.057478, -1.496152 mu:2.097425 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.136378, -0.057442, -1.495863 mu:2.097425 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.118862, -0.043233, -1.348060 mu:2.097425 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.112474, -0.036251, -1.355992 mu:2.097425 unit_bearing:0.695874 0.007018 0.718130 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.113546, -0.036112, -1.354843 mu:2.097425 unit_bearing:0.698247 0.007014 0.715823 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.116749, -0.040589, -1.350780 mu:2.097425 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.117809, -0.040445, -1.349614 mu:2.097425 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.117808, -0.041424, -1.349488 mu:2.097425 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.118866, -0.041278, -1.348318 mu:2.097425 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.118864, -0.042256, -1.348190 mu:2.097425 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.110316, -0.034560, -1.358496 mu:2.097421 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143651, Z inverse max: 2.051191 +[21:42:39.497] If point is visible? 0.097142, -0.050012, -1.486463 mu:2.097425 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.108147, -0.033847, -1.360868 mu:2.097425 unit_bearing:0.686316 0.013269 0.727183 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.147292, -0.045296, -1.499435 mu:2.097425 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.145928, -0.045264, -1.499174 mu:2.097425 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.132303, -0.026704, -1.334120 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.131266, -0.023924, -1.335621 mu:2.097425 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.131273, -0.024899, -1.335533 mu:2.097425 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.289314, -0.036644, -1.505735 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.287940, -0.030429, -1.506327 mu:2.097425 unit_bearing:-0.158998 0.057565 0.985599 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.090551, -0.019753, -1.486716 mu:2.097425 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? -0.089119, -0.014146, -1.381157 mu:2.097425 unit_bearing:0.644530 0.059468 0.762263 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.146009, -0.022409, -1.500847 mu:2.097425 unit_bearing:0.138990 0.072859 0.987610 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.144645, -0.022379, -1.500582 mu:2.097425 unit_bearing:0.141875 0.072855 0.987200 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.143282, -0.022348, -1.500313 mu:2.097425 unit_bearing:0.144760 0.072851 0.986781 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.057304, -0.017362, -1.474725 mu:2.097425 unit_bearing:0.327680 0.076690 0.941671 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.144651, -0.021337, -1.500632 mu:2.097425 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.143288, -0.021307, -1.500363 mu:2.097425 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.059953, -0.016445, -1.475827 mu:2.097425 unit_bearing:0.322024 0.078880 0.943440 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.058633, -0.016386, -1.475300 mu:2.097425 unit_bearing:0.324848 0.078868 0.942472 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.090606, -0.012483, -1.486992 mu:2.097425 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.089294, -0.009316, -1.486644 mu:2.097425 unit_bearing:0.259492 0.096486 0.960913 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.090663, -0.006244, -1.487139 mu:2.097425 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.089324, -0.006196, -1.486707 mu:2.097425 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.092012, -0.005250, -1.487583 mu:2.097425 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.090673, -0.005203, -1.487155 mu:2.097425 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.117671, 0.002290, -1.494991 mu:2.097425 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.114969, 0.002366, -1.494286 mu:2.097425 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.113619, 0.002405, -1.493927 mu:2.097425 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.075034, -0.246779, -1.407870 mu:2.097425 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.463996, -0.220853, -1.389447 mu:2.097425 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.074935, -0.244941, -1.409031 mu:2.097425 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.497] If point is visible? 0.257427, -0.233215, -1.448621 mu:2.097425 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.497] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.262816, -0.227457, -1.451500 mu:2.097425 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.435921, -0.203582, -1.415595 mu:2.097425 unit_bearing:-0.461453 -0.326097 0.825059 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.073195, -0.207462, -1.430243 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.107074, -0.184374, -1.307511 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.498] calculated Z= 0.414469 +[21:42:39.498] update seeds 305 +[21:42:39.498] If point is visible? 0.270577, -0.188763, -1.469797 mu:2.097425 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.270597, -0.190716, -1.468945 mu:2.097425 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.270375, -0.167114, -1.478550 mu:2.097425 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.267617, -0.167149, -1.478738 mu:2.097425 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.107062, -0.045794, -1.360556 mu:2.097425 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.115677, -0.044649, -1.351425 mu:2.097425 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.117802, -0.044357, -1.349098 mu:2.097425 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.107069, -0.037924, -1.361554 mu:2.097425 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.109240, -0.037649, -1.359297 mu:2.097425 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.111400, -0.037372, -1.357023 mu:2.097425 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.297606, -0.067541, -1.501310 mu:2.097425 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.119907, -0.046014, -1.346480 mu:2.097425 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.132303, -0.026704, -1.334120 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.046662, -0.034406, -1.469240 mu:2.097425 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.109236, -0.035681, -1.359522 mu:2.097425 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.111396, -0.035406, -1.357247 mu:2.097425 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.289314, -0.036644, -1.505735 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.289317, -0.034568, -1.505891 mu:2.097425 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.286550, -0.034601, -1.506189 mu:2.097425 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.044113, -0.021904, -1.468930 mu:2.097425 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.423455, 0.000224, -1.471944 mu:2.097425 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.388259, 0.046630, -1.482907 mu:2.097425 unit_bearing:-0.365573 0.211999 0.906318 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.519010, 0.033807, -1.415962 mu:2.097425 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.057280, 0.156184, -1.446526 mu:2.097425 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.082486, -0.239952, -1.415371 mu:2.097425 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.077254, -0.239591, -1.413446 mu:2.097425 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.072037, -0.239216, -1.411454 mu:2.097425 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.081312, -0.213675, -1.430206 mu:2.097425 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.076051, -0.213339, -1.428289 mu:2.097425 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.060358, -0.212252, -1.422135 mu:2.097425 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.270909, -0.217796, -1.456033 mu:2.097425 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.051011, -0.170685, -1.373074 mu:2.097425 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.049748, -0.242349, -1.327531 mu:2.097425 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.058781, -0.240651, -1.319895 mu:2.097425 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.270409, -0.171070, -1.477042 mu:2.097425 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.050126, -0.238882, -1.329987 mu:2.097425 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? -0.059175, -0.237203, -1.322352 mu:2.097425 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.265528, -0.225517, -1.452371 mu:2.097425 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.270861, -0.213960, -1.457991 mu:2.097425 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.498] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.498] If point is visible? 0.072232, -0.242908, -1.409178 mu:2.097425 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.076209, -0.217128, -1.426283 mu:2.097425 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.065739, -0.216410, -1.422246 mu:2.097425 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.270518, -0.182886, -1.472296 mu:2.097425 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.320106, -0.197309, -1.459227 mu:2.097425 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? -0.109226, -0.047473, -1.358026 mu:2.097425 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? -0.104884, -0.044106, -1.363057 mu:2.097425 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? -0.109238, -0.043547, -1.358564 mu:2.097425 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.052008, -0.020220, -1.472414 mu:2.097425 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.100065, -0.005521, -1.490065 mu:2.097425 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.455193, 0.026319, -1.456206 mu:2.097425 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.449930, 0.026081, -1.458899 mu:2.097425 unit_bearing:-0.492427 0.163083 0.854938 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.100027, -0.009685, -1.489985 mu:2.097425 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.506627, 0.029018, -1.425181 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.460401, 0.030663, -1.453178 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.449899, 0.030190, -1.458643 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.236625 y=0.000000 z=-1.033299 +[21:42:39.499] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:39.499] If point is visible? 0.958567, -0.059277, -2.108069 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? 0.853177, -0.060745, -2.171727 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? 0.325959, -0.778501, -2.065675 mu:0.771555 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? 0.322167, -0.773727, -2.069578 mu:0.771555 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? 0.318483, -0.773799, -2.069821 mu:0.771555 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? 0.314631, -0.766570, -2.075474 mu:0.771555 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.430090, -0.732798, -1.868967 mu:0.771555 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.430345, -0.730472, -1.870798 mu:0.771555 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? 0.307087, -0.759375, -2.081263 mu:0.771555 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? 0.299478, -0.749684, -2.088698 mu:0.771555 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? 0.295786, -0.749740, -2.088872 mu:0.771555 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.629061, -0.672295, -1.724998 mu:0.771555 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.629397, -0.670039, -1.726764 mu:0.771555 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? 0.920344, -0.681571, -1.898072 mu:0.771555 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] calculated Z= 0.601712 +[21:42:39.499] update seeds 305 +[21:42:39.499] If point is visible? -0.576783, -0.681855, -1.777128 mu:0.771555 unit_bearing:0.589813 -0.452226 0.669038 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.629731, -0.667780, -1.728524 mu:0.771555 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.632584, -0.667092, -1.725617 mu:0.771555 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.466877, -0.685647, -1.878766 mu:0.771555 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.470089, -0.685150, -1.876487 mu:0.771555 unit_bearing:0.503204 -0.445407 0.740539 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.593485, -0.664940, -1.773983 mu:0.771555 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.591120, -0.660958, -1.780169 mu:0.771555 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.593787, -0.662637, -1.775706 mu:0.771555 unit_bearing:0.603078 -0.437643 0.666907 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.552739, -0.661783, -1.819931 mu:0.771555 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.556074, -0.658865, -1.819026 mu:0.771555 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.627517, -0.644035, -1.753241 mu:0.771555 unit_bearing:0.630157 -0.425510 0.649495 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? 0.272728, -0.712819, -2.115163 mu:0.771555 unit_bearing:-0.079699 -0.444154 0.892399 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.499] If point is visible? -0.486480, -0.647377, -1.892289 mu:0.771555 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.499] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.489685, -0.646886, -1.889952 mu:0.771555 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.493344, -0.641580, -1.890832 mu:0.771555 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.496540, -0.641085, -1.888472 mu:0.771555 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.212784, -0.670263, -2.047510 mu:0.771555 unit_bearing:0.297504 -0.417925 0.858388 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.499961, -0.638180, -1.887705 mu:0.771555 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.234929, -0.651131, -2.049915 mu:0.771555 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.231268, -0.653912, -2.049822 mu:0.771555 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.238732, -0.645835, -2.051522 mu:0.771555 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.231124, -0.656417, -2.048272 mu:0.771555 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.500190, -0.635770, -1.889303 mu:0.771555 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.182764, -0.637299, -2.081062 mu:0.771555 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.506243, -0.603705, -1.907101 mu:0.771555 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.509440, -0.603222, -1.904708 mu:0.771555 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.282349, -0.641766, -2.158417 mu:0.771555 unit_bearing:-0.088642 -0.385673 0.918367 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.509652, -0.600776, -1.906215 mu:0.771555 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.512844, -0.600291, -1.903810 mu:0.771555 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.516031, -0.599803, -1.901393 mu:0.771555 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.179325, -0.634996, -2.083827 mu:0.771555 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.516244, -0.597357, -1.902894 mu:0.771555 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.176247, -0.625056, -2.090978 mu:0.771555 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.841410, -0.604114, -2.007530 mu:0.771555 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.637797, -0.556829, -1.811226 mu:0.771555 unit_bearing:0.635977 -0.353275 0.686098 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.300536, -0.618379, -2.170563 mu:0.771555 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.296812, -0.618425, -2.170741 mu:0.771555 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.281915, -0.618588, -2.171342 mu:0.771555 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.638286, -0.552005, -1.814108 mu:0.771555 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.272259, -0.607937, -2.058625 mu:0.771555 unit_bearing:0.343162 -0.369151 0.863694 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.281962, -0.621172, -2.169932 mu:0.771555 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.877205, -0.560323, -2.010816 mu:0.771555 unit_bearing:-0.539842 -0.337183 0.771284 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.329979, -0.594614, -2.181151 mu:0.771555 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.322560, -0.597333, -2.180318 mu:0.771555 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.273320, -0.587556, -2.069918 mu:0.771555 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.181543, -0.586382, -2.110859 mu:0.771555 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.263288, -0.578139, -2.080049 mu:0.771555 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.266804, -0.577866, -2.078514 mu:0.771555 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.318912, -0.602584, -2.177837 mu:0.771555 unit_bearing:-0.117453 -0.353842 0.927901 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.322599, -0.599931, -2.178959 mu:0.771555 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.192705, -0.575382, -2.112399 mu:0.771555 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.706357, -0.516106, -1.757358 mu:0.771555 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.337362, -0.589284, -2.183274 mu:0.771555 unit_bearing:-0.131834 -0.343145 0.929985 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.256608, -0.570964, -2.087133 mu:0.771555 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? 0.344750, -0.583939, -2.185327 mu:0.771555 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.706867, -0.511305, -1.760094 mu:0.771555 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.500] If point is visible? -0.231973, -0.570187, -2.098731 mu:0.771555 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.500] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.253199, -0.568652, -2.089969 mu:0.771555 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.256727, -0.568388, -2.088469 mu:0.771555 unit_bearing:0.330089 -0.336058 0.882103 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.704588, -0.507130, -1.765950 mu:0.771555 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.249785, -0.566334, -2.092787 mu:0.771555 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.355874, -0.578508, -2.186969 mu:0.771555 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.242942, -0.561682, -2.098368 mu:0.771555 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.214648, -0.561052, -2.110990 mu:0.771555 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.218208, -0.560815, -2.109616 mu:0.771555 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.367003, -0.573054, -2.188486 mu:0.771555 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.235970, -0.559598, -2.102574 mu:0.771555 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.702772, -0.498096, -1.774429 mu:0.771555 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.242829, -0.564267, -2.097052 mu:0.771555 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.374404, -0.567661, -2.190288 mu:0.771555 unit_bearing:-0.160559 -0.325927 0.931661 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.389273, -0.562079, -2.191147 mu:0.771555 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.385541, -0.562168, -2.191589 mu:0.771555 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.281198, -0.576973, -2.193023 mu:0.771555 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.303240, -0.553118, -2.203542 mu:0.771555 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.400413, -0.556559, -2.192290 mu:0.771555 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.415288, -0.550915, -2.192789 mu:0.771555 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.411557, -0.551017, -2.193309 mu:0.771555 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.445061, -0.542154, -2.191948 mu:0.771555 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.441332, -0.542271, -2.192558 mu:0.771555 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.325519, -0.542279, -2.207129 mu:0.771555 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.433894, -0.545126, -2.192509 mu:0.771555 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.321815, -0.544971, -2.206157 mu:0.771555 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.303202, -0.550484, -2.204785 mu:0.771555 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.303165, -0.547849, -2.206022 mu:0.771555 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.674354, -0.525615, -2.134193 mu:0.771555 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.648740, -0.524706, -2.144465 mu:0.771555 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.645078, -0.522334, -2.146932 mu:0.771555 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.340342, -0.531481, -2.210846 mu:0.771555 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.336602, -0.531542, -2.211142 mu:0.771555 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.332863, -0.531600, -2.211427 mu:0.771555 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.336475, -0.520949, -2.215875 mu:0.771555 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.332734, -0.521007, -2.216160 mu:0.771555 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? 0.305682, -0.446440, -2.248111 mu:0.771555 unit_bearing:-0.109531 -0.227659 0.967561 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.642924, -0.295950, -1.938092 mu:0.771555 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.001984, -0.321168, -2.266086 mu:0.771555 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.005688, -0.321074, -2.265389 mu:0.771554 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817625, Z inverse max: 0.725483 +[21:42:39.501] If point is visible? -0.009391, -0.320977, -2.264679 mu:0.771555 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.005716, -0.318319, -2.266096 mu:0.771555 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.009419, -0.318223, -2.265388 mu:0.771555 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.024218, -0.317822, -2.262443 mu:0.771555 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.031610, -0.317612, -2.260906 mu:0.771555 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.643012, -0.293324, -1.938861 mu:0.771555 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.142363, -0.253041, -2.246635 mu:0.771555 unit_bearing:0.236699 -0.079692 0.968309 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.501] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.501] If point is visible? -0.009989, -0.246248, -2.281654 mu:0.771555 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.013694, -0.246154, -2.280934 mu:0.771555 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.024802, -0.245865, -2.278712 mu:0.771555 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.013753, -0.235022, -2.283067 mu:0.771555 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.017457, -0.234928, -2.282337 mu:0.771555 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.039609, -0.242679, -2.276138 mu:0.771555 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.024958, -0.212431, -2.284815 mu:0.771555 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.139013, -0.200398, -2.257465 mu:0.771555 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.024995, -0.201258, -2.286653 mu:0.771555 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? 0.443528, -0.196815, -2.297538 mu:0.771555 unit_bearing:-0.216541 -0.031847 0.975754 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.740600, -0.126612, -1.875226 mu:0.771555 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.746253, -0.125789, -1.868745 mu:0.771555 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.734955, -0.116812, -1.883140 mu:0.771555 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.726378, -0.107358, -1.894079 mu:0.771555 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.732110, -0.111895, -1.887041 mu:0.771555 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.734966, -0.111498, -1.883841 mu:0.771555 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.734961, -0.114155, -1.883494 mu:0.771555 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.737808, -0.113755, -1.880283 mu:0.771555 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.043555, -0.155950, -2.289096 mu:0.771555 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.047500, -0.155987, -2.289386 mu:0.770874 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.816017, Z inverse max: 0.725731 +[21:42:39.502] If point is visible? -0.150053, -0.146886, -2.261611 mu:0.771555 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.711873, -0.093251, -1.911648 mu:0.771555 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.021333, -0.125591, -2.297234 mu:0.771555 unit_bearing:0.141924 0.022668 0.989618 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.711865, -0.090575, -1.911938 mu:0.771555 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.013919, -0.122952, -2.298983 mu:0.771555 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.017624, -0.122864, -2.298253 mu:0.771555 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.150028, -0.124450, -2.264095 mu:0.771555 unit_bearing:0.242529 0.020426 0.969929 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? 0.372067, -0.099717, -2.318429 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? 0.368302, -0.099761, -2.318817 mu:0.771555 unit_bearing:-0.159013 0.044478 0.986274 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.290279, -0.056528, -2.216102 mu:0.771555 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.017369, -0.057903, -2.302937 mu:0.771555 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.021072, -0.057817, -2.302194 mu:0.771555 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.024773, -0.057731, -2.301441 mu:0.771555 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.293855, -0.059155, -2.214373 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.297406, -0.058975, -2.212781 mu:0.771555 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.160671, -0.059313, -2.265567 mu:0.771555 unit_bearing:0.251017 0.070447 0.965416 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.171561, -0.056088, -2.262154 mu:0.771555 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.167745, -0.033638, -2.264233 mu:0.771555 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.167582, -0.016677, -2.264633 mu:0.771555 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.171215, -0.016546, -2.263437 mu:0.771555 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.094273, 0.006467, -2.286419 mu:0.771555 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.101607, 0.006679, -2.284459 mu:0.771555 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.105272, 0.006787, -2.283461 mu:0.771555 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? -0.105240, 0.009624, -2.283452 mu:0.771555 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? 0.849019, 0.058352, -2.174094 mu:0.771555 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.502] If point is visible? 0.626807, 0.117588, -2.263656 mu:0.771555 unit_bearing:-0.354496 0.205738 0.912143 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.502] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.626806, 0.120417, -2.263382 mu:0.771555 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.264304, 0.425097, -2.150531 mu:0.771555 unit_bearing:0.338585 0.430592 0.836631 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.188569, -0.662040, -2.063229 mu:0.771555 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.195664, -0.661545, -2.060591 mu:0.771555 unit_bearing:0.283784 -0.410019 0.866805 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.195388, -0.666556, -2.057463 mu:0.771555 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.202469, -0.666048, -2.054778 mu:0.771555 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.209540, -0.665530, -2.052048 mu:0.771555 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.209254, -0.670527, -2.048892 mu:0.771555 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.834707, -0.592551, -2.018705 mu:0.771555 unit_bearing:-0.507633 -0.361121 0.782241 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.214540, -0.563644, -2.109682 mu:0.771555 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.228762, -0.562680, -2.104116 mu:0.771555 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.685306, -0.524856, -2.130138 mu:0.771555 unit_bearing:-0.397131 -0.298802 0.867758 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.328370, -0.465012, -2.239613 mu:0.771555 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.321413, -0.513205, -2.220429 mu:0.771555 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.321478, -0.518516, -2.218114 mu:0.771555 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.320764, -0.454353, -2.244220 mu:0.771555 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.313265, -0.454443, -2.244684 mu:0.771555 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.737774, -0.124369, -1.878829 mu:0.771555 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.697210, -0.103147, -1.926135 mu:0.771555 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.703105, -0.102402, -1.920014 mu:0.771555 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.708970, -0.101651, -1.913844 mu:0.771555 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.714803, -0.100895, -1.907626 mu:0.771555 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.703086, -0.123796, -1.917301 mu:0.771555 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.726354, -0.120666, -1.892341 mu:0.771555 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.732091, -0.119868, -1.885979 mu:0.771555 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.708960, -0.096301, -1.914456 mu:0.771555 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.714793, -0.095549, -1.908237 mu:0.771555 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.958567, -0.059277, -2.108069 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.372067, -0.099717, -2.318429 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.372076, -0.094073, -2.318853 mu:0.771555 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.364547, -0.094158, -2.319618 mu:0.771555 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.279579, -0.054249, -2.220917 mu:0.771555 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.286700, -0.053899, -2.217812 mu:0.771555 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.737339, 0.000236, -2.228762 mu:0.771555 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.293855, -0.059155, -2.214373 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.852557, 0.061307, -2.172033 mu:0.771555 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.998075, 0.091338, -2.078142 mu:0.771555 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.802411, 0.064573, -2.197585 mu:0.771555 unit_bearing:-0.487114 0.158926 0.858756 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.352177, -0.581190, -2.185996 mu:0.771555 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.337253, -0.581463, -2.187257 mu:0.771555 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? 0.322327, -0.581704, -2.188340 mu:0.771555 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.189105, -0.651983, -2.069405 mu:0.771555 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.503] If point is visible? -0.203296, -0.650992, -2.064086 mu:0.771555 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.503] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.217446, -0.649963, -2.058585 mu:0.771555 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? 0.320873, -0.465110, -2.240122 mu:0.771555 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.561545, -0.637098, -1.831342 mu:0.771555 unit_bearing:0.575914 -0.412853 0.705603 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.571566, -0.653601, -1.807557 mu:0.771555 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? 0.848449, -0.600828, -2.005164 mu:0.771555 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.192487, -0.580549, -2.109714 mu:0.771555 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.206755, -0.579625, -2.104417 mu:0.771555 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.249313, -0.576639, -2.087432 mu:0.771555 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.206301, -0.589926, -2.098967 mu:0.771555 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.234694, -0.587951, -2.087820 mu:0.771555 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? 0.320987, -0.475841, -2.235923 mu:0.771555 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.551172, -0.463418, -1.952246 mu:0.771555 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? 0.336203, -0.497018, -2.226154 mu:0.771555 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? 0.848695, -0.590944, -2.011051 mu:0.771555 unit_bearing:-0.518059 -0.360611 0.775613 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.548200, -0.648810, -1.835132 mu:0.771555 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.572672, -0.644227, -1.814229 mu:0.771555 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.216886, -0.659999, -2.052403 mu:0.771555 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.708932, -0.128357, -1.910390 mu:0.771555 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.697204, -0.119214, -1.924137 mu:0.771555 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.708964, -0.117685, -1.911851 mu:0.771555 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? 0.823764, 0.093429, -2.184986 mu:0.771555 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.258058, -0.044021, -2.230461 mu:0.771555 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? 0.838140, 0.082909, -2.178354 mu:0.771555 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.272448, -0.054594, -2.223975 mu:0.771555 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? 0.853177, -0.060745, -2.171727 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.142070, -0.014733, -2.272742 mu:0.771555 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? -0.142179, -0.026052, -2.272523 mu:0.771555 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.236625 y=0.000000 z=-1.033304 +[21:42:39.504] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:39.504] If point is visible? 0.305855, -0.785336, -2.075976 mu:0.765014 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? 0.305772, -0.782892, -2.077818 mu:0.765014 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? 0.298083, -0.775673, -2.083668 mu:0.765014 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? 0.301970, -0.780512, -2.079842 mu:0.765014 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? 0.294278, -0.773278, -2.085648 mu:0.765014 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? -0.452787, -0.737530, -1.863643 mu:0.765014 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? 0.282771, -0.763588, -2.093264 mu:0.765014 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? 0.278791, -0.756212, -2.098703 mu:0.765014 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? 0.275066, -0.756260, -2.098810 mu:0.765014 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? -0.565900, -0.692615, -1.798117 mu:0.765014 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? -0.651357, -0.671507, -1.718333 mu:0.765014 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? -0.654179, -0.670806, -1.715349 mu:0.765014 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? -0.609095, -0.674648, -1.766998 mu:0.765014 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.504] If point is visible? -0.654543, -0.668525, -1.717111 mu:0.765014 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.504] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? 0.908538, -0.688931, -1.917959 mu:0.765014 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] calculated Z= 0.570643 +[21:42:39.505] update seeds 305 +[21:42:39.505] If point is visible? -0.630559, -0.663148, -1.752279 mu:0.765014 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.613361, -0.664713, -1.771125 mu:0.765014 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.575396, -0.665631, -1.811930 mu:0.765014 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? 0.255398, -0.726493, -2.119843 mu:0.765014 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.579037, -0.660316, -1.812649 mu:0.765014 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.510395, -0.646392, -1.889366 mu:0.765014 unit_bearing:0.515567 -0.411002 0.751843 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.513585, -0.645892, -1.886951 mu:0.765014 unit_bearing:0.518144 -0.410848 0.750154 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.516768, -0.645389, -1.884524 mu:0.765014 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.519946, -0.644882, -1.882085 mu:0.765014 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.215905, -0.671512, -2.059461 mu:0.765014 unit_bearing:0.280893 -0.414218 0.865750 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.520455, -0.640020, -1.885306 mu:0.765014 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.523630, -0.639513, -1.882856 mu:0.765014 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.656642, -0.616470, -1.761822 mu:0.765014 unit_bearing:0.634731 -0.400173 0.661043 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.240520, -0.672156, -2.047822 mu:0.765014 unit_bearing:0.300339 -0.415792 0.858436 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.523375, -0.641945, -1.881248 mu:0.765014 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.255464, -0.658418, -2.049691 mu:0.765014 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.255296, -0.660945, -2.048131 mu:0.765014 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.203672, -0.639457, -2.084942 mu:0.765014 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.207242, -0.639214, -2.083588 mu:0.765014 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? 0.827095, -0.610630, -2.026877 mu:0.765014 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.533639, -0.601729, -1.901243 mu:0.765014 unit_bearing:0.532927 -0.375982 0.758042 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.536814, -0.601234, -1.898760 mu:0.765014 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.539983, -0.600735, -1.896264 mu:0.765014 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.285548, -0.625626, -2.055378 mu:0.765014 unit_bearing:0.334579 -0.379757 0.862462 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.281718, -0.631019, -2.054012 mu:0.765014 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.200677, -0.629439, -2.092210 mu:0.765014 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? 0.260404, -0.644743, -2.170166 mu:0.765014 unit_bearing:-0.088655 -0.383570 0.919246 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? 0.256300, -0.631794, -2.177490 mu:0.765014 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? 0.275016, -0.629032, -2.178537 mu:0.765014 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? 0.271258, -0.629068, -2.178637 mu:0.765014 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? 0.259920, -0.626561, -2.180297 mu:0.765014 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.661036, -0.557155, -1.803033 mu:0.765014 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.661303, -0.554720, -1.804479 mu:0.765014 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? 0.259852, -0.623955, -2.181718 mu:0.765014 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.298089, -0.591398, -2.069179 mu:0.765014 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? 0.304484, -0.602559, -2.191333 mu:0.765014 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? 0.300719, -0.602610, -2.191521 mu:0.765014 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.659431, -0.545549, -1.813151 mu:0.765014 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.288139, -0.581924, -2.079581 mu:0.765014 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.291656, -0.581641, -2.077968 mu:0.765014 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.505] If point is visible? -0.206298, -0.590422, -2.112160 mu:0.765014 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.505] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.300778, -0.605230, -2.190151 mu:0.765014 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.341668, -0.578294, -2.200889 mu:0.765014 unit_bearing:-0.151950 -0.330251 0.931582 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.217557, -0.579303, -2.113506 mu:0.765014 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.210011, -0.587588, -2.112177 mu:0.765014 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.281518, -0.574702, -2.086847 mu:0.765014 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.729368, -0.513518, -1.748745 mu:0.765014 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.217684, -0.576694, -2.114848 mu:0.765014 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.870512, -0.553131, -2.033776 mu:0.765014 unit_bearing:-0.545472 -0.326724 0.771824 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.260966, -0.563286, -2.102800 mu:0.765014 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.256889, -0.573975, -2.098999 mu:0.765014 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.278128, -0.572378, -2.089771 mu:0.765014 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.726897, -0.511743, -1.753334 mu:0.765014 unit_bearing:0.689558 -0.321445 0.648986 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.727168, -0.509313, -1.754693 mu:0.765014 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.725474, -0.500206, -1.763276 mu:0.765014 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.274732, -0.570048, -2.092675 mu:0.765014 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.267791, -0.567979, -2.097105 mu:0.765014 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.727437, -0.506880, -1.756045 mu:0.765014 unit_bearing:0.689848 -0.317499 0.650619 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.239625, -0.564801, -2.111680 mu:0.765014 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.243189, -0.564554, -2.110229 mu:0.765014 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? -0.725211, -0.502648, -1.761943 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.349159, -0.575514, -2.201565 mu:0.765014 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.330516, -0.586396, -2.197794 mu:0.765014 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.334232, -0.583699, -2.198843 mu:0.765014 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.371597, -0.564480, -2.204568 mu:0.765014 unit_bearing:-0.174894 -0.319418 0.931335 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.375324, -0.561751, -2.205444 mu:0.765014 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.386597, -0.558839, -2.205448 mu:0.765014 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.382824, -0.558929, -2.205881 mu:0.765014 unit_bearing:-0.183495 -0.315082 0.931157 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.280908, -0.557972, -2.214583 mu:0.765014 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.394099, -0.556005, -2.205811 mu:0.765014 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.390327, -0.556100, -2.206267 mu:0.765014 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.299610, -0.549798, -2.217563 mu:0.765014 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.280853, -0.555316, -2.215836 mu:0.765014 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.435433, -0.544247, -2.205048 mu:0.765014 unit_bearing:-0.223471 -0.304011 0.926087 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.431662, -0.544363, -2.205628 mu:0.765014 unit_bearing:-0.220629 -0.304045 0.926758 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.427891, -0.544476, -2.206197 mu:0.765014 unit_bearing:-0.217786 -0.304077 0.927419 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.318235, -0.536234, -2.222634 mu:0.765014 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.314459, -0.536287, -2.222864 mu:0.765014 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.310682, -0.536338, -2.223082 mu:0.765014 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.412880, -0.550209, -2.205873 mu:0.765014 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.280799, -0.552659, -2.217082 mu:0.765014 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.585644, -0.524755, -2.178525 mu:0.765014 unit_bearing:-0.336372 -0.291683 0.895419 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.589399, -0.527192, -2.176253 mu:0.765014 unit_bearing:-0.339122 -0.293746 0.893706 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.652766, -0.531320, -2.152785 mu:0.765014 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.314267, -0.525604, -2.227635 mu:0.765014 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.506] If point is visible? 0.310489, -0.525654, -2.227853 mu:0.765014 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.506] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? 0.589384, -0.524556, -2.177470 mu:0.765014 unit_bearing:-0.339162 -0.291630 0.894383 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? 0.896321, -0.481491, -2.053931 mu:0.765014 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? 0.282750, -0.447666, -2.260570 mu:0.765014 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.027537, -0.320568, -2.272727 mu:0.765014 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.031260, -0.320464, -2.271955 mu:0.765014 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.034980, -0.320358, -2.271171 mu:0.765014 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.049848, -0.319921, -2.267929 mu:0.765014 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.057273, -0.319692, -2.266242 mu:0.765014 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.667690, -0.296464, -1.929422 mu:0.765014 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.670621, -0.298665, -1.925721 mu:0.765014 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.131926, -0.247417, -2.262804 mu:0.765014 unit_bearing:0.208064 -0.073239 0.975369 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.035692, -0.247767, -2.287565 mu:0.765014 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.039415, -0.247664, -2.286771 mu:0.765014 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.050574, -0.247347, -2.284324 mu:0.765014 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.043210, -0.236333, -2.288116 mu:0.765014 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.065450, -0.244100, -2.281455 mu:0.765014 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.050768, -0.213627, -2.290477 mu:0.765014 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? 0.402456, -0.213344, -2.312249 mu:0.765014 unit_bearing:-0.202177 -0.042758 0.978415 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.168907, -0.201083, -2.259609 mu:0.765014 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? 0.398659, -0.216219, -2.312253 mu:0.765014 unit_bearing:-0.199302 -0.044940 0.978907 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.764653, -0.122786, -1.864609 mu:0.765014 unit_bearing:0.714674 -0.015730 0.699281 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.767446, -0.122367, -1.861295 mu:0.765014 unit_bearing:0.717000 -0.015721 0.696896 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.069465, -0.167939, -2.292995 mu:0.765014 unit_bearing:0.159235 -0.010076 0.987189 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.759070, -0.115587, -1.872312 mu:0.765014 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.753437, -0.108356, -1.879908 mu:0.765014 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.756265, -0.107952, -1.876641 mu:0.765014 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.124938, -0.163313, -2.278822 mu:0.765014 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.069472, -0.156621, -2.294450 mu:0.765014 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.759082, -0.110228, -1.873018 mu:0.765014 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.759077, -0.112908, -1.872668 mu:0.765014 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.761888, -0.112498, -1.869377 mu:0.765014 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.736259, -0.089177, -1.901778 mu:0.765014 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.176324, -0.135930, -2.266069 mu:0.765014 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.039696, -0.123407, -2.304969 mu:0.765014 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.323818, -0.058242, -2.212805 mu:0.765014 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.327366, -0.058051, -2.211123 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.043100, -0.057795, -2.308894 mu:0.765014 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.046820, -0.057700, -2.308077 mu:0.765014 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.050538, -0.057604, -2.307249 mu:0.765014 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.194159, -0.052915, -2.266325 mu:0.765014 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.193770, -0.015877, -2.267493 mu:0.765014 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.197410, -0.015736, -2.266219 mu:0.765014 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.190092, -0.013163, -2.268801 mu:0.765014 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.507] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.507] If point is visible? -0.193735, -0.013024, -2.267539 mu:0.765014 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.131233, 0.007647, -2.287631 mu:0.765014 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.774800, 0.049323, -2.223535 mu:0.765014 unit_bearing:-0.479178 0.148417 0.865078 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.833192, 0.057485, -2.194992 mu:0.765014 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.284710, 0.429803, -2.152317 mu:0.765014 unit_bearing:0.335833 0.430681 0.837693 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.219454, -0.671251, -2.058059 mu:0.765014 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.226543, -0.670723, -2.055221 mu:0.765014 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.233622, -0.670185, -2.052337 mu:0.765014 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.233286, -0.675224, -2.049160 mu:0.765014 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.834244, -0.607332, -2.024621 mu:0.765014 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.239498, -0.567415, -2.110364 mu:0.765014 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.253734, -0.566411, -2.104488 mu:0.765014 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.725211, -0.502648, -1.761943 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.593152, -0.529625, -2.173962 mu:0.765014 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.574427, -0.486132, -1.935842 mu:0.765014 unit_bearing:0.562856 -0.284982 0.775873 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.299012, -0.517759, -2.231948 mu:0.765014 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.299108, -0.523116, -2.229615 mu:0.765014 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.298051, -0.458403, -2.255928 mu:0.765014 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.290480, -0.458476, -2.256257 mu:0.765014 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.744901, -0.109558, -1.889637 mu:0.765014 unit_bearing:0.698250 -0.003352 0.715846 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.371985, -0.185628, -2.320136 mu:0.765014 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.440445, -0.195758, -2.309569 mu:0.765014 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.727582, -0.122703, -1.907347 mu:0.765014 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.750576, -0.119494, -1.881748 mu:0.765014 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.756241, -0.118676, -1.875227 mu:0.765014 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.721772, -0.101890, -1.916365 mu:0.765014 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.727602, -0.101126, -1.910083 mu:0.765014 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.733400, -0.100355, -1.903754 mu:0.765014 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.739166, -0.099579, -1.897375 mu:0.765014 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.761850, -0.123203, -1.867912 mu:0.765014 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.733390, -0.094959, -1.904371 mu:0.765014 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.739155, -0.094188, -1.897992 mu:0.765014 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.341625, -0.095227, -2.332775 mu:0.765014 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.944593, -0.055885, -2.130742 mu:0.765014 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.937542, -0.056373, -2.135235 mu:0.765014 unit_bearing:-0.598947 0.059929 0.798543 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.320268, -0.058432, -2.214477 mu:0.765014 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? -0.327366, -0.058051, -2.211123 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.719434, 0.004774, -2.248042 mu:0.765014 unit_bearing:-0.438685 0.116876 0.891008 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.836805, 0.060457, -2.192978 mu:0.765014 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.985276, 0.095934, -2.100557 mu:0.765014 unit_bearing:-0.632262 0.172345 0.755342 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.950583, 0.094025, -2.124238 mu:0.765014 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.985346, 0.090412, -2.100991 mu:0.765014 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.508] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.508] If point is visible? 0.630101, 0.126830, -2.273388 mu:0.765014 unit_bearing:-0.371144 0.211918 0.904070 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.300602, -0.597363, -2.194242 mu:0.765014 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.298213, -0.469251, -2.251797 mu:0.765014 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.575812, -0.465571, -1.945386 mu:0.765014 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.569899, -0.662065, -1.820635 mu:0.765014 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.594133, -0.657336, -1.799104 mu:0.765014 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.571071, -0.652557, -1.827343 mu:0.765014 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.595350, -0.647880, -1.805812 mu:0.765014 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.213306, -0.656567, -2.070218 mu:0.765014 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.227515, -0.655536, -2.064592 mu:0.765014 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.241680, -0.654466, -2.058783 mu:0.765014 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.216774, -0.594914, -2.105319 mu:0.765014 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.231051, -0.593940, -2.099711 mu:0.765014 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.273613, -0.590802, -2.081788 mu:0.765014 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.435398, -0.541597, -2.206282 mu:0.765014 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.298733, -0.501648, -2.238794 mu:0.765014 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.877746, -0.542203, -2.035147 mu:0.765014 unit_bearing:-0.550991 -0.318299 0.771424 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.300371, -0.586847, -2.199606 mu:0.765014 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.877915, -0.532066, -2.040460 mu:0.765014 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.721767, -0.118095, -1.914350 mu:0.765014 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.733394, -0.116526, -1.901743 mu:0.765014 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.298849, -0.053881, -2.224554 mu:0.765014 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.733359, -0.127290, -1.900271 mu:0.765014 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -0.168321, -0.025389, -2.275918 mu:0.765014 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.950641, 0.088478, -2.124664 mu:0.765014 unit_bearing:-0.607294 0.168930 0.776309 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.880319, 0.006701, -2.170989 mu:0.765014 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.807604, 0.092919, -2.205509 mu:0.765014 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.822199, 0.082276, -2.199086 mu:0.765014 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.807646, 0.081663, -2.206326 mu:0.765014 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? 0.793046, 0.081066, -2.213363 mu:0.765014 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.236626 y=0.000000 z=-1.033318 +[21:42:39.509] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:39.509] If point is visible? -6661.713457, -452.612937, -7124.628108 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.236627 y=0.000000 z=-1.033323 +[21:42:39.509] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:39.509] If point is visible? 4211.927922, -399.552156, -8800.166794 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.236627 y=0.000000 z=-1.033323 +[21:42:39.509] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:39.509] If point is visible? -6661.713457, -452.612937, -7124.628108 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.236627 y=0.000000 z=-1.033323 +[21:42:39.509] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:39.509] If point is visible? 4211.927922, -399.552156, -8800.166794 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.236627 y=0.000000 z=-1.033323 +[21:42:39.509] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:39.509] If point is visible? 0.924635, -0.059751, -2.494451 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.509] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.509] If point is visible? 0.851746, -0.687445, -2.360300 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? 1.085904, -0.057362, -2.407098 mu:0.618770 unit_bearing:-0.598870 0.068366 0.797923 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? 2.928187, 0.024463, -5.932722 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.510] If point is visible? -0.873447, -0.074070, -2.205529 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? 0.299694, -0.965094, -2.328095 mu:0.618770 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? 0.295094, -0.965168, -2.328256 mu:0.618770 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? 0.290109, -0.956135, -2.335154 mu:0.618770 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? 0.275784, -0.944133, -2.344391 mu:0.618770 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? -1.837481, -2.179313, -3.464602 mu:0.258523 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.510] If point is visible? -1.840059, -2.174120, -3.472006 mu:0.258315 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.510] If point is visible? 0.270794, -0.935007, -2.351054 mu:0.618770 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? 0.266186, -0.935059, -2.351128 mu:0.618770 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? -38.043061, -28.690370, -29.708469 mu:0.017930 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] If point is visible? -0.847840, -0.818220, -1.908688 mu:0.618770 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? -0.768672, -0.854774, -1.966357 mu:0.618770 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? 1.176555, -0.983033, -2.305641 mu:0.536936 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.744076, Z inverse max: 0.329797 +[21:42:39.510] If point is visible? -0.873040, -0.828515, -1.866400 mu:0.618770 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? -0.876482, -0.827643, -1.862667 mu:0.618770 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? -0.348340, -0.890116, -2.248776 mu:0.618770 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? -1.233863, -1.137994, -2.262322 mu:0.448661 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.510] If point is visible? -0.826874, -0.820187, -1.932253 mu:0.618770 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? -5.020239, -4.905380, -6.947020 mu:0.107416 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] If point is visible? 0.241603, -0.898219, -2.376825 mu:0.618770 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? 0.241478, -0.895110, -2.378899 mu:0.618770 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? -0.780969, -0.818473, -1.985383 mu:0.618770 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.510] If point is visible? -0.784682, -0.817740, -1.982030 mu:0.618770 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.510] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.780574, -0.821394, -1.983286 mu:0.618770 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.701048, -0.800737, -2.078026 mu:0.618770 unit_bearing:0.515451 -0.412999 0.750828 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.704951, -0.800111, -2.074991 mu:0.618770 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.709183, -0.796478, -2.073940 mu:0.618770 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.713073, -0.795846, -2.070876 mu:0.618770 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.717293, -0.792208, -2.069788 mu:0.618770 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.388732, -0.813083, -2.282179 mu:0.618770 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.717629, -0.789201, -2.071771 mu:0.618770 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.388505, -0.816207, -2.280253 mu:0.618770 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.398062, -0.802975, -2.284011 mu:0.618770 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.329202, -0.795754, -2.321124 mu:0.618770 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.725082, -0.755285, -2.089958 mu:0.618770 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.740906, -0.749739, -2.079334 mu:0.618770 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.729907, -0.745521, -2.092487 mu:0.618770 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.733791, -0.744901, -2.089367 mu:0.618770 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.737668, -0.744278, -2.086232 mu:0.618770 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? 0.950023, -0.756061, -2.270762 mu:0.618770 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.511] If point is visible? -0.417107, -0.776374, -2.290977 mu:0.618770 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.511] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.325215, -0.789739, -2.326561 mu:0.618770 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.329607, -0.789432, -2.324832 mu:0.618770 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? 0.954417, -0.758639, -2.266637 mu:0.618770 unit_bearing:-0.514863 -0.372921 0.771911 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? 0.242005, -0.781139, -2.448107 mu:0.618770 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.734101, -0.741849, -2.091229 mu:0.618770 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.737979, -0.741227, -2.088094 mu:0.618770 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.430474, -0.768956, -2.288513 mu:0.618770 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.325613, -0.783404, -2.330236 mu:0.618770 unit_bearing:0.270400 -0.383335 0.883141 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.321606, -0.777359, -2.335593 mu:0.618770 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.434995, -0.765424, -2.288261 mu:0.618770 unit_bearing:0.340228 -0.375458 0.862135 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? 0.265032, -0.774541, -2.451456 mu:0.618770 unit_bearing:-0.100188 -0.368751 0.924113 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? 0.246445, -0.774676, -2.451632 mu:0.618770 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.886102, -0.687118, -1.970961 mu:0.618770 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -2.417481, -1.616713, -3.253400 mu:0.261831 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.512] If point is visible? -0.441602, -0.730142, -2.305611 mu:0.618770 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.323847, -0.739040, -2.356769 mu:0.618770 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? 0.305982, -0.741787, -2.467465 mu:0.618770 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? 0.301324, -0.741844, -2.467653 mu:0.618770 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.437889, -0.720929, -2.312819 mu:0.618770 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.968933, -0.639027, -1.899397 mu:0.618770 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? -0.324025, -0.735830, -2.358481 mu:0.618770 unit_bearing:0.268197 -0.351987 0.896758 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.512] If point is visible? 0.301412, -0.745086, -2.465967 mu:0.618770 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.512] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.296755, -0.745142, -2.466142 mu:0.618770 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.296845, -0.748381, -2.464448 mu:0.618770 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? -0.328613, -0.732324, -2.358474 mu:0.618770 unit_bearing:0.271049 -0.349835 0.896743 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? -0.333550, -0.722378, -2.361814 mu:0.618770 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? -0.403614, -0.717323, -2.332307 mu:0.618770 unit_bearing:0.318803 -0.342595 0.883738 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.324282, -0.728545, -2.473239 mu:0.618770 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? -0.378347, -0.703200, -2.352086 mu:0.618770 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? -0.404535, -0.701245, -2.340605 mu:0.618770 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? -0.967017, -0.627843, -1.910175 mu:0.618770 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? -0.391098, -0.708679, -2.343115 mu:0.618770 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.333525, -0.725153, -2.474359 mu:0.618770 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.338108, -0.721825, -2.475714 mu:0.618770 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? -0.404715, -0.698021, -2.342241 mu:0.618770 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.342693, -0.718493, -2.477047 mu:0.618770 unit_bearing:-0.149074 -0.332399 0.931283 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.365793, -0.708301, -2.480198 mu:0.618770 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? -0.964697, -0.619606, -1.919169 mu:0.618770 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? -0.369934, -0.697369, -2.359060 mu:0.618770 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? -0.530541, -0.875300, -2.695739 mu:0.492766 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.590481, Z inverse max: 0.395051 +[21:42:39.513] If point is visible? 0.370386, -0.704948, -2.481417 mu:0.618770 unit_bearing:-0.166290 -0.323750 0.931415 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.379650, -0.701498, -2.482207 mu:0.618770 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.271991, -0.689916, -2.494345 mu:0.618770 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.393517, -0.694667, -2.484062 mu:0.618770 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.388847, -0.694768, -2.484511 mu:0.618770 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.513] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.513] If point is visible? 0.299671, -0.676507, -2.499674 mu:0.618770 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.449243, -0.676917, -2.485356 mu:0.618770 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.444571, -0.677045, -2.485972 mu:0.618770 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.276492, -0.683308, -2.497332 mu:0.618770 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.271827, -0.683347, -2.497433 mu:0.618770 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.313381, -0.663170, -2.505103 mu:0.618770 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.308709, -0.663226, -2.505314 mu:0.618770 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.435290, -0.680570, -2.485624 mu:0.618770 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.430619, -0.680691, -2.486199 mu:0.618770 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.737316, -0.657382, -2.422200 mu:0.618770 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.700380, -0.656398, -2.435427 mu:0.618770 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.313090, -0.649961, -2.510998 mu:0.618770 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.308417, -0.650016, -2.511209 mu:0.618770 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? 0.303216, -0.662879, -2.838427 mu:0.519719 unit_bearing:-0.121046 -0.227612 0.966199 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.696949, Z inverse max: 0.342489 +[21:42:39.514] If point is visible? -1.589893, -0.583051, -2.798869 mu:0.383673 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.514] If point is visible? -0.214944, -0.381910, -2.537334 mu:0.618770 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? -0.109774, -0.395815, -2.561446 mu:0.618770 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? -0.186664, -0.477186, -2.875006 mu:0.513079 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.675609, Z inverse max: 0.350549 +[21:42:39.514] calculated Z= 0.720609 +[21:42:39.514] update seeds 305 +[21:42:39.514] If point is visible? -0.193950, -0.478970, -2.881292 mu:0.510991 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.668992, Z inverse max: 0.352989 +[21:42:39.514] calculated Z= 0.717351 +[21:42:39.514] update seeds 305 +[21:42:39.514] If point is visible? -0.137279, -0.394972, -2.555168 mu:0.618770 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? -0.146431, -0.394676, -2.552967 mu:0.618770 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? -0.119947, -0.305792, -2.579663 mu:0.618770 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? -0.124536, -0.305658, -2.578624 mu:0.618770 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? -0.543169, -0.634879, -4.240744 mu:0.297499 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.514] If point is visible? -0.161205, -0.301053, -2.570502 mu:0.618770 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.514] If point is visible? -0.154066, -0.315543, -2.707371 mu:0.572164 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.837321, Z inverse max: 0.307008 +[21:42:39.514] If point is visible? -0.158053, -0.314620, -2.702109 mu:0.573578 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.514] Z inverse min: 0.840441, Z inverse max: 0.306715 +[21:42:39.515] If point is visible? -0.193557, -0.302184, -2.810175 mu:0.539669 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.761461, Z inverse max: 0.317877 +[21:42:39.515] If point is visible? -0.284111, -0.247821, -2.543038 mu:0.618770 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -0.179274, -0.261166, -2.755602 mu:0.558371 unit_bearing:0.144807 -0.027543 0.989076 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.802480, Z inverse max: 0.314262 +[21:42:39.515] calculated Z= 0.751062 +[21:42:39.515] update seeds 305 +[21:42:39.515] If point is visible? -1.014308, -0.153193, -2.045010 mu:0.618770 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -1.021099, -0.152141, -2.036715 mu:0.618770 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? 0.440198, -0.249854, -2.616975 mu:0.618770 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -1.007529, -0.140999, -2.055092 mu:0.618770 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -0.958512, -0.137979, -2.112407 mu:0.618770 unit_bearing:0.676698 -0.003368 0.736253 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -1.004115, -0.131566, -2.060487 mu:0.618770 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -0.249686, -0.209705, -2.632265 mu:0.593696 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.880453, Z inverse max: 0.306939 +[21:42:39.515] calculated Z= 0.606291 +[21:42:39.515] update seeds 305 +[21:42:39.515] If point is visible? -1.007545, -0.134374, -2.055965 mu:0.618770 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -1.002223, -0.158363, -2.134935 mu:0.600477 unit_bearing:0.681509 -0.013769 0.731680 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.899723, Z inverse max: 0.301231 +[21:42:39.515] If point is visible? -1.007538, -0.137687, -2.055532 mu:0.618770 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -0.301948, -0.264273, -3.161233 mu:0.452313 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.515] If point is visible? -0.309107, -0.264517, -3.163180 mu:0.451567 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.515] If point is visible? -0.175878, -0.197526, -2.623762 mu:0.604270 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.908537, Z inverse max: 0.300002 +[21:42:39.515] If point is visible? -0.293269, -0.181236, -2.549300 mu:0.618770 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -0.979737, -0.108391, -2.091873 mu:0.618770 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -0.347050, -0.184235, -2.704977 mu:0.561742 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.813893, Z inverse max: 0.309590 +[21:42:39.515] If point is visible? -0.185379, -0.177452, -2.863245 mu:0.530135 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.741094, Z inverse max: 0.319175 +[21:42:39.515] If point is visible? -0.238226, -0.197006, -3.065229 mu:0.477115 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.556738, Z inverse max: 0.397492 +[21:42:39.515] If point is visible? -1.047751, -0.081972, -2.010805 mu:0.618770 unit_bearing:0.737625 0.023367 0.674807 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -1.051063, -0.084770, -2.006198 mu:0.618770 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.515] If point is visible? -1.047724, -0.078668, -2.011112 mu:0.618770 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.515] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -1.047694, -0.075363, -2.011411 mu:0.618770 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? 0.322641, -0.100450, -2.644016 mu:0.618770 unit_bearing:-0.141692 0.059768 0.988105 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.319667, -0.067917, -2.549155 mu:0.618770 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.465856, -0.067909, -2.487189 mu:0.618770 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.129074, -0.070906, -2.605919 mu:0.618770 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.133659, -0.070782, -2.604851 mu:0.618770 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.138242, -0.070657, -2.603770 mu:0.618770 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.474621, -0.070926, -2.482777 mu:0.618770 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.314617, -0.018795, -2.552401 mu:0.618770 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.319097, -0.018614, -2.550770 mu:0.618770 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.314568, -0.015268, -2.552458 mu:0.618770 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.242045, 0.013861, -2.576859 mu:0.618770 unit_bearing:0.210769 0.124909 0.969523 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? 0.960737, 0.070148, -2.476432 mu:0.618770 unit_bearing:-0.524660 0.151905 0.837649 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? 1.032393, 0.077353, -2.631684 mu:0.559544 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.811832, Z inverse max: 0.307257 +[21:42:39.516] If point is visible? 0.713714, 0.161082, -2.713792 mu:0.570032 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.836894, Z inverse max: 0.303170 +[21:42:39.516] calculated Z= 0.574219 +[21:42:39.516] update seeds 305 +[21:42:39.516] If point is visible? -0.361339, -0.833903, -2.281867 mu:0.618770 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.729596, -0.748572, -2.090617 mu:0.618770 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.361793, -0.827672, -2.285789 mu:0.618770 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? 0.958903, -0.751998, -2.268085 mu:0.618770 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.389182, -0.806824, -2.286007 mu:0.618770 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? 0.269583, -0.771280, -2.453133 mu:0.618770 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.516] If point is visible? -0.369762, -0.700601, -2.357434 mu:0.618770 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.516] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.294180, -0.640233, -2.516094 mu:0.618770 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.294324, -0.646857, -2.513211 mu:0.618770 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.292733, -0.566846, -2.545725 mu:0.618770 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.283368, -0.566922, -2.546015 mu:0.618770 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.468435, -0.242397, -2.614250 mu:0.618770 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -0.976240, -0.115545, -2.095123 mu:0.618770 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -0.983267, -0.114581, -2.087148 mu:0.618770 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.449615, -0.249695, -2.615761 mu:0.618770 unit_bearing:-0.219406 -0.034022 0.975040 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -0.969160, -0.149856, -2.098893 mu:0.618770 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -1.004084, -0.144824, -2.058740 mu:0.618770 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.355472, -0.131919, -2.639653 mu:0.618770 unit_bearing:-0.161899 0.040112 0.985992 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -1.010913, -0.150410, -2.049609 mu:0.618770 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -1.064212, -0.109042, -1.986079 mu:0.618770 unit_bearing:0.748940 0.004877 0.662620 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.346101, -0.117917, -2.641407 mu:0.618770 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -0.452695, -0.065117, -2.493602 mu:0.618770 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -0.461448, -0.064647, -2.489459 mu:0.618770 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -0.470258, -0.071168, -2.484898 mu:0.618770 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.924635, -0.059751, -2.494451 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.960729, 0.073616, -2.476263 mu:0.618770 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.960744, 0.066680, -2.476593 mu:0.618770 unit_bearing:-0.524697 0.149788 0.838008 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 1.102517, 0.114901, -2.393048 mu:0.618770 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.897245, 0.126717, -2.502795 mu:0.618770 unit_bearing:-0.486590 0.188635 0.853022 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? 0.906330, 0.134017, -2.498027 mu:0.618770 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -0.969241, 0.977318, -3.562338 mu:0.337001 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.517] If point is visible? 0.296578, -0.738655, -2.469504 mu:0.618770 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -0.782777, -0.574049, -2.148268 mu:0.618770 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.517] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.517] If point is visible? -0.775441, -0.805239, -2.002408 mu:0.618770 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.805114, -0.799410, -1.975414 mu:0.618770 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.341643, -0.734643, -2.351550 mu:0.618770 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.359205, -0.733412, -2.344396 mu:0.618770 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.411537, -0.729451, -2.321579 mu:0.618770 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? 0.994752, -0.698518, -2.277967 mu:0.618770 unit_bearing:-0.539937 -0.335143 0.772105 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? 0.292976, -0.580259, -2.540621 mu:0.618770 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? 0.312468, -0.620119, -2.523800 mu:0.618770 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? 0.278691, -0.764744, -2.456424 mu:0.618770 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? 0.463138, -0.669965, -2.486478 mu:0.618770 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? 0.851746, -0.687445, -2.360300 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.336071, -0.823418, -2.300532 mu:0.618770 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.353533, -0.822103, -2.293353 mu:0.618770 unit_bearing:0.289363 -0.409884 0.865023 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.370935, -0.820740, -2.285949 mu:0.618770 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? 0.296230, -0.725652, -2.476132 mu:0.618770 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? 0.477862, -0.249173, -2.611784 mu:0.618770 unit_bearing:-0.236594 -0.034002 0.971013 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.976200, -0.155517, -2.090055 mu:0.618770 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.962070, -0.144170, -2.107640 mu:0.618770 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.976247, -0.142209, -2.091875 mu:0.618770 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.283123, -0.016490, -2.563490 mu:0.618770 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? 0.924547, 0.072068, -2.493937 mu:0.618770 unit_bearing:-0.503300 0.154404 0.850205 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? -0.426192, -0.052465, -2.506326 mu:0.618770 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.518] If point is visible? 2.928187, 0.024463, -5.932722 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.518] Z inverse min: -nan, Z inverse max: -nan +[21:42:39.519] If point is visible? -0.873447, -0.074070, -2.205529 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.519] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.519] If point is visible? -0.443927, -0.065581, -2.497689 mu:0.618770 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.519] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.519] If point is visible? -0.283304, -0.030604, -2.563211 mu:0.618770 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.236627 y=0.000000 z=-1.033327 +[21:42:39.519] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:39.519] If point is visible? 0.715216, 0.044790, -2.341755 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.751850, 0.081955, -2.325947 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.220155, -0.837698, -2.147332 mu:0.717420 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.211585, -0.829934, -2.152969 mu:0.717420 unit_bearing:-0.113287 -0.493085 0.862574 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.215765, -0.832515, -2.151137 mu:0.717420 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.569296, -0.779432, -1.861550 mu:0.717420 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.207196, -0.824724, -2.156706 mu:0.717420 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.569723, -0.776926, -1.863487 mu:0.717420 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.202809, -0.819499, -2.160401 mu:0.717420 unit_bearing:-0.107723 -0.485004 0.867852 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.198630, -0.816891, -2.162159 mu:0.717420 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.185685, -0.803740, -2.171055 mu:0.717420 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.767301, -0.712020, -1.687635 mu:0.717420 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.185891, -0.806387, -2.169189 mu:0.717420 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.683957, -0.730464, -1.782940 mu:0.717420 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.768313, -0.707155, -1.691346 mu:0.717420 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.771071, -0.706382, -1.687950 mu:0.717420 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.337682, -0.760995, -2.050213 mu:0.717420 unit_bearing:0.288202 -0.452979 0.843652 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.727253, -0.710897, -1.746439 mu:0.717420 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.609087, -0.728272, -1.868414 mu:0.717420 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.748802, -0.698432, -1.729093 mu:0.717420 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.732020, -0.700261, -1.750493 mu:0.717420 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.874458, -0.740811, -2.026998 mu:0.717420 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.519] If point is visible? -0.694885, -0.701594, -1.796887 mu:0.717420 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.163604, -0.774448, -2.190010 mu:0.717420 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? 0.163406, -0.771765, -2.191790 mu:0.717420 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.698763, -0.695891, -1.797366 mu:0.717420 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.698331, -0.698416, -1.795588 mu:0.717420 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.636012, -0.673319, -1.886630 mu:0.717420 unit_bearing:0.518491 -0.404850 0.753168 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.651904, -0.670476, -1.872348 mu:0.717420 unit_bearing:0.531332 -0.404075 0.744587 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.634524, -0.683713, -1.879857 mu:0.717420 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.638088, -0.680553, -1.878728 mu:0.717420 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.641270, -0.679983, -1.875884 mu:0.717420 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.642019, -0.674792, -1.879270 mu:0.717420 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.645196, -0.674222, -1.876414 mu:0.717420 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.519] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.519] If point is visible? -0.377314, -0.693888, -2.074768 mu:0.717420 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.373140, -0.699621, -2.073383 mu:0.717420 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.653055, -0.639656, -1.894889 mu:0.717420 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.656582, -0.636465, -1.893602 mu:0.717420 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.659755, -0.635905, -1.890710 mu:0.717420 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.662922, -0.635343, -1.887806 mu:0.717420 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.324131, -0.682359, -2.111725 mu:0.717420 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.320948, -0.677196, -2.116619 mu:0.717420 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.318241, -0.666541, -2.124589 mu:0.717420 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.780000, -0.656489, -2.136409 mu:0.717420 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.398072, -0.665076, -2.081102 mu:0.717420 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.161912, -0.690064, -2.242150 mu:0.717420 unit_bearing:-0.085783 -0.385690 0.918632 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.405802, -0.658940, -2.080268 mu:0.717420 unit_bearing:0.334635 -0.377681 0.863352 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.409399, -0.658592, -2.078272 mu:0.717420 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.169408, -0.681781, -2.247279 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.660101, -0.633270, -1.892297 mu:0.717420 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.663269, -0.632709, -1.889393 mu:0.717420 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.180768, -0.670694, -2.254013 mu:0.717420 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.176764, -0.670697, -2.253822 mu:0.717420 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.784570, -0.582499, -1.782209 mu:0.717420 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.520] If point is visible? -0.409661, -0.655866, -2.079823 mu:0.717420 unit_bearing:0.337460 -0.375531 0.863190 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.164600, -0.667912, -2.254691 mu:0.717420 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.419634, -0.625040, -2.092407 mu:0.717420 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.419878, -0.622287, -2.093875 mu:0.717420 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.321046, -0.633473, -2.142706 mu:0.717420 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.215224, -0.639932, -2.271493 mu:0.717420 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.211204, -0.639951, -2.271407 mu:0.717420 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.211348, -0.642748, -2.269960 mu:0.717420 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.207330, -0.642766, -2.269863 mu:0.717420 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.416521, -0.619875, -2.097356 mu:0.717420 unit_bearing:0.340918 -0.348370 0.873163 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.420120, -0.619532, -2.095338 mu:0.717420 unit_bearing:0.343692 -0.348303 0.872102 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.207475, -0.645561, -2.268409 mu:0.717420 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.325417, -0.624875, -2.145373 mu:0.717420 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.416761, -0.617117, -2.098811 mu:0.717420 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.413394, -0.614695, -2.102265 mu:0.717420 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? 0.230756, -0.628630, -2.277440 mu:0.717420 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.329558, -0.619038, -2.146537 mu:0.717420 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.329339, -0.621817, -2.145099 mu:0.717420 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.403248, -0.607392, -2.112512 mu:0.717420 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.851759, -0.540511, -1.716136 mu:0.717420 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.367478, -0.602207, -2.135784 mu:0.717420 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.389398, -0.600352, -2.124508 mu:0.717420 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.852138, -0.537924, -1.717573 mu:0.717420 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.520] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.520] If point is visible? -0.378013, -0.606851, -2.127382 mu:0.717420 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.850229, -0.533459, -1.724074 mu:0.717420 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.352999, -0.600610, -2.144461 mu:0.717420 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.356679, -0.600316, -2.142659 mu:0.717420 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.360355, -0.600020, -2.140845 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.242570, -0.622924, -2.280307 mu:0.717420 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.254403, -0.617194, -2.283041 mu:0.717420 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.162026, -0.620359, -2.279367 mu:0.717420 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.848657, -0.526369, -1.731941 mu:0.717420 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.382545, -0.595412, -2.131106 mu:0.717420 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.360569, -0.597232, -2.142236 mu:0.717420 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.364242, -0.596934, -2.140411 mu:0.717420 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.521] If point is visible? 0.258307, -0.614341, -2.284384 mu:0.717420 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.278119, -0.605662, -2.288110 mu:0.717420 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.274077, -0.605712, -2.288213 mu:0.717420 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.305949, -0.593973, -2.292462 mu:0.717420 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.297972, -0.596922, -2.291481 mu:0.717420 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.184873, -0.594968, -2.292836 mu:0.717420 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.338019, -0.584916, -2.294526 mu:0.717420 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.333964, -0.584996, -2.294809 mu:0.717420 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.329910, -0.585074, -2.295079 mu:0.717420 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.204603, -0.586432, -2.297487 mu:0.717420 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.325970, -0.587975, -2.294014 mu:0.717420 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.321917, -0.588049, -2.294261 mu:0.717420 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.184741, -0.592135, -2.294165 mu:0.717420 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.184610, -0.589300, -2.295487 mu:0.717420 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.560967, -0.565865, -2.265249 mu:0.717420 unit_bearing:-0.369647 -0.295232 0.881022 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.556912, -0.566068, -2.266216 mu:0.717420 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.585438, -0.570183, -2.256541 mu:0.717420 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.220105, -0.572168, -2.304303 mu:0.717420 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.216071, -0.572186, -2.304236 mu:0.717420 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.219627, -0.560773, -2.309366 mu:0.717420 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.215593, -0.560790, -2.309298 mu:0.717420 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.852727, -0.519450, -2.170700 mu:0.717420 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? 0.208978, -0.491832, -2.337309 mu:0.717420 unit_bearing:-0.126762 -0.236215 0.963397 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.801580, -0.309334, -1.910494 mu:0.717420 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.798735, -0.307013, -1.914662 mu:0.717420 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.145342, -0.341771, -2.329599 mu:0.717420 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.149238, -0.341624, -2.328483 mu:0.717420 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.153131, -0.341476, -2.327356 mu:0.717420 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.280471, -0.320856, -2.287394 mu:0.717420 unit_bearing:0.227977 -0.118832 0.966388 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.219132, -0.329816, -2.308682 mu:0.717420 unit_bearing:0.182072 -0.123351 0.975517 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.222979, -0.329639, -2.307347 mu:0.717420 unit_bearing:0.184946 -0.123341 0.974978 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.521] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.521] If point is visible? -0.226823, -0.329459, -2.306000 mu:0.717420 unit_bearing:0.187819 -0.123331 0.974430 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.522] If point is visible? -0.230664, -0.329278, -2.304641 mu:0.717420 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.522] If point is visible? -0.145409, -0.338808, -2.330357 mu:0.717420 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.149305, -0.338662, -2.329241 mu:0.717420 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.153199, -0.338513, -2.328114 mu:0.717420 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.176507, -0.337588, -2.321109 mu:0.717420 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.158581, -0.248978, -2.346663 mu:0.717420 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.162474, -0.248831, -2.345513 mu:0.717420 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.189546, -0.256742, -2.335436 mu:0.717420 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.178142, -0.236246, -2.342977 mu:0.717420 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.170563, -0.212528, -2.349404 mu:0.717420 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.293538, -0.210033, -2.305269 mu:0.717420 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.889631, -0.113278, -1.846769 mu:0.717420 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.892356, -0.112813, -1.843047 mu:0.717420 unit_bearing:0.712358 -0.009540 0.701752 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.900408, -0.122802, -1.830225 mu:0.717420 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.247936, -0.170179, -2.329192 mu:0.717420 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.522] If point is visible? -0.186250, -0.163728, -2.351431 mu:0.717420 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.522] If point is visible? -0.190126, -0.163577, -2.350200 mu:0.717420 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.522] If point is visible? -0.301317, -0.164590, -2.308690 mu:0.717420 unit_bearing:0.242536 -0.005697 0.970126 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.878654, -0.100796, -1.863367 mu:0.717420 unit_bearing:0.700618 0.000794 0.713536 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.881419, -0.100345, -1.859693 mu:0.717420 unit_bearing:0.702980 0.000793 0.711209 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.881419, -0.103210, -1.859340 mu:0.717420 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.884174, -0.102757, -1.855654 mu:0.717420 unit_bearing:0.705335 -0.001277 0.708873 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.886917, -0.105163, -1.851597 mu:0.717420 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.889640, -0.110421, -1.847148 mu:0.717420 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.892365, -0.109958, -1.843427 mu:0.717420 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.870253, -0.084893, -1.876291 mu:0.717420 unit_bearing:0.693483 0.013248 0.720351 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.158973, -0.128447, -2.363753 mu:0.717420 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.162806, -0.116184, -2.363735 mu:0.717420 unit_bearing:0.139032 0.033584 0.989718 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.460489, -0.058773, -2.238977 mu:0.717420 unit_bearing:0.364298 0.063557 0.929111 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.464118, -0.058532, -2.236883 mu:0.717420 unit_bearing:0.367100 0.063546 0.928008 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.162343, -0.064538, -2.367377 mu:0.717420 unit_bearing:0.138993 0.070678 0.987768 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.166232, -0.064401, -2.366214 mu:0.717420 unit_bearing:0.141878 0.070674 0.987358 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.170120, -0.064263, -2.365040 mu:0.717420 unit_bearing:0.144763 0.070670 0.986939 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.162267, -0.058450, -2.367680 mu:0.717420 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.166156, -0.058313, -2.366517 mu:0.717420 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.170043, -0.058175, -2.365343 mu:0.717420 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.386590, -0.033046, -2.279734 mu:0.717420 unit_bearing:0.307853 0.085440 0.947590 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.319142, -0.030542, -2.311299 mu:0.717420 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.322630, -0.015160, -2.310052 mu:0.717420 unit_bearing:0.259474 0.100827 0.960472 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.318801, -0.012305, -2.311753 mu:0.717420 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.322570, -0.012120, -2.310111 mu:0.717420 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.522] If point is visible? -0.261234, 0.015553, -2.335218 mu:0.717420 unit_bearing:0.213635 0.124897 0.968897 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.522] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.253596, 0.015230, -2.338117 mu:0.717420 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.617393, 0.002849, -2.374241 mu:0.717420 unit_bearing:-0.413867 0.119263 0.902491 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.523] If point is visible? 0.715216, 0.044790, -2.341755 mu:0.717420 unit_bearing:-0.479209 0.146288 0.865424 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.788181, 0.110056, -2.308753 mu:0.717420 unit_bearing:-0.526557 0.189877 0.828664 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.155056, 0.531769, -2.260856 mu:0.717420 unit_bearing:0.153109 0.485979 0.860455 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.328587, -0.711575, -2.090303 mu:0.717420 unit_bearing:0.278101 -0.414284 0.866619 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.335912, -0.710954, -2.086772 mu:0.717420 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.343221, -0.710323, -2.083194 mu:0.717420 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.350515, -0.709682, -2.079568 mu:0.717420 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.787813, -0.653042, -2.134576 mu:0.717420 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.155843, -0.720273, -2.224000 mu:0.717420 unit_bearing:-0.079930 -0.408788 0.909122 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.169408, -0.681781, -2.247279 mu:0.717420 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.373967, -0.691523, -2.078302 mu:0.717420 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.360355, -0.600020, -2.140845 mu:0.717420 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.375019, -0.598814, -2.133472 mu:0.717420 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.520388, -0.567788, -2.274345 mu:0.717420 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.203376, -0.557973, -2.310273 mu:0.717420 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.209272, -0.500506, -2.334011 mu:0.717420 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.200799, -0.488949, -2.338194 mu:0.717420 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.192722, -0.488953, -2.337946 mu:0.717420 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.358682, -0.204159, -2.406813 mu:0.717420 unit_bearing:-0.236604 -0.025294 0.971277 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.858988, -0.121158, -1.886514 mu:0.717420 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.881384, -0.117523, -1.857474 mu:0.717420 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.886884, -0.116598, -1.850092 mu:0.717420 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.864666, -0.114518, -1.880097 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.870299, -0.102138, -1.874315 mu:0.717420 unit_bearing:0.693500 0.000795 0.720456 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.892313, -0.121373, -1.841867 mu:0.717420 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.442652, -0.093109, -2.246970 mu:0.717420 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.244513, -0.114230, -2.422546 mu:0.717420 unit_bearing:-0.156135 0.040117 0.986921 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.864674, -0.097275, -1.882240 mu:0.717420 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.870293, -0.096393, -1.875001 mu:0.717420 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.252685, -0.108161, -2.422962 mu:0.717420 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.523] If point is visible? 0.244583, -0.102091, -2.423491 mu:0.717420 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.870278, -0.090645, -1.875660 mu:0.717420 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.750796, -0.055732, -2.327762 mu:0.717420 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.449534, -0.056472, -2.245355 mu:0.717420 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.653947, -0.005182, -2.363311 mu:0.717420 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.736114, 0.111508, -2.329906 mu:0.717420 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.398492, 0.463639, -2.184272 mu:0.717420 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.689694, -0.697841, -1.806581 mu:0.717420 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.713715, -0.692572, -1.781770 mu:0.717420 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? 0.201192, -0.500520, -2.333810 mu:0.717420 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.523] If point is visible? -0.703940, -0.488218, -1.938845 mu:0.717420 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.523] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.330194, -0.695353, -2.100194 mu:0.717420 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.344849, -0.694117, -2.093088 mu:0.717420 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.359441, -0.692840, -2.085791 mu:0.717420 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? 0.207041, -0.637169, -2.272749 mu:0.717420 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.336951, -0.618470, -2.143063 mu:0.717420 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.351691, -0.617305, -2.135972 mu:0.717420 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.395536, -0.613583, -2.113555 mu:0.717420 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.358348, -0.703644, -2.079220 mu:0.717420 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.715448, -0.682475, -1.788810 mu:0.717420 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? 0.201600, -0.512064, -2.329319 mu:0.717420 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? 0.206473, -0.625951, -2.278439 mu:0.717420 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? 0.833729, -0.573205, -2.154901 mu:0.717420 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.350788, -0.628390, -2.130176 mu:0.717420 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734300, Z inverse max: 0.700539 +[21:42:39.524] If point is visible? -0.380059, -0.625927, -2.115417 mu:0.717420 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? 0.202459, -0.535074, -2.320013 mu:0.717420 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? 0.349966, -0.579010, -2.296233 mu:0.717420 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.853328, -0.104783, -1.895881 mu:0.717420 unit_bearing:0.679115 0.000797 0.734031 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.864680, -0.103026, -1.881553 mu:0.717420 unit_bearing:0.688727 0.000796 0.725020 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.853313, -0.116299, -1.894422 mu:0.717420 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.864666, -0.114518, -1.880097 mu:0.717420 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.427511, -0.051823, -2.257767 mu:0.717420 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.292498, -0.022692, -2.322721 mu:0.717420 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? -0.864616, -0.125996, -1.878530 mu:0.717420 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:39.524] If point is visible? 0.751850, 0.081955, -2.325947 mu:0.717420 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.236632 y=0.000000 z=-1.033373 +[21:42:39.524] Z inverse min: 0.734299, Z inverse max: 0.700540 +[21:42:40.320] add new frame +[21:42:40.320] add key frame +[21:42:40.320] update seed +[21:42:40.320] init seeds +[21:42:40.320] remove key frame +[21:42:40.320] update seed +[21:42:40.320] If point is visible? 0.461648, -0.222238, -0.212363 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.248307 y=0.000000 z=-0.988798 +[21:42:40.320] If point is visible? 0.181336, -0.096895, -0.161827 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.248307 y=0.000000 z=-0.988798 +[21:42:40.320] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:40.320] If point is visible? 0.171279, -0.214684, -0.185224 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.248307 y=0.000000 z=-0.988798 +[21:42:40.320] If point is visible? 0.461648, -0.222238, -0.212363 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.248307 y=0.000000 z=-0.988798 +[21:42:40.320] If point is visible? 0.181336, -0.096895, -0.161827 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.248307 y=0.000000 z=-0.988798 +[21:42:40.320] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:40.320] If point is visible? 0.171279, -0.214684, -0.185224 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.248307 y=0.000000 z=-0.988798 +[21:42:40.320] If point is visible? 0.198558, -0.001137, -0.870524 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.320] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.320] calculated Z= 0.665746 +[21:42:40.320] update seeds 305 +[21:42:40.320] If point is visible? 0.239096, -0.015193, -0.862037 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.320] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.320] If point is visible? 0.239092, -0.016349, -0.862178 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.320] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.320] If point is visible? 0.238224, 0.067683, -0.880104 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.320] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.320] If point is visible? 0.281338, 0.057899, -0.879173 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.320] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.320] If point is visible? 0.205018, 0.054614, -0.880781 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.320] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.320] If point is visible? 0.205021, 0.054876, -0.880909 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.320] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.321] If point is visible? 0.284392, 0.053527, -0.877964 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.321] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.321] If point is visible? 0.281455, 0.053135, -0.876884 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.321] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.321] If point is visible? 0.204250, 0.051670, -0.879678 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.321] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.321] If point is visible? 0.203867, 0.050322, -0.879217 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.321] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.321] If point is visible? 0.203480, 0.048439, -0.878545 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.321] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.321] If point is visible? 0.299397, 0.049425, -0.881967 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.321] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.321] If point is visible? 0.299405, 0.049159, -0.881851 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.321] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.321] If point is visible? 0.280063, 0.048913, -0.874636 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.321] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.321] calculated Z= 0.052936 +[21:42:40.321] update seeds 305 +[21:42:40.321] If point is visible? 0.299413, 0.048893, -0.881737 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.321] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.321] If point is visible? 0.226623, 0.047061, -0.871468 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.322] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.322] If point is visible? 0.227000, 0.047071, -0.871406 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.322] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.322] If point is visible? 0.300220, 0.045639, -0.880725 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.322] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.322] If point is visible? 0.288954, 0.046610, -0.876484 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.322] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.322] If point is visible? 0.280116, 0.045941, -0.873455 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.322] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.322] calculated Z= 0.319315 +[21:42:40.322] update seeds 305 +[21:42:40.322] If point is visible? 0.288609, 0.045550, -0.875940 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.322] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.322] If point is visible? 0.202715, 0.045453, -0.877615 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.322] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.322] If point is visible? 0.202713, 0.045185, -0.877510 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.322] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.322] If point is visible? 0.288247, 0.045299, -0.875715 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.322] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.322] If point is visible? 0.288615, 0.045280, -0.875836 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.247959 y=0.000000 z=-0.991905 +[21:42:40.323] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.323] init seeds +[21:42:40.323] DepthFilter: Initialized 0 new seeds +[21:42:40.325] DepthFilter: Initialized 0 new seeds +[21:42:40.720] add new frame +[21:42:40.720] add key frame +[21:42:40.720] update seed +[21:42:40.720] init seeds +[21:42:40.720] remove key frame +[21:42:40.721] update seed +[21:42:40.721] If point is visible? 0.466476, -0.222238, -0.223997 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.253136 y=0.000000 z=-1.000431 +[21:42:40.721] If point is visible? 0.186165, -0.096895, -0.173460 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.253136 y=0.000000 z=-1.000431 +[21:42:40.721] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:40.721] If point is visible? 0.176108, -0.214684, -0.196857 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.253136 y=0.000000 z=-1.000431 +[21:42:40.721] If point is visible? 0.466476, -0.222238, -0.223997 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.253136 y=0.000000 z=-1.000431 +[21:42:40.721] If point is visible? 0.186165, -0.096895, -0.173460 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.253136 y=0.000000 z=-1.000431 +[21:42:40.721] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:40.721] If point is visible? 0.176108, -0.214684, -0.196857 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.253136 y=0.000000 z=-1.000431 +[21:42:40.721] If point is visible? 0.203387, -0.001137, -0.882157 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.721] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.721] If point is visible? 0.243925, -0.015193, -0.873670 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.721] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.721] If point is visible? 0.243920, -0.016349, -0.873811 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.721] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.721] If point is visible? 0.243053, 0.067683, -0.891737 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.721] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.721] If point is visible? 0.286167, 0.057899, -0.890806 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.721] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.721] If point is visible? 0.209847, 0.054614, -0.892414 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.721] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.721] If point is visible? 0.209850, 0.054876, -0.892542 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.721] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.721] If point is visible? 0.289221, 0.053527, -0.889597 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.721] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.721] If point is visible? 0.286283, 0.053135, -0.888517 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.721] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.722] If point is visible? 0.209078, 0.051670, -0.891311 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.722] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.722] If point is visible? 0.208696, 0.050322, -0.890850 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.722] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.722] If point is visible? 0.208308, 0.048439, -0.890179 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.722] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.722] If point is visible? 0.304226, 0.049425, -0.893600 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.722] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.722] If point is visible? 0.304234, 0.049159, -0.893485 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.722] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.722] If point is visible? 0.284892, 0.048913, -0.886269 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.722] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.722] If point is visible? 0.304241, 0.048893, -0.893370 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.722] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.722] If point is visible? 0.231451, 0.047061, -0.883101 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.722] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.722] If point is visible? 0.231828, 0.047071, -0.883039 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.722] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.722] If point is visible? 0.305049, 0.045639, -0.892358 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.722] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.722] If point is visible? 0.293782, 0.046610, -0.888117 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.722] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.723] If point is visible? 0.284945, 0.045941, -0.885088 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.723] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.723] If point is visible? 0.293438, 0.045550, -0.887573 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.723] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.723] If point is visible? 0.207544, 0.045453, -0.889249 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.723] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.723] If point is visible? 0.207541, 0.045185, -0.889143 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.723] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:40.723] If point is visible? 0.293076, 0.045299, -0.887349 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.723] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.723] If point is visible? 0.293443, 0.045280, -0.887469 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.252788 y=0.000000 z=-1.003538 +[21:42:40.723] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:40.723] init seeds +[21:42:40.723] DepthFilter: Initialized 0 new seeds +[21:42:40.725] DepthFilter: Initialized 0 new seeds +[21:42:41.100] add new frame +[21:42:41.100] update seed +[21:42:41.100] If point is visible? 0.471960, -0.222238, -0.235534 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.258619 y=0.000000 z=-1.011969 +[21:42:41.100] If point is visible? 0.191648, -0.096895, -0.184998 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.258619 y=0.000000 z=-1.011969 +[21:42:41.100] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:41.100] If point is visible? 0.181591, -0.214684, -0.208394 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.258619 y=0.000000 z=-1.011969 +[21:42:41.100] If point is visible? 0.471960, -0.222238, -0.235534 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.258619 y=0.000000 z=-1.011969 +[21:42:41.100] If point is visible? 0.191648, -0.096895, -0.184998 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.258619 y=0.000000 z=-1.011969 +[21:42:41.100] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:41.100] If point is visible? 0.181591, -0.214684, -0.208394 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.258619 y=0.000000 z=-1.011969 +[21:42:41.100] If point is visible? 0.208871, -0.001137, -0.893695 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.100] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.100] If point is visible? 0.249408, -0.015193, -0.885208 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.100] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.100] calculated Z= 0.072007 +[21:42:41.100] update seeds 305 +[21:42:41.100] If point is visible? 0.249404, -0.016349, -0.885348 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.100] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.100] If point is visible? 0.248536, 0.067683, -0.903275 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.100] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.100] If point is visible? 0.291651, 0.057899, -0.902343 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.100] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.100] If point is visible? 0.215330, 0.054614, -0.903952 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.100] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.100] If point is visible? 0.215333, 0.054876, -0.904080 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.100] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.100] If point is visible? 0.294704, 0.053527, -0.901135 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.100] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.100] If point is visible? 0.291767, 0.053135, -0.900055 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.100] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.214562, 0.051670, -0.902849 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.214179, 0.050322, -0.902387 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.213792, 0.048439, -0.901716 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.309709, 0.049425, -0.905138 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.309717, 0.049159, -0.905022 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.290375, 0.048913, -0.897807 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.309725, 0.048893, -0.904907 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.236935, 0.047061, -0.894638 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.237312, 0.047071, -0.894576 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.310532, 0.045639, -0.903896 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.299266, 0.046610, -0.899654 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.101] If point is visible? 0.290428, 0.045941, -0.896626 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.101] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.102] calculated Z= 0.327869 +[21:42:41.102] update seeds 305 +[21:42:41.102] If point is visible? 0.298921, 0.045550, -0.899111 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.102] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.102] If point is visible? 0.213027, 0.045453, -0.900786 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.102] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.102] If point is visible? 0.213025, 0.045185, -0.900681 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.102] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.102] If point is visible? 0.298559, 0.045299, -0.898886 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.102] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.102] If point is visible? 0.298927, 0.045280, -0.899007 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.102] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.102] If point is visible? 0.243356, 0.045856, -0.893216 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.102] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.102] If point is visible? 0.244113, 0.045598, -0.893029 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.102] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.102] If point is visible? 0.290809, 0.045384, -0.896515 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.102] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.102] calculated Z= 0.327988 +[21:42:41.102] update seeds 305 +[21:42:41.102] If point is visible? 0.298565, 0.045028, -0.898783 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.102] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.103] If point is visible? 0.291193, 0.044554, -0.896306 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.103] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.103] calculated Z= 0.328588 +[21:42:41.103] update seeds 305 +[21:42:41.103] If point is visible? 0.291564, 0.044539, -0.896404 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.103] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.103] calculated Z= 0.327146 +[21:42:41.103] update seeds 305 +[21:42:41.103] If point is visible? 0.247901, 0.044295, -0.892171 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.103] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.103] If point is visible? 0.247143, 0.044557, -0.892332 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.103] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.103] If point is visible? 0.251689, 0.044064, -0.891827 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.103] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.103] If point is visible? 0.298203, 0.044777, -0.898561 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.103] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.103] If point is visible? 0.298570, 0.044758, -0.898681 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.103] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.103] If point is visible? 0.292690, 0.043677, -0.896405 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.103] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.103] If point is visible? 0.291569, 0.044267, -0.896304 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.103] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.104] calculated Z= 0.327902 +[21:42:41.104] update seeds 305 +[21:42:41.104] If point is visible? 0.291939, 0.044252, -0.896403 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.104] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.104] calculated Z= 0.326001 +[21:42:41.104] update seeds 305 +[21:42:41.104] If point is visible? 0.212260, 0.041910, -0.899743 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.104] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.104] If point is visible? 0.249799, 0.043224, -0.891646 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.104] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.104] If point is visible? 0.250178, 0.043228, -0.891622 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.104] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.104] If point is visible? 0.250556, 0.043232, -0.891599 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.104] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.104] If point is visible? 0.293064, 0.043389, -0.896409 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.104] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.104] If point is visible? 0.201659, 0.040363, -0.903986 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.104] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.104] If point is visible? 0.201662, 0.040631, -0.904082 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.104] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.104] If point is visible? 0.291944, 0.043980, -0.896303 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.104] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.104] calculated Z= 0.346900 +[21:42:41.104] update seeds 305 +[21:42:41.104] If point is visible? 0.250558, 0.042958, -0.891503 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.104] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.105] If point is visible? 0.252077, 0.042150, -0.891140 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.105] If point is visible? 0.252078, 0.041875, -0.891047 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.105] If point is visible? 0.212952, 0.034882, -0.897158 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.105] If point is visible? 0.248695, 0.031599, -0.888249 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.105] If point is visible? 0.193263, 0.025064, -0.904077 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.105] If point is visible? 0.193265, 0.025338, -0.904138 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.105] If point is visible? 0.272988, 0.025942, -0.887461 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.105] If point is visible? 0.190066, 0.023163, -0.905592 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.105] If point is visible? 0.277897, 0.025295, -0.887993 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.105] If point is visible? 0.272994, 0.023971, -0.887077 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.105] If point is visible? 0.283546, 0.023761, -0.888697 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.105] calculated Z= 0.076221 +[21:42:41.105] update seeds 305 +[21:42:41.105] If point is visible? 0.191820, 0.020838, -0.904057 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.105] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.106] If point is visible? 0.194307, 0.020201, -0.902490 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.106] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.106] If point is visible? 0.194306, 0.019925, -0.902441 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.106] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.106] If point is visible? 0.283177, 0.021798, -0.888270 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.106] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.106] If point is visible? 0.272996, 0.023125, -0.886922 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.106] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.106] If point is visible? 0.186547, 0.019855, -0.907203 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.106] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.106] If point is visible? 0.183772, 0.018789, -0.908906 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.106] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.106] If point is visible? 0.190047, 0.019324, -0.904862 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.106] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.106] calculated Z= 0.786986 +[21:42:41.106] update seeds 305 +[21:42:41.106] If point is visible? 0.190752, 0.019104, -0.904390 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.106] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.106] calculated Z= 0.813061 +[21:42:41.106] update seeds 305 +[21:42:41.106] If point is visible? 0.282056, 0.018150, -0.887483 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.106] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.106] If point is visible? 0.283559, 0.018114, -0.887767 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.106] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.106] If point is visible? 0.271868, 0.019183, -0.886148 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.106] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.106] calculated Z= 0.679847 +[21:42:41.106] update seeds 305 +[21:42:41.106] If point is visible? 0.272246, 0.019178, -0.886188 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.107] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.107] If point is visible? 0.272625, 0.019172, -0.886229 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.107] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.107] If point is visible? 0.274895, 0.016870, -0.886180 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.107] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.107] If point is visible? 0.283559, 0.017831, -0.887727 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.107] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.107] If point is visible? 0.283935, 0.016972, -0.887685 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.107] Z inverse min: -7.583360, Z inverse max: 0.000000 +[21:42:41.107] calculated Z= 0.307117 +[21:42:41.107] update seeds 305 +[21:42:41.107] If point is visible? 0.272247, 0.018043, -0.886025 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.107] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.107] If point is visible? 0.272626, 0.018038, -0.886065 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.107] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.107] If point is visible? 0.273005, 0.016046, -0.885845 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.107] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.107] calculated Z= 0.663770 +[21:42:41.107] update seeds 305 +[21:42:41.107] If point is visible? 0.271869, 0.014069, -0.885491 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.107] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.107] If point is visible? 0.272248, 0.014064, -0.885531 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.107] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.107] If point is visible? 0.272626, 0.014059, -0.885571 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.107] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.108] If point is visible? 0.285062, 0.014958, -0.887664 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.108] If point is visible? 0.286561, 0.014635, -0.887951 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.108] If point is visible? 0.285059, 0.011830, -0.887335 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.108] calculated Z= 0.758357 +[21:42:41.108] update seeds 305 +[21:42:41.108] If point is visible? 0.271868, 0.012929, -0.885372 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.108] If point is visible? 0.272247, 0.012925, -0.885412 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.108] If point is visible? 0.272625, 0.012920, -0.885453 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.108] calculated Z= 0.668336 +[21:42:41.108] update seeds 305 +[21:42:41.108] If point is visible? 0.286922, 0.007790, -0.887429 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.108] If point is visible? 0.273372, 0.007768, -0.885127 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.108] If point is visible? 0.239974, 0.006016, -0.885445 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.108] calculated Z= 0.191324 +[21:42:41.108] update seeds 305 +[21:42:41.108] If point is visible? 0.292872, 0.003336, -0.888716 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.108] calculated Z= 0.993125 +[21:42:41.108] update seeds 305 +[21:42:41.108] If point is visible? 0.294730, 0.003279, -0.889238 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.108] If point is visible? 0.317669, 0.000878, -0.898258 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.108] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.289133, 0.001437, -0.887716 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] calculated Z= 0.737574 +[21:42:41.109] update seeds 305 +[21:42:41.109] If point is visible? 0.289504, 0.001141, -0.887803 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.272595, 0.002043, -0.884823 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.272973, 0.002038, -0.884865 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.272584, -0.000257, -0.884806 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.287618, -0.001393, -0.887358 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.287991, -0.001403, -0.887444 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.272573, -0.002272, -0.884824 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.272951, -0.002276, -0.884867 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.273328, -0.002281, -0.884910 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.287616, -0.001681, -0.887360 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.287237, -0.002246, -0.887283 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.109] If point is visible? 0.287235, -0.002533, -0.887288 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.109] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.110] If point is visible? 0.295425, -0.002470, -0.889423 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.110] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.110] If point is visible? 0.286096, -0.004520, -0.887089 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.110] If point is visible? 0.286093, -0.004807, -0.887099 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.110] If point is visible? 0.214483, -0.013772, -0.892324 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.110] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.110] If point is visible? 0.250909, -0.018077, -0.885484 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.110] If point is visible? 0.249301, -0.036260, -0.889458 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.110] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.110] If point is visible? 0.249676, -0.036259, -0.889431 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.110] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.110] If point is visible? 0.249674, -0.036546, -0.889515 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.110] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.110] If point is visible? 0.297330, -0.035548, -0.895135 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.110] If point is visible? 0.302681, -0.037939, -0.897758 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.110] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.110] If point is visible? 0.302332, -0.037648, -0.897532 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.110] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.111] If point is visible? 0.278189, -0.049240, -0.895268 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.111] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.111] If point is visible? 0.251553, 0.065664, -0.901858 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.111] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.111] If point is visible? 0.252304, 0.065672, -0.901821 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.111] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.111] If point is visible? 0.250794, 0.066688, -0.902506 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.111] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.111] If point is visible? 0.253059, 0.065162, -0.901489 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.111] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.111] If point is visible? 0.295092, 0.052711, -0.900879 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.111] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.111] If point is visible? 0.292130, 0.053384, -0.900277 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.111] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.111] If point is visible? 0.292868, 0.053350, -0.900481 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.112] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.112] If point is visible? 0.294343, 0.053279, -0.900904 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.112] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.112] If point is visible? 0.293593, 0.053847, -0.900936 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.112] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.112] calculated Z= 0.023742 +[21:42:41.112] update seeds 305 +[21:42:41.112] If point is visible? 0.253912, 0.052487, -0.895071 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.112] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.112] If point is visible? 0.310525, 0.045907, -0.904003 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.112] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.112] If point is visible? 0.252453, 0.042701, -0.891310 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.112] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.112] If point is visible? 0.292310, 0.044237, -0.896503 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.112] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.112] If point is visible? 0.293051, 0.044205, -0.896706 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.112] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.112] If point is visible? 0.291560, 0.044811, -0.896505 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.112] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.113] calculated Z= 0.326405 +[21:42:41.113] update seeds 305 +[21:42:41.113] If point is visible? 0.292301, 0.044780, -0.896704 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.113] calculated Z= 0.323296 +[21:42:41.113] update seeds 305 +[21:42:41.113] If point is visible? 0.212582, 0.034861, -0.897295 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.113] If point is visible? 0.248698, 0.030482, -0.887976 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.113] calculated Z= 0.064252 +[21:42:41.113] update seeds 305 +[21:42:41.113] If point is visible? 0.249456, 0.031048, -0.888058 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.113] If point is visible? 0.239595, 0.006582, -0.885527 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.113] If point is visible? 0.239595, 0.006010, -0.885499 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.113] If point is visible? 0.240353, 0.006021, -0.885392 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.113] calculated Z= 0.176298 +[21:42:41.113] update seeds 305 +[21:42:41.113] If point is visible? 0.287259, 0.000625, -0.887269 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.113] If point is visible? 0.288006, 0.000606, -0.887441 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.113] If point is visible? 0.294733, 0.003850, -0.889255 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.113] If point is visible? 0.239595, 0.005437, -0.885474 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.113] calculated Z= 0.198019 +[21:42:41.113] update seeds 305 +[21:42:41.113] If point is visible? 0.240353, 0.005449, -0.885367 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.113] calculated Z= 0.179379 +[21:42:41.113] update seeds 305 +[21:42:41.113] If point is visible? 0.293936, -0.002999, -0.889004 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.113] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.113] If point is visible? 0.284983, -0.003344, -0.886817 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.114] If point is visible? 0.288010, 0.001180, -0.887446 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.114] If point is visible? 0.213377, -0.014090, -0.892760 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.114] If point is visible? 0.214112, -0.013497, -0.892426 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.114] If point is visible? 0.250909, -0.018077, -0.885484 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.114] If point is visible? 0.314543, -0.042434, -0.904586 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.114] If point is visible? 0.318597, -0.044197, -0.907453 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.114] If point is visible? 0.292881, 0.052818, -0.900239 mu:-7.630447 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.114] calculated Z= 0.024407 +[21:42:41.114] update seeds 305 +[21:42:41.114] If point is visible? 0.294355, 0.052747, -0.900661 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.114] If point is visible? 0.297419, 0.047244, -0.899272 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.114] calculated Z= 0.291519 +[21:42:41.114] update seeds 305 +[21:42:41.114] If point is visible? 0.244788, 0.068120, -0.903932 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.114] If point is visible? 0.250928, 0.044877, -0.892164 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.114] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.114] If point is visible? 0.291532, 0.046437, -0.897125 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.115] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.115] calculated Z= 0.321362 +[21:42:41.115] update seeds 305 +[21:42:41.115] If point is visible? 0.293013, 0.046374, -0.897528 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.115] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.115] calculated Z= 0.314595 +[21:42:41.115] update seeds 305 +[21:42:41.115] If point is visible? 0.294492, 0.046307, -0.897948 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.115] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.115] calculated Z= 0.308460 +[21:42:41.115] update seeds 305 +[21:42:41.115] If point is visible? 0.292856, 0.053882, -0.900727 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.115] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.115] calculated Z= 0.024586 +[21:42:41.115] update seeds 305 +[21:42:41.115] If point is visible? 0.247790, 0.067155, -0.903025 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.115] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.115] If point is visible? 0.294512, 0.045225, -0.897532 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.115] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.115] If point is visible? 0.291427, 0.051817, -0.899357 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.115] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.115] If point is visible? 0.247938, 0.030473, -0.888034 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.115] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.115] calculated Z= 0.065524 +[21:42:41.115] update seeds 305 +[21:42:41.116] If point is visible? 0.213317, 0.033806, -0.896706 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.247940, 0.029355, -0.887770 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.190046, 0.019049, -0.904814 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.116] calculated Z= 0.794565 +[21:42:41.116] update seeds 305 +[21:42:41.116] If point is visible? 0.284263, 0.000694, -0.886627 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.285736, -0.002786, -0.886962 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.273643, -0.010650, -0.885363 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.208871, -0.001137, -0.893695 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.293194, -0.002977, -0.888796 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.273653, -0.009495, -0.885275 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.273717, -0.000271, -0.884936 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.275227, -0.000292, -0.885124 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.333011, -0.012718, -0.908177 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.249408, -0.015193, -0.885208 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.116] calculated Z= 0.072007 +[21:42:41.116] update seeds 305 +[21:42:41.116] If point is visible? 0.249404, -0.016349, -0.885348 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.116] If point is visible? 0.275220, -0.001443, -0.885131 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.116] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.117] If point is visible? 0.282747, -0.001572, -0.886337 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.117] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.117] If point is visible? 0.284247, -0.001603, -0.886632 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.258271 y=0.000000 z=-1.015076 +[21:42:41.117] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.117] If point is visible? 0.205864, 0.310358, -0.518565 mu:-1.675728 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.258536 y=0.000000 z=-1.025537 +[21:42:41.117] Z inverse min: -1.661710, Z inverse max: 0.000000 +[21:42:41.117] If point is visible? 0.738141, -0.416989, -2.308537 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.258531 y=0.000000 z=-1.027830 +[21:42:41.117] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.117] If point is visible? 0.738195, -0.405097, -2.312328 mu:0.699435 unit_bearing:-0.371667 -0.171737 0.912343 T_cur_ref: x=0.258531 y=0.000000 z=-1.027830 +[21:42:41.117] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.117] If point is visible? 0.738141, -0.416989, -2.308537 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.258531 y=0.000000 z=-1.027830 +[21:42:41.117] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.117] If point is visible? -0.666506, 0.121895, -2.111143 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.258531 y=0.000000 z=-1.027830 +[21:42:41.117] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.117] If point is visible? 0.738141, -0.416989, -2.308537 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.258531 y=0.000000 z=-1.027830 +[21:42:41.117] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.117] If point is visible? 0.738141, -0.416989, -2.308537 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.258531 y=0.000000 z=-1.027830 +[21:42:41.117] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.117] If point is visible? -0.666506, 0.121895, -2.111143 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.258531 y=0.000000 z=-1.027830 +[21:42:41.117] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.117] If point is visible? 0.048259, 0.024970, -1.278758 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.259236 y=0.000000 z=-1.043765 +[21:42:41.117] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:41.117] If point is visible? 0.048259, 0.024970, -1.278758 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.259236 y=0.000000 z=-1.043765 +[21:42:41.117] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:41.117] If point is visible? -0.134832, -0.017622, -1.660987 mu:1.385614 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.259842 y=0.000000 z=-1.057020 +[21:42:41.117] Z inverse min: 1.501398, Z inverse max: 1.269830 +[21:42:41.117] If point is visible? 0.535737, -0.006182, -1.723876 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.259842 y=0.000000 z=-1.057020 +[21:42:41.117] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:41.117] If point is visible? 0.519431, -0.006849, -1.730385 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.259842 y=0.000000 z=-1.057020 +[21:42:41.117] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:41.117] If point is visible? -0.134832, -0.017622, -1.660987 mu:1.385614 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.259842 y=0.000000 z=-1.057020 +[21:42:41.117] Z inverse min: 1.501398, Z inverse max: 1.269830 +[21:42:41.117] If point is visible? 0.535737, -0.006182, -1.723876 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.259842 y=0.000000 z=-1.057020 +[21:42:41.117] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:41.117] If point is visible? 0.519431, -0.006849, -1.730385 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.259842 y=0.000000 z=-1.057020 +[21:42:41.117] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:41.117] If point is visible? -53786233.041843, -48168274.646054, -69871637.572479 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.260953 y=0.000000 z=-1.072792 +[21:42:41.117] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:41.117] If point is visible? -85428469.159130, 26760316.897195, -45618519.401737 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.260953 y=0.000000 z=-1.072792 +[21:42:41.117] If point is visible? -53786233.041843, -48168274.646054, -69871637.572479 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.260953 y=0.000000 z=-1.072792 +[21:42:41.117] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:41.117] If point is visible? -85428469.159130, 26760316.897195, -45618519.401737 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.260953 y=0.000000 z=-1.072792 +[21:42:41.117] If point is visible? 0.981351, -0.051652, -2.142852 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.262247 y=0.000000 z=-1.098722 +[21:42:41.117] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:41.117] If point is visible? 0.981351, -0.051652, -2.142852 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.262247 y=0.000000 z=-1.098722 +[21:42:41.117] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:41.117] If point is visible? 0.532249, 0.029018, -1.490609 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.117] If point is visible? 0.486023, 0.030663, -1.518606 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.117] If point is visible? 0.475521, 0.030190, -1.524071 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.117] If point is visible? 0.297585, -0.285461, -1.478961 mu:2.097425 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.117] If point is visible? 0.294825, -0.282837, -1.481162 mu:2.097425 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.117] If point is visible? 0.296214, -0.284598, -1.479732 mu:2.097425 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.117] If point is visible? 0.018950, -0.268890, -1.408274 mu:2.097425 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.117] If point is visible? 0.292080, -0.281095, -1.482667 mu:2.097425 unit_bearing:-0.107700 -0.487042 0.866712 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.117] If point is visible? 0.289314, -0.278445, -1.484797 mu:2.097425 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.117] If point is visible? 0.290688, -0.279322, -1.484064 mu:2.097425 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.117] If point is visible? 0.286527, -0.274876, -1.487531 mu:2.097425 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.117] If point is visible? 0.286546, -0.275781, -1.486888 mu:2.097425 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.117] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.054606, -0.246714, -1.355731 mu:2.097425 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.513874, -0.248583, -1.412855 mu:2.113893 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.142486, Z inverse max: 2.085300 +[21:42:41.118] If point is visible? -0.038880, -0.246982, -1.373749 mu:2.097425 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.055901, -0.244799, -1.355962 mu:2.097425 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.005517, -0.252411, -1.411286 mu:2.097425 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.039309, -0.243591, -1.376291 mu:2.097425 unit_bearing:0.598418 -0.436157 0.672059 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.040410, -0.243363, -1.375291 mu:2.097425 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.104203, -0.263346, -1.463399 mu:2.097425 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.026301, -0.242794, -1.390455 mu:2.097425 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.027433, -0.242583, -1.389507 mu:2.097425 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.026204, -0.243656, -1.389833 mu:2.097425 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.279529, -0.264945, -1.494732 mu:2.097425 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.279510, -0.264028, -1.495345 mu:2.097425 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.001674, -0.238339, -1.416304 mu:2.097425 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.002858, -0.238159, -1.415451 mu:2.097425 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.002940, -0.237274, -1.416047 mu:2.097425 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.004204, -0.236208, -1.415783 mu:2.097425 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.005385, -0.236027, -1.414922 mu:2.097425 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.092606, -0.241595, -1.473118 mu:2.097425 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.277825, -0.247375, -1.506007 mu:2.097425 unit_bearing:-0.079917 -0.410878 0.908181 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.110506, -0.235480, -1.484523 mu:2.097425 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.110463, -0.234548, -1.485073 mu:2.097425 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.008923, -0.222279, -1.421796 mu:2.097425 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.283064, -0.234161, -1.513516 mu:2.097425 unit_bearing:-0.091527 -0.381449 0.919847 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.084237, -0.229881, -1.476592 mu:2.097425 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.008772, -0.224076, -1.420679 mu:2.097425 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.013482, -0.223357, -1.417160 mu:2.097425 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.010180, -0.221202, -1.421477 mu:2.097425 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.011360, -0.221024, -1.420600 mu:2.097425 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.012538, -0.220846, -1.419718 mu:2.097425 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.082992, -0.230708, -1.475497 mu:2.097425 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.011435, -0.220124, -1.421152 mu:2.097425 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.012613, -0.219946, -1.420270 mu:2.097425 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.112879, -0.230043, -1.488706 mu:2.097425 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.483282, -0.218870, -1.460049 mu:2.097425 unit_bearing:-0.504924 -0.363283 0.782992 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.287068, -0.227475, -1.517001 mu:2.097425 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.281590, -0.227539, -1.517256 mu:2.097425 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.078871, -0.225743, -1.476521 mu:2.097425 unit_bearing:0.340283 -0.373381 0.863014 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.483305, -0.217957, -1.460587 mu:2.097425 unit_bearing:-0.505018 -0.361246 0.783874 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.057802, -0.202407, -1.388407 mu:2.097425 unit_bearing:0.636389 -0.347324 0.688749 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] calculated Z= 0.430199 +[21:42:41.118] update seeds 305 +[21:42:41.118] If point is visible? -0.057628, -0.204184, -1.387351 mu:2.097425 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? -0.057715, -0.203296, -1.387880 mu:2.097425 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] calculated Z= 0.429911 +[21:42:41.118] update seeds 305 +[21:42:41.118] If point is visible? -0.056965, -0.199949, -1.391026 mu:2.097425 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] calculated Z= 0.434116 +[21:42:41.118] update seeds 305 +[21:42:41.118] If point is visible? 0.077068, -0.215334, -1.481682 mu:2.097425 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.118] If point is visible? 0.079526, -0.212708, -1.484321 mu:2.097425 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.118] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.296567, -0.220665, -1.519968 mu:2.097425 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.078274, -0.213551, -1.483258 mu:2.097425 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.110964, -0.215818, -1.496031 mu:2.097425 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? -0.082982, -0.189227, -1.367660 mu:2.097425 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.119] calculated Z= 0.413290 +[21:42:41.119] update seeds 305 +[21:42:41.119] If point is visible? -0.082223, -0.186807, -1.370312 mu:2.097425 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.501519, -0.203955, -1.457148 mu:2.097425 unit_bearing:-0.542611 -0.332976 0.771168 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.304725, -0.214776, -1.522261 mu:2.097425 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.083294, -0.210167, -1.487469 mu:2.097425 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.106821, -0.210823, -1.497113 mu:2.097425 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.084554, -0.209315, -1.488505 mu:2.097425 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.308819, -0.212775, -1.522840 mu:2.097425 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.090917, -0.205980, -1.493104 mu:2.097425 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? -0.081539, -0.183483, -1.373427 mu:2.097425 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143658, Z inverse max: 2.051191 +[21:42:41.119] If point is visible? 0.096231, -0.208241, -1.494188 mu:2.097425 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.088383, -0.207699, -1.491088 mu:2.097425 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.101445, -0.207633, -1.496654 mu:2.097425 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.100130, -0.207548, -1.496165 mu:2.097425 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.098817, -0.207462, -1.495671 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.312915, -0.210766, -1.523374 mu:2.097425 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.317012, -0.208749, -1.523862 mu:2.097425 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? -0.081452, -0.184374, -1.372938 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143663, Z inverse max: 2.051186 +[21:42:41.119] If point is visible? 0.097467, -0.206423, -1.495655 mu:2.097425 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.090956, -0.206932, -1.492622 mu:2.097425 unit_bearing:0.313481 -0.330105 0.890371 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.321110, -0.206723, -1.524304 mu:2.097425 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.319738, -0.206757, -1.524475 mu:2.097425 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.325209, -0.204689, -1.524700 mu:2.097425 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.330680, -0.202609, -1.524850 mu:2.097425 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.289488, -0.203450, -1.529053 mu:2.097425 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.290838, -0.201494, -1.529885 mu:2.097425 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.416442, -0.192904, -1.506558 mu:2.097425 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.415095, -0.192991, -1.507024 mu:2.097425 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.341628, -0.199378, -1.524475 mu:2.097425 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.340258, -0.199422, -1.524708 mu:2.097425 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.338887, -0.199466, -1.524936 mu:2.097425 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.337523, -0.200475, -1.524706 mu:2.097425 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.336152, -0.200517, -1.524926 mu:2.097425 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.417793, -0.191860, -1.506538 mu:2.097425 unit_bearing:-0.372414 -0.295171 0.879876 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.297677, -0.198486, -1.530772 mu:2.097425 unit_bearing:-0.123527 -0.302771 0.945024 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.299031, -0.196521, -1.531556 mu:2.097425 unit_bearing:-0.126421 -0.298480 0.946006 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.301732, -0.191607, -1.533517 mu:2.097425 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.300356, -0.191630, -1.533630 mu:2.097425 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? -0.059248, -0.108140, -1.433781 mu:2.097425 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.145990, -0.113234, -1.547032 mu:2.097425 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.167727, -0.115933, -1.551430 mu:2.097425 unit_bearing:0.147530 -0.125631 0.981046 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.119] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.119] If point is visible? 0.147354, -0.114293, -1.547114 mu:2.097425 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.177286, -0.118208, -1.552735 mu:2.097425 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.175922, -0.118174, -1.552486 mu:2.097425 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.174558, -0.118140, -1.552234 mu:2.097425 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.177276, -0.117195, -1.552996 mu:2.097425 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.175912, -0.117161, -1.552747 mu:2.097425 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.174548, -0.117127, -1.552495 mu:2.097425 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.166376, -0.116908, -1.550895 mu:2.097425 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.174355, -0.090650, -1.558479 mu:2.097425 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.172991, -0.090617, -1.558223 mu:2.097425 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.171627, -0.090583, -1.557963 mu:2.097425 unit_bearing:0.138992 -0.071189 0.987731 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.168900, -0.090513, -1.557430 mu:2.097425 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.174335, -0.086555, -1.559264 mu:2.097425 unit_bearing:0.133231 -0.062471 0.989114 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.172971, -0.086522, -1.559008 mu:2.097425 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.171606, -0.086488, -1.558747 mu:2.097425 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.167499, -0.082284, -1.558691 mu:2.097425 unit_bearing:0.147670 -0.053727 0.987576 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.166136, -0.082249, -1.558414 mu:2.097425 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.168847, -0.078214, -1.559675 mu:2.097425 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.126828, -0.073819, -1.549867 mu:2.097425 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.339823, -0.073399, -1.563387 mu:2.097425 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.095332, -0.046840, -1.410589 mu:2.097425 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.097426, -0.046539, -1.408217 mu:2.097425 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.163361, -0.057478, -1.561580 mu:2.097425 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.162000, -0.057442, -1.561291 mu:2.097425 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.093240, -0.043233, -1.413488 mu:2.097425 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.086852, -0.036251, -1.421420 mu:2.097425 unit_bearing:0.695874 0.007018 0.718130 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.087924, -0.036112, -1.420271 mu:2.097425 unit_bearing:0.698247 0.007014 0.715823 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.091127, -0.040589, -1.416208 mu:2.097425 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.092187, -0.040445, -1.415042 mu:2.097425 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.092186, -0.041424, -1.414916 mu:2.097425 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.093244, -0.041278, -1.413746 mu:2.097425 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.093242, -0.042256, -1.413618 mu:2.097425 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.084694, -0.034560, -1.423924 mu:2.097421 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143651, Z inverse max: 2.051191 +[21:42:41.120] If point is visible? 0.122764, -0.050012, -1.551891 mu:2.097425 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.082525, -0.033847, -1.426296 mu:2.097425 unit_bearing:0.686316 0.013269 0.727183 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.172914, -0.045296, -1.564863 mu:2.097425 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.171550, -0.045264, -1.564602 mu:2.097425 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.106681, -0.026704, -1.399548 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.105644, -0.023924, -1.401049 mu:2.097425 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.105651, -0.024899, -1.400961 mu:2.097425 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.314937, -0.036644, -1.571163 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.313562, -0.030429, -1.571755 mu:2.097425 unit_bearing:-0.158998 0.057565 0.985599 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.116173, -0.019753, -1.552144 mu:2.097425 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? -0.063497, -0.014146, -1.446585 mu:2.097425 unit_bearing:0.644530 0.059468 0.762263 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.171631, -0.022409, -1.566275 mu:2.097425 unit_bearing:0.138990 0.072859 0.987610 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.170267, -0.022379, -1.566010 mu:2.097425 unit_bearing:0.141875 0.072855 0.987200 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.120] If point is visible? 0.168904, -0.022348, -1.565741 mu:2.097425 unit_bearing:0.144760 0.072851 0.986781 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.120] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.082926, -0.017362, -1.540153 mu:2.097425 unit_bearing:0.327680 0.076690 0.941671 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.170273, -0.021337, -1.566060 mu:2.097425 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.168910, -0.021307, -1.565791 mu:2.097425 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.085575, -0.016445, -1.541255 mu:2.097425 unit_bearing:0.322024 0.078880 0.943440 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.084255, -0.016386, -1.540728 mu:2.097425 unit_bearing:0.324848 0.078868 0.942472 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.116228, -0.012483, -1.552420 mu:2.097425 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.114916, -0.009316, -1.552072 mu:2.097425 unit_bearing:0.259492 0.096486 0.960913 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.116285, -0.006244, -1.552567 mu:2.097425 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.114946, -0.006196, -1.552135 mu:2.097425 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.117634, -0.005250, -1.553011 mu:2.097425 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.116295, -0.005203, -1.552583 mu:2.097425 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.143293, 0.002290, -1.560419 mu:2.097425 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.140591, 0.002366, -1.559714 mu:2.097425 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.139241, 0.002405, -1.559355 mu:2.097425 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.100656, -0.246779, -1.473298 mu:2.097425 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.489618, -0.220853, -1.454875 mu:2.097425 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.100557, -0.244941, -1.474459 mu:2.097425 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.283049, -0.233215, -1.514049 mu:2.097425 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.288438, -0.227457, -1.516928 mu:2.097425 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.461543, -0.203582, -1.481022 mu:2.097425 unit_bearing:-0.461453 -0.326097 0.825059 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.098817, -0.207462, -1.495671 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? -0.081452, -0.184374, -1.372938 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143663, Z inverse max: 2.051186 +[21:42:41.121] calculated Z= 0.420393 +[21:42:41.121] update seeds 305 +[21:42:41.121] If point is visible? 0.296199, -0.188763, -1.535225 mu:2.097425 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.296219, -0.190716, -1.534373 mu:2.097425 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.295997, -0.167114, -1.543978 mu:2.097425 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.293239, -0.167149, -1.544165 mu:2.097425 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? -0.081440, -0.045794, -1.425983 mu:2.097425 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? -0.090055, -0.044649, -1.416853 mu:2.097425 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? -0.092180, -0.044357, -1.414526 mu:2.097425 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? -0.081447, -0.037924, -1.426982 mu:2.097425 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? -0.083618, -0.037649, -1.424725 mu:2.097425 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? -0.085778, -0.037372, -1.422450 mu:2.097425 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.323228, -0.067541, -1.566738 mu:2.097425 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? -0.094285, -0.046014, -1.411908 mu:2.097425 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? -0.106681, -0.026704, -1.399548 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.072284, -0.034406, -1.534668 mu:2.097425 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? -0.083614, -0.035681, -1.424950 mu:2.097425 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? -0.085774, -0.035406, -1.422675 mu:2.097425 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.314937, -0.036644, -1.571163 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.314939, -0.034568, -1.571319 mu:2.097425 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.312172, -0.034601, -1.571617 mu:2.097425 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.069735, -0.021904, -1.534358 mu:2.097425 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.449077, 0.000224, -1.537372 mu:2.097425 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.413881, 0.046630, -1.548335 mu:2.097425 unit_bearing:-0.365573 0.211999 0.906318 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.121] If point is visible? 0.544632, 0.033807, -1.481389 mu:2.097425 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.121] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.082902, 0.156184, -1.511954 mu:2.097425 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.108108, -0.239952, -1.480799 mu:2.097425 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.102876, -0.239591, -1.478874 mu:2.097425 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.097659, -0.239216, -1.476881 mu:2.097425 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.106934, -0.213675, -1.495634 mu:2.097425 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.101673, -0.213339, -1.493717 mu:2.097425 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.085980, -0.212252, -1.487563 mu:2.097425 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.296531, -0.217796, -1.521461 mu:2.097425 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? -0.025389, -0.170685, -1.438502 mu:2.097425 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? -0.024126, -0.242349, -1.392959 mu:2.097425 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? -0.033159, -0.240651, -1.385323 mu:2.097425 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.296031, -0.171070, -1.542470 mu:2.097425 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? -0.024504, -0.238882, -1.395415 mu:2.097425 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? -0.033553, -0.237203, -1.387780 mu:2.097425 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.291150, -0.225517, -1.517799 mu:2.097425 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.296483, -0.213960, -1.523419 mu:2.097425 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.097854, -0.242908, -1.474606 mu:2.097425 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.101831, -0.217128, -1.491711 mu:2.097425 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.091361, -0.216410, -1.487674 mu:2.097425 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.296140, -0.182886, -1.537724 mu:2.097425 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.345728, -0.197309, -1.524655 mu:2.097425 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? -0.083604, -0.047473, -1.423454 mu:2.097425 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? -0.079262, -0.044106, -1.428485 mu:2.097425 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? -0.083616, -0.043547, -1.423992 mu:2.097425 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.077630, -0.020220, -1.537842 mu:2.097425 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.125687, -0.005521, -1.555493 mu:2.097425 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.480815, 0.026319, -1.521634 mu:2.097425 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.475552, 0.026081, -1.524327 mu:2.097425 unit_bearing:-0.492427 0.163083 0.854938 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.125649, -0.009685, -1.555413 mu:2.097425 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.532249, 0.029018, -1.490609 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.486023, 0.030663, -1.518606 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.475521, 0.030190, -1.524071 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.262247 y=0.000000 z=-1.098727 +[21:42:41.122] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.122] If point is visible? 0.984189, -0.059277, -2.173497 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? 0.878799, -0.060745, -2.237155 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? 0.351581, -0.778501, -2.131103 mu:0.771555 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? 0.347789, -0.773727, -2.135006 mu:0.771555 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? 0.344105, -0.773799, -2.135249 mu:0.771555 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? 0.340253, -0.766570, -2.140902 mu:0.771555 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? -0.404468, -0.732798, -1.934395 mu:0.771555 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? -0.404723, -0.730472, -1.936226 mu:0.771555 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? 0.332709, -0.759375, -2.146691 mu:0.771555 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? 0.325100, -0.749684, -2.154126 mu:0.771555 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? 0.321408, -0.749740, -2.154300 mu:0.771555 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? -0.603439, -0.672295, -1.790426 mu:0.771555 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.122] If point is visible? -0.603775, -0.670039, -1.792192 mu:0.771555 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.122] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? 0.945966, -0.681571, -1.963500 mu:0.771555 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] calculated Z= 0.579272 +[21:42:41.123] update seeds 305 +[21:42:41.123] If point is visible? -0.551161, -0.681855, -1.842556 mu:0.771555 unit_bearing:0.589813 -0.452226 0.669038 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.604109, -0.667780, -1.793952 mu:0.771555 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.606962, -0.667092, -1.791045 mu:0.771555 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.441255, -0.685647, -1.944194 mu:0.771555 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.444467, -0.685150, -1.941915 mu:0.771555 unit_bearing:0.503204 -0.445407 0.740539 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.567863, -0.664940, -1.839411 mu:0.771555 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.565498, -0.660958, -1.845597 mu:0.771555 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.568165, -0.662637, -1.841134 mu:0.771555 unit_bearing:0.603078 -0.437643 0.666907 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.527117, -0.661783, -1.885359 mu:0.771555 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.530452, -0.658865, -1.884454 mu:0.771555 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.601895, -0.644035, -1.818669 mu:0.771555 unit_bearing:0.630157 -0.425510 0.649495 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? 0.298350, -0.712819, -2.180591 mu:0.771555 unit_bearing:-0.079699 -0.444154 0.892399 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.460858, -0.647377, -1.957717 mu:0.771555 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.464063, -0.646886, -1.955380 mu:0.771555 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.467722, -0.641580, -1.956260 mu:0.771555 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.470918, -0.641085, -1.953900 mu:0.771555 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.187162, -0.670263, -2.112938 mu:0.771555 unit_bearing:0.297504 -0.417925 0.858388 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.474339, -0.638180, -1.953133 mu:0.771555 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.209307, -0.651131, -2.115343 mu:0.771555 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.205646, -0.653912, -2.115250 mu:0.771555 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.213110, -0.645835, -2.116950 mu:0.771555 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.205502, -0.656417, -2.113700 mu:0.771555 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.474568, -0.635770, -1.954731 mu:0.771555 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.157142, -0.637299, -2.146490 mu:0.771555 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.480621, -0.603705, -1.972529 mu:0.771555 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.483818, -0.603222, -1.970136 mu:0.771555 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? 0.307971, -0.641766, -2.223845 mu:0.771555 unit_bearing:-0.088642 -0.385673 0.918367 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.484030, -0.600776, -1.971642 mu:0.771555 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.487222, -0.600291, -1.969238 mu:0.771555 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.490409, -0.599803, -1.966821 mu:0.771555 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.153703, -0.634996, -2.149255 mu:0.771555 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.490622, -0.597357, -1.968322 mu:0.771555 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.150625, -0.625056, -2.156406 mu:0.771555 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? 0.867032, -0.604114, -2.072958 mu:0.771555 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.612175, -0.556829, -1.876653 mu:0.771555 unit_bearing:0.635977 -0.353275 0.686098 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? 0.326158, -0.618379, -2.235990 mu:0.771555 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? 0.322434, -0.618425, -2.236169 mu:0.771555 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? 0.307537, -0.618588, -2.236770 mu:0.771555 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.123] If point is visible? -0.612664, -0.552005, -1.879536 mu:0.771555 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.123] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.246637, -0.607937, -2.124053 mu:0.771555 unit_bearing:0.343162 -0.369151 0.863694 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.307585, -0.621172, -2.235360 mu:0.771555 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.902827, -0.560323, -2.076244 mu:0.771555 unit_bearing:-0.539842 -0.337183 0.771284 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.355601, -0.594614, -2.246579 mu:0.771555 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.348182, -0.597333, -2.245746 mu:0.771555 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.247698, -0.587556, -2.135346 mu:0.771555 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.155921, -0.586382, -2.176287 mu:0.771555 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.237666, -0.578139, -2.145477 mu:0.771555 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.241182, -0.577866, -2.143942 mu:0.771555 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.344534, -0.602584, -2.243265 mu:0.771555 unit_bearing:-0.117453 -0.353842 0.927901 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.348221, -0.599931, -2.244387 mu:0.771555 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.167083, -0.575382, -2.177826 mu:0.771555 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.680735, -0.516106, -1.822786 mu:0.771555 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.362984, -0.589284, -2.248702 mu:0.771555 unit_bearing:-0.131834 -0.343145 0.929985 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.230986, -0.570964, -2.152561 mu:0.771555 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.370372, -0.583939, -2.250755 mu:0.771555 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.681245, -0.511305, -1.825522 mu:0.771555 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.206351, -0.570187, -2.164159 mu:0.771555 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.227577, -0.568652, -2.155397 mu:0.771555 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.231105, -0.568388, -2.153896 mu:0.771555 unit_bearing:0.330089 -0.336058 0.882103 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.678966, -0.507130, -1.831378 mu:0.771555 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.224163, -0.566334, -2.158215 mu:0.771555 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.381496, -0.578508, -2.252397 mu:0.771555 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.217320, -0.561682, -2.163796 mu:0.771555 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.189026, -0.561052, -2.176418 mu:0.771555 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.192586, -0.560815, -2.175043 mu:0.771555 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.392625, -0.573054, -2.253914 mu:0.771555 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.210348, -0.559598, -2.168002 mu:0.771555 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.677150, -0.498096, -1.839857 mu:0.771555 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? -0.217207, -0.564267, -2.162480 mu:0.771555 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.400026, -0.567661, -2.255716 mu:0.771555 unit_bearing:-0.160559 -0.325927 0.931661 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.414895, -0.562079, -2.256575 mu:0.771555 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.411163, -0.562168, -2.257017 mu:0.771555 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.306820, -0.576973, -2.258451 mu:0.771555 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.328862, -0.553118, -2.268970 mu:0.771555 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.426035, -0.556559, -2.257718 mu:0.771555 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.440910, -0.550915, -2.258217 mu:0.771555 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.437179, -0.551017, -2.258737 mu:0.771555 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.470683, -0.542154, -2.257376 mu:0.771555 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.466954, -0.542271, -2.257986 mu:0.771555 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.351141, -0.542279, -2.272557 mu:0.771555 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.459516, -0.545126, -2.257937 mu:0.771555 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.347437, -0.544971, -2.271584 mu:0.771555 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.328824, -0.550484, -2.270213 mu:0.771555 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.328787, -0.547849, -2.271450 mu:0.771555 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.699976, -0.525615, -2.199621 mu:0.771555 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.674362, -0.524706, -2.209893 mu:0.771555 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.124] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.124] If point is visible? 0.670700, -0.522334, -2.212360 mu:0.771555 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.365964, -0.531481, -2.276274 mu:0.771555 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.362224, -0.531542, -2.276570 mu:0.771555 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.358485, -0.531600, -2.276855 mu:0.771555 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.362097, -0.520949, -2.281303 mu:0.771555 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.358356, -0.521007, -2.281588 mu:0.771555 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.331305, -0.446440, -2.313539 mu:0.771555 unit_bearing:-0.109531 -0.227659 0.967561 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.617302, -0.295950, -2.003520 mu:0.771555 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.023638, -0.321168, -2.331513 mu:0.771555 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.019934, -0.321074, -2.330817 mu:0.771554 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817625, Z inverse max: 0.725483 +[21:42:41.125] If point is visible? 0.016231, -0.320977, -2.330107 mu:0.771555 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.019906, -0.318319, -2.331524 mu:0.771555 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.016203, -0.318223, -2.330815 mu:0.771555 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.001404, -0.317822, -2.327871 mu:0.771555 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.005988, -0.317612, -2.326334 mu:0.771555 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.617390, -0.293324, -2.004289 mu:0.771555 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.116741, -0.253041, -2.312063 mu:0.771555 unit_bearing:0.236699 -0.079692 0.968309 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.015633, -0.246248, -2.347082 mu:0.771555 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.011928, -0.246154, -2.346362 mu:0.771555 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.000820, -0.245865, -2.344139 mu:0.771555 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.011869, -0.235022, -2.348495 mu:0.771555 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.008165, -0.234928, -2.347765 mu:0.771555 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.013987, -0.242679, -2.341566 mu:0.771555 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.000664, -0.212431, -2.350243 mu:0.771555 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.113391, -0.200398, -2.322893 mu:0.771555 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.000628, -0.201258, -2.352081 mu:0.771555 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.469150, -0.196815, -2.362966 mu:0.771555 unit_bearing:-0.216541 -0.031847 0.975754 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.714978, -0.126612, -1.940654 mu:0.771555 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.720631, -0.125789, -1.934173 mu:0.771555 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.709333, -0.116812, -1.948568 mu:0.771555 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.700756, -0.107358, -1.959507 mu:0.771555 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.706488, -0.111895, -1.952469 mu:0.771555 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.709344, -0.111498, -1.949269 mu:0.771555 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.709339, -0.114155, -1.948922 mu:0.771555 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.712186, -0.113755, -1.945710 mu:0.771555 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.017933, -0.155950, -2.354523 mu:0.771555 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.021878, -0.155987, -2.354814 mu:0.770874 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.816017, Z inverse max: 0.725731 +[21:42:41.125] If point is visible? -0.124431, -0.146886, -2.327039 mu:0.771555 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.686251, -0.093251, -1.977076 mu:0.771555 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.004289, -0.125591, -2.362661 mu:0.771555 unit_bearing:0.141924 0.022668 0.989618 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.686243, -0.090575, -1.977366 mu:0.771555 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.011703, -0.122952, -2.364411 mu:0.771555 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? 0.007998, -0.122864, -2.363681 mu:0.771555 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.125] If point is visible? -0.124406, -0.124450, -2.329523 mu:0.771555 unit_bearing:0.242529 0.020426 0.969929 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.125] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.397689, -0.099717, -2.383857 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.393924, -0.099761, -2.384244 mu:0.771555 unit_bearing:-0.159013 0.044478 0.986274 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.264657, -0.056528, -2.281530 mu:0.771555 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.008253, -0.057903, -2.368365 mu:0.771555 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.004550, -0.057817, -2.367622 mu:0.771555 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.000849, -0.057731, -2.366869 mu:0.771555 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.268233, -0.059155, -2.279801 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.271784, -0.058975, -2.278209 mu:0.771555 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.135049, -0.059313, -2.330994 mu:0.771555 unit_bearing:0.251017 0.070447 0.965416 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.145939, -0.056088, -2.327582 mu:0.771555 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.142123, -0.033638, -2.329661 mu:0.771555 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.141960, -0.016677, -2.330061 mu:0.771555 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.145593, -0.016546, -2.328865 mu:0.771555 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.068651, 0.006467, -2.351847 mu:0.771555 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.075985, 0.006679, -2.349886 mu:0.771555 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.079650, 0.006787, -2.348889 mu:0.771555 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.079618, 0.009624, -2.348879 mu:0.771555 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.874641, 0.058352, -2.239522 mu:0.771555 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.652429, 0.117588, -2.329083 mu:0.771555 unit_bearing:-0.354496 0.205738 0.912143 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.652428, 0.120417, -2.328810 mu:0.771555 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.238682, 0.425097, -2.215959 mu:0.771555 unit_bearing:0.338585 0.430592 0.836631 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.162947, -0.662040, -2.128657 mu:0.771555 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.170042, -0.661545, -2.126019 mu:0.771555 unit_bearing:0.283784 -0.410019 0.866805 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.169766, -0.666556, -2.122891 mu:0.771555 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.176847, -0.666048, -2.120206 mu:0.771555 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.183918, -0.665530, -2.117476 mu:0.771555 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.183632, -0.670527, -2.114320 mu:0.771555 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.860329, -0.592551, -2.084133 mu:0.771555 unit_bearing:-0.507633 -0.361121 0.782241 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.188918, -0.563644, -2.175110 mu:0.771555 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.203140, -0.562680, -2.169544 mu:0.771555 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.710928, -0.524856, -2.195566 mu:0.771555 unit_bearing:-0.397131 -0.298802 0.867758 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.353992, -0.465012, -2.305041 mu:0.771555 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.347035, -0.513205, -2.285857 mu:0.771555 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.347100, -0.518516, -2.283542 mu:0.771555 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.346386, -0.454353, -2.309648 mu:0.771555 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? 0.338887, -0.454443, -2.310112 mu:0.771555 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.712152, -0.124369, -1.944257 mu:0.771555 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.671588, -0.103147, -1.991563 mu:0.771555 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.677483, -0.102402, -1.985442 mu:0.771555 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.683348, -0.101651, -1.979272 mu:0.771555 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.689181, -0.100895, -1.973054 mu:0.771555 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.677464, -0.123796, -1.982729 mu:0.771555 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.700732, -0.120666, -1.957769 mu:0.771555 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.126] If point is visible? -0.706469, -0.119868, -1.951407 mu:0.771555 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.126] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.683338, -0.096301, -1.979884 mu:0.771555 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.689171, -0.095549, -1.973665 mu:0.771555 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.984189, -0.059277, -2.173497 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.397689, -0.099717, -2.383857 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.397698, -0.094073, -2.384281 mu:0.771555 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.390169, -0.094158, -2.385046 mu:0.771555 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.253957, -0.054249, -2.286344 mu:0.771555 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.261078, -0.053899, -2.283240 mu:0.771555 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.762961, 0.000236, -2.294190 mu:0.771555 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.268233, -0.059155, -2.279801 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.878179, 0.061307, -2.237461 mu:0.771555 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 1.023697, 0.091338, -2.143569 mu:0.771555 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.828033, 0.064573, -2.263013 mu:0.771555 unit_bearing:-0.487114 0.158926 0.858756 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.377799, -0.581190, -2.251424 mu:0.771555 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.362875, -0.581463, -2.252685 mu:0.771555 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.347949, -0.581704, -2.253768 mu:0.771555 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.163483, -0.651983, -2.134833 mu:0.771555 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.177674, -0.650992, -2.129514 mu:0.771555 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.191824, -0.649963, -2.124013 mu:0.771555 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.346495, -0.465110, -2.305550 mu:0.771555 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.535923, -0.637098, -1.896770 mu:0.771555 unit_bearing:0.575914 -0.412853 0.705603 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.545944, -0.653601, -1.872985 mu:0.771555 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.874071, -0.600828, -2.070592 mu:0.771555 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.166865, -0.580549, -2.175142 mu:0.771555 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.181133, -0.579625, -2.169844 mu:0.771555 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.223691, -0.576639, -2.152860 mu:0.771555 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.180679, -0.589926, -2.164395 mu:0.771555 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.209072, -0.587951, -2.153248 mu:0.771555 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.346609, -0.475841, -2.301351 mu:0.771555 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.525550, -0.463418, -2.017674 mu:0.771555 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.361825, -0.497018, -2.291582 mu:0.771555 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.874317, -0.590944, -2.076479 mu:0.771555 unit_bearing:-0.518059 -0.360611 0.775613 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.522578, -0.648810, -1.900560 mu:0.771555 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.547050, -0.644227, -1.879657 mu:0.771555 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.191264, -0.659999, -2.117831 mu:0.771555 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.683310, -0.128357, -1.975818 mu:0.771555 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.671582, -0.119214, -1.989565 mu:0.771555 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.683342, -0.117685, -1.977279 mu:0.771555 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? 0.849386, 0.093429, -2.250414 mu:0.771555 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.127] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.127] If point is visible? -0.232436, -0.044021, -2.295888 mu:0.771555 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.128] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.128] If point is visible? 0.863762, 0.082909, -2.243782 mu:0.771555 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.128] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.128] If point is visible? -0.246826, -0.054594, -2.289403 mu:0.771555 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.128] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.128] If point is visible? 0.878799, -0.060745, -2.237155 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.128] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.128] If point is visible? -0.116448, -0.014733, -2.338170 mu:0.771555 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.128] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.128] If point is visible? -0.116557, -0.026052, -2.337950 mu:0.771555 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.262247 y=0.000000 z=-1.098732 +[21:42:41.128] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.128] If point is visible? 0.331477, -0.785336, -2.141404 mu:0.765014 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? 0.331394, -0.782892, -2.143246 mu:0.765014 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? 0.323705, -0.775673, -2.149096 mu:0.765014 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? 0.327592, -0.780512, -2.145269 mu:0.765014 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? 0.319900, -0.773278, -2.151076 mu:0.765014 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.427165, -0.737530, -1.929071 mu:0.765014 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? 0.308393, -0.763588, -2.158692 mu:0.765014 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? 0.304413, -0.756212, -2.164131 mu:0.765014 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? 0.300688, -0.756260, -2.164238 mu:0.765014 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.540278, -0.692615, -1.863544 mu:0.765014 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.625735, -0.671507, -1.783761 mu:0.765014 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.628557, -0.670806, -1.780777 mu:0.765014 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.583473, -0.674648, -1.832426 mu:0.765014 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.628921, -0.668525, -1.782539 mu:0.765014 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? 0.934160, -0.688931, -1.983387 mu:0.765014 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] calculated Z= 0.582191 +[21:42:41.128] update seeds 305 +[21:42:41.128] If point is visible? -0.604937, -0.663148, -1.817707 mu:0.765014 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.587739, -0.664713, -1.836553 mu:0.765014 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.549774, -0.665631, -1.877358 mu:0.765014 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? 0.281020, -0.726493, -2.185271 mu:0.765014 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.553415, -0.660316, -1.878077 mu:0.765014 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.484773, -0.646392, -1.954794 mu:0.765014 unit_bearing:0.515567 -0.411002 0.751843 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.487963, -0.645892, -1.952378 mu:0.765014 unit_bearing:0.518144 -0.410848 0.750154 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.491146, -0.645389, -1.949952 mu:0.765014 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.494324, -0.644882, -1.947513 mu:0.765014 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.190283, -0.671512, -2.124889 mu:0.765014 unit_bearing:0.280893 -0.414218 0.865750 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.494833, -0.640020, -1.950734 mu:0.765014 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.498008, -0.639513, -1.948283 mu:0.765014 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.631020, -0.616470, -1.827249 mu:0.765014 unit_bearing:0.634731 -0.400173 0.661043 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.214898, -0.672156, -2.113250 mu:0.765014 unit_bearing:0.300339 -0.415792 0.858436 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.497753, -0.641945, -1.946676 mu:0.765014 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.229842, -0.658418, -2.115119 mu:0.765014 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.229674, -0.660945, -2.113559 mu:0.765014 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.128] If point is visible? -0.178050, -0.639457, -2.150370 mu:0.765014 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.128] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.181620, -0.639214, -2.149016 mu:0.765014 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? 0.852717, -0.610630, -2.092305 mu:0.765014 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.508017, -0.601729, -1.966671 mu:0.765014 unit_bearing:0.532927 -0.375982 0.758042 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.511192, -0.601234, -1.964188 mu:0.765014 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.514361, -0.600735, -1.961692 mu:0.765014 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.259926, -0.625626, -2.120806 mu:0.765014 unit_bearing:0.334579 -0.379757 0.862462 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.256096, -0.631019, -2.119440 mu:0.765014 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.175055, -0.629439, -2.157638 mu:0.765014 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? 0.286026, -0.644743, -2.235593 mu:0.765014 unit_bearing:-0.088655 -0.383570 0.919246 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? 0.281922, -0.631794, -2.242918 mu:0.765014 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? 0.300638, -0.629032, -2.243965 mu:0.765014 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? 0.296880, -0.629068, -2.244065 mu:0.765014 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? 0.285542, -0.626561, -2.245725 mu:0.765014 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.635414, -0.557155, -1.868461 mu:0.765014 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.635681, -0.554720, -1.869906 mu:0.765014 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] calculated Z= 0.655361 +[21:42:41.129] update seeds 305 +[21:42:41.129] If point is visible? 0.285474, -0.623955, -2.247146 mu:0.765014 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.272467, -0.591398, -2.134607 mu:0.765014 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? 0.330106, -0.602559, -2.256761 mu:0.765014 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? 0.326341, -0.602610, -2.256949 mu:0.765014 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.633809, -0.545549, -1.878579 mu:0.765014 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.262517, -0.581924, -2.145009 mu:0.765014 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.266034, -0.581641, -2.143395 mu:0.765014 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.180676, -0.590422, -2.177588 mu:0.765014 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? 0.326400, -0.605230, -2.255579 mu:0.765014 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? 0.367290, -0.578294, -2.266317 mu:0.765014 unit_bearing:-0.151950 -0.330251 0.931582 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.191935, -0.579303, -2.178934 mu:0.765014 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.184389, -0.587588, -2.177605 mu:0.765014 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.255896, -0.574702, -2.152275 mu:0.765014 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.703746, -0.513518, -1.814173 mu:0.765014 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.192062, -0.576694, -2.180276 mu:0.765014 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? 0.896134, -0.553131, -2.099203 mu:0.765014 unit_bearing:-0.545472 -0.326724 0.771824 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.235344, -0.563286, -2.168228 mu:0.765014 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.231267, -0.573975, -2.164427 mu:0.765014 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.252506, -0.572378, -2.155199 mu:0.765014 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.701275, -0.511743, -1.818762 mu:0.765014 unit_bearing:0.689558 -0.321445 0.648986 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.701546, -0.509313, -1.820121 mu:0.765014 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.699852, -0.500206, -1.828704 mu:0.765014 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.249110, -0.570048, -2.158103 mu:0.765014 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.242169, -0.567979, -2.162533 mu:0.765014 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.701815, -0.506880, -1.821473 mu:0.765014 unit_bearing:0.689848 -0.317499 0.650619 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.214003, -0.564801, -2.177108 mu:0.765014 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.129] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.129] If point is visible? -0.217567, -0.564554, -2.175657 mu:0.765014 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.699589, -0.502648, -1.827371 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.374781, -0.575514, -2.266993 mu:0.765014 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.356138, -0.586396, -2.263222 mu:0.765014 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.359854, -0.583699, -2.264271 mu:0.765014 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.397219, -0.564480, -2.269996 mu:0.765014 unit_bearing:-0.174894 -0.319418 0.931335 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.400946, -0.561751, -2.270872 mu:0.765014 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.412219, -0.558839, -2.270876 mu:0.765014 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.408446, -0.558929, -2.271309 mu:0.765014 unit_bearing:-0.183495 -0.315082 0.931157 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.306530, -0.557972, -2.280011 mu:0.765014 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.419721, -0.556005, -2.271239 mu:0.765014 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.415949, -0.556100, -2.271695 mu:0.765014 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.325232, -0.549798, -2.282991 mu:0.765014 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.306475, -0.555316, -2.281264 mu:0.765014 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.461055, -0.544247, -2.270476 mu:0.765014 unit_bearing:-0.223471 -0.304011 0.926087 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.457284, -0.544363, -2.271056 mu:0.765014 unit_bearing:-0.220629 -0.304045 0.926758 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.453513, -0.544476, -2.271625 mu:0.765014 unit_bearing:-0.217786 -0.304077 0.927419 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.343857, -0.536234, -2.288062 mu:0.765014 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.340081, -0.536287, -2.288292 mu:0.765014 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.336304, -0.536338, -2.288510 mu:0.765014 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.438502, -0.550209, -2.271301 mu:0.765014 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.306421, -0.552659, -2.282510 mu:0.765014 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.611266, -0.524755, -2.243953 mu:0.765014 unit_bearing:-0.336372 -0.291683 0.895419 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.615021, -0.527192, -2.241681 mu:0.765014 unit_bearing:-0.339122 -0.293746 0.893706 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.678388, -0.531320, -2.218213 mu:0.765014 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.339889, -0.525604, -2.293063 mu:0.765014 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.336111, -0.525654, -2.293281 mu:0.765014 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.615006, -0.524556, -2.242898 mu:0.765014 unit_bearing:-0.339162 -0.291630 0.894383 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.921943, -0.481491, -2.119359 mu:0.765014 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? 0.308372, -0.447666, -2.325998 mu:0.765014 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.001915, -0.320568, -2.338155 mu:0.765014 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.005638, -0.320464, -2.337383 mu:0.765014 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.009358, -0.320358, -2.336599 mu:0.765014 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.024226, -0.319921, -2.333357 mu:0.765014 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.031651, -0.319692, -2.331670 mu:0.765014 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.642068, -0.296464, -1.994849 mu:0.765014 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.644999, -0.298665, -1.991149 mu:0.765014 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.106304, -0.247417, -2.328231 mu:0.765014 unit_bearing:0.208064 -0.073239 0.975369 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.010070, -0.247767, -2.352993 mu:0.765014 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.013793, -0.247664, -2.352199 mu:0.765014 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.024952, -0.247347, -2.349752 mu:0.765014 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.017588, -0.236333, -2.353544 mu:0.765014 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.039828, -0.244100, -2.346883 mu:0.765014 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.130] If point is visible? -0.025146, -0.213627, -2.355905 mu:0.765014 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.130] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? 0.428078, -0.213344, -2.377677 mu:0.765014 unit_bearing:-0.202177 -0.042758 0.978415 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.143285, -0.201083, -2.325037 mu:0.765014 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? 0.424281, -0.216219, -2.377681 mu:0.765014 unit_bearing:-0.199302 -0.044940 0.978907 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.739030, -0.122786, -1.930037 mu:0.765014 unit_bearing:0.714674 -0.015730 0.699281 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.741824, -0.122367, -1.926723 mu:0.765014 unit_bearing:0.717000 -0.015721 0.696896 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.043843, -0.167939, -2.358423 mu:0.765014 unit_bearing:0.159235 -0.010076 0.987189 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.733448, -0.115587, -1.937739 mu:0.765014 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.727815, -0.108356, -1.945336 mu:0.765014 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.730643, -0.107952, -1.942069 mu:0.765014 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.099316, -0.163313, -2.344250 mu:0.765014 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.043850, -0.156621, -2.359878 mu:0.765014 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.733460, -0.110228, -1.938446 mu:0.765014 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.733455, -0.112908, -1.938096 mu:0.765014 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.736266, -0.112498, -1.934805 mu:0.765014 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.710637, -0.089177, -1.967206 mu:0.765014 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.150702, -0.135930, -2.331497 mu:0.765014 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.014074, -0.123407, -2.370397 mu:0.765014 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.298196, -0.058242, -2.278233 mu:0.765014 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.301744, -0.058051, -2.276551 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.017478, -0.057795, -2.374322 mu:0.765014 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.021198, -0.057700, -2.373505 mu:0.765014 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.024915, -0.057604, -2.372677 mu:0.765014 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.168537, -0.052915, -2.331752 mu:0.765014 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.168148, -0.015877, -2.332921 mu:0.765014 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.171788, -0.015736, -2.331647 mu:0.765014 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.164470, -0.013163, -2.334229 mu:0.765014 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.168113, -0.013024, -2.332967 mu:0.765014 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.105611, 0.007647, -2.353059 mu:0.765014 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? 0.800422, 0.049323, -2.288963 mu:0.765014 unit_bearing:-0.479178 0.148417 0.865078 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? 0.858814, 0.057485, -2.260420 mu:0.765014 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.259088, 0.429803, -2.217745 mu:0.765014 unit_bearing:0.335833 0.430681 0.837693 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.193832, -0.671251, -2.123487 mu:0.765014 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.200921, -0.670723, -2.120649 mu:0.765014 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.208000, -0.670185, -2.117765 mu:0.765014 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.207664, -0.675224, -2.114588 mu:0.765014 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? 0.859866, -0.607332, -2.090049 mu:0.765014 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.213876, -0.567415, -2.175791 mu:0.765014 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.228112, -0.566411, -2.169916 mu:0.765014 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.699589, -0.502648, -1.827371 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? 0.618774, -0.529625, -2.239390 mu:0.765014 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.131] If point is visible? -0.548805, -0.486132, -2.001269 mu:0.765014 unit_bearing:0.562856 -0.284982 0.775873 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.131] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.324634, -0.517759, -2.297376 mu:0.765014 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.324730, -0.523116, -2.295043 mu:0.765014 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.323673, -0.458403, -2.321356 mu:0.765014 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.316102, -0.458476, -2.321685 mu:0.765014 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.719279, -0.109558, -1.955065 mu:0.765014 unit_bearing:0.698250 -0.003352 0.715846 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.397607, -0.185628, -2.385564 mu:0.765014 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.466067, -0.195758, -2.374997 mu:0.765014 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.701960, -0.122703, -1.972775 mu:0.765014 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.724954, -0.119494, -1.947176 mu:0.765014 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.730619, -0.118676, -1.940655 mu:0.765014 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.696150, -0.101890, -1.981792 mu:0.765014 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.701980, -0.101126, -1.975511 mu:0.765014 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.707778, -0.100355, -1.969181 mu:0.765014 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.713544, -0.099579, -1.962803 mu:0.765014 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.736228, -0.123203, -1.933340 mu:0.765014 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.707768, -0.094959, -1.969799 mu:0.765014 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.713533, -0.094188, -1.963420 mu:0.765014 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.367247, -0.095227, -2.398203 mu:0.765014 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.970215, -0.055885, -2.196170 mu:0.765014 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.963164, -0.056373, -2.200663 mu:0.765014 unit_bearing:-0.598947 0.059929 0.798543 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.294646, -0.058432, -2.279904 mu:0.765014 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.301744, -0.058051, -2.276551 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.745056, 0.004774, -2.313470 mu:0.765014 unit_bearing:-0.438685 0.116876 0.891008 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.862427, 0.060457, -2.258406 mu:0.765014 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 1.010899, 0.095934, -2.165985 mu:0.765014 unit_bearing:-0.632262 0.172345 0.755342 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.976205, 0.094025, -2.189666 mu:0.765014 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 1.010968, 0.090412, -2.166419 mu:0.765014 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.655723, 0.126830, -2.338816 mu:0.765014 unit_bearing:-0.371144 0.211918 0.904070 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.326224, -0.597363, -2.259670 mu:0.765014 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? 0.323835, -0.469251, -2.317225 mu:0.765014 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.550190, -0.465571, -2.010814 mu:0.765014 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.544277, -0.662065, -1.886063 mu:0.765014 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.568511, -0.657336, -1.864532 mu:0.765014 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.545449, -0.652557, -1.892771 mu:0.765014 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.569728, -0.647880, -1.871240 mu:0.765014 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.187684, -0.656567, -2.135646 mu:0.765014 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.201893, -0.655536, -2.130020 mu:0.765014 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.216058, -0.654466, -2.124211 mu:0.765014 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.191152, -0.594914, -2.170747 mu:0.765014 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.132] If point is visible? -0.205429, -0.593940, -2.165139 mu:0.765014 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.132] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? -0.247990, -0.590802, -2.147216 mu:0.765014 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? 0.461020, -0.541597, -2.271710 mu:0.765014 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? 0.324355, -0.501648, -2.304222 mu:0.765014 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? 0.903368, -0.542203, -2.100575 mu:0.765014 unit_bearing:-0.550991 -0.318299 0.771424 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? 0.325993, -0.586847, -2.265034 mu:0.765014 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? 0.903537, -0.532066, -2.105888 mu:0.765014 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? -0.696145, -0.118095, -1.979778 mu:0.765014 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? -0.707772, -0.116526, -1.967171 mu:0.765014 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? -0.273227, -0.053881, -2.289982 mu:0.765014 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? -0.707737, -0.127290, -1.965699 mu:0.765014 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? -0.142699, -0.025389, -2.341346 mu:0.765014 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? 0.976263, 0.088478, -2.190091 mu:0.765014 unit_bearing:-0.607294 0.168930 0.776309 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? 0.905941, 0.006701, -2.236417 mu:0.765014 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? 0.833226, 0.092919, -2.270936 mu:0.765014 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? 0.847821, 0.082276, -2.264514 mu:0.765014 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? 0.833268, 0.081663, -2.271754 mu:0.765014 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? 0.818669, 0.081066, -2.278791 mu:0.765014 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.262248 y=0.000000 z=-1.098746 +[21:42:41.133] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.133] If point is visible? -6661.687835, -452.612937, -7124.693536 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.262249 y=0.000000 z=-1.098751 +[21:42:41.133] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:41.133] If point is visible? 4211.953544, -399.552156, -8800.232222 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.262249 y=0.000000 z=-1.098751 +[21:42:41.133] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:41.133] If point is visible? -6661.687835, -452.612937, -7124.693536 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.262249 y=0.000000 z=-1.098751 +[21:42:41.133] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:41.133] If point is visible? 4211.953544, -399.552156, -8800.232222 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.262249 y=0.000000 z=-1.098751 +[21:42:41.133] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:41.133] If point is visible? 0.950257, -0.059751, -2.559879 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.133] If point is visible? 0.877368, -0.687445, -2.425728 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.133] If point is visible? 1.111526, -0.057362, -2.472526 mu:0.618770 unit_bearing:-0.598870 0.068366 0.797923 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.133] If point is visible? 2.953809, 0.024463, -5.998150 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.133] If point is visible? -0.847825, -0.074070, -2.270957 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.133] If point is visible? 0.325316, -0.965094, -2.393523 mu:0.618770 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.133] If point is visible? 0.320716, -0.965168, -2.393684 mu:0.618770 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.133] If point is visible? 0.315731, -0.956135, -2.400582 mu:0.618770 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.133] If point is visible? 0.301406, -0.944133, -2.409819 mu:0.618770 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.133] If point is visible? -1.811859, -2.179313, -3.530030 mu:0.258523 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.133] If point is visible? -1.814437, -2.174120, -3.537434 mu:0.258315 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.133] If point is visible? 0.296416, -0.935007, -2.416482 mu:0.618770 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.133] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? 0.291808, -0.935059, -2.416556 mu:0.618770 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -38.017439, -28.690370, -29.773897 mu:0.017930 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] If point is visible? -0.822218, -0.818220, -1.974116 mu:0.618770 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -0.743050, -0.854774, -2.031784 mu:0.618770 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? 1.202177, -0.983033, -2.371069 mu:0.536936 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.744076, Z inverse max: 0.329797 +[21:42:41.134] If point is visible? -0.847418, -0.828515, -1.931828 mu:0.618770 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -0.850859, -0.827643, -1.928095 mu:0.618770 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -0.322718, -0.890116, -2.314204 mu:0.618770 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -1.208241, -1.137994, -2.327750 mu:0.448661 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.134] If point is visible? -0.801252, -0.820187, -1.997681 mu:0.618770 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -4.994617, -4.905380, -7.012448 mu:0.107416 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] If point is visible? 0.267225, -0.898219, -2.442253 mu:0.618770 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? 0.267100, -0.895110, -2.444327 mu:0.618770 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -0.755347, -0.818473, -2.050811 mu:0.618770 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -0.759060, -0.817740, -2.047458 mu:0.618770 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -0.754952, -0.821394, -2.048714 mu:0.618770 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -0.675426, -0.800737, -2.143454 mu:0.618770 unit_bearing:0.515451 -0.412999 0.750828 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -0.679329, -0.800111, -2.140419 mu:0.618770 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -0.683561, -0.796478, -2.139368 mu:0.618770 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -0.687451, -0.795846, -2.136304 mu:0.618770 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.134] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.134] If point is visible? -0.691671, -0.792208, -2.135216 mu:0.618770 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.363110, -0.813083, -2.347607 mu:0.618770 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.692007, -0.789201, -2.137199 mu:0.618770 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.362883, -0.816207, -2.345681 mu:0.618770 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.372440, -0.802975, -2.349439 mu:0.618770 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.303580, -0.795754, -2.386552 mu:0.618770 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.699460, -0.755285, -2.155386 mu:0.618770 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.715284, -0.749739, -2.144762 mu:0.618770 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.704285, -0.745521, -2.157914 mu:0.618770 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.708169, -0.744901, -2.154794 mu:0.618770 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.712046, -0.744278, -2.151660 mu:0.618770 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? 0.975645, -0.756061, -2.336190 mu:0.618770 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.391485, -0.776374, -2.356405 mu:0.618770 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.299593, -0.789739, -2.391989 mu:0.618770 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.303985, -0.789432, -2.390260 mu:0.618770 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? 0.980039, -0.758639, -2.332065 mu:0.618770 unit_bearing:-0.514863 -0.372921 0.771911 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? 0.267627, -0.781139, -2.513535 mu:0.618770 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.708479, -0.741849, -2.156656 mu:0.618770 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.135] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.135] If point is visible? -0.712357, -0.741227, -2.153522 mu:0.618770 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.404852, -0.768956, -2.353941 mu:0.618770 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.299991, -0.783404, -2.395664 mu:0.618770 unit_bearing:0.270400 -0.383335 0.883141 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.295984, -0.777359, -2.401021 mu:0.618770 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.409373, -0.765424, -2.353689 mu:0.618770 unit_bearing:0.340228 -0.375458 0.862135 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? 0.290654, -0.774541, -2.516883 mu:0.618770 unit_bearing:-0.100188 -0.368751 0.924113 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? 0.272067, -0.774676, -2.517060 mu:0.618770 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.860480, -0.687118, -2.036389 mu:0.618770 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -2.391859, -1.616713, -3.318828 mu:0.261831 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.136] If point is visible? -0.415980, -0.730142, -2.371039 mu:0.618770 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.298225, -0.739040, -2.422197 mu:0.618770 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? 0.331604, -0.741787, -2.532893 mu:0.618770 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? 0.326946, -0.741844, -2.533081 mu:0.618770 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.412267, -0.720929, -2.378247 mu:0.618770 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.943311, -0.639027, -1.964825 mu:0.618770 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.298403, -0.735830, -2.423909 mu:0.618770 unit_bearing:0.268197 -0.351987 0.896758 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? 0.327034, -0.745086, -2.531395 mu:0.618770 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? 0.322377, -0.745142, -2.531570 mu:0.618770 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? 0.322467, -0.748381, -2.529876 mu:0.618770 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.302991, -0.732324, -2.423902 mu:0.618770 unit_bearing:0.271049 -0.349835 0.896743 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.307928, -0.722378, -2.427242 mu:0.618770 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.136] If point is visible? -0.377992, -0.717323, -2.397734 mu:0.618770 unit_bearing:0.318803 -0.342595 0.883738 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.136] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.349904, -0.728545, -2.538667 mu:0.618770 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? -0.352725, -0.703200, -2.417514 mu:0.618770 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? -0.378913, -0.701245, -2.406033 mu:0.618770 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? -0.941395, -0.627843, -1.975603 mu:0.618770 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? -0.365476, -0.708679, -2.408543 mu:0.618770 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.359147, -0.725153, -2.539787 mu:0.618770 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.363730, -0.721825, -2.541142 mu:0.618770 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? -0.379093, -0.698021, -2.407669 mu:0.618770 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.368315, -0.718493, -2.542475 mu:0.618770 unit_bearing:-0.149074 -0.332399 0.931283 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.391415, -0.708301, -2.545626 mu:0.618770 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? -0.939075, -0.619606, -1.984597 mu:0.618770 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? -0.344312, -0.697369, -2.424488 mu:0.618770 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? -0.504919, -0.875300, -2.761167 mu:0.492766 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.590481, Z inverse max: 0.395051 +[21:42:41.137] If point is visible? 0.396008, -0.704948, -2.546845 mu:0.618770 unit_bearing:-0.166290 -0.323750 0.931415 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.405272, -0.701498, -2.547635 mu:0.618770 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.297613, -0.689916, -2.559773 mu:0.618770 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.419139, -0.694667, -2.549490 mu:0.618770 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.414469, -0.694768, -2.549939 mu:0.618770 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.325293, -0.676507, -2.565102 mu:0.618770 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.474865, -0.676917, -2.550783 mu:0.618770 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.470193, -0.677045, -2.551400 mu:0.618770 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.302115, -0.683308, -2.562759 mu:0.618770 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.297449, -0.683347, -2.562861 mu:0.618770 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.137] If point is visible? 0.339003, -0.663170, -2.570531 mu:0.618770 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.137] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? 0.334331, -0.663226, -2.570742 mu:0.618770 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? 0.460912, -0.680570, -2.551052 mu:0.618770 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? 0.456241, -0.680691, -2.551626 mu:0.618770 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? 0.762938, -0.657382, -2.487628 mu:0.618770 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? 0.726002, -0.656398, -2.500855 mu:0.618770 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? 0.338712, -0.649961, -2.576426 mu:0.618770 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? 0.334039, -0.650016, -2.576637 mu:0.618770 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? 0.328838, -0.662879, -2.903855 mu:0.519719 unit_bearing:-0.121046 -0.227612 0.966199 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.696949, Z inverse max: 0.342489 +[21:42:41.138] If point is visible? -1.564271, -0.583051, -2.864297 mu:0.383673 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.138] If point is visible? -0.189322, -0.381910, -2.602762 mu:0.618770 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? -0.084152, -0.395815, -2.626873 mu:0.618770 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? -0.161044, -0.477188, -2.940442 mu:0.513077 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.675601, Z inverse max: 0.350553 +[21:42:41.138] If point is visible? -0.168328, -0.478971, -2.946723 mu:0.510990 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.668989, Z inverse max: 0.352990 +[21:42:41.138] If point is visible? -0.111657, -0.394972, -2.620596 mu:0.618770 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? -0.120809, -0.394676, -2.618395 mu:0.618770 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? -0.094325, -0.305792, -2.645091 mu:0.618770 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] calculated Z= 0.663871 +[21:42:41.138] update seeds 305 +[21:42:41.138] If point is visible? -0.098914, -0.305658, -2.644052 mu:0.618770 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? -0.517547, -0.634879, -4.306172 mu:0.297499 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.138] If point is visible? -0.135583, -0.301053, -2.635929 mu:0.618770 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? -0.128444, -0.315543, -2.772798 mu:0.572164 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.837321, Z inverse max: 0.307008 +[21:42:41.138] If point is visible? -0.132431, -0.314620, -2.767537 mu:0.573578 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.840441, Z inverse max: 0.306715 +[21:42:41.138] calculated Z= 0.663673 +[21:42:41.138] update seeds 305 +[21:42:41.138] If point is visible? -0.167935, -0.302184, -2.875603 mu:0.539669 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.761461, Z inverse max: 0.317877 +[21:42:41.138] If point is visible? -0.258489, -0.247821, -2.608466 mu:0.618770 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? -0.161531, -0.266113, -2.853656 mu:0.547990 unit_bearing:0.144807 -0.027543 0.989076 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.776959, Z inverse max: 0.319021 +[21:42:41.138] calculated Z= 0.711251 +[21:42:41.138] update seeds 305 +[21:42:41.138] If point is visible? -0.988686, -0.153193, -2.110438 mu:0.618770 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.138] If point is visible? -0.995477, -0.152141, -2.102143 mu:0.618770 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.138] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? 0.465820, -0.249854, -2.682403 mu:0.618770 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -0.981907, -0.140999, -2.120520 mu:0.618770 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -0.932890, -0.137979, -2.177835 mu:0.618770 unit_bearing:0.676698 -0.003368 0.736253 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -0.978493, -0.131566, -2.125915 mu:0.618770 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -0.225825, -0.210465, -2.703485 mu:0.591554 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.874711, Z inverse max: 0.308396 +[21:42:41.139] If point is visible? -0.981923, -0.134374, -2.121393 mu:0.618770 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -0.976601, -0.158363, -2.200362 mu:0.600477 unit_bearing:0.681509 -0.013769 0.731680 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.899723, Z inverse max: 0.301231 +[21:42:41.139] If point is visible? -0.981916, -0.137687, -2.120960 mu:0.618770 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -0.276326, -0.264273, -3.226661 mu:0.452313 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.139] If point is visible? -0.283485, -0.264517, -3.228608 mu:0.451567 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.139] If point is visible? -0.150256, -0.197526, -2.689190 mu:0.604270 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.908537, Z inverse max: 0.300002 +[21:42:41.139] If point is visible? -0.267647, -0.181236, -2.614728 mu:0.618770 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -0.954115, -0.108391, -2.157301 mu:0.618770 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -0.321428, -0.184235, -2.770405 mu:0.561742 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.813893, Z inverse max: 0.309590 +[21:42:41.139] If point is visible? -0.159757, -0.177452, -2.928673 mu:0.530135 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.741094, Z inverse max: 0.319175 +[21:42:41.139] calculated Z= 0.709166 +[21:42:41.139] update seeds 305 +[21:42:41.139] If point is visible? -0.212604, -0.197006, -3.130657 mu:0.477115 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.556738, Z inverse max: 0.397492 +[21:42:41.139] If point is visible? -1.022129, -0.081972, -2.076233 mu:0.618770 unit_bearing:0.737625 0.023367 0.674807 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -1.025441, -0.084770, -2.071626 mu:0.618770 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -1.022102, -0.078668, -2.076540 mu:0.618770 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -1.022072, -0.075363, -2.076839 mu:0.618770 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? 0.348263, -0.100450, -2.709444 mu:0.618770 unit_bearing:-0.141692 0.059768 0.988105 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.139] If point is visible? -0.294045, -0.067917, -2.614583 mu:0.618770 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.139] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.440234, -0.067909, -2.552617 mu:0.618770 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.103452, -0.070906, -2.671347 mu:0.618770 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.108037, -0.070782, -2.670279 mu:0.618770 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.112620, -0.070657, -2.669198 mu:0.618770 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.448999, -0.070926, -2.548205 mu:0.618770 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.288995, -0.018795, -2.617829 mu:0.618770 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.293475, -0.018614, -2.616198 mu:0.618770 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.288946, -0.015268, -2.617886 mu:0.618770 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.216423, 0.013861, -2.642287 mu:0.618770 unit_bearing:0.210769 0.124909 0.969523 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? 0.986359, 0.070148, -2.541860 mu:0.618770 unit_bearing:-0.524660 0.151905 0.837649 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? 1.058015, 0.077353, -2.697112 mu:0.559544 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.811832, Z inverse max: 0.307257 +[21:42:41.140] If point is visible? 0.743077, 0.162345, -2.792397 mu:0.565597 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.827643, Z inverse max: 0.303552 +[21:42:41.140] If point is visible? -0.335717, -0.833903, -2.347295 mu:0.618770 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.703974, -0.748572, -2.156044 mu:0.618770 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.336171, -0.827672, -2.351217 mu:0.618770 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? 0.984525, -0.751998, -2.333512 mu:0.618770 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.363560, -0.806824, -2.351435 mu:0.618770 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? 0.295205, -0.771280, -2.518561 mu:0.618770 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.344140, -0.700601, -2.422862 mu:0.618770 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? 0.319802, -0.640233, -2.581522 mu:0.618770 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? 0.319946, -0.646857, -2.578639 mu:0.618770 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? 0.318355, -0.566846, -2.611153 mu:0.618770 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? 0.308990, -0.566922, -2.611443 mu:0.618770 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? 0.494057, -0.242397, -2.679678 mu:0.618770 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.140] If point is visible? -0.950618, -0.115545, -2.160551 mu:0.618770 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.140] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.957645, -0.114581, -2.152576 mu:0.618770 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? 0.475237, -0.249695, -2.681189 mu:0.618770 unit_bearing:-0.219406 -0.034022 0.975040 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.943538, -0.149856, -2.164321 mu:0.618770 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.978462, -0.144824, -2.124167 mu:0.618770 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? 0.381094, -0.131919, -2.705081 mu:0.618770 unit_bearing:-0.161899 0.040112 0.985992 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.985291, -0.150410, -2.115037 mu:0.618770 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -1.038590, -0.109042, -2.051507 mu:0.618770 unit_bearing:0.748940 0.004877 0.662620 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? 0.371723, -0.117917, -2.706835 mu:0.618770 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.427073, -0.065117, -2.559030 mu:0.618770 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.435826, -0.064647, -2.554887 mu:0.618770 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.444636, -0.071168, -2.550326 mu:0.618770 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? 0.950257, -0.059751, -2.559879 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? 0.986352, 0.073616, -2.541691 mu:0.618770 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? 0.986366, 0.066680, -2.542021 mu:0.618770 unit_bearing:-0.524697 0.149788 0.838008 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? 1.128139, 0.114901, -2.458476 mu:0.618770 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? 0.922867, 0.126717, -2.568223 mu:0.618770 unit_bearing:-0.486590 0.188635 0.853022 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? 0.931952, 0.134017, -2.563455 mu:0.618770 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.943619, 0.977318, -3.627766 mu:0.337001 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.141] If point is visible? 0.322200, -0.738655, -2.534932 mu:0.618770 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.757155, -0.574049, -2.213696 mu:0.618770 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.749819, -0.805239, -2.067835 mu:0.618770 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.779492, -0.799410, -2.040842 mu:0.618770 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.316021, -0.734643, -2.416978 mu:0.618770 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.141] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.141] If point is visible? -0.333583, -0.733412, -2.409823 mu:0.618770 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? -0.385915, -0.729451, -2.387007 mu:0.618770 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? 1.020374, -0.698518, -2.343395 mu:0.618770 unit_bearing:-0.539937 -0.335143 0.772105 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? 0.318598, -0.580259, -2.606048 mu:0.618770 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? 0.338090, -0.620119, -2.589228 mu:0.618770 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? 0.304313, -0.764744, -2.521852 mu:0.618770 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? 0.488760, -0.669965, -2.551906 mu:0.618770 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? 0.877368, -0.687445, -2.425728 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? -0.310449, -0.823418, -2.365960 mu:0.618770 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? -0.327911, -0.822103, -2.358781 mu:0.618770 unit_bearing:0.289363 -0.409884 0.865023 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? -0.345313, -0.820740, -2.351377 mu:0.618770 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? 0.321852, -0.725652, -2.541560 mu:0.618770 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? 0.503484, -0.249173, -2.677212 mu:0.618770 unit_bearing:-0.236594 -0.034002 0.971013 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? -0.950578, -0.155517, -2.155483 mu:0.618770 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? -0.936448, -0.144170, -2.173068 mu:0.618770 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? -0.950625, -0.142209, -2.157303 mu:0.618770 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? -0.257501, -0.016490, -2.628917 mu:0.618770 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? 0.950169, 0.072068, -2.559365 mu:0.618770 unit_bearing:-0.503300 0.154404 0.850205 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? -0.400570, -0.052465, -2.571754 mu:0.618770 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? 2.953809, 0.024463, -5.998150 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.142] If point is visible? -0.847825, -0.074070, -2.270957 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.142] If point is visible? -0.418305, -0.065581, -2.563116 mu:0.618770 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.142] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.143] If point is visible? -0.257682, -0.030604, -2.628639 mu:0.618770 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.262249 y=0.000000 z=-1.098755 +[21:42:41.143] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.463] add new frame +[21:42:41.463] update seed +[21:42:41.463] If point is visible? 0.477417, -0.222238, -0.247131 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.264076 y=0.000000 z=-1.023566 +[21:42:41.463] If point is visible? 0.197105, -0.096895, -0.196595 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.264076 y=0.000000 z=-1.023566 +[21:42:41.463] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:41.463] If point is visible? 0.187048, -0.214684, -0.219991 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.264076 y=0.000000 z=-1.023566 +[21:42:41.463] If point is visible? 0.477417, -0.222238, -0.247131 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.264076 y=0.000000 z=-1.023566 +[21:42:41.463] If point is visible? 0.197105, -0.096895, -0.196595 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.264076 y=0.000000 z=-1.023566 +[21:42:41.463] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:41.463] If point is visible? 0.187048, -0.214684, -0.219991 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.264076 y=0.000000 z=-1.023566 +[21:42:41.463] If point is visible? 0.214327, -0.001137, -0.905291 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.463] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.463] If point is visible? 0.254865, -0.015193, -0.896804 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.463] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.463] If point is visible? 0.254860, -0.016349, -0.896945 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.463] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.463] If point is visible? 0.253993, 0.067683, -0.914872 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.463] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.463] If point is visible? 0.297107, 0.057899, -0.913940 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.463] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.463] If point is visible? 0.220787, 0.054614, -0.915549 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.463] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.463] If point is visible? 0.220790, 0.054876, -0.915677 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.463] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.463] If point is visible? 0.300161, 0.053527, -0.912731 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.463] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.463] If point is visible? 0.297224, 0.053135, -0.911652 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.463] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.464] calculated Z= 0.060660 +[21:42:41.464] update seeds 305 +[21:42:41.464] If point is visible? 0.220018, 0.051670, -0.914446 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.464] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.464] If point is visible? 0.219636, 0.050322, -0.913984 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.464] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.464] If point is visible? 0.219249, 0.048439, -0.913313 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.464] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.464] If point is visible? 0.315166, 0.049425, -0.916734 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.464] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.464] If point is visible? 0.315174, 0.049159, -0.916619 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.464] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.464] If point is visible? 0.295832, 0.048913, -0.909404 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.464] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.464] If point is visible? 0.315182, 0.048893, -0.916504 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.464] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.464] If point is visible? 0.242391, 0.047061, -0.906235 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.464] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.464] If point is visible? 0.242768, 0.047071, -0.906173 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.464] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.464] If point is visible? 0.315989, 0.045639, -0.915493 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.464] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.464] If point is visible? 0.304723, 0.046610, -0.911251 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.464] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.465] If point is visible? 0.295885, 0.045941, -0.908222 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.465] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.465] If point is visible? 0.304378, 0.045550, -0.910708 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.465] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.465] If point is visible? 0.218484, 0.045453, -0.912383 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.465] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.465] If point is visible? 0.218482, 0.045185, -0.912278 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.465] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.465] If point is visible? 0.304016, 0.045299, -0.910483 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.465] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.465] If point is visible? 0.304384, 0.045280, -0.910604 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.465] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.465] If point is visible? 0.248812, 0.045856, -0.904813 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.465] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.465] If point is visible? 0.249569, 0.045598, -0.904626 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.465] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.465] If point is visible? 0.296265, 0.045384, -0.908112 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.465] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.466] If point is visible? 0.304022, 0.045028, -0.910380 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.466] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.466] If point is visible? 0.296650, 0.044554, -0.907903 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.466] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.466] If point is visible? 0.297021, 0.044539, -0.908001 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.466] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.466] If point is visible? 0.253358, 0.044295, -0.903768 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.466] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.466] If point is visible? 0.252600, 0.044557, -0.903929 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.466] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.466] If point is visible? 0.257146, 0.044064, -0.903424 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.466] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.466] If point is visible? 0.303659, 0.044777, -0.910158 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.466] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.466] If point is visible? 0.304027, 0.044758, -0.910277 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.466] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.466] If point is visible? 0.298146, 0.043677, -0.908002 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.466] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.466] If point is visible? 0.297025, 0.044267, -0.907901 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.466] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.467] If point is visible? 0.297396, 0.044252, -0.907999 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.467] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.467] If point is visible? 0.217717, 0.041910, -0.911340 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.467] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.467] If point is visible? 0.255256, 0.043224, -0.903243 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.467] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.467] If point is visible? 0.255634, 0.043228, -0.903219 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.467] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.467] If point is visible? 0.256013, 0.043232, -0.903196 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.467] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.467] If point is visible? 0.298521, 0.043389, -0.908005 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.467] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.467] If point is visible? 0.207116, 0.040363, -0.915583 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.467] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.467] If point is visible? 0.207119, 0.040631, -0.915679 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.467] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.467] If point is visible? 0.297401, 0.043980, -0.907900 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.467] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.468] If point is visible? 0.256014, 0.042958, -0.903100 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.468] If point is visible? 0.257533, 0.042150, -0.902737 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.468] If point is visible? 0.257535, 0.041875, -0.902644 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.468] If point is visible? 0.218409, 0.034882, -0.908755 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.468] If point is visible? 0.254152, 0.031599, -0.899846 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.468] If point is visible? 0.198720, 0.025064, -0.915673 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.468] If point is visible? 0.198722, 0.025338, -0.915734 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.468] If point is visible? 0.278444, 0.025942, -0.899058 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.468] If point is visible? 0.195523, 0.023163, -0.917189 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.468] calculated Z= 0.109441 +[21:42:41.468] update seeds 305 +[21:42:41.468] If point is visible? 0.283354, 0.025295, -0.899590 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.468] If point is visible? 0.278450, 0.023971, -0.898674 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.468] If point is visible? 0.289003, 0.023761, -0.900293 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.468] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.469] If point is visible? 0.197277, 0.020838, -0.915654 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.469] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.469] calculated Z= 0.965077 +[21:42:41.469] update seeds 305 +[21:42:41.469] If point is visible? 0.199764, 0.020201, -0.914087 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.469] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.469] If point is visible? 0.199763, 0.019925, -0.914038 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.469] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.469] If point is visible? 0.288633, 0.021798, -0.899867 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.469] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.469] If point is visible? 0.278453, 0.023125, -0.898518 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.469] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.469] If point is visible? 0.192004, 0.019855, -0.918800 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.469] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.469] If point is visible? 0.189229, 0.018789, -0.920503 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.469] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.469] If point is visible? 0.195504, 0.019324, -0.916458 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.469] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.469] calculated Z= 0.754381 +[21:42:41.469] update seeds 305 +[21:42:41.469] If point is visible? 0.196209, 0.019104, -0.915987 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.469] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.469] calculated Z= 0.761820 +[21:42:41.469] update seeds 305 +[21:42:41.469] If point is visible? 0.287513, 0.018150, -0.899080 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.469] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.469] If point is visible? 0.289016, 0.018114, -0.899364 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.469] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.470] If point is visible? 0.277325, 0.019183, -0.897745 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.470] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.470] If point is visible? 0.277703, 0.019178, -0.897785 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.470] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.470] If point is visible? 0.278081, 0.019172, -0.897826 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.470] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.470] If point is visible? 0.280351, 0.016870, -0.897777 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.470] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.470] If point is visible? 0.289016, 0.017831, -0.899324 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.470] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.470] If point is visible? 0.289392, 0.016972, -0.899282 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.470] Z inverse min: -7.583360, Z inverse max: 0.000000 +[21:42:41.470] If point is visible? 0.277704, 0.018043, -0.897621 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.470] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.470] If point is visible? 0.278082, 0.018038, -0.897662 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.470] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.470] If point is visible? 0.278461, 0.016046, -0.897442 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.470] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.470] If point is visible? 0.277326, 0.014069, -0.897088 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.470] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.471] If point is visible? 0.277704, 0.014064, -0.897127 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.471] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.471] calculated Z= 0.529550 +[21:42:41.471] update seeds 305 +[21:42:41.471] If point is visible? 0.278083, 0.014059, -0.897168 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.471] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.471] If point is visible? 0.290518, 0.014958, -0.899261 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.471] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.471] calculated Z= 0.640051 +[21:42:41.471] update seeds 305 +[21:42:41.471] If point is visible? 0.292018, 0.014635, -0.899548 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.471] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.471] If point is visible? 0.290515, 0.011830, -0.898932 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.471] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.471] If point is visible? 0.277325, 0.012929, -0.896969 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.471] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.471] If point is visible? 0.277704, 0.012925, -0.897009 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.471] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.471] calculated Z= 0.531536 +[21:42:41.471] update seeds 305 +[21:42:41.471] If point is visible? 0.278082, 0.012920, -0.897049 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.471] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.471] If point is visible? 0.292379, 0.007790, -0.899026 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.471] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.471] If point is visible? 0.278829, 0.007768, -0.896724 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.471] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.471] If point is visible? 0.245431, 0.006016, -0.897042 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.471] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.471] If point is visible? 0.298329, 0.003336, -0.900313 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.472] If point is visible? 0.300187, 0.003279, -0.900835 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.472] If point is visible? 0.323126, 0.000878, -0.909855 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.472] If point is visible? 0.294590, 0.001437, -0.899312 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.472] If point is visible? 0.294961, 0.001141, -0.899400 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.472] calculated Z= 0.932845 +[21:42:41.472] update seeds 305 +[21:42:41.472] If point is visible? 0.278052, 0.002043, -0.896420 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.472] If point is visible? 0.278430, 0.002038, -0.896462 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.472] If point is visible? 0.278041, -0.000257, -0.896403 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.472] If point is visible? 0.293075, -0.001393, -0.898954 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.472] If point is visible? 0.293448, -0.001403, -0.899041 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.472] If point is visible? 0.278030, -0.002272, -0.896421 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.472] If point is visible? 0.278407, -0.002276, -0.896463 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.472] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.473] If point is visible? 0.278785, -0.002281, -0.896507 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.473] If point is visible? 0.293072, -0.001681, -0.898957 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.473] If point is visible? 0.292694, -0.002246, -0.898880 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.473] If point is visible? 0.292692, -0.002533, -0.898885 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.473] If point is visible? 0.300882, -0.002470, -0.901020 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.473] If point is visible? 0.291552, -0.004520, -0.898686 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.473] If point is visible? 0.291550, -0.004807, -0.898696 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.473] If point is visible? 0.219940, -0.013772, -0.903921 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.473] If point is visible? 0.256366, -0.018077, -0.897080 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.473] If point is visible? 0.254758, -0.036260, -0.901055 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.473] calculated Z= 0.048682 +[21:42:41.473] update seeds 305 +[21:42:41.473] If point is visible? 0.255133, -0.036259, -0.901028 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.473] If point is visible? 0.255131, -0.036546, -0.901112 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.473] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.474] calculated Z= 0.050385 +[21:42:41.474] update seeds 305 +[21:42:41.474] If point is visible? 0.302787, -0.035548, -0.906732 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.474] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.474] If point is visible? 0.308138, -0.037939, -0.909355 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.474] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.474] If point is visible? 0.307789, -0.037648, -0.909129 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.474] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.474] If point is visible? 0.283645, -0.049240, -0.906865 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.474] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.474] If point is visible? 0.257010, 0.065664, -0.913455 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.474] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.474] If point is visible? 0.257760, 0.065672, -0.913418 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.474] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.474] If point is visible? 0.256251, 0.066688, -0.914103 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.474] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.474] If point is visible? 0.258516, 0.065162, -0.913086 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.474] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.475] If point is visible? 0.300548, 0.052711, -0.912476 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.475] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.475] If point is visible? 0.297587, 0.053384, -0.911874 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.475] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.475] If point is visible? 0.298325, 0.053350, -0.912078 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.475] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.475] If point is visible? 0.299799, 0.053279, -0.912501 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.475] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.475] calculated Z= 0.064034 +[21:42:41.475] update seeds 305 +[21:42:41.475] If point is visible? 0.299050, 0.053847, -0.912532 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.475] Z inverse min: -7.583360, Z inverse max: 0.000000 +[21:42:41.475] If point is visible? 0.259369, 0.052487, -0.906667 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.475] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.475] If point is visible? 0.315982, 0.045907, -0.915600 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.475] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.475] If point is visible? 0.257910, 0.042701, -0.902907 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.475] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.475] If point is visible? 0.297767, 0.044237, -0.908100 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.475] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.476] If point is visible? 0.298508, 0.044205, -0.908303 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.476] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.476] If point is visible? 0.297016, 0.044811, -0.908102 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.476] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.476] If point is visible? 0.297758, 0.044780, -0.908301 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.476] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.476] If point is visible? 0.218039, 0.034861, -0.908892 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.476] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.476] If point is visible? 0.254154, 0.030482, -0.899573 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.476] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.476] If point is visible? 0.254913, 0.031048, -0.899655 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.476] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.476] If point is visible? 0.245052, 0.006582, -0.897123 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.476] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.476] If point is visible? 0.245052, 0.006010, -0.897096 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.476] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.476] If point is visible? 0.245810, 0.006021, -0.896989 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.476] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.476] If point is visible? 0.292716, 0.000625, -0.898866 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.476] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.476] If point is visible? 0.293463, 0.000606, -0.899038 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.300190, 0.003850, -0.900852 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.245052, 0.005437, -0.897070 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.245810, 0.005449, -0.896964 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.299393, -0.002999, -0.900601 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.290440, -0.003344, -0.898413 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.293467, 0.001180, -0.899043 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.218834, -0.014090, -0.904357 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.219569, -0.013497, -0.904023 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.256366, -0.018077, -0.897080 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.319999, -0.042434, -0.916183 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.324054, -0.044197, -0.919050 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.477] If point is visible? 0.298338, 0.052818, -0.911835 mu:-7.630446 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583286, Z inverse max: 0.000000 +[21:42:41.477] calculated Z= 0.062006 +[21:42:41.477] update seeds 305 +[21:42:41.477] If point is visible? 0.299812, 0.052747, -0.912258 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.477] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.478] calculated Z= 0.064419 +[21:42:41.478] update seeds 305 +[21:42:41.478] If point is visible? 0.302875, 0.047244, -0.910868 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.478] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.478] If point is visible? 0.250244, 0.068120, -0.915529 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.478] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.478] If point is visible? 0.256385, 0.044877, -0.903761 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.478] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.478] If point is visible? 0.296989, 0.046437, -0.908722 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.478] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.478] If point is visible? 0.298470, 0.046374, -0.909124 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.478] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.478] If point is visible? 0.299949, 0.046307, -0.909545 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.478] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.478] If point is visible? 0.298313, 0.053882, -0.912323 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.478] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.478] calculated Z= 0.061538 +[21:42:41.478] update seeds 305 +[21:42:41.478] If point is visible? 0.253247, 0.067155, -0.914622 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.478] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.479] If point is visible? 0.299969, 0.045225, -0.909129 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.479] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.479] If point is visible? 0.296884, 0.051817, -0.910954 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.479] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.479] If point is visible? 0.253395, 0.030473, -0.899631 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.479] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.479] calculated Z= 0.459370 +[21:42:41.479] update seeds 305 +[21:42:41.479] If point is visible? 0.218773, 0.033806, -0.908303 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.479] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.479] If point is visible? 0.253397, 0.029355, -0.899367 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.479] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.479] calculated Z= 0.460252 +[21:42:41.479] update seeds 305 +[21:42:41.479] If point is visible? 0.195503, 0.019049, -0.916411 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.479] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.479] If point is visible? 0.289720, 0.000694, -0.898224 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.479] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.479] If point is visible? 0.291193, -0.002786, -0.898559 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.479] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.479] If point is visible? 0.279100, -0.010650, -0.896960 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.479] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.479] If point is visible? 0.214327, -0.001137, -0.905291 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.479] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.298651, -0.002977, -0.900393 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.480] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.279110, -0.009495, -0.896871 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.279174, -0.000271, -0.896533 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.280684, -0.000292, -0.896721 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.338468, -0.012718, -0.919774 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.254865, -0.015193, -0.896804 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.480] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.254860, -0.016349, -0.896945 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.280677, -0.001443, -0.896727 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.288204, -0.001572, -0.897934 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.289704, -0.001603, -0.898229 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.263728 y=0.000000 z=-1.026673 +[21:42:41.480] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.211321, 0.310358, -0.530162 mu:-1.675728 unit_bearing:-0.119818 -0.412666 0.902968 T_cur_ref: x=0.263992 y=0.000000 z=-1.037134 +[21:42:41.480] Z inverse min: -1.661710, Z inverse max: 0.000000 +[21:42:41.480] If point is visible? 0.743597, -0.416989, -2.320134 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.263987 y=0.000000 z=-1.039427 +[21:42:41.480] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.480] If point is visible? 0.743652, -0.405097, -2.323925 mu:0.699435 unit_bearing:-0.371667 -0.171737 0.912343 T_cur_ref: x=0.263987 y=0.000000 z=-1.039427 +[21:42:41.480] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.480] If point is visible? 0.743597, -0.416989, -2.320134 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.263987 y=0.000000 z=-1.039427 +[21:42:41.480] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.480] If point is visible? -0.661049, 0.121895, -2.122740 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.263987 y=0.000000 z=-1.039427 +[21:42:41.480] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.480] If point is visible? 0.743597, -0.416989, -2.320134 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.263987 y=0.000000 z=-1.039427 +[21:42:41.480] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.480] If point is visible? 0.743597, -0.416989, -2.320134 mu:0.699435 unit_bearing:-0.371565 -0.180316 0.910728 T_cur_ref: x=0.263987 y=0.000000 z=-1.039427 +[21:42:41.480] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.480] If point is visible? -0.661049, 0.121895, -2.122740 mu:0.699435 unit_bearing:0.617329 0.176963 0.766543 T_cur_ref: x=0.263987 y=0.000000 z=-1.039427 +[21:42:41.480] Z inverse min: 0.746944, Z inverse max: 0.651925 +[21:42:41.480] If point is visible? 0.053716, 0.024970, -1.290355 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.264693 y=0.000000 z=-1.055361 +[21:42:41.481] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:41.481] If point is visible? 0.053716, 0.024970, -1.290355 mu:3.156654 unit_bearing:0.617556 0.168637 0.768235 T_cur_ref: x=0.264693 y=0.000000 z=-1.055361 +[21:42:41.481] Z inverse min: 3.219699, Z inverse max: 3.093608 +[21:42:41.481] If point is visible? -0.129375, -0.017622, -1.672584 mu:1.385614 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.265298 y=0.000000 z=-1.068617 +[21:42:41.481] Z inverse min: 1.501398, Z inverse max: 1.269830 +[21:42:41.481] If point is visible? 0.541193, -0.006182, -1.735473 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.265298 y=0.000000 z=-1.068617 +[21:42:41.481] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:41.481] If point is visible? 0.524887, -0.006849, -1.741982 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.265298 y=0.000000 z=-1.068617 +[21:42:41.481] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:41.481] If point is visible? -0.129375, -0.017622, -1.672584 mu:1.385614 unit_bearing:0.504419 0.077753 0.859951 T_cur_ref: x=0.265298 y=0.000000 z=-1.068617 +[21:42:41.481] Z inverse min: 1.501398, Z inverse max: 1.269830 +[21:42:41.481] If point is visible? 0.541193, -0.006182, -1.735473 mu:1.385615 unit_bearing:-0.427799 0.104106 0.897858 T_cur_ref: x=0.265298 y=0.000000 z=-1.068617 +[21:42:41.481] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:41.481] If point is visible? 0.524887, -0.006849, -1.741982 mu:1.385615 unit_bearing:-0.405688 0.104288 0.908043 T_cur_ref: x=0.265298 y=0.000000 z=-1.068617 +[21:42:41.481] Z inverse min: 1.501400, Z inverse max: 1.269829 +[21:42:41.481] If point is visible? -53786233.036386, -48168274.646054, -69871637.584075 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.266410 y=0.000000 z=-1.084389 +[21:42:41.481] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:41.481] If point is visible? -85428469.153674, 26760316.897195, -45618519.413334 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.266410 y=0.000000 z=-1.084389 +[21:42:41.481] If point is visible? -53786233.036386, -48168274.646054, -69871637.584075 mu:0.000000 unit_bearing:0.474961 -0.391083 0.788331 T_cur_ref: x=0.266410 y=0.000000 z=-1.084389 +[21:42:41.481] Z inverse min: 0.087969, Z inverse max: 0.000000 +[21:42:41.481] If point is visible? -85428469.153674, 26760316.897195, -45618519.413334 mu:0.000000 unit_bearing:0.814834 0.319686 0.483577 T_cur_ref: x=0.266410 y=0.000000 z=-1.084389 +[21:42:41.481] If point is visible? 0.986808, -0.051652, -2.154449 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.267703 y=0.000000 z=-1.110319 +[21:42:41.481] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:41.481] If point is visible? 0.986808, -0.051652, -2.154449 mu:0.788113 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.267703 y=0.000000 z=-1.110319 +[21:42:41.481] Z inverse min: 0.834522, Z inverse max: 0.741705 +[21:42:41.481] If point is visible? 0.537706, 0.029018, -1.502206 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.491480, 0.030663, -1.530203 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.480978, 0.030190, -1.535668 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.303042, -0.285461, -1.490558 mu:2.097425 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.300282, -0.282837, -1.492759 mu:2.097425 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.301671, -0.284598, -1.491329 mu:2.097425 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.024407, -0.268890, -1.419871 mu:2.097425 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.297536, -0.281095, -1.494264 mu:2.097425 unit_bearing:-0.107700 -0.487042 0.866712 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.294771, -0.278445, -1.496394 mu:2.097425 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.296145, -0.279322, -1.495661 mu:2.097425 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.291984, -0.274876, -1.499128 mu:2.097425 unit_bearing:-0.096514 -0.472851 0.875841 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.292002, -0.275781, -1.498485 mu:2.097425 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? -0.049149, -0.246714, -1.367328 mu:2.097425 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.519331, -0.248583, -1.424452 mu:2.113893 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.142486, Z inverse max: 2.085300 +[21:42:41.481] If point is visible? -0.033424, -0.246982, -1.385346 mu:2.097425 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? -0.050445, -0.244799, -1.367559 mu:2.097425 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.010974, -0.252411, -1.422883 mu:2.097425 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? -0.033853, -0.243591, -1.387888 mu:2.097425 unit_bearing:0.598418 -0.436157 0.672059 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? -0.034953, -0.243363, -1.386888 mu:2.097425 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.109660, -0.263346, -1.474996 mu:2.097425 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] calculated Z= 0.559274 +[21:42:41.481] update seeds 305 +[21:42:41.481] If point is visible? -0.020844, -0.242794, -1.402052 mu:2.097425 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? -0.021977, -0.242583, -1.401104 mu:2.097425 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? -0.020747, -0.243656, -1.401430 mu:2.097425 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.284985, -0.264945, -1.506329 mu:2.097425 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.284967, -0.264028, -1.506942 mu:2.097425 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.481] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.481] If point is visible? 0.003782, -0.238339, -1.427901 mu:2.097425 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.002598, -0.238159, -1.427048 mu:2.097425 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.002517, -0.237274, -1.427644 mu:2.097425 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.001253, -0.236208, -1.427380 mu:2.097425 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.000072, -0.236027, -1.426519 mu:2.097425 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.098063, -0.241595, -1.484715 mu:2.097425 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.283282, -0.247375, -1.517604 mu:2.097425 unit_bearing:-0.079917 -0.410878 0.908181 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.115963, -0.235480, -1.496120 mu:2.097425 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.115919, -0.234548, -1.496670 mu:2.097425 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.003466, -0.222279, -1.433393 mu:2.097425 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.288521, -0.234161, -1.525113 mu:2.097425 unit_bearing:-0.091527 -0.381449 0.919847 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.089694, -0.229881, -1.488189 mu:2.097425 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.003315, -0.224076, -1.432276 mu:2.097425 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.008026, -0.223357, -1.428757 mu:2.097425 unit_bearing:0.540173 -0.383588 0.749048 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.004723, -0.221202, -1.433074 mu:2.097425 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.005903, -0.221024, -1.432197 mu:2.097425 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.007081, -0.220846, -1.431315 mu:2.097425 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.088448, -0.230708, -1.487094 mu:2.097425 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.005978, -0.220124, -1.432749 mu:2.097425 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.007156, -0.219946, -1.431867 mu:2.097425 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.118335, -0.230043, -1.500303 mu:2.097425 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.488739, -0.218870, -1.471646 mu:2.097425 unit_bearing:-0.504924 -0.363283 0.782992 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.292525, -0.227475, -1.528598 mu:2.097425 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.287047, -0.227539, -1.528853 mu:2.097425 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.084328, -0.225743, -1.488118 mu:2.097425 unit_bearing:0.340283 -0.373381 0.863014 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.488762, -0.217957, -1.472183 mu:2.097425 unit_bearing:-0.505018 -0.361246 0.783874 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.052352, -0.202412, -1.400011 mu:2.097376 unit_bearing:0.636389 -0.347324 0.688749 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143547, Z inverse max: 2.051206 +[21:42:41.482] If point is visible? -0.052171, -0.204184, -1.398948 mu:2.097425 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.052265, -0.203300, -1.399483 mu:2.097381 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143557, Z inverse max: 2.051205 +[21:42:41.482] If point is visible? -0.051536, -0.199966, -1.402648 mu:2.097245 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143232, Z inverse max: 2.051258 +[21:42:41.482] If point is visible? 0.082525, -0.215334, -1.493279 mu:2.097425 unit_bearing:0.343641 -0.350392 0.871284 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.084983, -0.212708, -1.495918 mu:2.097425 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.302024, -0.220665, -1.531564 mu:2.097425 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.083731, -0.213551, -1.494855 mu:2.097425 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.116420, -0.215818, -1.507628 mu:2.097425 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.077525, -0.189227, -1.379257 mu:2.097425 unit_bearing:0.691548 -0.325188 0.644992 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? -0.076766, -0.186807, -1.381909 mu:2.097425 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.506976, -0.203955, -1.468745 mu:2.097425 unit_bearing:-0.542611 -0.332976 0.771168 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.310182, -0.214776, -1.533858 mu:2.097425 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.088751, -0.210167, -1.499066 mu:2.097425 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.112278, -0.210823, -1.508709 mu:2.097425 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.090011, -0.209315, -1.500102 mu:2.097425 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.482] If point is visible? 0.314276, -0.212775, -1.534437 mu:2.097425 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.482] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.096374, -0.205980, -1.504701 mu:2.097425 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? -0.076082, -0.183483, -1.385024 mu:2.097425 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143658, Z inverse max: 2.051191 +[21:42:41.483] If point is visible? 0.101688, -0.208241, -1.505785 mu:2.097425 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.093840, -0.207699, -1.502685 mu:2.097425 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.106901, -0.207633, -1.508251 mu:2.097425 unit_bearing:0.291067 -0.330533 0.897791 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.105587, -0.207548, -1.507761 mu:2.097425 unit_bearing:0.293873 -0.330482 0.896895 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.104274, -0.207462, -1.507268 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.318372, -0.210766, -1.534971 mu:2.097425 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.322469, -0.208749, -1.535459 mu:2.097425 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? -0.075995, -0.184374, -1.384535 mu:2.097425 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143663, Z inverse max: 2.051186 +[21:42:41.483] If point is visible? 0.102924, -0.206423, -1.507252 mu:2.097425 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.096413, -0.206932, -1.504219 mu:2.097425 unit_bearing:0.313481 -0.330105 0.890371 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.326567, -0.206723, -1.535900 mu:2.097425 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.325195, -0.206757, -1.536071 mu:2.097425 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.330666, -0.204689, -1.536296 mu:2.097425 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.336137, -0.202609, -1.536447 mu:2.097425 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.294944, -0.203450, -1.540650 mu:2.097425 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.296295, -0.201494, -1.541482 mu:2.097425 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.421899, -0.192904, -1.518155 mu:2.097425 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.420552, -0.192991, -1.518621 mu:2.097425 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.347085, -0.199378, -1.536072 mu:2.097425 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.345715, -0.199422, -1.536305 mu:2.097425 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.344344, -0.199466, -1.536533 mu:2.097425 unit_bearing:-0.209228 -0.306302 0.928657 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.342979, -0.200475, -1.536303 mu:2.097425 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.341608, -0.200517, -1.536523 mu:2.097425 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.423250, -0.191860, -1.518135 mu:2.097425 unit_bearing:-0.372414 -0.295171 0.879876 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.303134, -0.198486, -1.542369 mu:2.097425 unit_bearing:-0.123527 -0.302771 0.945024 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.304488, -0.196521, -1.543153 mu:2.097425 unit_bearing:-0.126421 -0.298480 0.946006 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.307189, -0.191607, -1.545114 mu:2.097425 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.305813, -0.191630, -1.545227 mu:2.097425 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? -0.053791, -0.108140, -1.445378 mu:2.097425 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.151447, -0.113234, -1.558629 mu:2.097425 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.173183, -0.115933, -1.563027 mu:2.097425 unit_bearing:0.147530 -0.125631 0.981046 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.152811, -0.114293, -1.558711 mu:2.097425 unit_bearing:0.190691 -0.123321 0.973873 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.182743, -0.118208, -1.564332 mu:2.097425 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.181379, -0.118174, -1.564083 mu:2.097425 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.180015, -0.118140, -1.563831 mu:2.097425 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.182733, -0.117195, -1.564593 mu:2.097425 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.181369, -0.117161, -1.564344 mu:2.097425 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.180005, -0.117127, -1.564091 mu:2.097425 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.171832, -0.116908, -1.562492 mu:2.097425 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.179812, -0.090650, -1.570076 mu:2.097425 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.178447, -0.090617, -1.569820 mu:2.097425 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.177083, -0.090583, -1.569559 mu:2.097425 unit_bearing:0.138992 -0.071189 0.987731 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.174357, -0.090513, -1.569027 mu:2.097425 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.483] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.483] If point is visible? 0.179792, -0.086555, -1.570861 mu:2.097425 unit_bearing:0.133231 -0.062471 0.989114 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.178427, -0.086522, -1.570605 mu:2.097425 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.177063, -0.086488, -1.570344 mu:2.097425 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.172956, -0.082284, -1.570288 mu:2.097425 unit_bearing:0.147670 -0.053727 0.987576 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.171593, -0.082249, -1.570011 mu:2.097425 unit_bearing:0.150554 -0.053724 0.987141 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.174303, -0.078214, -1.571272 mu:2.097425 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.132284, -0.073819, -1.561464 mu:2.097425 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.345280, -0.073399, -1.574984 mu:2.097425 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.089875, -0.046840, -1.422186 mu:2.097425 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.091969, -0.046539, -1.419814 mu:2.097425 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.168818, -0.057478, -1.573176 mu:2.097425 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.167457, -0.057442, -1.572888 mu:2.097425 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.087783, -0.043233, -1.425085 mu:2.097425 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.081395, -0.036251, -1.433017 mu:2.097425 unit_bearing:0.695874 0.007018 0.718130 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.082467, -0.036112, -1.431868 mu:2.097425 unit_bearing:0.698247 0.007014 0.715823 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.085670, -0.040589, -1.427805 mu:2.097425 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.086731, -0.040445, -1.426639 mu:2.097425 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.086730, -0.041424, -1.426513 mu:2.097425 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.087787, -0.041278, -1.425343 mu:2.097425 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.087786, -0.042256, -1.425215 mu:2.097425 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.079237, -0.034560, -1.435521 mu:2.097421 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143651, Z inverse max: 2.051191 +[21:42:41.484] If point is visible? 0.128221, -0.050012, -1.563488 mu:2.097425 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.077068, -0.033847, -1.437893 mu:2.097425 unit_bearing:0.686316 0.013269 0.727183 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.178371, -0.045296, -1.576460 mu:2.097425 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.177007, -0.045264, -1.576199 mu:2.097425 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.101224, -0.026704, -1.411145 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.100187, -0.023924, -1.412646 mu:2.097425 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.100195, -0.024899, -1.412558 mu:2.097425 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.320393, -0.036644, -1.582760 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.319019, -0.030429, -1.583352 mu:2.097425 unit_bearing:-0.158998 0.057565 0.985599 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.121630, -0.019753, -1.563741 mu:2.097425 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? -0.058040, -0.014146, -1.458182 mu:2.097425 unit_bearing:0.644530 0.059468 0.762263 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.177088, -0.022409, -1.577872 mu:2.097425 unit_bearing:0.138990 0.072859 0.987610 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.175724, -0.022379, -1.577607 mu:2.097425 unit_bearing:0.141875 0.072855 0.987200 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.174361, -0.022348, -1.577338 mu:2.097425 unit_bearing:0.144760 0.072851 0.986781 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.088383, -0.017362, -1.551750 mu:2.097425 unit_bearing:0.327680 0.076690 0.941671 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.175730, -0.021337, -1.577657 mu:2.097425 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.174366, -0.021307, -1.577388 mu:2.097425 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.091032, -0.016445, -1.552852 mu:2.097425 unit_bearing:0.322024 0.078880 0.943440 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.089711, -0.016386, -1.552325 mu:2.097425 unit_bearing:0.324848 0.078868 0.942472 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.121685, -0.012483, -1.564017 mu:2.097425 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.120373, -0.009316, -1.563669 mu:2.097425 unit_bearing:0.259492 0.096486 0.960913 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.484] If point is visible? 0.121741, -0.006244, -1.564164 mu:2.097425 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.484] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.120402, -0.006196, -1.563732 mu:2.097425 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.123091, -0.005250, -1.564608 mu:2.097425 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.121751, -0.005203, -1.564180 mu:2.097425 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.148750, 0.002290, -1.572016 mu:2.097425 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.146048, 0.002366, -1.571311 mu:2.097425 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.144697, 0.002405, -1.570952 mu:2.097425 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.106113, -0.246779, -1.484895 mu:2.097425 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.495075, -0.220853, -1.466472 mu:2.097425 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.106013, -0.244941, -1.486056 mu:2.097425 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.288506, -0.233215, -1.525646 mu:2.097425 unit_bearing:-0.091541 -0.379344 0.920716 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.293895, -0.227457, -1.528525 mu:2.097425 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.467000, -0.203582, -1.492619 mu:2.097425 unit_bearing:-0.461453 -0.326097 0.825059 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.104274, -0.207462, -1.507268 mu:2.097425 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? -0.075995, -0.184374, -1.384535 mu:2.097424 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143648, Z inverse max: 2.051200 +[21:42:41.485] If point is visible? 0.301656, -0.188763, -1.546822 mu:2.097425 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.301676, -0.190716, -1.545970 mu:2.097425 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.301454, -0.167114, -1.555575 mu:2.097425 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.298696, -0.167149, -1.555762 mu:2.097425 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? -0.075983, -0.045794, -1.437580 mu:2.097425 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? -0.084598, -0.044649, -1.428450 mu:2.097425 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? -0.086723, -0.044357, -1.426123 mu:2.097425 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? -0.075990, -0.037924, -1.438578 mu:2.097425 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? -0.078161, -0.037649, -1.436322 mu:2.097425 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? -0.080321, -0.037372, -1.434047 mu:2.097425 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.328685, -0.067541, -1.578335 mu:2.097425 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? -0.088828, -0.046014, -1.423505 mu:2.097425 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? -0.101224, -0.026704, -1.411145 mu:2.097425 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.077740, -0.034406, -1.546265 mu:2.097425 unit_bearing:0.350338 0.039806 0.935777 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? -0.078158, -0.035681, -1.436547 mu:2.097425 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? -0.080317, -0.035406, -1.434272 mu:2.097425 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.320393, -0.036644, -1.582760 mu:2.097425 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.320396, -0.034568, -1.582916 mu:2.097425 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.317628, -0.034601, -1.583214 mu:2.097425 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.075192, -0.021904, -1.545955 mu:2.097425 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.454534, 0.000224, -1.548968 mu:2.097425 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.419338, 0.046630, -1.559932 mu:2.097425 unit_bearing:-0.365573 0.211999 0.906318 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.550088, 0.033807, -1.492986 mu:2.097425 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.088359, 0.156184, -1.523551 mu:2.097425 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143668, Z inverse max: 2.051181 +[21:42:41.485] calculated Z= 0.573142 +[21:42:41.485] update seeds 305 +[21:42:41.485] If point is visible? 0.113565, -0.239952, -1.492396 mu:2.097425 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.108333, -0.239591, -1.490471 mu:2.097425 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.103115, -0.239216, -1.488478 mu:2.097425 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.112391, -0.213675, -1.507231 mu:2.097425 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.107130, -0.213339, -1.505314 mu:2.097425 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.485] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.485] If point is visible? 0.091437, -0.212252, -1.499160 mu:2.097425 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.301988, -0.217796, -1.533058 mu:2.097425 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? -0.019932, -0.170685, -1.450099 mu:2.097425 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? -0.018669, -0.242349, -1.404555 mu:2.097425 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? -0.027702, -0.240651, -1.396920 mu:2.097425 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.301488, -0.171070, -1.554067 mu:2.097425 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? -0.019047, -0.238882, -1.407012 mu:2.097425 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? -0.028097, -0.237203, -1.399377 mu:2.097425 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.296607, -0.225517, -1.529396 mu:2.097425 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.301940, -0.213960, -1.535016 mu:2.097425 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.103311, -0.242908, -1.486203 mu:2.097425 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.107288, -0.217128, -1.503308 mu:2.097425 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.096818, -0.216410, -1.499271 mu:2.097425 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.301597, -0.182886, -1.549321 mu:2.097425 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.351184, -0.197309, -1.536252 mu:2.097425 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? -0.078147, -0.047473, -1.435051 mu:2.097425 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? -0.073806, -0.044106, -1.440082 mu:2.097425 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? -0.078159, -0.043547, -1.435589 mu:2.097425 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.083087, -0.020220, -1.549439 mu:2.097425 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.131144, -0.005521, -1.567090 mu:2.097425 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.486271, 0.026319, -1.533231 mu:2.097425 unit_bearing:-0.503156 0.162891 0.848705 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.481009, 0.026081, -1.535924 mu:2.097425 unit_bearing:-0.492427 0.163083 0.854938 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.131106, -0.009685, -1.567010 mu:2.097425 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.537706, 0.029018, -1.502206 mu:2.097425 unit_bearing:-0.607503 0.160579 0.777917 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.491480, 0.030663, -1.530203 mu:2.097425 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.480978, 0.030190, -1.535668 mu:2.097425 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.267704 y=0.000000 z=-1.110324 +[21:42:41.486] Z inverse min: 2.143669, Z inverse max: 2.051181 +[21:42:41.486] If point is visible? 0.989645, -0.059277, -2.185094 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? 0.884256, -0.060745, -2.248752 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? 0.357038, -0.778501, -2.142699 mu:0.771555 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? 0.353246, -0.773727, -2.146603 mu:0.771555 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? 0.349562, -0.773799, -2.146846 mu:0.771555 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? 0.345709, -0.766570, -2.152499 mu:0.771555 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? -0.399011, -0.732798, -1.945992 mu:0.771555 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? -0.399266, -0.730472, -1.947822 mu:0.771555 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? 0.338165, -0.759375, -2.158288 mu:0.771555 unit_bearing:-0.104914 -0.482994 0.869316 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? 0.330556, -0.749684, -2.165723 mu:0.771555 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? 0.326865, -0.749740, -2.165897 mu:0.771555 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? -0.597982, -0.672295, -1.802023 mu:0.771555 unit_bearing:0.632445 -0.449807 0.630624 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? -0.598318, -0.670039, -1.803789 mu:0.771555 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? 0.951423, -0.681571, -1.975097 mu:0.771555 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] calculated Z= 0.576121 +[21:42:41.486] update seeds 305 +[21:42:41.486] If point is visible? -0.545705, -0.681855, -1.854153 mu:0.771555 unit_bearing:0.589813 -0.452226 0.669038 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? -0.598652, -0.667780, -1.805549 mu:0.771555 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.486] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.486] If point is visible? -0.601506, -0.667092, -1.802642 mu:0.771555 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.435798, -0.685647, -1.955791 mu:0.771555 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.439011, -0.685150, -1.953511 mu:0.771555 unit_bearing:0.503204 -0.445407 0.740539 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.562406, -0.664940, -1.851008 mu:0.771555 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.560041, -0.660958, -1.857194 mu:0.771555 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.562708, -0.662637, -1.852731 mu:0.771555 unit_bearing:0.603078 -0.437643 0.666907 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.521660, -0.661783, -1.896956 mu:0.771555 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.524995, -0.658865, -1.896051 mu:0.771555 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.596439, -0.644035, -1.830266 mu:0.771555 unit_bearing:0.630157 -0.425510 0.649495 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? 0.303807, -0.712819, -2.192188 mu:0.771555 unit_bearing:-0.079699 -0.444154 0.892399 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.455401, -0.647377, -1.969314 mu:0.771555 unit_bearing:0.515334 -0.414995 0.749807 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.458606, -0.646886, -1.966977 mu:0.771555 unit_bearing:0.517908 -0.414838 0.748118 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.462265, -0.641580, -1.967857 mu:0.771555 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.465461, -0.641085, -1.965497 mu:0.771555 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.181705, -0.670263, -2.124535 mu:0.771555 unit_bearing:0.297504 -0.417925 0.858388 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.468882, -0.638180, -1.964730 mu:0.771555 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.203851, -0.651131, -2.126940 mu:0.771555 unit_bearing:0.314559 -0.403048 0.859421 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.200189, -0.653912, -2.126847 mu:0.771555 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.207653, -0.645835, -2.128546 mu:0.771555 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.200045, -0.656417, -2.125297 mu:0.771555 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.469111, -0.635770, -1.966328 mu:0.771555 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.151685, -0.637299, -2.158087 mu:0.771555 unit_bearing:0.273072 -0.389526 0.879603 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.475164, -0.603705, -1.984126 mu:0.771555 unit_bearing:0.530137 -0.380158 0.757915 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.478361, -0.603222, -1.981733 mu:0.771555 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? 0.313428, -0.641766, -2.235442 mu:0.771555 unit_bearing:-0.088642 -0.385673 0.918367 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.478573, -0.600776, -1.983239 mu:0.771555 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.481766, -0.600291, -1.980835 mu:0.771555 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.484953, -0.599803, -1.978418 mu:0.771555 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.148247, -0.634996, -2.160852 mu:0.771555 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.485165, -0.597357, -1.979918 mu:0.771555 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.145168, -0.625056, -2.168003 mu:0.771555 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? 0.872488, -0.604114, -2.084555 mu:0.771555 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.606718, -0.556829, -1.888250 mu:0.771555 unit_bearing:0.635977 -0.353275 0.686098 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? 0.331615, -0.618379, -2.247587 mu:0.771555 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? 0.327890, -0.618425, -2.247765 mu:0.771555 unit_bearing:-0.100202 -0.366640 0.924951 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? 0.312994, -0.618588, -2.248367 mu:0.771555 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.607208, -0.552005, -1.891133 mu:0.771555 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? -0.241180, -0.607937, -2.135650 mu:0.771555 unit_bearing:0.343162 -0.369151 0.863694 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? 0.313041, -0.621172, -2.246957 mu:0.771555 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? 0.908284, -0.560323, -2.087841 mu:0.771555 unit_bearing:-0.539842 -0.337183 0.771284 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.487] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.487] If point is visible? 0.361057, -0.594614, -2.258176 mu:0.771555 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.353639, -0.597333, -2.257343 mu:0.771555 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.242241, -0.587556, -2.146942 mu:0.771555 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.150465, -0.586382, -2.187884 mu:0.771555 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.232209, -0.578139, -2.157074 mu:0.771555 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.235726, -0.577866, -2.155538 mu:0.771555 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.349990, -0.602584, -2.254862 mu:0.771555 unit_bearing:-0.117453 -0.353842 0.927901 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.353678, -0.599931, -2.255984 mu:0.771555 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.161626, -0.575382, -2.189423 mu:0.771555 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.675278, -0.516106, -1.834382 mu:0.771555 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.368441, -0.589284, -2.260299 mu:0.771555 unit_bearing:-0.131834 -0.343145 0.929985 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.225529, -0.570964, -2.164157 mu:0.771555 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.375829, -0.583939, -2.262352 mu:0.771555 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.675789, -0.511305, -1.837119 mu:0.771555 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.200894, -0.570187, -2.175756 mu:0.771555 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.222120, -0.568652, -2.166994 mu:0.771555 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.225648, -0.568388, -2.165493 mu:0.771555 unit_bearing:0.330089 -0.336058 0.882103 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.673509, -0.507130, -1.842975 mu:0.771555 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.218706, -0.566334, -2.169812 mu:0.771555 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.386953, -0.578508, -2.263994 mu:0.771555 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.211864, -0.561682, -2.175393 mu:0.771555 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.183569, -0.561052, -2.188014 mu:0.771555 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.187129, -0.560815, -2.186640 mu:0.771555 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.398081, -0.573054, -2.265511 mu:0.771555 unit_bearing:-0.154807 -0.330226 0.931121 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.204891, -0.559598, -2.179599 mu:0.771555 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.671694, -0.498096, -1.851454 mu:0.771555 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? -0.211750, -0.564267, -2.174077 mu:0.771555 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.405483, -0.567661, -2.267313 mu:0.771555 unit_bearing:-0.160559 -0.325927 0.931661 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.420352, -0.562079, -2.268171 mu:0.771555 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.416620, -0.562168, -2.268614 mu:0.771555 unit_bearing:-0.169165 -0.321598 0.931642 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.312277, -0.576973, -2.270048 mu:0.771555 unit_bearing:-0.088938 -0.332801 0.938794 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.334318, -0.553118, -2.280567 mu:0.771555 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.431492, -0.556559, -2.269315 mu:0.771555 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.446367, -0.550915, -2.269814 mu:0.771555 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.442636, -0.551017, -2.270334 mu:0.771555 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.476140, -0.542154, -2.268973 mu:0.771555 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.472411, -0.542271, -2.269583 mu:0.771555 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.356597, -0.542279, -2.284154 mu:0.771555 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.488] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.488] If point is visible? 0.464973, -0.545126, -2.269534 mu:0.771555 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.352894, -0.544971, -2.283181 mu:0.771555 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.334281, -0.550484, -2.281810 mu:0.771555 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.334243, -0.547849, -2.283047 mu:0.771555 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.705433, -0.525615, -2.211217 mu:0.771555 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.679818, -0.524706, -2.221490 mu:0.771555 unit_bearing:-0.369601 -0.297340 0.880332 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.676157, -0.522334, -2.223957 mu:0.771555 unit_bearing:-0.366877 -0.295292 0.882159 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.371420, -0.531481, -2.287871 mu:0.771555 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.367681, -0.531542, -2.288167 mu:0.771555 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.363941, -0.531600, -2.288451 mu:0.771555 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.367554, -0.520949, -2.292900 mu:0.771555 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.363813, -0.521007, -2.293185 mu:0.771555 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.336761, -0.446440, -2.325136 mu:0.771555 unit_bearing:-0.109531 -0.227659 0.967561 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.611845, -0.295950, -2.015117 mu:0.771555 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.029095, -0.321168, -2.343110 mu:0.771555 unit_bearing:0.127337 -0.130035 0.983299 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.025390, -0.321074, -2.342414 mu:0.771554 unit_bearing:0.130221 -0.130028 0.982922 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817625, Z inverse max: 0.725483 +[21:42:41.489] If point is visible? 0.021688, -0.320977, -2.341703 mu:0.771555 unit_bearing:0.133105 -0.130020 0.982536 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.025362, -0.318319, -2.343121 mu:0.771555 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.021659, -0.318223, -2.342412 mu:0.771555 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.006860, -0.317822, -2.339468 mu:0.771555 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.000531, -0.317612, -2.337931 mu:0.771555 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.611933, -0.293324, -2.015886 mu:0.771555 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.111284, -0.253041, -2.323660 mu:0.771555 unit_bearing:0.236699 -0.079692 0.968309 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.021090, -0.246248, -2.358678 mu:0.771555 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.017384, -0.246154, -2.357959 mu:0.771555 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.006277, -0.245865, -2.355736 mu:0.771555 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.017325, -0.235022, -2.360092 mu:0.771555 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.013621, -0.234928, -2.359362 mu:0.771555 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.008530, -0.242679, -2.353162 mu:0.771555 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.006121, -0.212431, -2.361840 mu:0.771555 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.107934, -0.200398, -2.334490 mu:0.771555 unit_bearing:0.233925 -0.038359 0.971498 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.006084, -0.201258, -2.363678 mu:0.771555 unit_bearing:0.144801 -0.036273 0.988796 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? 0.474607, -0.196815, -2.374563 mu:0.771555 unit_bearing:-0.216541 -0.031847 0.975754 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.709522, -0.126612, -1.952251 mu:0.771555 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.715174, -0.125789, -1.945770 mu:0.771555 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.703876, -0.116812, -1.960165 mu:0.771555 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.695299, -0.107358, -1.971104 mu:0.771555 unit_bearing:0.702980 -0.001278 0.711209 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.701031, -0.111895, -1.964065 mu:0.771555 unit_bearing:0.707682 -0.005414 0.706510 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.703887, -0.111498, -1.960866 mu:0.771555 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.703882, -0.114155, -1.960519 mu:0.771555 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.706730, -0.113755, -1.957307 mu:0.771555 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.012476, -0.155950, -2.366120 mu:0.771555 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.016421, -0.155987, -2.366411 mu:0.770874 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.816017, Z inverse max: 0.725731 +[21:42:41.489] If point is visible? -0.118974, -0.146886, -2.338636 mu:0.771555 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.489] If point is visible? -0.680794, -0.093251, -1.988673 mu:0.771555 unit_bearing:0.691105 0.011178 0.722668 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.489] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.009746, -0.125591, -2.374258 mu:0.771555 unit_bearing:0.141924 0.022668 0.989618 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.680786, -0.090575, -1.988963 mu:0.771555 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.017160, -0.122952, -2.376008 mu:0.771555 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.013455, -0.122864, -2.375278 mu:0.771555 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.118949, -0.124450, -2.341119 mu:0.771555 unit_bearing:0.242529 0.020426 0.969929 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.403145, -0.099717, -2.395454 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.399381, -0.099761, -2.395841 mu:0.771555 unit_bearing:-0.159013 0.044478 0.986274 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.259200, -0.056528, -2.293126 mu:0.771555 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.013709, -0.057903, -2.379962 mu:0.771555 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.010007, -0.057817, -2.379219 mu:0.771555 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.006306, -0.057731, -2.378466 mu:0.771555 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.262776, -0.059155, -2.291398 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.266327, -0.058975, -2.289806 mu:0.771555 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.129593, -0.059313, -2.342591 mu:0.771555 unit_bearing:0.251017 0.070447 0.965416 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.140483, -0.056088, -2.339178 mu:0.771555 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.136666, -0.033638, -2.341258 mu:0.771555 unit_bearing:0.256664 0.089983 0.962303 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.136503, -0.016677, -2.341658 mu:0.771555 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.140136, -0.016546, -2.340461 mu:0.771555 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.063194, 0.006467, -2.363444 mu:0.771555 unit_bearing:0.199306 0.122781 0.972215 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.070529, 0.006679, -2.361483 mu:0.771555 unit_bearing:0.205043 0.122760 0.971024 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.074193, 0.006787, -2.360486 mu:0.771555 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.074162, 0.009624, -2.360476 mu:0.771555 unit_bearing:0.207903 0.124920 0.970140 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.880097, 0.058352, -2.251119 mu:0.771555 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.657886, 0.117588, -2.340680 mu:0.771555 unit_bearing:-0.354496 0.205738 0.912143 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.657885, 0.120417, -2.340407 mu:0.771555 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.233225, 0.425097, -2.227556 mu:0.771555 unit_bearing:0.338585 0.430592 0.836631 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.157491, -0.662040, -2.140254 mu:0.771555 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.164585, -0.661545, -2.137616 mu:0.771555 unit_bearing:0.283784 -0.410019 0.866805 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.164309, -0.666556, -2.134488 mu:0.771555 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.171390, -0.666048, -2.131803 mu:0.771555 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.178461, -0.665530, -2.129073 mu:0.771555 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.178175, -0.670527, -2.125917 mu:0.771555 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.865786, -0.592551, -2.095730 mu:0.771555 unit_bearing:-0.507633 -0.361121 0.782241 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.183461, -0.563644, -2.186707 mu:0.771555 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.197684, -0.562680, -2.181141 mu:0.771555 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.716385, -0.524856, -2.207163 mu:0.771555 unit_bearing:-0.397131 -0.298802 0.867758 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.359449, -0.465012, -2.316637 mu:0.771555 unit_bearing:-0.126731 -0.242680 0.961793 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.352492, -0.513205, -2.297454 mu:0.771555 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.352557, -0.518516, -2.295139 mu:0.771555 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.351843, -0.454353, -2.321245 mu:0.771555 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? 0.344343, -0.454443, -2.321709 mu:0.771555 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.706695, -0.124369, -1.955854 mu:0.771555 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.490] If point is visible? -0.666131, -0.103147, -2.003160 mu:0.771555 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.490] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.672026, -0.102402, -1.997039 mu:0.771555 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.677891, -0.101651, -1.990869 mu:0.771555 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.683724, -0.100895, -1.984651 mu:0.771555 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.672008, -0.123796, -1.994326 mu:0.771555 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.695276, -0.120666, -1.969365 mu:0.771555 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.701012, -0.119868, -1.963004 mu:0.771555 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.677881, -0.096301, -1.991481 mu:0.771555 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.683714, -0.095549, -1.985262 mu:0.771555 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.989645, -0.059277, -2.185094 mu:0.771555 unit_bearing:-0.604097 0.055665 0.794965 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.403145, -0.099717, -2.395454 mu:0.771555 unit_bearing:-0.161895 0.044475 0.985805 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.403155, -0.094073, -2.395878 mu:0.771555 unit_bearing:-0.161890 0.048837 0.985600 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.395626, -0.094158, -2.396643 mu:0.771555 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.248501, -0.054249, -2.297941 mu:0.771555 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.255621, -0.053899, -2.294837 mu:0.771555 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.768418, 0.000236, -2.305787 mu:0.771555 unit_bearing:-0.438726 0.112588 0.891540 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.262776, -0.059155, -2.291398 mu:0.771555 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.883636, 0.061307, -2.249057 mu:0.771555 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 1.029154, 0.091338, -2.155166 mu:0.771555 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.833490, 0.064573, -2.274610 mu:0.771555 unit_bearing:-0.487114 0.158926 0.858756 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.383256, -0.581190, -2.263021 mu:0.771555 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.368331, -0.581463, -2.264282 mu:0.771555 unit_bearing:-0.131883 -0.336782 0.932301 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.353406, -0.581704, -2.265365 mu:0.771555 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.158026, -0.651983, -2.146430 mu:0.771555 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.172218, -0.650992, -2.141111 mu:0.771555 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.186367, -0.649963, -2.135610 mu:0.771555 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.351952, -0.465110, -2.317146 mu:0.771555 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.530467, -0.637098, -1.908367 mu:0.771555 unit_bearing:0.575914 -0.412853 0.705603 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.540487, -0.653601, -1.884582 mu:0.771555 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.879528, -0.600828, -2.082189 mu:0.771555 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.161408, -0.580549, -2.186739 mu:0.771555 unit_bearing:0.279599 -0.343373 0.896615 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.175677, -0.579625, -2.181441 mu:0.771555 unit_bearing:0.290829 -0.343163 0.893116 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.218234, -0.576639, -2.164457 mu:0.771555 unit_bearing:0.324380 -0.342474 0.881754 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.175222, -0.589926, -2.175992 mu:0.771555 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.203616, -0.587951, -2.164845 mu:0.771555 unit_bearing:0.313041 -0.351100 0.882459 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.352065, -0.475841, -2.312947 mu:0.771555 unit_bearing:-0.120938 -0.251320 0.960319 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.520093, -0.463418, -2.029270 mu:0.771555 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.367281, -0.497018, -2.303179 mu:0.771555 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? 0.879773, -0.590944, -2.088076 mu:0.771555 unit_bearing:-0.518059 -0.360611 0.775613 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.517121, -0.648810, -1.912157 mu:0.771555 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.541593, -0.644227, -1.891254 mu:0.771555 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.185807, -0.659999, -2.129428 mu:0.771555 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.677853, -0.128357, -1.987415 mu:0.771555 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.491] If point is visible? -0.666126, -0.119214, -2.001162 mu:0.771555 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.491] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.492] If point is visible? -0.677885, -0.117685, -1.988876 mu:0.771555 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.492] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.492] If point is visible? 0.854843, 0.093429, -2.262011 mu:0.771555 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.492] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.492] If point is visible? -0.226980, -0.044021, -2.307485 mu:0.771555 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.492] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.492] If point is visible? 0.869219, 0.082909, -2.255379 mu:0.771555 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.492] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.492] If point is visible? -0.241369, -0.054594, -2.301000 mu:0.771555 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.492] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.492] If point is visible? 0.884256, -0.060745, -2.248752 mu:0.771555 unit_bearing:-0.525752 0.060526 0.848482 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.492] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.492] If point is visible? -0.110991, -0.014733, -2.349767 mu:0.771555 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.492] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.492] If point is visible? -0.111100, -0.026052, -2.349547 mu:0.771555 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.267704 y=0.000000 z=-1.110328 +[21:42:41.492] Z inverse min: 0.817629, Z inverse max: 0.725481 +[21:42:41.492] If point is visible? 0.336934, -0.785336, -2.153000 mu:0.765014 unit_bearing:-0.118863 -0.499106 0.858350 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? 0.336851, -0.782892, -2.154843 mu:0.765014 unit_bearing:-0.118889 -0.497079 0.859522 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? 0.329162, -0.775673, -2.160693 mu:0.765014 unit_bearing:-0.113312 -0.491052 0.863730 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? 0.333049, -0.780512, -2.156866 mu:0.765014 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? 0.325356, -0.773278, -2.162673 mu:0.765014 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.421708, -0.737530, -1.940668 mu:0.765014 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? 0.313850, -0.763588, -2.170289 mu:0.765014 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? 0.309870, -0.756212, -2.175728 mu:0.765014 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? 0.306144, -0.756260, -2.175835 mu:0.765014 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.534821, -0.692615, -1.875141 mu:0.765014 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.620278, -0.671507, -1.795358 mu:0.765014 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.623100, -0.670806, -1.792374 mu:0.765014 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.578016, -0.674648, -1.844023 mu:0.765014 unit_bearing:0.597749 -0.443866 0.667593 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.623464, -0.668525, -1.794136 mu:0.765014 unit_bearing:0.635352 -0.443868 0.631909 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? 0.939617, -0.688931, -1.994984 mu:0.765014 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] calculated Z= 0.578185 +[21:42:41.492] update seeds 305 +[21:42:41.492] If point is visible? -0.599480, -0.663148, -1.829304 mu:0.765014 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.582283, -0.664713, -1.848150 mu:0.765014 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.544317, -0.665631, -1.888955 mu:0.765014 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? 0.286477, -0.726493, -2.196868 mu:0.765014 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.547958, -0.660316, -1.889673 mu:0.765014 unit_bearing:0.572276 -0.428728 0.699066 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.479316, -0.646392, -1.966390 mu:0.765014 unit_bearing:0.515567 -0.411002 0.751843 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.482506, -0.645892, -1.963975 mu:0.765014 unit_bearing:0.518144 -0.410848 0.750154 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.485689, -0.645389, -1.961549 mu:0.765014 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.488867, -0.644882, -1.959110 mu:0.765014 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.184826, -0.671512, -2.136486 mu:0.765014 unit_bearing:0.280893 -0.414218 0.865750 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.489377, -0.640020, -1.962331 mu:0.765014 unit_bearing:0.523522 -0.406542 0.748764 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.492551, -0.639513, -1.959880 mu:0.765014 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.625564, -0.616470, -1.838846 mu:0.765014 unit_bearing:0.634731 -0.400173 0.661043 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.492] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.492] If point is visible? -0.209441, -0.672156, -2.124847 mu:0.765014 unit_bearing:0.300339 -0.415792 0.858436 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.492296, -0.641945, -1.958273 mu:0.765014 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.224385, -0.658418, -2.126716 mu:0.765014 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.224217, -0.660945, -2.125156 mu:0.765014 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.172593, -0.639457, -2.161966 mu:0.765014 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.176163, -0.639214, -2.160613 mu:0.765014 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.858173, -0.610630, -2.103902 mu:0.765014 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.502560, -0.601729, -1.978268 mu:0.765014 unit_bearing:0.532927 -0.375982 0.758042 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.505735, -0.601234, -1.975784 mu:0.765014 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.508904, -0.600735, -1.973289 mu:0.765014 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.254470, -0.625626, -2.132403 mu:0.765014 unit_bearing:0.334579 -0.379757 0.862462 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.250639, -0.631019, -2.131037 mu:0.765014 unit_bearing:0.331698 -0.383979 0.861705 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.169599, -0.629439, -2.169235 mu:0.765014 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.291483, -0.644743, -2.247190 mu:0.765014 unit_bearing:-0.088655 -0.383570 0.919246 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.287379, -0.631794, -2.254515 mu:0.765014 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.306095, -0.629032, -2.255562 mu:0.765014 unit_bearing:-0.100174 -0.370860 0.923270 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.302337, -0.629068, -2.255661 mu:0.765014 unit_bearing:-0.097314 -0.370879 0.923569 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.290998, -0.626561, -2.257321 mu:0.765014 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.629957, -0.557155, -1.880058 mu:0.765014 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.630225, -0.554720, -1.881503 mu:0.765014 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.290931, -0.623955, -2.258743 mu:0.765014 unit_bearing:-0.088756 -0.366709 0.926092 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.267011, -0.591398, -2.146204 mu:0.765014 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.335563, -0.602559, -2.268358 mu:0.765014 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.331798, -0.602610, -2.268546 mu:0.765014 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.628352, -0.545549, -1.890176 mu:0.765014 unit_bearing:0.634386 -0.341537 0.693474 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.257061, -0.581924, -2.156606 mu:0.765014 unit_bearing:0.335463 -0.344317 0.876875 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.260578, -0.581641, -2.154992 mu:0.765014 unit_bearing:0.338242 -0.344252 0.875833 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.175219, -0.590422, -2.189185 mu:0.765014 unit_bearing:0.271087 -0.347732 0.897549 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.331857, -0.605230, -2.267176 mu:0.765014 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.372747, -0.578294, -2.277914 mu:0.765014 unit_bearing:-0.151950 -0.330251 0.931582 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.186478, -0.579303, -2.190531 mu:0.765014 unit_bearing:0.279676 -0.339164 0.898192 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.178932, -0.587588, -2.189202 mu:0.765014 unit_bearing:0.273938 -0.345579 0.897515 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.250439, -0.574702, -2.163872 mu:0.765014 unit_bearing:0.330043 -0.338156 0.881318 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.698289, -0.513518, -1.825770 mu:0.765014 unit_bearing:0.691696 -0.323220 0.645822 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.186605, -0.576694, -2.191873 mu:0.765014 unit_bearing:0.279713 -0.337057 0.898973 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? 0.901591, -0.553131, -2.110800 mu:0.765014 unit_bearing:-0.545472 -0.326724 0.771824 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.229888, -0.563286, -2.179825 mu:0.765014 unit_bearing:0.313523 -0.328000 0.891134 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.225811, -0.573975, -2.176024 mu:0.765014 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.247049, -0.572378, -2.166795 mu:0.765014 unit_bearing:0.327304 -0.336119 0.883117 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.695818, -0.511743, -1.830359 mu:0.765014 unit_bearing:0.689558 -0.321445 0.648986 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.696089, -0.509313, -1.831718 mu:0.765014 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.694395, -0.500206, -1.840301 mu:0.765014 unit_bearing:0.687978 -0.311757 0.655358 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.493] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.493] If point is visible? -0.243653, -0.570048, -2.169700 mu:0.765014 unit_bearing:0.324562 -0.334079 0.884902 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.236713, -0.567979, -2.174130 mu:0.765014 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.696359, -0.506880, -1.833070 mu:0.765014 unit_bearing:0.689848 -0.317499 0.650619 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.208546, -0.564801, -2.188705 mu:0.765014 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.212110, -0.564554, -2.187254 mu:0.765014 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.694132, -0.502648, -1.838968 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.380237, -0.575514, -2.278590 mu:0.765014 unit_bearing:-0.157683 -0.328077 0.931398 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.361595, -0.586396, -2.274819 mu:0.765014 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.365311, -0.583699, -2.275868 mu:0.765014 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.402675, -0.564480, -2.281593 mu:0.765014 unit_bearing:-0.174894 -0.319418 0.931335 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.406403, -0.561751, -2.282469 mu:0.765014 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.417676, -0.558839, -2.282473 mu:0.765014 unit_bearing:-0.186347 -0.315053 0.930600 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.413903, -0.558929, -2.282906 mu:0.765014 unit_bearing:-0.183495 -0.315082 0.931157 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.311987, -0.557972, -2.291608 mu:0.765014 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.425178, -0.556005, -2.282836 mu:0.765014 unit_bearing:-0.192070 -0.312868 0.930174 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.421405, -0.556100, -2.283292 mu:0.765014 unit_bearing:-0.189220 -0.312897 0.930748 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.330688, -0.549798, -2.294588 mu:0.765014 unit_bearing:-0.120633 -0.307059 0.944014 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.311932, -0.555316, -2.292861 mu:0.765014 unit_bearing:-0.106265 -0.311410 0.944315 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.466512, -0.544247, -2.282073 mu:0.765014 unit_bearing:-0.223471 -0.304011 0.926087 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.462741, -0.544363, -2.282653 mu:0.765014 unit_bearing:-0.220629 -0.304045 0.926758 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.458970, -0.544476, -2.283222 mu:0.765014 unit_bearing:-0.217786 -0.304077 0.927419 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.349314, -0.536234, -2.299659 mu:0.765014 unit_bearing:-0.135037 -0.296287 0.945505 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.345537, -0.536287, -2.299888 mu:0.765014 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.341761, -0.536338, -2.300107 mu:0.765014 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.443958, -0.550209, -2.282898 mu:0.765014 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.311877, -0.552659, -2.294107 mu:0.765014 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.616723, -0.524755, -2.255550 mu:0.765014 unit_bearing:-0.336372 -0.291683 0.895419 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.620478, -0.527192, -2.253278 mu:0.765014 unit_bearing:-0.339122 -0.293746 0.893706 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.683845, -0.531320, -2.229810 mu:0.765014 unit_bearing:-0.386125 -0.299068 0.872620 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.345346, -0.525604, -2.304660 mu:0.765014 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.341568, -0.525654, -2.304877 mu:0.765014 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.620462, -0.524556, -2.254495 mu:0.765014 unit_bearing:-0.339162 -0.291630 0.894383 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.927400, -0.481491, -2.130956 mu:0.765014 unit_bearing:-0.565817 -0.270448 0.778916 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.313829, -0.447666, -2.337595 mu:0.765014 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? 0.003541, -0.320568, -2.349752 mu:0.765014 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.000181, -0.320464, -2.348979 mu:0.765014 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.003902, -0.320358, -2.348196 mu:0.765014 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.018769, -0.319921, -2.344954 mu:0.765014 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.026194, -0.319692, -2.343267 mu:0.765014 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.636612, -0.296464, -2.006446 mu:0.765014 unit_bearing:0.635718 -0.141563 0.758830 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] calculated Z= 0.624072 +[21:42:41.494] update seeds 305 +[21:42:41.494] If point is visible? -0.639542, -0.298665, -2.002746 mu:0.765014 unit_bearing:0.638152 -0.143580 0.756404 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] calculated Z= 0.625539 +[21:42:41.494] update seeds 305 +[21:42:41.494] If point is visible? -0.100848, -0.247417, -2.339828 mu:0.765014 unit_bearing:0.208064 -0.073239 0.975369 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.004614, -0.247767, -2.364590 mu:0.765014 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.008336, -0.247664, -2.363796 mu:0.765014 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.494] If point is visible? -0.019495, -0.247347, -2.361349 mu:0.765014 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.494] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.012131, -0.236333, -2.365141 mu:0.765014 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.034371, -0.244100, -2.358480 mu:0.765014 unit_bearing:0.156299 -0.068982 0.985298 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.019690, -0.213627, -2.367502 mu:0.765014 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? 0.433535, -0.213344, -2.389274 mu:0.765014 unit_bearing:-0.202177 -0.042758 0.978415 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.137829, -0.201083, -2.336634 mu:0.765014 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? 0.429738, -0.216219, -2.389278 mu:0.765014 unit_bearing:-0.199302 -0.044940 0.978907 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.733574, -0.122786, -1.941634 mu:0.765014 unit_bearing:0.714674 -0.015730 0.699281 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.736367, -0.122367, -1.938320 mu:0.765014 unit_bearing:0.717000 -0.015721 0.696896 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.038386, -0.167939, -2.370019 mu:0.765014 unit_bearing:0.159235 -0.010076 0.987189 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] calculated Z= 0.549266 +[21:42:41.495] update seeds 305 +[21:42:41.495] If point is visible? -0.727991, -0.115587, -1.949336 mu:0.765014 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.722358, -0.108356, -1.956933 mu:0.765014 unit_bearing:0.705334 -0.003347 0.708867 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.725187, -0.107952, -1.953666 mu:0.765014 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.093859, -0.163313, -2.355847 mu:0.765014 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.038393, -0.156621, -2.371475 mu:0.765014 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.728003, -0.110228, -1.950043 mu:0.765014 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.727998, -0.112908, -1.949693 mu:0.765014 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.730809, -0.112498, -1.946402 mu:0.765014 unit_bearing:0.712362 -0.007474 0.701773 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.705180, -0.089177, -1.978803 mu:0.765014 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.145245, -0.135930, -2.343094 mu:0.765014 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.008617, -0.123407, -2.381994 mu:0.765014 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.292740, -0.058242, -2.289830 mu:0.765014 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.296287, -0.058051, -2.288147 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.012022, -0.057795, -2.385919 mu:0.765014 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.015741, -0.057700, -2.385102 mu:0.765014 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.019459, -0.057604, -2.384274 mu:0.765014 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.163080, -0.052915, -2.343349 mu:0.765014 unit_bearing:0.256714 0.074777 0.963590 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.162691, -0.015877, -2.344518 mu:0.765014 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.166332, -0.015736, -2.343244 mu:0.765014 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.159013, -0.013163, -2.345826 mu:0.765014 unit_bearing:0.253751 0.105191 0.961533 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.162656, -0.013024, -2.344563 mu:0.765014 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.100154, 0.007647, -2.364656 mu:0.765014 unit_bearing:0.207911 0.122748 0.970415 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? 0.805878, 0.049323, -2.300560 mu:0.765014 unit_bearing:-0.479178 0.148417 0.865078 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? 0.864271, 0.057485, -2.272016 mu:0.765014 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.253631, 0.429803, -2.229342 mu:0.765014 unit_bearing:0.335833 0.430681 0.837693 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.188375, -0.671251, -2.135084 mu:0.765014 unit_bearing:0.283683 -0.414151 0.864872 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.195465, -0.670723, -2.132246 mu:0.765014 unit_bearing:0.289260 -0.414014 0.863088 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.202543, -0.670185, -2.129362 mu:0.765014 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.202208, -0.675224, -2.126185 mu:0.765014 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? 0.865323, -0.607332, -2.101646 mu:0.765014 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.208419, -0.567415, -2.187388 mu:0.765014 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.222656, -0.566411, -2.181513 mu:0.765014 unit_bearing:0.307886 -0.330216 0.892280 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.495] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.495] If point is visible? -0.694132, -0.502648, -1.838968 mu:0.765014 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.624231, -0.529625, -2.250986 mu:0.765014 unit_bearing:-0.341869 -0.295806 0.891978 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.543349, -0.486132, -2.012866 mu:0.765014 unit_bearing:0.562856 -0.284982 0.775873 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.330091, -0.517759, -2.308973 mu:0.765014 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.330187, -0.523116, -2.306640 mu:0.765014 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.329130, -0.458403, -2.332953 mu:0.765014 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.321559, -0.458476, -2.333282 mu:0.765014 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.713822, -0.109558, -1.966662 mu:0.765014 unit_bearing:0.698250 -0.003352 0.715846 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.403064, -0.185628, -2.397161 mu:0.765014 unit_bearing:-0.179194 -0.020977 0.983590 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.471524, -0.195758, -2.386594 mu:0.765014 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.696503, -0.122703, -1.984372 mu:0.765014 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.719498, -0.119494, -1.958773 mu:0.765014 unit_bearing:0.702966 -0.011632 0.711128 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.725163, -0.118676, -1.952252 mu:0.765014 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.690694, -0.101890, -1.993389 mu:0.765014 unit_bearing:0.679113 0.004961 0.734017 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.696524, -0.101126, -1.987108 mu:0.765014 unit_bearing:0.683930 0.004956 0.729531 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.702322, -0.100355, -1.980778 mu:0.765014 unit_bearing:0.688725 0.004951 0.725006 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.708087, -0.099579, -1.974400 mu:0.765014 unit_bearing:0.693498 0.004946 0.720442 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.730771, -0.123203, -1.944937 mu:0.765014 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.702311, -0.094959, -1.981396 mu:0.765014 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.708076, -0.094188, -1.975016 mu:0.765014 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.372704, -0.095227, -2.409800 mu:0.765014 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.975672, -0.055885, -2.207767 mu:0.765014 unit_bearing:-0.604061 0.059881 0.794685 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.968620, -0.056373, -2.212259 mu:0.765014 unit_bearing:-0.598947 0.059929 0.798543 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.289189, -0.058432, -2.291501 mu:0.765014 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.296287, -0.058051, -2.288147 mu:0.765014 unit_bearing:0.361486 0.065730 0.930058 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.750512, 0.004774, -2.325067 mu:0.765014 unit_bearing:-0.438685 0.116876 0.891008 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.867883, 0.060457, -2.270003 mu:0.765014 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 1.016355, 0.095934, -2.177582 mu:0.765014 unit_bearing:-0.632262 0.172345 0.755342 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.981662, 0.094025, -2.201263 mu:0.765014 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 1.016424, 0.090412, -2.178016 mu:0.765014 unit_bearing:-0.632380 0.168192 0.756180 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.661179, 0.126830, -2.350412 mu:0.765014 unit_bearing:-0.371144 0.211918 0.904070 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.331681, -0.597363, -2.271267 mu:0.765014 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? 0.329292, -0.469251, -2.328822 mu:0.765014 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.544733, -0.465571, -2.022411 mu:0.765014 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.538820, -0.662065, -1.897660 mu:0.765014 unit_bearing:0.564830 -0.429311 0.704741 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.563054, -0.657336, -1.876129 mu:0.765014 unit_bearing:0.584597 -0.427728 0.689416 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.539992, -0.652557, -1.904367 mu:0.765014 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.564272, -0.647880, -1.882837 mu:0.765014 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.182227, -0.656567, -2.147243 mu:0.765014 unit_bearing:0.278393 -0.401867 0.872353 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.496] If point is visible? -0.196437, -0.655536, -2.141617 mu:0.765014 unit_bearing:0.289566 -0.401609 0.868828 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.496] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? -0.210601, -0.654466, -2.135808 mu:0.765014 unit_bearing:0.300714 -0.401338 0.865158 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? -0.185695, -0.594914, -2.182344 mu:0.765014 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? -0.199973, -0.593940, -2.176736 mu:0.765014 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? -0.242534, -0.590802, -2.158813 mu:0.765014 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? 0.466476, -0.541597, -2.283306 mu:0.765014 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? 0.329812, -0.501648, -2.315819 mu:0.765014 unit_bearing:-0.120852 -0.268518 0.955663 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? 0.908825, -0.542203, -2.112172 mu:0.765014 unit_bearing:-0.550991 -0.318299 0.771424 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? 0.331450, -0.586847, -2.276631 mu:0.765014 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? 0.908993, -0.532066, -2.117485 mu:0.765014 unit_bearing:-0.551355 -0.310106 0.774494 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? -0.690688, -0.118095, -1.991375 mu:0.765014 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? -0.702316, -0.116526, -1.978768 mu:0.765014 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? -0.267770, -0.053881, -2.301579 mu:0.765014 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? -0.702280, -0.127290, -1.977296 mu:0.765014 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? -0.137242, -0.025389, -2.352943 mu:0.765014 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? 0.981720, 0.088478, -2.201688 mu:0.765014 unit_bearing:-0.607294 0.168930 0.776309 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? 0.911398, 0.006701, -2.248014 mu:0.765014 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? 0.838683, 0.092919, -2.282533 mu:0.765014 unit_bearing:-0.502845 0.179840 0.845461 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? 0.853278, 0.082276, -2.276111 mu:0.765014 unit_bearing:-0.513681 0.171160 0.840735 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? 0.838725, 0.081663, -2.283351 mu:0.765014 unit_bearing:-0.503005 0.171369 0.847124 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? 0.824125, 0.081066, -2.290387 mu:0.765014 unit_bearing:-0.492281 0.171572 0.853360 T_cur_ref: x=0.267705 y=0.000000 z=-1.110343 +[21:42:41.497] Z inverse min: 0.827641, Z inverse max: 0.702387 +[21:42:41.497] If point is visible? -6661.682379, -452.612937, -7124.705133 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.267705 y=0.000000 z=-1.110347 +[21:42:41.497] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:41.497] If point is visible? 4211.959000, -399.552156, -8800.243819 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.267705 y=0.000000 z=-1.110347 +[21:42:41.497] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:41.497] If point is visible? -6661.682379, -452.612937, -7124.705133 mu:0.000102 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.267705 y=0.000000 z=-1.110347 +[21:42:41.497] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:41.497] If point is visible? 4211.959000, -399.552156, -8800.243819 mu:0.000102 unit_bearing:-0.504297 0.069215 0.860752 T_cur_ref: x=0.267705 y=0.000000 z=-1.110347 +[21:42:41.497] Z inverse min: 0.174370, Z inverse max: 0.000000 +[21:42:41.497] If point is visible? 0.955713, -0.059751, -2.571476 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.497] If point is visible? 0.882825, -0.687445, -2.437325 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.497] If point is visible? 1.116982, -0.057362, -2.484123 mu:0.618770 unit_bearing:-0.598870 0.068366 0.797923 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.497] If point is visible? 2.959265, 0.024463, -6.009747 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.497] If point is visible? -0.842368, -0.074070, -2.282554 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.497] If point is visible? 0.330773, -0.965094, -2.405120 mu:0.618770 unit_bearing:-0.116089 -0.495083 0.861055 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.497] If point is visible? 0.326172, -0.965168, -2.405281 mu:0.618770 unit_bearing:-0.113263 -0.495116 0.861413 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.497] If point is visible? 0.321187, -0.956135, -2.412179 mu:0.618770 unit_bearing:-0.110507 -0.489048 0.865228 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.497] If point is visible? 0.306863, -0.944133, -2.421416 mu:0.618770 unit_bearing:-0.102103 -0.480981 0.870766 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.497] If point is visible? -1.806402, -2.179313, -3.541627 mu:0.258523 unit_bearing:0.472468 -0.482603 0.737474 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.497] If point is visible? -1.808980, -2.174120, -3.549030 mu:0.258315 unit_bearing:0.472596 -0.480650 0.738667 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.497] If point is visible? 0.301873, -0.935007, -2.428079 mu:0.618770 unit_bearing:-0.099330 -0.474873 0.874431 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.497] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? 0.297265, -0.935059, -2.428153 mu:0.618770 unit_bearing:-0.096494 -0.474899 0.874734 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -38.011982, -28.690370, -29.785494 mu:0.017930 unit_bearing:0.632638 -0.447913 0.631778 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] If point is visible? -0.816761, -0.818220, -1.985713 mu:0.618770 unit_bearing:0.615057 -0.436506 0.656634 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -0.737593, -0.854774, -2.043381 mu:0.618770 unit_bearing:0.562868 -0.454607 0.690298 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? 1.207634, -0.983033, -2.382666 mu:0.536936 unit_bearing:-0.568727 -0.440637 0.694542 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.744076, Z inverse max: 0.329797 +[21:42:41.498] calculated Z= 0.671270 +[21:42:41.498] update seeds 305 +[21:42:41.498] If point is visible? -0.841961, -0.828515, -1.943425 mu:0.618770 unit_bearing:0.632829 -0.446018 0.632926 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -0.845403, -0.827643, -1.939692 mu:0.618770 unit_bearing:0.635160 -0.445764 0.630766 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -0.317262, -0.890116, -2.325801 mu:0.618770 unit_bearing:0.288142 -0.455016 0.842576 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -1.202784, -1.137994, -2.339346 mu:0.448661 unit_bearing:0.602909 -0.439568 0.665793 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.498] If point is visible? -0.795795, -0.820187, -2.009278 mu:0.618770 unit_bearing:0.600834 -0.435937 0.670043 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -4.989161, -4.905380, -7.024045 mu:0.107416 unit_bearing:0.500626 -0.445573 0.742185 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] If point is visible? 0.272682, -0.898219, -2.453850 mu:0.618770 unit_bearing:-0.082501 -0.450336 0.889039 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? 0.272557, -0.895110, -2.455924 mu:0.618770 unit_bearing:-0.082516 -0.448270 0.890081 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -0.749890, -0.818473, -2.062408 mu:0.618770 unit_bearing:0.569651 -0.430878 0.699887 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -0.753603, -0.817740, -2.059055 mu:0.618770 unit_bearing:0.572127 -0.430681 0.697986 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -0.749495, -0.821394, -2.060311 mu:0.618770 unit_bearing:0.569502 -0.432830 0.698803 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -0.669969, -0.800737, -2.155051 mu:0.618770 unit_bearing:0.515451 -0.412999 0.750828 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -0.673872, -0.800111, -2.152015 mu:0.618770 unit_bearing:0.518026 -0.412844 0.749139 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -0.678104, -0.796478, -2.150965 mu:0.618770 unit_bearing:0.520717 -0.410692 0.748456 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -0.681994, -0.795846, -2.147901 mu:0.618770 unit_bearing:0.523286 -0.410535 0.746748 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.498] If point is visible? -0.686214, -0.792208, -2.146813 mu:0.618770 unit_bearing:0.525971 -0.408382 0.746042 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.498] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.357653, -0.813083, -2.359204 mu:0.618770 unit_bearing:0.311728 -0.405186 0.859447 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.686550, -0.789201, -2.148796 mu:0.618770 unit_bearing:0.526089 -0.406386 0.747048 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.357426, -0.816207, -2.357278 mu:0.618770 unit_bearing:0.311672 -0.407251 0.858491 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.366983, -0.802975, -2.361036 mu:0.618770 unit_bearing:0.317446 -0.398841 0.860322 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.298124, -0.795754, -2.398149 mu:0.618770 unit_bearing:0.273027 -0.391607 0.878692 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.694003, -0.755285, -2.166983 mu:0.618770 unit_bearing:0.529917 -0.384185 0.756036 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.709827, -0.749739, -2.156359 mu:0.618770 unit_bearing:0.540287 -0.381580 0.749992 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.698828, -0.745521, -2.169511 mu:0.618770 unit_bearing:0.532818 -0.377998 0.757115 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.702712, -0.744901, -2.166391 mu:0.618770 unit_bearing:0.535386 -0.377852 0.755374 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.706589, -0.744278, -2.163257 mu:0.618770 unit_bearing:0.537951 -0.377706 0.753623 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? 0.981102, -0.756061, -2.347787 mu:0.618770 unit_bearing:-0.512363 -0.371027 0.774483 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.386028, -0.776374, -2.368002 mu:0.618770 unit_bearing:0.328982 -0.381978 0.863634 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.294136, -0.789739, -2.403586 mu:0.618770 unit_bearing:0.270313 -0.387503 0.881347 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.298528, -0.789432, -2.401857 mu:0.618770 unit_bearing:0.273116 -0.387445 0.880508 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? 0.985496, -0.758639, -2.343662 mu:0.618770 unit_bearing:-0.514863 -0.372921 0.771911 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? 0.273083, -0.781139, -2.525131 mu:0.618770 unit_bearing:-0.085857 -0.373056 0.923828 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.703022, -0.741849, -2.168253 mu:0.618770 unit_bearing:0.535496 -0.375837 0.756301 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.706900, -0.741227, -2.165119 mu:0.618770 unit_bearing:0.538062 -0.375692 0.754550 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.499] If point is visible? -0.399395, -0.768956, -2.365538 mu:0.618770 unit_bearing:0.337404 -0.377608 0.862305 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.499] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -0.294534, -0.783404, -2.407261 mu:0.618770 unit_bearing:0.270400 -0.383335 0.883141 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -0.290528, -0.777359, -2.412618 mu:0.618770 unit_bearing:0.267679 -0.379218 0.885744 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -0.403916, -0.765424, -2.365286 mu:0.618770 unit_bearing:0.340228 -0.375458 0.862135 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? 0.296111, -0.774541, -2.528480 mu:0.618770 unit_bearing:-0.100188 -0.368751 0.924113 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? 0.277524, -0.774676, -2.528657 mu:0.618770 unit_bearing:-0.088743 -0.368820 0.925255 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -0.855023, -0.687118, -2.047986 mu:0.618770 unit_bearing:0.636115 -0.351293 0.686987 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -2.386402, -1.616713, -3.330425 mu:0.261831 unit_bearing:0.636253 -0.349309 0.687871 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.500] If point is visible? -0.410523, -0.730142, -2.382636 mu:0.618770 unit_bearing:0.343589 -0.352481 0.870462 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -0.292768, -0.739040, -2.433793 mu:0.618770 unit_bearing:0.268159 -0.354088 0.895942 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? 0.337061, -0.741787, -2.544490 mu:0.618770 unit_bearing:-0.126081 -0.347427 0.929192 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? 0.332403, -0.741844, -2.544678 mu:0.618770 unit_bearing:-0.123221 -0.347448 0.929568 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -0.406810, -0.720929, -2.389844 mu:0.618770 unit_bearing:0.340968 -0.346279 0.873975 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -0.937854, -0.639027, -1.976422 mu:0.618770 unit_bearing:0.691398 -0.327154 0.644158 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -0.292947, -0.735830, -2.435506 mu:0.618770 unit_bearing:0.268197 -0.351987 0.896758 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? 0.332491, -0.745086, -2.542992 mu:0.618770 unit_bearing:-0.123205 -0.349566 0.928775 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? 0.327834, -0.745142, -2.543166 mu:0.618770 unit_bearing:-0.120345 -0.349587 0.929143 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? 0.327923, -0.748381, -2.541473 mu:0.618770 unit_bearing:-0.120329 -0.351705 0.928345 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -0.297534, -0.732324, -2.435498 mu:0.618770 unit_bearing:0.271049 -0.349835 0.896743 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -0.302471, -0.722378, -2.438839 mu:0.618770 unit_bearing:0.273976 -0.343474 0.898311 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? -0.372535, -0.717323, -2.409331 mu:0.618770 unit_bearing:0.318803 -0.342595 0.883738 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.500] If point is visible? 0.355361, -0.728545, -2.550264 mu:0.618770 unit_bearing:-0.137587 -0.338859 0.930722 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.500] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? -0.347268, -0.703200, -2.429111 mu:0.618770 unit_bearing:0.302245 -0.332430 0.893386 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? -0.373456, -0.701245, -2.417630 mu:0.618770 unit_bearing:0.319026 -0.332094 0.887658 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? -0.935938, -0.627843, -1.987200 mu:0.618770 unit_bearing:0.689703 -0.319472 0.649805 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? -0.360019, -0.708679, -2.420140 mu:0.618770 unit_bearing:0.310557 -0.336471 0.889012 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.364604, -0.725153, -2.551384 mu:0.618770 unit_bearing:-0.143322 -0.336691 0.930644 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.369187, -0.721825, -2.552739 mu:0.618770 unit_bearing:-0.146198 -0.334545 0.930970 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? -0.373636, -0.698021, -2.419266 mu:0.618770 unit_bearing:0.319069 -0.329991 0.888426 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.373771, -0.718493, -2.554072 mu:0.618770 unit_bearing:-0.149074 -0.332399 0.931283 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.396871, -0.708301, -2.557223 mu:0.618770 unit_bearing:-0.163415 -0.325901 0.931173 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? -0.933619, -0.619606, -1.996194 mu:0.618770 unit_bearing:0.687838 -0.313736 0.654561 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? -0.338856, -0.697369, -2.436085 mu:0.618770 unit_bearing:0.296718 -0.328322 0.896751 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? -0.499462, -0.875300, -2.772764 mu:0.492766 unit_bearing:0.299523 -0.328270 0.895838 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.590481, Z inverse max: 0.395051 +[21:42:41.501] If point is visible? 0.401465, -0.704948, -2.558442 mu:0.618770 unit_bearing:-0.166290 -0.323750 0.931415 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.410729, -0.701498, -2.559232 mu:0.618770 unit_bearing:-0.172019 -0.321572 0.931129 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.303070, -0.689916, -2.571370 mu:0.618770 unit_bearing:-0.106253 -0.313543 0.943611 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.424596, -0.694667, -2.561087 mu:0.618770 unit_bearing:-0.180621 -0.317237 0.930987 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.419926, -0.694768, -2.561536 mu:0.618770 unit_bearing:-0.177768 -0.317265 0.931527 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.330750, -0.676507, -2.576699 mu:0.618770 unit_bearing:-0.123513 -0.304906 0.944339 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.480322, -0.676917, -2.562380 mu:0.618770 unit_bearing:-0.214918 -0.306238 0.927377 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.475650, -0.677045, -2.562997 mu:0.618770 unit_bearing:-0.212073 -0.306270 0.928021 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.307571, -0.683308, -2.574356 mu:0.618770 unit_bearing:-0.109146 -0.309260 0.944693 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.302906, -0.683347, -2.574458 mu:0.618770 unit_bearing:-0.106276 -0.309276 0.945015 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.344460, -0.663170, -2.582127 mu:0.618770 unit_bearing:-0.132170 -0.296306 0.945904 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.339788, -0.663226, -2.582339 mu:0.618770 unit_bearing:-0.129303 -0.296324 0.946294 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.501] If point is visible? 0.466369, -0.680570, -2.562649 mu:0.618770 unit_bearing:-0.206358 -0.308461 0.928584 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.501] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? 0.461698, -0.680691, -2.563223 mu:0.618770 unit_bearing:-0.203511 -0.308492 0.929202 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? 0.768395, -0.657382, -2.499225 mu:0.618770 unit_bearing:-0.388880 -0.299003 0.871418 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? 0.731459, -0.656398, -2.512452 mu:0.618770 unit_bearing:-0.366832 -0.297401 0.881469 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? 0.344169, -0.649961, -2.588023 mu:0.618770 unit_bearing:-0.132225 -0.287749 0.948534 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? 0.339495, -0.650016, -2.588234 mu:0.618770 unit_bearing:-0.129356 -0.287767 0.948924 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? 0.334295, -0.662879, -2.915452 mu:0.519719 unit_bearing:-0.121046 -0.227612 0.966199 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.696949, Z inverse max: 0.342489 +[21:42:41.502] If point is visible? -1.558815, -0.583051, -2.875894 mu:0.383673 unit_bearing:0.635766 -0.139480 0.759175 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.502] If point is visible? -0.183865, -0.381910, -2.614359 mu:0.618770 unit_bearing:0.193571 -0.121138 0.973579 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? -0.078695, -0.395815, -2.638470 mu:0.618770 unit_bearing:0.127342 -0.127859 0.983583 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? -0.155587, -0.477188, -2.952039 mu:0.513077 unit_bearing:0.130227 -0.127852 0.983206 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.675601, Z inverse max: 0.350553 +[21:42:41.502] If point is visible? -0.162872, -0.478971, -2.958320 mu:0.510990 unit_bearing:0.133111 -0.127845 0.982821 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.668989, Z inverse max: 0.352990 +[21:42:41.502] If point is visible? -0.106201, -0.394972, -2.632193 mu:0.618770 unit_bearing:0.144643 -0.127815 0.981194 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? -0.115353, -0.394676, -2.629992 mu:0.618770 unit_bearing:0.150406 -0.127798 0.980329 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? -0.107147, -0.321468, -2.735961 mu:0.588596 unit_bearing:0.133220 -0.071197 0.988526 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.874514, Z inverse max: 0.302678 +[21:42:41.502] calculated Z= 0.600156 +[21:42:41.502] update seeds 305 +[21:42:41.502] If point is visible? -0.093457, -0.305658, -2.655649 mu:0.618770 unit_bearing:0.136106 -0.071193 0.988133 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? -0.512090, -0.634879, -4.317769 mu:0.297499 unit_bearing:0.144762 -0.071180 0.986903 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.502] If point is visible? -0.130127, -0.301053, -2.647526 mu:0.618770 unit_bearing:0.159181 -0.068977 0.984837 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? -0.122987, -0.315543, -2.784395 mu:0.572164 unit_bearing:0.136118 -0.062467 0.988721 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.837321, Z inverse max: 0.307008 +[21:42:41.502] calculated Z= 0.601160 +[21:42:41.502] update seeds 305 +[21:42:41.502] If point is visible? -0.129536, -0.316663, -2.789969 mu:0.569878 unit_bearing:0.139004 -0.062464 0.988320 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.830859, Z inverse max: 0.308896 +[21:42:41.502] If point is visible? -0.162479, -0.302184, -2.887200 mu:0.539669 unit_bearing:0.144794 -0.045002 0.988438 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.761461, Z inverse max: 0.317877 +[21:42:41.502] If point is visible? -0.253032, -0.247821, -2.620062 mu:0.618770 unit_bearing:0.236787 -0.038355 0.970804 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? -0.157362, -0.266922, -2.870585 mu:0.546330 unit_bearing:0.144807 -0.027543 0.989076 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.772471, Z inverse max: 0.320189 +[21:42:41.502] calculated Z= 0.598422 +[21:42:41.502] update seeds 305 +[21:42:41.502] If point is visible? -0.983229, -0.153193, -2.122035 mu:0.618770 unit_bearing:0.714666 -0.017795 0.699239 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? -0.990020, -0.152141, -2.113739 mu:0.618770 unit_bearing:0.719312 -0.017774 0.694459 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? 0.471277, -0.249854, -2.694000 mu:0.618770 unit_bearing:-0.213670 -0.034029 0.976313 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? -0.976451, -0.140999, -2.132116 mu:0.618770 unit_bearing:0.710020 -0.009546 0.704117 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.502] If point is visible? -0.927433, -0.137979, -2.189432 mu:0.618770 unit_bearing:0.676698 -0.003368 0.736253 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.502] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.973036, -0.131566, -2.137512 mu:0.618770 unit_bearing:0.707684 -0.003345 0.706521 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.220369, -0.210465, -2.715081 mu:0.591554 unit_bearing:0.202403 -0.007885 0.979271 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.874711, Z inverse max: 0.308396 +[21:42:41.503] If point is visible? -0.976466, -0.134374, -2.132990 mu:0.618770 unit_bearing:0.710026 -0.005411 0.704155 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.971145, -0.158363, -2.211959 mu:0.600477 unit_bearing:0.681509 -0.013769 0.731680 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.899723, Z inverse max: 0.301231 +[21:42:41.503] If point is visible? -0.976460, -0.137687, -2.132557 mu:0.618770 unit_bearing:0.710023 -0.007478 0.704138 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.270869, -0.264273, -3.238258 mu:0.452313 unit_bearing:0.156353 -0.001347 0.987700 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.503] If point is visible? -0.278028, -0.264517, -3.240205 mu:0.451567 unit_bearing:0.159236 -0.001346 0.987240 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.503] If point is visible? -0.144800, -0.197526, -2.700787 mu:0.604270 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.908537, Z inverse max: 0.300002 +[21:42:41.503] If point is visible? -0.262190, -0.181236, -2.626325 mu:0.618770 unit_bearing:0.242536 0.003011 0.970138 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.948658, -0.108391, -2.168898 mu:0.618770 unit_bearing:0.691100 0.013255 0.722638 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.315971, -0.184235, -2.782002 mu:0.561742 unit_bearing:0.242534 0.011719 0.970072 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.813893, Z inverse max: 0.309590 +[21:42:41.503] calculated Z= 0.709348 +[21:42:41.503] update seeds 305 +[21:42:41.503] If point is visible? -0.154602, -0.177579, -2.941581 mu:0.529755 unit_bearing:0.136150 0.024854 0.990376 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.739995, Z inverse max: 0.319515 +[21:42:41.503] If point is visible? -0.207147, -0.197006, -3.142254 mu:0.477115 unit_bearing:0.139037 0.024852 0.989975 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.556738, Z inverse max: 0.397492 +[21:42:41.503] If point is visible? -1.016672, -0.081972, -2.087830 mu:0.618770 unit_bearing:0.737625 0.023367 0.674807 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -1.019984, -0.084770, -2.083223 mu:0.618770 unit_bearing:0.739899 0.021301 0.672381 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -1.016645, -0.078668, -2.088137 mu:0.618770 unit_bearing:0.737613 0.025419 0.674745 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -1.016615, -0.075363, -2.088436 mu:0.618770 unit_bearing:0.737601 0.027472 0.674678 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? 0.353720, -0.100450, -2.721041 mu:0.618770 unit_bearing:-0.141692 0.059768 0.988105 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.288588, -0.067917, -2.626180 mu:0.618770 unit_bearing:0.259574 0.072595 0.962991 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.434777, -0.067909, -2.564214 mu:0.618770 unit_bearing:0.353058 0.067927 0.933132 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.097995, -0.070906, -2.682943 mu:0.618770 unit_bearing:0.138987 0.075040 0.987447 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.102580, -0.070782, -2.681876 mu:0.618770 unit_bearing:0.141872 0.075036 0.987037 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.107163, -0.070657, -2.680794 mu:0.618770 unit_bearing:0.144756 0.075031 0.986618 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.503] If point is visible? -0.443543, -0.070926, -2.559801 mu:0.618770 unit_bearing:0.358682 0.065742 0.931142 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.503] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? -0.283538, -0.018795, -2.629426 mu:0.618770 unit_bearing:0.256613 0.103009 0.961009 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? -0.288019, -0.018614, -2.627795 mu:0.618770 unit_bearing:0.259465 0.102997 0.960244 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? -0.283490, -0.015268, -2.629483 mu:0.618770 unit_bearing:0.256604 0.105179 0.960777 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? -0.210966, 0.013861, -2.653883 mu:0.618770 unit_bearing:0.210769 0.124909 0.969523 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? 0.991816, 0.070148, -2.553457 mu:0.618770 unit_bearing:-0.524660 0.151905 0.837649 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] calculated Z= 0.562234 +[21:42:41.504] update seeds 305 +[21:42:41.504] If point is visible? 1.063472, 0.077353, -2.708709 mu:0.559544 unit_bearing:-0.522005 0.151954 0.839298 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.811832, Z inverse max: 0.307257 +[21:42:41.504] calculated Z= 0.564987 +[21:42:41.504] update seeds 305 +[21:42:41.504] If point is visible? 0.748534, 0.162345, -2.803994 mu:0.565597 unit_bearing:-0.354468 0.207878 0.911668 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.827643, Z inverse max: 0.303552 +[21:42:41.504] If point is visible? -0.330260, -0.833903, -2.358891 mu:0.618770 unit_bearing:0.294723 -0.417997 0.859312 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? -0.698518, -0.748572, -2.167641 mu:0.618770 unit_bearing:0.532708 -0.380012 0.756183 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? -0.330714, -0.827672, -2.362814 mu:0.618770 unit_bearing:0.294830 -0.413874 0.861269 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? 0.989982, -0.751998, -2.345109 mu:0.618770 unit_bearing:-0.517662 -0.368733 0.772051 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? -0.358103, -0.806824, -2.363032 mu:0.618770 unit_bearing:0.311838 -0.401054 0.861343 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? 0.300661, -0.771280, -2.530158 mu:0.618770 unit_bearing:-0.103062 -0.366622 0.924644 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? -0.338683, -0.700601, -2.434459 mu:0.618770 unit_bearing:0.296679 -0.330430 0.895990 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? 0.325258, -0.640233, -2.593119 mu:0.618770 unit_bearing:-0.120783 -0.281390 0.951962 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? 0.325403, -0.646857, -2.590236 mu:0.618770 unit_bearing:-0.120759 -0.285675 0.950688 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? 0.323812, -0.566846, -2.622750 mu:0.618770 unit_bearing:-0.121018 -0.234084 0.964655 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? 0.314447, -0.566922, -2.623039 mu:0.618770 unit_bearing:-0.115263 -0.234109 0.965354 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? 0.499514, -0.242397, -2.691275 mu:0.618770 unit_bearing:-0.230873 -0.029654 0.972532 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? -0.945161, -0.115545, -2.172148 mu:0.618770 unit_bearing:0.688719 0.009106 0.724971 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? -0.952189, -0.114581, -2.164173 mu:0.618770 unit_bearing:0.693492 0.009097 0.720407 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? 0.480694, -0.249695, -2.692786 mu:0.618770 unit_bearing:-0.219406 -0.034022 0.975040 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.504] If point is visible? -0.938081, -0.149856, -2.175918 mu:0.618770 unit_bearing:0.683919 -0.011682 0.729464 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.504] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? -0.973005, -0.144824, -2.135764 mu:0.618770 unit_bearing:0.707671 -0.011619 0.706446 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? 0.386551, -0.131919, -2.716678 mu:0.618770 unit_bearing:-0.161899 0.040112 0.985992 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] calculated Z= 0.526715 +[21:42:41.505] update seeds 305 +[21:42:41.505] If point is visible? -0.979834, -0.150410, -2.126634 mu:0.618770 unit_bearing:0.712342 -0.015739 0.701656 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? -1.033133, -0.109042, -2.063104 mu:0.618770 unit_bearing:0.748940 0.004877 0.662620 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? 0.377180, -0.117917, -2.718431 mu:0.618770 unit_bearing:-0.156126 0.048844 0.986529 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] calculated Z= 0.532493 +[21:42:41.505] update seeds 305 +[21:42:41.505] If point is visible? -0.421616, -0.065117, -2.570627 mu:0.618770 unit_bearing:0.344615 0.070126 0.936121 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? -0.430369, -0.064647, -2.566484 mu:0.618770 unit_bearing:0.350240 0.070102 0.934033 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? -0.439180, -0.071168, -2.561922 mu:0.618770 unit_bearing:0.355875 0.065753 0.932218 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? 0.955713, -0.059751, -2.571476 mu:0.618770 unit_bearing:-0.504266 0.073485 0.860416 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? 0.991808, 0.073616, -2.553288 mu:0.618770 unit_bearing:-0.524623 0.154023 0.837286 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] calculated Z= 0.562222 +[21:42:41.505] update seeds 305 +[21:42:41.505] If point is visible? 0.991823, 0.066680, -2.553618 mu:0.618770 unit_bearing:-0.524697 0.149788 0.838008 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? 1.133596, 0.114901, -2.470073 mu:0.618770 unit_bearing:-0.607186 0.173103 0.775475 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? 0.928324, 0.126717, -2.579820 mu:0.618770 unit_bearing:-0.486590 0.188635 0.853022 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? 0.937409, 0.134017, -2.575052 mu:0.618770 unit_bearing:-0.491880 0.192759 0.849057 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? -0.938163, 0.977318, -3.639363 mu:0.337001 unit_bearing:0.333080 0.430769 0.838747 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.505] If point is visible? 0.327657, -0.738655, -2.546529 mu:0.618770 unit_bearing:-0.120376 -0.345350 0.930722 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? -0.751698, -0.574049, -2.225293 mu:0.618770 unit_bearing:0.563505 -0.268480 0.781269 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] calculated Z= 0.680122 +[21:42:41.505] update seeds 305 +[21:42:41.505] If point is visible? -0.744363, -0.805239, -2.079432 mu:0.618770 unit_bearing:0.565402 -0.421466 0.709004 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? -0.774035, -0.799410, -2.052439 mu:0.618770 unit_bearing:0.585204 -0.419922 0.693687 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? -0.310564, -0.734643, -2.428575 mu:0.618770 unit_bearing:0.279442 -0.351781 0.893399 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? -0.328126, -0.733412, -2.421420 mu:0.618770 unit_bearing:0.290665 -0.351564 0.889897 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? -0.380458, -0.729451, -2.398604 mu:0.618770 unit_bearing:0.324191 -0.350852 0.878523 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.505] If point is visible? 1.025831, -0.698518, -2.354992 mu:0.618770 unit_bearing:-0.539937 -0.335143 0.772105 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.505] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? 0.324055, -0.580259, -2.617645 mu:0.618770 unit_bearing:-0.120979 -0.242707 0.962527 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? 0.343547, -0.620119, -2.600825 mu:0.618770 unit_bearing:-0.132341 -0.268456 0.954158 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? 0.309769, -0.764744, -2.533449 mu:0.618770 unit_bearing:-0.108812 -0.362359 0.925665 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? 0.494217, -0.669965, -2.563503 mu:0.618770 unit_bearing:-0.223496 -0.301883 0.926777 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? 0.882825, -0.687445, -2.437325 mu:0.618770 unit_bearing:-0.456225 -0.322134 0.829511 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? -0.304992, -0.823418, -2.377557 mu:0.618770 unit_bearing:0.278200 -0.410150 0.868551 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? -0.322454, -0.822103, -2.370378 mu:0.618770 unit_bearing:0.289363 -0.409884 0.865023 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? -0.339857, -0.820740, -2.362974 mu:0.618770 unit_bearing:0.300502 -0.409605 0.861349 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? 0.327309, -0.725652, -2.553156 mu:0.618770 unit_bearing:-0.120436 -0.336865 0.933819 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? 0.508941, -0.249173, -2.688809 mu:0.618770 unit_bearing:-0.236594 -0.034002 0.971013 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? -0.945121, -0.155517, -2.167080 mu:0.618770 unit_bearing:0.688703 -0.015825 0.724871 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? -0.930991, -0.144170, -2.184665 mu:0.618770 unit_bearing:0.679110 -0.007530 0.733998 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? -0.945168, -0.142209, -2.168899 mu:0.618770 unit_bearing:0.688722 -0.007515 0.724987 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? -0.252044, -0.016490, -2.640514 mu:0.618770 unit_bearing:0.236613 0.105261 0.965885 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? 0.955626, 0.072068, -2.570962 mu:0.618770 unit_bearing:-0.503300 0.154404 0.850205 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? -0.395114, -0.052465, -2.583351 mu:0.618770 unit_bearing:0.327671 0.078855 0.941495 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? 2.959265, 0.024463, -6.009747 mu:0.178888 unit_bearing:-0.556923 0.111155 0.823093 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: -nan, Z inverse max: -nan +[21:42:41.506] If point is visible? -0.842368, -0.074070, -2.282554 mu:0.618770 unit_bearing:0.619612 0.042904 0.783735 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? -0.412848, -0.065581, -2.574713 mu:0.618770 unit_bearing:0.338985 0.070149 0.938173 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.506] If point is visible? -0.252225, -0.030604, -2.640236 mu:0.618770 unit_bearing:0.236645 0.096571 0.966785 T_cur_ref: x=0.267706 y=0.000000 z=-1.110352 +[21:42:41.506] Z inverse min: 0.943471, Z inverse max: 0.294070 +[21:42:41.830] add new frame +[21:42:41.830] update seed +[21:42:41.830] add key frame +[21:42:41.830] If point is visible? 0.482853, -0.222238, -0.258249 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.269512 y=0.000000 z=-1.034684 +[21:42:41.830] init seeds +[21:42:41.830] remove key frame +[21:42:41.831] update seed +[21:42:41.831] If point is visible? 0.482853, -0.222238, -0.258249 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.269512 y=0.000000 z=-1.034684 +[21:42:41.831] If point is visible? 0.202541, -0.096895, -0.207713 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.269512 y=0.000000 z=-1.034684 +[21:42:41.831] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:41.831] If point is visible? 0.192484, -0.214684, -0.231110 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.269512 y=0.000000 z=-1.034684 +[21:42:41.831] If point is visible? 0.482853, -0.222238, -0.258249 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.269512 y=0.000000 z=-1.034684 +[21:42:41.831] If point is visible? 0.202541, -0.096895, -0.207713 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.269512 y=0.000000 z=-1.034684 +[21:42:41.831] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:41.831] If point is visible? 0.192484, -0.214684, -0.231110 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.269512 y=0.000000 z=-1.034684 +[21:42:41.831] If point is visible? 0.219763, -0.001137, -0.916410 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.831] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.831] If point is visible? 0.260301, -0.015193, -0.907923 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.831] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.831] If point is visible? 0.260296, -0.016349, -0.908064 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.831] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.831] If point is visible? 0.259429, 0.067683, -0.925990 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.831] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.831] If point is visible? 0.302543, 0.057899, -0.925059 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.831] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.831] If point is visible? 0.226223, 0.054614, -0.926667 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.831] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.831] If point is visible? 0.226226, 0.054876, -0.926795 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.831] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.831] If point is visible? 0.305597, 0.053527, -0.923850 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.831] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.832] If point is visible? 0.302660, 0.053135, -0.922770 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.832] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.832] If point is visible? 0.225454, 0.051670, -0.925564 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.832] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.832] If point is visible? 0.225072, 0.050322, -0.925103 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.832] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.832] If point is visible? 0.224685, 0.048439, -0.924431 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.832] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.832] If point is visible? 0.320602, 0.049425, -0.927853 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.832] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.832] If point is visible? 0.320610, 0.049159, -0.927737 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.832] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.832] If point is visible? 0.301268, 0.048913, -0.920522 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.832] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.832] If point is visible? 0.320618, 0.048893, -0.927623 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.832] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.832] If point is visible? 0.247827, 0.047061, -0.917354 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.832] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.832] If point is visible? 0.248204, 0.047071, -0.917292 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.832] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.832] If point is visible? 0.321425, 0.045639, -0.926611 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.832] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.833] If point is visible? 0.310158, 0.046610, -0.922370 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.833] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.833] If point is visible? 0.301321, 0.045941, -0.919341 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.833] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.833] If point is visible? 0.309814, 0.045550, -0.921826 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.833] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.833] If point is visible? 0.223920, 0.045453, -0.923501 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.833] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.833] If point is visible? 0.223917, 0.045185, -0.923396 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.833] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.833] If point is visible? 0.309452, 0.045299, -0.921602 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.833] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.833] If point is visible? 0.309819, 0.045280, -0.921722 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.833] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:41.834] If point is visible? 0.254248, 0.045856, -0.915931 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.269164 y=0.000000 z=-1.037791 +[21:42:41.834] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:41.834] init seeds +[21:42:41.834] DepthFilter: Initialized 0 new seeds +[21:42:41.836] DepthFilter: Initialized 0 new seeds +[21:42:42.280] add new frame +[21:42:42.280] add key frame +[21:42:42.280] remove key frame +[21:42:42.280] update seed +[21:42:42.280] init seeds +[21:42:42.280] update seed +[21:42:42.280] If point is visible? 0.490595, -0.222238, -0.275163 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.277255 y=0.000000 z=-1.051598 +[21:42:42.280] If point is visible? 0.210284, -0.096895, -0.224627 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.277255 y=0.000000 z=-1.051598 +[21:42:42.280] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:42.281] If point is visible? 0.200227, -0.214684, -0.248023 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.277255 y=0.000000 z=-1.051598 +[21:42:42.281] If point is visible? 0.490595, -0.222238, -0.275163 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.277255 y=0.000000 z=-1.051598 +[21:42:42.281] If point is visible? 0.210284, -0.096895, -0.224627 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.277255 y=0.000000 z=-1.051598 +[21:42:42.281] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:42.281] If point is visible? 0.200227, -0.214684, -0.248023 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.277255 y=0.000000 z=-1.051598 +[21:42:42.281] If point is visible? 0.227506, -0.001137, -0.933324 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.281] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.281] If point is visible? 0.268044, -0.015193, -0.924837 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.281] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.281] If point is visible? 0.268039, -0.016349, -0.924977 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.281] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.281] If point is visible? 0.267172, 0.067683, -0.942904 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.281] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.281] If point is visible? 0.310286, 0.057899, -0.941972 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.281] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.281] If point is visible? 0.233966, 0.054614, -0.943581 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.281] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.281] If point is visible? 0.233969, 0.054876, -0.943709 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.281] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.281] If point is visible? 0.313340, 0.053527, -0.940764 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.281] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.281] If point is visible? 0.310402, 0.053135, -0.939684 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.281] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.281] If point is visible? 0.233197, 0.051670, -0.942478 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.281] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.282] If point is visible? 0.232815, 0.050322, -0.942016 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.282] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.282] If point is visible? 0.232427, 0.048439, -0.941345 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.282] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.282] If point is visible? 0.328345, 0.049425, -0.944767 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.282] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.282] If point is visible? 0.328353, 0.049159, -0.944651 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.282] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.282] If point is visible? 0.309011, 0.048913, -0.937436 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.282] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.282] If point is visible? 0.328360, 0.048893, -0.944537 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.282] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.282] If point is visible? 0.255570, 0.047061, -0.934268 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.282] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.282] If point is visible? 0.255947, 0.047071, -0.934205 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.282] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.282] If point is visible? 0.329168, 0.045639, -0.943525 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.282] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.282] If point is visible? 0.317901, 0.046610, -0.939283 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.282] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.282] If point is visible? 0.309064, 0.045941, -0.936255 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.282] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.283] If point is visible? 0.317557, 0.045550, -0.938740 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.283] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.283] If point is visible? 0.231663, 0.045453, -0.940415 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.283] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.283] If point is visible? 0.231660, 0.045185, -0.940310 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.283] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.283] If point is visible? 0.317195, 0.045299, -0.938515 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.283] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.283] If point is visible? 0.317562, 0.045280, -0.938636 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.276907 y=0.000000 z=-1.054705 +[21:42:42.283] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.283] init seeds +[21:42:42.283] DepthFilter: Initialized 0 new seeds +[21:42:42.285] DepthFilter: Initialized 0 new seeds +[21:42:42.650] add new frame +[21:42:42.650] add key frame +[21:42:42.650] remove key frame +[21:42:42.650] update seed +[21:42:42.650] init seeds +[21:42:42.651] update seed +[21:42:42.651] If point is visible? 0.495399, -0.222238, -0.286441 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.282058 y=0.000000 z=-1.062876 +[21:42:42.651] If point is visible? 0.215087, -0.096895, -0.235905 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.282058 y=0.000000 z=-1.062876 +[21:42:42.651] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:42.651] If point is visible? 0.205030, -0.214684, -0.259302 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.282058 y=0.000000 z=-1.062876 +[21:42:42.651] If point is visible? 0.495399, -0.222238, -0.286441 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.282058 y=0.000000 z=-1.062876 +[21:42:42.651] If point is visible? 0.215087, -0.096895, -0.235905 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.282058 y=0.000000 z=-1.062876 +[21:42:42.651] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:42.651] If point is visible? 0.205030, -0.214684, -0.259302 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.282058 y=0.000000 z=-1.062876 +[21:42:42.651] If point is visible? 0.232309, -0.001137, -0.944602 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.651] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.651] If point is visible? 0.272847, -0.015193, -0.936115 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.651] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.651] If point is visible? 0.272843, -0.016349, -0.936256 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.651] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.651] If point is visible? 0.271975, 0.067683, -0.954182 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.651] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.651] If point is visible? 0.315089, 0.057899, -0.953251 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.651] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.651] If point is visible? 0.238769, 0.054614, -0.954859 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.651] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.651] If point is visible? 0.238772, 0.054876, -0.954987 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.651] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.651] If point is visible? 0.318143, 0.053527, -0.952042 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.651] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.652] If point is visible? 0.315206, 0.053135, -0.950962 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.652] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.652] If point is visible? 0.238001, 0.051670, -0.953756 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.652] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.652] If point is visible? 0.237618, 0.050322, -0.953295 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.652] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.652] If point is visible? 0.237231, 0.048439, -0.952623 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.652] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.652] If point is visible? 0.333148, 0.049425, -0.956045 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.652] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.652] If point is visible? 0.333156, 0.049159, -0.955930 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.652] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.652] If point is visible? 0.313814, 0.048913, -0.948714 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.652] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.652] If point is visible? 0.333164, 0.048893, -0.955815 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.652] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.652] If point is visible? 0.260374, 0.047061, -0.945546 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.652] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.652] If point is visible? 0.260751, 0.047071, -0.945484 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.652] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.653] If point is visible? 0.333971, 0.045639, -0.954803 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.653] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.653] If point is visible? 0.322705, 0.046610, -0.950562 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.653] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.653] calculated Z= 0.303692 +[21:42:42.653] update seeds 305 +[21:42:42.653] If point is visible? 0.313867, 0.045941, -0.947533 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.653] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.653] If point is visible? 0.322360, 0.045550, -0.950018 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.653] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.653] If point is visible? 0.236466, 0.045453, -0.951693 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.653] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.653] If point is visible? 0.236464, 0.045185, -0.951588 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.653] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:42.653] If point is visible? 0.321998, 0.045299, -0.949794 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.281710 y=0.000000 z=-1.065983 +[21:42:42.653] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:42.653] init seeds +[21:42:42.653] DepthFilter: Initialized 7 new seeds +[21:42:42.656] DepthFilter: Initialized 7 new seeds +[21:42:43.023] add new frame +[21:42:43.023] update seed +[21:42:43.023] add key frame +[21:42:43.023] If point is visible? 0.496107, -0.222238, -0.288178 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.282766 y=0.000000 z=-1.064612 +[21:42:43.023] remove key frame +[21:42:43.023] init seeds +[21:42:43.023] update seed +[21:42:43.023] If point is visible? 0.496107, -0.222238, -0.288178 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.282766 y=0.000000 z=-1.064612 +[21:42:43.023] If point is visible? 0.215795, -0.096895, -0.237642 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.282766 y=0.000000 z=-1.064612 +[21:42:43.023] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:43.024] If point is visible? 0.205738, -0.214684, -0.261038 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.282766 y=0.000000 z=-1.064612 +[21:42:43.024] If point is visible? 0.496107, -0.222238, -0.288178 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.282766 y=0.000000 z=-1.064612 +[21:42:43.024] If point is visible? 0.215795, -0.096895, -0.237642 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.282766 y=0.000000 z=-1.064612 +[21:42:43.024] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:43.024] If point is visible? 0.205738, -0.214684, -0.261038 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.282766 y=0.000000 z=-1.064612 +[21:42:43.024] If point is visible? 0.233017, -0.001137, -0.946338 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.024] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.024] If point is visible? 0.273555, -0.015193, -0.937851 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.024] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.024] If point is visible? 0.273550, -0.016349, -0.937992 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.024] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.024] If point is visible? 0.272683, 0.067683, -0.955919 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.024] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.024] If point is visible? 0.315797, 0.057899, -0.954987 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.024] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.024] If point is visible? 0.239477, 0.054614, -0.956596 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.024] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.024] calculated Z= 0.083523 +[21:42:43.024] update seeds 305 +[21:42:43.024] If point is visible? 0.239480, 0.054876, -0.956724 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.024] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.024] calculated Z= 0.082999 +[21:42:43.024] update seeds 305 +[21:42:43.024] If point is visible? 0.318851, 0.053527, -0.953778 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.024] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.025] If point is visible? 0.315914, 0.053135, -0.952698 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.025] calculated Z= 0.129185 +[21:42:43.025] update seeds 305 +[21:42:43.025] If point is visible? 0.238708, 0.051670, -0.955493 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.025] If point is visible? 0.238326, 0.050322, -0.955031 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.025] If point is visible? 0.237939, 0.048439, -0.954360 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.025] If point is visible? 0.333856, 0.049425, -0.957781 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.025] If point is visible? 0.333864, 0.049159, -0.957666 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.025] If point is visible? 0.314522, 0.048913, -0.950451 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.025] If point is visible? 0.333872, 0.048893, -0.957551 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.025] If point is visible? 0.261081, 0.047061, -0.947282 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.025] If point is visible? 0.261459, 0.047071, -0.947220 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.025] If point is visible? 0.334679, 0.045639, -0.956540 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.025] If point is visible? 0.323413, 0.046610, -0.952298 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.025] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.026] If point is visible? 0.314575, 0.045941, -0.949269 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.026] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.026] If point is visible? 0.323068, 0.045550, -0.951754 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.026] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.026] If point is visible? 0.237174, 0.045453, -0.953430 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.026] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.026] If point is visible? 0.237172, 0.045185, -0.953324 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.282418 y=0.000000 z=-1.067720 +[21:42:43.026] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.026] init seeds +[21:42:43.026] DepthFilter: Initialized 4 new seeds +[21:42:43.028] DepthFilter: Initialized 4 new seeds +[21:42:43.365] add new frame +[21:42:43.365] update seed +[21:42:43.365] add key frame +[21:42:43.365] If point is visible? 0.501340, -0.222238, -0.300592 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.288000 y=0.000000 z=-1.077027 +[21:42:43.365] init seeds +[21:42:43.365] remove key frame +[21:42:43.365] update seed +[21:42:43.365] If point is visible? 0.501340, -0.222238, -0.300592 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.288000 y=0.000000 z=-1.077027 +[21:42:43.365] If point is visible? 0.221029, -0.096895, -0.250056 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.288000 y=0.000000 z=-1.077027 +[21:42:43.365] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:43.366] If point is visible? 0.210972, -0.214684, -0.273452 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.288000 y=0.000000 z=-1.077027 +[21:42:43.366] If point is visible? 0.501340, -0.222238, -0.300592 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.288000 y=0.000000 z=-1.077027 +[21:42:43.366] If point is visible? 0.221029, -0.096895, -0.250056 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.288000 y=0.000000 z=-1.077027 +[21:42:43.366] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:43.366] If point is visible? 0.210972, -0.214684, -0.273452 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.288000 y=0.000000 z=-1.077027 +[21:42:43.366] If point is visible? 0.238251, -0.001137, -0.958753 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.366] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.366] If point is visible? 0.278789, -0.015193, -0.950266 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.366] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.366] If point is visible? 0.278784, -0.016349, -0.950406 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.366] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.366] If point is visible? 0.277917, 0.067683, -0.968333 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.366] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.366] If point is visible? 0.321031, 0.057899, -0.967401 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.366] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.366] If point is visible? 0.244711, 0.054614, -0.969010 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.366] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.366] If point is visible? 0.244714, 0.054876, -0.969138 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.366] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.367] If point is visible? 0.324085, 0.053527, -0.966192 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.367] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.367] If point is visible? 0.321147, 0.053135, -0.965113 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.367] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.367] If point is visible? 0.243942, 0.051670, -0.967907 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.367] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.367] If point is visible? 0.243560, 0.050322, -0.967445 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.367] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.367] If point is visible? 0.243172, 0.048439, -0.966774 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.367] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.367] If point is visible? 0.339090, 0.049425, -0.970196 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.367] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.367] If point is visible? 0.339098, 0.049159, -0.970080 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.367] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.367] If point is visible? 0.319756, 0.048913, -0.962865 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.367] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.367] If point is visible? 0.339105, 0.048893, -0.969965 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.367] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.367] If point is visible? 0.266315, 0.047061, -0.959696 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.367] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.367] If point is visible? 0.266692, 0.047071, -0.959634 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.367] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.368] If point is visible? 0.339913, 0.045639, -0.968954 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.368] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.368] If point is visible? 0.328646, 0.046610, -0.964712 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.368] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.368] If point is visible? 0.319809, 0.045941, -0.961683 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.368] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.368] If point is visible? 0.328302, 0.045550, -0.964169 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.368] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.368] If point is visible? 0.242408, 0.045453, -0.965844 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.368] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.368] If point is visible? 0.242405, 0.045185, -0.965739 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.368] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.368] If point is visible? 0.327940, 0.045299, -0.963944 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.287652 y=0.000000 z=-1.080134 +[21:42:43.368] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.368] init seeds +[21:42:43.368] DepthFilter: Initialized 1 new seeds +[21:42:43.371] DepthFilter: Initialized 1 new seeds +[21:42:43.687] add new frame +[21:42:43.687] add key frame +[21:42:43.687] remove key frame +[21:42:43.687] update seed +[21:42:43.687] init seeds +[21:42:43.687] update seed +[21:42:43.687] If point is visible? 0.506145, -0.222238, -0.311751 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.292804 y=0.000000 z=-1.088185 +[21:42:43.687] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:43.687] If point is visible? 0.225833, -0.096895, -0.261215 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.292804 y=0.000000 z=-1.088185 +[21:42:43.687] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:43.687] If point is visible? 0.215776, -0.214684, -0.284611 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.292804 y=0.000000 z=-1.088185 +[21:42:43.687] If point is visible? 0.506145, -0.222238, -0.311751 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.292804 y=0.000000 z=-1.088185 +[21:42:43.687] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:43.687] If point is visible? 0.225833, -0.096895, -0.261215 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.292804 y=0.000000 z=-1.088185 +[21:42:43.687] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:43.688] If point is visible? 0.215776, -0.214684, -0.284611 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.292804 y=0.000000 z=-1.088185 +[21:42:43.688] If point is visible? 0.243056, -0.001137, -0.969911 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.688] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.688] If point is visible? 0.283593, -0.015193, -0.961424 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.688] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.688] If point is visible? 0.283589, -0.016349, -0.961565 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.688] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.688] If point is visible? 0.282721, 0.067683, -0.979492 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.688] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.688] If point is visible? 0.325836, 0.057899, -0.978560 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.688] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.688] If point is visible? 0.249515, 0.054614, -0.980169 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.688] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.688] If point is visible? 0.249518, 0.054876, -0.980297 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.688] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.688] calculated Z= 0.058173 +[21:42:43.688] update seeds 305 +[21:42:43.688] If point is visible? 0.328889, 0.053527, -0.977351 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.688] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.688] If point is visible? 0.325952, 0.053135, -0.976271 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.688] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.689] calculated Z= 0.146217 +[21:42:43.689] update seeds 305 +[21:42:43.689] If point is visible? 0.248747, 0.051670, -0.979066 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.689] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.689] If point is visible? 0.248364, 0.050322, -0.978604 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.689] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.689] If point is visible? 0.247977, 0.048439, -0.977933 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.689] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.689] If point is visible? 0.343895, 0.049425, -0.981354 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.689] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.689] If point is visible? 0.343902, 0.049159, -0.981239 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.689] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.689] If point is visible? 0.324560, 0.048913, -0.974024 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.689] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.689] If point is visible? 0.343910, 0.048893, -0.981124 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.689] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.689] If point is visible? 0.271120, 0.047061, -0.970855 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.689] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.689] If point is visible? 0.271497, 0.047071, -0.970793 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.689] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.689] If point is visible? 0.344718, 0.045639, -0.980113 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.689] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.689] If point is visible? 0.333451, 0.046610, -0.975871 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.689] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.690] If point is visible? 0.324613, 0.045941, -0.972842 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.690] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.690] If point is visible? 0.333106, 0.045550, -0.975327 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.690] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.690] If point is visible? 0.247212, 0.045453, -0.977003 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.690] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.690] If point is visible? 0.247210, 0.045185, -0.976897 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.690] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:43.690] If point is visible? 0.332745, 0.045299, -0.975103 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.292456 y=0.000000 z=-1.091293 +[21:42:43.690] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:43.690] init seeds +[21:42:43.690] DepthFilter: Initialized 0 new seeds +[21:42:43.693] DepthFilter: Initialized 0 new seeds +[21:42:44.019] add new frame +[21:42:44.020] update seed +[21:42:44.020] If point is visible? 0.510141, -0.222238, -0.320359 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.296800 y=0.000000 z=-1.096794 +[21:42:44.020] add key frame +[21:42:44.020] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:44.020] remove key frame +[21:42:44.020] init seeds +[21:42:44.020] update seed +[21:42:44.020] init seeds +[21:42:44.022] DepthFilter: Initialized 8 new seeds +[21:42:44.025] DepthFilter: Initialized 157 new seeds +[21:42:44.351] add new frame +[21:42:44.352] add key frame +[21:42:44.352] update seed +[21:42:44.352] init seeds +[21:42:44.352] remove key frame +[21:42:44.352] update seed +[21:42:44.352] If point is visible? 0.514463, -0.222238, -0.330137 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.301122 y=0.000000 z=-1.106571 +[21:42:44.352] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:44.352] If point is visible? 0.234151, -0.096895, -0.279600 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.301122 y=0.000000 z=-1.106571 +[21:42:44.352] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:44.352] If point is visible? 0.224094, -0.214684, -0.302997 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.301122 y=0.000000 z=-1.106571 +[21:42:44.352] If point is visible? 0.514463, -0.222238, -0.330137 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.301122 y=0.000000 z=-1.106571 +[21:42:44.352] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:44.352] If point is visible? 0.234151, -0.096895, -0.279600 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.301122 y=0.000000 z=-1.106571 +[21:42:44.352] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:44.352] If point is visible? 0.224094, -0.214684, -0.302997 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.301122 y=0.000000 z=-1.106571 +[21:42:44.352] If point is visible? 0.251373, -0.001137, -0.988297 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.352] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.352] If point is visible? 0.291911, -0.015193, -0.979810 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.352] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.352] If point is visible? 0.291906, -0.016349, -0.979951 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.352] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.352] If point is visible? 0.291039, 0.067683, -0.997877 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.352] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.352] If point is visible? 0.334153, 0.057899, -0.996946 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.352] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.352] If point is visible? 0.257833, 0.054614, -0.998554 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.352] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.353] If point is visible? 0.257836, 0.054876, -0.998682 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.353] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.353] If point is visible? 0.337207, 0.053527, -0.995737 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.353] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.353] If point is visible? 0.334270, 0.053135, -0.994657 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.353] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.353] If point is visible? 0.257064, 0.051670, -0.997452 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.353] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.353] If point is visible? 0.256682, 0.050322, -0.996990 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.353] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.353] If point is visible? 0.256295, 0.048439, -0.996319 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.353] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.353] If point is visible? 0.352212, 0.049425, -0.999740 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.353] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.353] If point is visible? 0.352220, 0.049159, -0.999625 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.353] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.353] If point is visible? 0.332878, 0.048913, -0.992409 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.353] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.353] If point is visible? 0.352228, 0.048893, -0.999510 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.353] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.353] If point is visible? 0.279438, 0.047061, -0.989241 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.353] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.354] If point is visible? 0.279815, 0.047071, -0.989179 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.354] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.354] If point is visible? 0.353035, 0.045639, -0.998498 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.354] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.354] If point is visible? 0.341769, 0.046610, -0.994257 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.354] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.354] If point is visible? 0.332931, 0.045941, -0.991228 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.354] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.354] If point is visible? 0.341424, 0.045550, -0.993713 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.354] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.354] If point is visible? 0.255530, 0.045453, -0.995389 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.354] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.354] If point is visible? 0.255528, 0.045185, -0.995283 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.354] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.354] If point is visible? 0.341062, 0.045299, -0.993489 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.300774 y=0.000000 z=-1.109678 +[21:42:44.354] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.354] init seeds +[21:42:44.354] DepthFilter: Initialized 1 new seeds +[21:42:44.357] DepthFilter: Initialized 1 new seeds +[21:42:44.689] add new frame +[21:42:44.689] add key frame +[21:42:44.689] update seed +[21:42:44.689] init seeds +[21:42:44.689] remove key frame +[21:42:44.689] update seed +[21:42:44.689] If point is visible? 0.521494, -0.222238, -0.345529 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.308153 y=0.000000 z=-1.121964 +[21:42:44.689] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:44.689] If point is visible? 0.241182, -0.096895, -0.294993 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.308153 y=0.000000 z=-1.121964 +[21:42:44.689] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:44.689] If point is visible? 0.231125, -0.214684, -0.318389 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.308153 y=0.000000 z=-1.121964 +[21:42:44.689] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:44.689] If point is visible? 0.521494, -0.222238, -0.345529 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.308153 y=0.000000 z=-1.121964 +[21:42:44.689] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:44.690] If point is visible? 0.241182, -0.096895, -0.294993 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.308153 y=0.000000 z=-1.121964 +[21:42:44.690] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:44.690] If point is visible? 0.231125, -0.214684, -0.318389 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.308153 y=0.000000 z=-1.121964 +[21:42:44.690] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:44.690] If point is visible? 0.258404, -0.001137, -1.003689 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.690] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.690] If point is visible? 0.298942, -0.015193, -0.995202 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.690] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.690] If point is visible? 0.298937, -0.016349, -0.995343 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.690] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.690] If point is visible? 0.298070, 0.067683, -1.013270 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.690] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.690] If point is visible? 0.341184, 0.057899, -1.012338 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.690] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.690] If point is visible? 0.264864, 0.054614, -1.013947 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.690] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.690] If point is visible? 0.264867, 0.054876, -1.014075 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.690] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.690] If point is visible? 0.344238, 0.053527, -1.011129 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.690] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.691] calculated Z= 0.172780 +[21:42:44.691] update seeds 305 +[21:42:44.691] If point is visible? 0.341301, 0.053135, -1.010050 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.691] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.691] calculated Z= 0.185312 +[21:42:44.691] update seeds 305 +[21:42:44.691] If point is visible? 0.264095, 0.051670, -1.012844 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.691] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.691] If point is visible? 0.263713, 0.050322, -1.012382 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.691] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.691] If point is visible? 0.263326, 0.048439, -1.011711 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.691] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.691] If point is visible? 0.359243, 0.049425, -1.015132 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.691] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.691] If point is visible? 0.359251, 0.049159, -1.015017 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.691] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.691] If point is visible? 0.339909, 0.048913, -1.007802 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.691] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.692] If point is visible? 0.359259, 0.048893, -1.014902 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.692] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.692] If point is visible? 0.286469, 0.047061, -1.004633 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.692] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.692] If point is visible? 0.286846, 0.047071, -1.004571 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.692] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.692] If point is visible? 0.360066, 0.045639, -1.013891 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.692] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:44.692] If point is visible? 0.348800, 0.046610, -1.009649 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.307805 y=0.000000 z=-1.125071 +[21:42:44.692] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:44.692] init seeds +[21:42:44.692] DepthFilter: Initialized 6 new seeds +[21:42:44.694] DepthFilter: Initialized 6 new seeds +[21:42:45.001] add new frame +[21:42:45.001] update seed +[21:42:45.001] If point is visible? 0.525309, -0.222238, -0.354696 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.311968 y=0.000000 z=-1.131131 +[21:42:45.001] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.001] add key frame +[21:42:45.001] remove key frame +[21:42:45.001] init seeds +[21:42:45.001] update seed +[21:42:45.001] If point is visible? 0.525309, -0.222238, -0.354696 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.311968 y=0.000000 z=-1.131131 +[21:42:45.001] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.001] If point is visible? 0.244997, -0.096895, -0.304160 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.311968 y=0.000000 z=-1.131131 +[21:42:45.001] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.001] If point is visible? 0.234940, -0.214684, -0.327556 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.311968 y=0.000000 z=-1.131131 +[21:42:45.001] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.001] If point is visible? 0.525309, -0.222238, -0.354696 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.311968 y=0.000000 z=-1.131131 +[21:42:45.001] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.001] If point is visible? 0.244997, -0.096895, -0.304160 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.311968 y=0.000000 z=-1.131131 +[21:42:45.001] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.001] If point is visible? 0.234940, -0.214684, -0.327556 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.311968 y=0.000000 z=-1.131131 +[21:42:45.001] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.001] If point is visible? 0.262219, -0.001137, -1.012856 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.001] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.002] If point is visible? 0.302757, -0.015193, -1.004369 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.002] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.002] If point is visible? 0.302752, -0.016349, -1.004510 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.002] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.002] If point is visible? 0.301885, 0.067683, -1.022437 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.002] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.002] If point is visible? 0.344999, 0.057899, -1.021505 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.002] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.002] If point is visible? 0.268679, 0.054614, -1.023114 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.002] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.002] If point is visible? 0.268682, 0.054876, -1.023242 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.002] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.002] If point is visible? 0.348053, 0.053527, -1.020296 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.002] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.002] If point is visible? 0.345116, 0.053135, -1.019217 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.002] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.003] calculated Z= 0.247766 +[21:42:45.003] update seeds 305 +[21:42:45.003] If point is visible? 0.267910, 0.051670, -1.022011 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.003] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.003] If point is visible? 0.267528, 0.050322, -1.021549 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.003] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.003] If point is visible? 0.267141, 0.048439, -1.020878 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.003] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.003] If point is visible? 0.363058, 0.049425, -1.024299 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.003] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.003] If point is visible? 0.363066, 0.049159, -1.024184 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.003] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.003] If point is visible? 0.343724, 0.048913, -1.016969 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.003] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.003] If point is visible? 0.363074, 0.048893, -1.024069 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.003] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.003] If point is visible? 0.290283, 0.047061, -1.013800 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.003] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.003] If point is visible? 0.290660, 0.047071, -1.013738 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.004] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.004] If point is visible? 0.363881, 0.045639, -1.023058 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.004] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.004] If point is visible? 0.352615, 0.046610, -1.018816 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.311620 y=0.000000 z=-1.134238 +[21:42:45.004] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.004] init seeds +[21:42:45.004] DepthFilter: Initialized 4 new seeds +[21:42:45.006] DepthFilter: Initialized 3 new seeds +[21:42:45.325] add new frame +[21:42:45.325] update seed +[21:42:45.325] If point is visible? 0.529337, -0.222238, -0.363011 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.315997 y=0.000000 z=-1.139446 +[21:42:45.325] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.325] add key frame +[21:42:45.325] remove key frame +[21:42:45.325] init seeds +[21:42:45.325] update seed +[21:42:45.325] If point is visible? 0.529337, -0.222238, -0.363011 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.315997 y=0.000000 z=-1.139446 +[21:42:45.325] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.325] If point is visible? 0.249026, -0.096895, -0.312475 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.315997 y=0.000000 z=-1.139446 +[21:42:45.325] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.325] If point is visible? 0.238969, -0.214684, -0.335871 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.315997 y=0.000000 z=-1.139446 +[21:42:45.325] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.325] If point is visible? 0.529337, -0.222238, -0.363011 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.315997 y=0.000000 z=-1.139446 +[21:42:45.325] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.326] If point is visible? 0.249026, -0.096895, -0.312475 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.315997 y=0.000000 z=-1.139446 +[21:42:45.326] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.326] If point is visible? 0.238969, -0.214684, -0.335871 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.315997 y=0.000000 z=-1.139446 +[21:42:45.326] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.326] If point is visible? 0.266248, -0.001137, -1.021172 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.326] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.326] If point is visible? 0.306786, -0.015193, -1.012685 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.326] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.326] If point is visible? 0.306781, -0.016349, -1.012825 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.326] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.326] If point is visible? 0.305914, 0.067683, -1.030752 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.326] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.326] If point is visible? 0.349028, 0.057899, -1.029820 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.326] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.326] If point is visible? 0.272708, 0.054614, -1.031429 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.326] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.326] If point is visible? 0.272711, 0.054876, -1.031557 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.326] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.326] If point is visible? 0.352082, 0.053527, -1.028612 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.326] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.326] If point is visible? 0.349144, 0.053135, -1.027532 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.327] If point is visible? 0.271939, 0.051670, -1.030326 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.327] If point is visible? 0.271557, 0.050322, -1.029864 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.327] If point is visible? 0.271169, 0.048439, -1.029193 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.327] If point is visible? 0.367087, 0.049425, -1.032615 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.327] If point is visible? 0.367095, 0.049159, -1.032499 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.327] If point is visible? 0.347753, 0.048913, -1.025284 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.327] If point is visible? 0.367103, 0.048893, -1.032385 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.327] If point is visible? 0.294312, 0.047061, -1.022116 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.327] If point is visible? 0.294689, 0.047071, -1.022053 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.327] If point is visible? 0.367910, 0.045639, -1.031373 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.327] If point is visible? 0.356643, 0.046610, -1.027131 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.327] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.328] If point is visible? 0.347806, 0.045941, -1.024103 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.328] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.328] If point is visible? 0.356299, 0.045550, -1.026588 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.328] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.328] If point is visible? 0.270405, 0.045453, -1.028263 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.328] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.328] If point is visible? 0.270402, 0.045185, -1.028158 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.328] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:45.328] If point is visible? 0.355937, 0.045299, -1.026363 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.315649 y=0.000000 z=-1.142553 +[21:42:45.328] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:45.328] calculated Z= 0.345618 +[21:42:45.328] update seeds 305 +[21:42:45.328] init seeds +[21:42:45.328] DepthFilter: Initialized 3 new seeds +[21:42:45.330] DepthFilter: Initialized 3 new seeds +[21:42:45.624] add new frame +[21:42:45.624] update seed +[21:42:45.624] If point is visible? 0.533445, -0.222238, -0.371931 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.320104 y=0.000000 z=-1.148366 +[21:42:45.624] add key frame +[21:42:45.624] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:45.624] remove key frame +[21:42:45.624] init seeds +[21:42:45.624] update seed +[21:42:45.624] init seeds +[21:42:45.627] DepthFilter: Initialized 8 new seeds +[21:42:45.629] DepthFilter: Initialized 142 new seeds +[21:42:45.913] add new frame +[21:42:45.913] add key frame +[21:42:45.913] remove key frame +[21:42:45.913] update seed +[21:42:45.913] init seeds +[21:42:45.916] DepthFilter: Initialized 2 new seeds +[21:42:46.615] add new frame +[21:42:46.615] add key frame +[21:42:46.615] remove key frame +[21:42:46.615] update seed +[21:42:46.615] init seeds +[21:42:46.618] DepthFilter: Initialized 1 new seeds +[21:42:46.891] add new frame +[21:42:46.891] add key frame +[21:42:46.891] remove key frame +[21:42:46.891] update seed +[21:42:46.891] If point is visible? 0.558823, -0.222238, -0.425342 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.345483 y=0.000000 z=-1.201777 +[21:42:46.891] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:46.891] If point is visible? 0.278512, -0.096895, -0.374806 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.345483 y=0.000000 z=-1.201777 +[21:42:46.891] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.268454, -0.214684, -0.398202 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.345483 y=0.000000 z=-1.201777 +[21:42:46.892] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.558823, -0.222238, -0.425342 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.345483 y=0.000000 z=-1.201777 +[21:42:46.892] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.278512, -0.096895, -0.374806 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.345483 y=0.000000 z=-1.201777 +[21:42:46.892] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.268454, -0.214684, -0.398202 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.345483 y=0.000000 z=-1.201777 +[21:42:46.892] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.295734, -0.001137, -1.083502 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.892] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.336271, -0.015193, -1.075015 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.892] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.336267, -0.016349, -1.075156 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.892] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.335400, 0.067683, -1.093083 mu:-7.630447 unit_bearing:-0.102756 -0.408633 0.906896 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.892] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.378514, 0.057899, -1.092151 mu:-7.630447 unit_bearing:0.226126 -0.333673 0.915166 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.892] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.302193, 0.054614, -1.093760 mu:-7.630447 unit_bearing:-0.355468 -0.310286 0.881683 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.892] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.302197, 0.054876, -1.093888 mu:-7.630447 unit_bearing:-0.355422 -0.312391 0.880958 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.892] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.381567, 0.053527, -1.090942 mu:-7.630447 unit_bearing:0.249257 -0.299435 0.920983 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.892] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.892] If point is visible? 0.378630, 0.053135, -1.089863 mu:-7.630447 unit_bearing:0.226611 -0.295460 0.928090 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.892] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.301425, 0.051670, -1.092657 mu:-7.630447 unit_bearing:-0.361506 -0.286962 0.887111 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.301042, 0.050322, -1.092195 mu:-7.630447 unit_bearing:-0.364492 -0.276329 0.889263 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.300655, 0.048439, -1.091524 mu:-7.630447 unit_bearing:-0.367550 -0.261438 0.892500 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.396573, 0.049425, -1.094945 mu:-7.630447 unit_bearing:0.364767 -0.272089 0.890457 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.396581, 0.049159, -1.094830 mu:-7.630447 unit_bearing:0.364807 -0.269970 0.891085 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.377238, 0.048913, -1.087615 mu:-7.630447 unit_bearing:0.215585 -0.261394 0.940849 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.396588, 0.048893, -1.094715 mu:-7.630447 unit_bearing:0.364847 -0.267850 0.891708 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.323798, 0.047061, -1.084446 mu:-7.630447 unit_bearing:-0.192688 -0.244422 0.950331 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.324175, 0.047071, -1.084384 mu:-7.630447 unit_bearing:-0.189828 -0.244444 0.950901 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.397396, 0.045639, -1.093704 mu:-7.630447 unit_bearing:0.370859 -0.242262 0.896534 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.386129, 0.046610, -1.089462 mu:-7.630447 unit_bearing:0.283898 -0.245668 0.926849 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.377292, 0.045941, -1.086433 mu:-7.630447 unit_bearing:0.215796 -0.237789 0.947042 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.893] If point is visible? 0.385785, 0.045550, -1.088918 mu:-7.630447 unit_bearing:0.281171 -0.237137 0.929897 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.893] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.894] calculated Z= 0.775306 +[21:42:46.894] update seeds 305 +[21:42:46.894] If point is visible? 0.299891, 0.045453, -1.090594 mu:-7.630447 unit_bearing:-0.373516 -0.237961 0.896582 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.894] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.894] If point is visible? 0.299888, 0.045185, -1.090489 mu:-7.630447 unit_bearing:-0.373552 -0.235833 0.897130 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.894] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.894] If point is visible? 0.385423, 0.045299, -1.088694 mu:-7.630447 unit_bearing:0.278365 -0.235027 0.931276 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.894] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.894] calculated Z= 0.779828 +[21:42:46.894] update seeds 305 +[21:42:46.894] If point is visible? 0.385790, 0.045280, -1.088815 mu:-7.630447 unit_bearing:0.281195 -0.234995 0.930434 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.894] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.894] If point is visible? 0.330219, 0.045856, -1.083023 mu:-7.630447 unit_bearing:-0.144020 -0.233973 0.961517 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.894] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.894] If point is visible? 0.330976, 0.045598, -1.082837 mu:-7.630447 unit_bearing:-0.138283 -0.231847 0.962873 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.894] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.894] If point is visible? 0.377672, 0.045384, -1.086322 mu:-7.630447 unit_bearing:0.218686 -0.233465 0.947455 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.894] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.894] If point is visible? 0.385428, 0.045028, -1.088591 mu:-7.630447 unit_bearing:0.278389 -0.232883 0.931807 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.894] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.894] If point is visible? 0.378056, 0.044554, -1.086114 mu:-7.630447 unit_bearing:0.221594 -0.226989 0.948352 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.894] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.895] If point is visible? 0.378427, 0.044539, -1.086212 mu:-7.630447 unit_bearing:0.224447 -0.226965 0.947687 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.895] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.895] If point is visible? 0.334764, 0.044295, -1.081979 mu:-7.630447 unit_bearing:-0.109556 -0.221180 0.969060 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.895] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.895] If point is visible? 0.334006, 0.044557, -1.082140 mu:-7.630447 unit_bearing:-0.115307 -0.223318 0.967902 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.895] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.895] If point is visible? 0.338553, 0.044064, -1.081635 mu:-7.630447 unit_bearing:-0.080738 -0.219111 0.972354 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.895] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.895] If point is visible? 0.385066, 0.044777, -1.088369 mu:-7.630447 unit_bearing:0.275581 -0.230770 0.933167 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.895] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.895] If point is visible? 0.385433, 0.044758, -1.088488 mu:-7.630447 unit_bearing:0.278413 -0.230739 0.932334 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.895] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.895] If point is visible? 0.379553, 0.043677, -1.086213 mu:-7.630447 unit_bearing:0.233056 -0.220438 0.947149 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.895] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.895] If point is visible? 0.378432, 0.044267, -1.086111 mu:-7.630447 unit_bearing:0.224465 -0.224814 0.948195 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.895] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.895] If point is visible? 0.378803, 0.044252, -1.086210 mu:-7.630447 unit_bearing:0.227317 -0.224790 0.947521 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.895] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.896] If point is visible? 0.299123, 0.041910, -1.089551 mu:-7.630447 unit_bearing:-0.379511 -0.210157 0.901003 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.896] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.896] If point is visible? 0.336662, 0.043224, -1.081453 mu:-7.630447 unit_bearing:-0.095176 -0.212582 0.972497 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.896] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.896] If point is visible? 0.337041, 0.043228, -1.081429 mu:-7.630447 unit_bearing:-0.092293 -0.212591 0.972773 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.896] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.896] If point is visible? 0.337420, 0.043232, -1.081407 mu:-7.630447 unit_bearing:-0.089409 -0.212600 0.973040 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.896] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.896] If point is visible? 0.379928, 0.043389, -1.086216 mu:-7.630447 unit_bearing:0.235924 -0.218262 0.946943 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.896] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.896] If point is visible? 0.288522, 0.040363, -1.093794 mu:-7.630447 unit_bearing:-0.459312 -0.202389 0.864911 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.896] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.896] If point is visible? 0.288525, 0.040631, -1.093890 mu:-7.630447 unit_bearing:-0.459272 -0.204510 0.864433 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.896] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.896] If point is visible? 0.378807, 0.043980, -1.086111 mu:-7.630447 unit_bearing:0.227335 -0.222638 0.948025 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.896] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.896] If point is visible? 0.337421, 0.042958, -1.081311 mu:-7.630447 unit_bearing:-0.089415 -0.210436 0.973510 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.896] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.896] If point is visible? 0.338940, 0.042150, -1.080947 mu:-7.630447 unit_bearing:-0.077892 -0.203973 0.975873 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.896] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.896] If point is visible? 0.338941, 0.041875, -1.080854 mu:-7.630447 unit_bearing:-0.077897 -0.201808 0.976323 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.896] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.897] If point is visible? 0.299815, 0.034882, -1.086966 mu:-7.630447 unit_bearing:-0.374644 -0.154529 0.914201 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.897] If point is visible? 0.335558, 0.031599, -1.078057 mu:-7.630447 unit_bearing:-0.104059 -0.121377 0.987137 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.897] If point is visible? 0.280126, 0.025064, -1.093884 mu:-7.630447 unit_bearing:-0.522877 -0.086606 0.847997 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.897] If point is visible? 0.280128, 0.025338, -1.093945 mu:-7.630447 unit_bearing:-0.522856 -0.088735 0.847790 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.897] If point is visible? 0.359851, 0.025942, -1.077269 mu:-7.630447 unit_bearing:0.081189 -0.077802 0.993657 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.897] If point is visible? 0.276930, 0.023163, -1.095400 mu:-7.630447 unit_bearing:-0.546842 -0.073614 0.833993 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.897] If point is visible? 0.364761, 0.025295, -1.077801 mu:-7.630447 unit_bearing:0.118779 -0.073397 0.990204 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.897] If point is visible? 0.359857, 0.023971, -1.076885 mu:-7.630447 unit_bearing:0.081201 -0.062520 0.994735 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.897] If point is visible? 0.370409, 0.023761, -1.078504 mu:-7.630447 unit_bearing:0.162073 -0.062432 0.984802 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.897] If point is visible? 0.278683, 0.020838, -1.093865 mu:-7.630447 unit_bearing:-0.533764 -0.054579 0.843871 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.897] calculated Z= 0.778985 +[21:42:46.897] update seeds 305 +[21:42:46.897] If point is visible? 0.281170, 0.020201, -1.092297 mu:-7.630447 unit_bearing:-0.515149 -0.048296 0.855739 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.897] If point is visible? 0.281169, 0.019925, -1.092249 mu:-7.630447 unit_bearing:-0.515160 -0.046162 0.855850 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.897] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.898] If point is visible? 0.370040, 0.021798, -1.078078 mu:-7.630447 unit_bearing:0.159210 -0.047169 0.986117 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.898] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.898] If point is visible? 0.359859, 0.023125, -1.076729 mu:-7.630447 unit_bearing:0.081206 -0.055969 0.995125 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.898] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.898] If point is visible? 0.273410, 0.019855, -1.097011 mu:-7.630447 unit_bearing:-0.573206 -0.050062 0.817881 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.898] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.898] If point is visible? 0.270635, 0.018789, -1.098714 mu:-7.630447 unit_bearing:-0.593934 -0.043574 0.803333 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.898] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.898] If point is visible? 0.276910, 0.019324, -1.094669 mu:-7.630447 unit_bearing:-0.547050 -0.043859 0.835950 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.898] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.898] calculated Z= 0.437397 +[21:42:46.898] update seeds 305 +[21:42:46.898] If point is visible? 0.277615, 0.019104, -1.094198 mu:-7.630447 unit_bearing:-0.541780 -0.041760 0.839482 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.898] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.898] If point is visible? 0.368919, 0.018150, -1.077291 mu:-7.630447 unit_bearing:0.150581 -0.018809 0.988419 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.898] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.898] If point is visible? 0.370422, 0.018114, -1.077575 mu:-7.630447 unit_bearing:0.162114 -0.018804 0.986593 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.898] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.898] If point is visible? 0.358731, 0.019183, -1.075956 mu:-7.630447 unit_bearing:0.072535 -0.025388 0.997043 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.898] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.898] If point is visible? 0.359110, 0.019178, -1.075996 mu:-7.630447 unit_bearing:0.075431 -0.025387 0.996828 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.898] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.898] If point is visible? 0.359488, 0.019172, -1.076037 mu:-7.630447 unit_bearing:0.078325 -0.025387 0.996605 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.898] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.899] If point is visible? 0.361758, 0.016870, -1.075988 mu:-7.630447 unit_bearing:0.095692 -0.007903 0.995380 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.899] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.899] If point is visible? 0.370422, 0.017831, -1.077535 mu:-7.630447 unit_bearing:0.162115 -0.016622 0.986632 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.899] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.899] If point is visible? 0.370799, 0.016972, -1.077493 mu:-7.630447 unit_bearing:0.164999 -0.010075 0.986242 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.899] Z inverse min: -7.583360, Z inverse max: 0.000000 +[21:42:46.899] If point is visible? 0.359111, 0.018043, -1.075832 mu:-7.630447 unit_bearing:0.075433 -0.016646 0.997012 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.899] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.899] If point is visible? 0.359489, 0.018038, -1.075873 mu:-7.630447 unit_bearing:0.078327 -0.016646 0.996789 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.899] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.899] If point is visible? 0.359868, 0.016046, -1.075653 mu:-7.630447 unit_bearing:0.081224 -0.001348 0.996695 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.899] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.899] If point is visible? 0.358732, 0.014069, -1.075299 mu:-7.630447 unit_bearing:0.072538 0.013950 0.997268 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.899] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.899] If point is visible? 0.359111, 0.014064, -1.075338 mu:-7.630447 unit_bearing:0.075433 0.013950 0.997053 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.899] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.899] If point is visible? 0.359489, 0.014059, -1.075379 mu:-7.630447 unit_bearing:0.078328 0.013949 0.996830 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.899] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.899] If point is visible? 0.371925, 0.014958, -1.077472 mu:-7.630447 unit_bearing:0.173642 0.005199 0.984795 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.899] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.899] If point is visible? 0.373424, 0.014635, -1.077759 mu:-7.630447 unit_bearing:0.185155 0.007378 0.982682 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.899] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.371922, 0.011830, -1.077143 mu:-7.630447 unit_bearing:0.173631 0.029195 0.984378 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.358732, 0.012929, -1.075180 mu:-7.630447 unit_bearing:0.072536 0.022692 0.997108 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.359110, 0.012925, -1.075220 mu:-7.630447 unit_bearing:0.075431 0.022691 0.996893 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.359488, 0.012920, -1.075260 mu:-7.630447 unit_bearing:0.078326 0.022690 0.996670 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.373785, 0.007790, -1.077237 mu:-7.630447 unit_bearing:0.187983 0.059702 0.980356 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.360235, 0.007768, -1.074935 mu:-7.630447 unit_bearing:0.084095 0.062008 0.994527 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.326837, 0.006016, -1.075253 mu:-7.630447 unit_bearing:-0.170492 0.074987 0.982502 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.379735, 0.003336, -1.078524 mu:-7.630447 unit_bearing:0.233799 0.092235 0.967900 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.381593, 0.003279, -1.079046 mu:-7.630447 unit_bearing:0.248092 0.092186 0.964340 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.404532, 0.000878, -1.088066 mu:-7.630447 unit_bearing:0.425252 0.101980 0.899311 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.375996, 0.001437, -1.077523 mu:-7.630447 unit_bearing:0.205098 0.107547 0.972815 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.900] If point is visible? 0.376367, 0.001141, -1.077611 mu:-7.630447 unit_bearing:0.207959 0.109711 0.971965 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.900] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.359459, 0.002043, -1.074631 mu:-7.630447 unit_bearing:0.078267 0.105653 0.991318 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.359836, 0.002038, -1.074673 mu:-7.630447 unit_bearing:0.081159 0.105650 0.991086 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.359447, -0.000257, -1.074614 mu:-7.630447 unit_bearing:0.078245 0.123087 0.989306 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.374481, -0.001393, -1.077165 mu:-7.630447 unit_bearing:0.193541 0.129320 0.972532 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.374855, -0.001403, -1.077252 mu:-7.630447 unit_bearing:0.196411 0.129309 0.971958 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.359436, -0.002272, -1.074632 mu:-7.630447 unit_bearing:0.078222 0.138329 0.987292 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.359814, -0.002276, -1.074674 mu:-7.630447 unit_bearing:0.081113 0.138324 0.987060 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.360191, -0.002281, -1.074718 mu:-7.630447 unit_bearing:0.084003 0.138319 0.986819 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.374479, -0.001681, -1.077168 mu:-7.630447 unit_bearing:0.193532 0.131492 0.972242 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.374100, -0.002246, -1.077091 mu:-7.630447 unit_bearing:0.190645 0.135847 0.972214 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.374098, -0.002533, -1.077095 mu:-7.630447 unit_bearing:0.190636 0.138018 0.971910 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.382288, -0.002470, -1.079231 mu:-7.630447 unit_bearing:0.253605 0.135551 0.957763 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.901] If point is visible? 0.372959, -0.004520, -1.076897 mu:-7.630447 unit_bearing:0.181958 0.153247 0.971291 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.901] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.902] If point is visible? 0.372956, -0.004807, -1.076907 mu:-7.630447 unit_bearing:0.181949 0.155416 0.970948 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.902] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.902] If point is visible? 0.301347, -0.013772, -1.082131 mu:-7.630447 unit_bearing:-0.362693 0.218450 0.905943 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.902] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.902] If point is visible? 0.337772, -0.018077, -1.075291 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.902] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.902] If point is visible? 0.336164, -0.036260, -1.079266 mu:-7.630447 unit_bearing:-0.097176 0.391430 0.915063 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.902] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.902] If point is visible? 0.336539, -0.036259, -1.079239 mu:-7.630447 unit_bearing:-0.094320 0.391449 0.915353 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.902] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.902] If point is visible? 0.336538, -0.036546, -1.079323 mu:-7.630447 unit_bearing:-0.094306 0.393547 0.914454 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.902] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.902] If point is visible? 0.384193, -0.035548, -1.084942 mu:-7.630447 unit_bearing:0.270453 0.380761 0.884238 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.902] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.902] If point is visible? 0.389544, -0.037939, -1.087566 mu:-7.630447 unit_bearing:0.311959 0.396433 0.863436 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.902] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.902] If point is visible? 0.389195, -0.037648, -1.087340 mu:-7.630447 unit_bearing:0.309232 0.394432 0.865331 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.902] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.902] If point is visible? 0.365052, -0.049240, -1.085076 mu:-7.630447 unit_bearing:0.124900 0.484332 0.865923 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.902] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.903] If point is visible? 0.338416, 0.065664, -1.091666 mu:-7.630447 unit_bearing:-0.080029 -0.392027 0.916466 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.903] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.903] If point is visible? 0.339167, 0.065672, -1.091629 mu:-7.630447 unit_bearing:-0.074311 -0.392057 0.916935 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.903] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.903] If point is visible? 0.337657, 0.066688, -1.092314 mu:-7.630447 unit_bearing:-0.085693 -0.400382 0.912333 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.903] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.903] If point is visible? 0.339922, 0.065162, -1.091297 mu:-7.630447 unit_bearing:-0.068613 -0.387883 0.919151 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.903] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.903] If point is visible? 0.381955, 0.052711, -1.090687 mu:-7.630447 unit_bearing:0.252174 -0.293016 0.922253 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.903] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.903] If point is visible? 0.378994, 0.053384, -1.090085 mu:-7.630447 unit_bearing:0.229427 -0.297556 0.926727 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.903] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.903] If point is visible? 0.379732, 0.053350, -1.090289 mu:-7.630447 unit_bearing:0.235106 -0.297488 0.925325 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.903] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.903] If point is visible? 0.381206, 0.053279, -1.090711 mu:-7.630447 unit_bearing:0.246451 -0.297345 0.922414 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.903] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.904] If point is visible? 0.380456, 0.053847, -1.090743 mu:-7.630447 unit_bearing:0.240726 -0.301672 0.922521 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.904] Z inverse min: -7.583360, Z inverse max: 0.000000 +[21:42:46.904] If point is visible? 0.340775, 0.052487, -1.084878 mu:-7.630447 unit_bearing:-0.063261 -0.285918 0.956164 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.904] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.904] If point is visible? 0.397389, 0.045907, -1.093811 mu:-7.630447 unit_bearing:0.370823 -0.244389 0.895971 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.904] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.904] If point is visible? 0.339316, 0.042701, -1.081118 mu:-7.630447 unit_bearing:-0.074996 -0.208310 0.975183 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.904] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.904] If point is visible? 0.379173, 0.044237, -1.086310 mu:-7.630447 unit_bearing:0.230169 -0.224766 0.946838 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.904] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.904] If point is visible? 0.379914, 0.044205, -1.086514 mu:-7.630447 unit_bearing:0.235869 -0.224717 0.945446 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.904] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.904] If point is visible? 0.378423, 0.044811, -1.086313 mu:-7.630447 unit_bearing:0.224429 -0.229116 0.947173 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.904] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.904] If point is visible? 0.379164, 0.044780, -1.086512 mu:-7.630447 unit_bearing:0.230132 -0.229067 0.945816 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.904] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.904] If point is visible? 0.299445, 0.034861, -1.087103 mu:-7.630447 unit_bearing:-0.377432 -0.154499 0.913058 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.904] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.335561, 0.030482, -1.077784 mu:-7.630447 unit_bearing:-0.104075 -0.112664 0.988168 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.336319, 0.031048, -1.077866 mu:-7.630447 unit_bearing:-0.098288 -0.117031 0.988253 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.326459, 0.006582, -1.075334 mu:-7.630447 unit_bearing:-0.173379 0.070623 0.982320 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.326458, 0.006010, -1.075307 mu:-7.630447 unit_bearing:-0.173371 0.074981 0.981998 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.327217, 0.006021, -1.075200 mu:-7.630447 unit_bearing:-0.167613 0.074992 0.982997 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.374122, 0.000625, -1.077077 mu:-7.630447 unit_bearing:0.190723 0.114118 0.974988 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.374870, 0.000606, -1.077249 mu:-7.630447 unit_bearing:0.196466 0.114098 0.973849 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.381597, 0.003850, -1.079063 mu:-7.630447 unit_bearing:0.248107 0.087841 0.964742 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.326458, 0.005437, -1.075281 mu:-7.630447 unit_bearing:-0.173362 0.079339 0.981657 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.327216, 0.005449, -1.075175 mu:-7.630447 unit_bearing:-0.167604 0.079350 0.982656 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.380800, -0.002999, -1.078812 mu:-7.630447 unit_bearing:0.242169 0.139947 0.960088 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.371846, -0.003344, -1.076624 mu:-7.630447 unit_bearing:0.173373 0.144600 0.974183 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.374874, 0.001180, -1.077254 mu:-7.630447 unit_bearing:0.196481 0.109750 0.974346 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.300240, -0.014090, -1.082568 mu:-7.630447 unit_bearing:-0.371017 0.220458 0.902078 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.905] If point is visible? 0.300975, -0.013497, -1.082234 mu:-7.630447 unit_bearing:-0.365512 0.216272 0.905333 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.905] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.906] If point is visible? 0.337772, -0.018077, -1.075291 mu:-7.630447 unit_bearing:-0.086384 0.257416 0.962432 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.906] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.906] If point is visible? 0.401406, -0.042434, -1.094394 mu:-7.630447 unit_bearing:0.404173 0.424124 0.810409 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.906] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.906] If point is visible? 0.405460, -0.044197, -1.097261 mu:-7.630447 unit_bearing:0.435827 0.434809 0.788033 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.906] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.906] If point is visible? 0.379744, 0.052818, -1.090046 mu:-7.630446 unit_bearing:0.235158 -0.293229 0.926670 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.906] Z inverse min: -7.583286, Z inverse max: 0.000000 +[21:42:46.906] If point is visible? 0.381219, 0.052747, -1.090469 mu:-7.630447 unit_bearing:0.246506 -0.293089 0.923761 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.906] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.906] If point is visible? 0.384282, 0.047244, -1.089079 mu:-7.630447 unit_bearing:0.269699 -0.250117 0.929895 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.906] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.906] If point is visible? 0.331651, 0.068120, -1.093740 mu:-7.630447 unit_bearing:-0.131204 -0.412557 0.901433 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.906] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.906] If point is visible? 0.337791, 0.044877, -1.081972 mu:-7.630447 unit_bearing:-0.086487 -0.225578 0.970379 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.906] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.906] If point is visible? 0.378395, 0.046437, -1.086933 mu:-7.630447 unit_bearing:0.224316 -0.242011 0.943988 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.906] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.906] If point is visible? 0.379876, 0.046374, -1.087335 mu:-7.630447 unit_bearing:0.235711 -0.241905 0.941234 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.906] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.907] If point is visible? 0.381355, 0.046307, -1.087756 mu:-7.630447 unit_bearing:0.247091 -0.241793 0.938340 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.907] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.907] If point is visible? 0.379719, 0.053882, -1.090534 mu:-7.630447 unit_bearing:0.235053 -0.301743 0.923959 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.907] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.907] If point is visible? 0.334653, 0.067155, -1.092833 mu:-7.630447 unit_bearing:-0.108493 -0.404408 0.908121 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.907] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.907] If point is visible? 0.381375, 0.045225, -1.087340 mu:-7.630447 unit_bearing:0.247175 -0.233208 0.940488 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.907] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.907] If point is visible? 0.378290, 0.051817, -1.089165 mu:-7.630447 unit_bearing:0.223888 -0.284831 0.932065 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.907] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.907] If point is visible? 0.334801, 0.030473, -1.077841 mu:-7.630447 unit_bearing:-0.109852 -0.112654 0.987543 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.907] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.907] If point is visible? 0.300180, 0.033806, -1.086514 mu:-7.630447 unit_bearing:-0.371940 -0.145960 0.916710 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.907] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.907] If point is visible? 0.334803, 0.029355, -1.077578 mu:-7.630447 unit_bearing:-0.109867 -0.103938 0.988497 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.907] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.907] If point is visible? 0.276909, 0.019049, -1.094622 mu:-7.630447 unit_bearing:-0.547061 -0.041733 0.836052 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.907] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.907] calculated Z= 0.442671 +[21:42:46.907] update seeds 305 +[21:42:46.907] If point is visible? 0.371126, 0.000694, -1.076435 mu:-7.630447 unit_bearing:0.167721 0.114188 0.979199 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.907] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.372599, -0.002786, -1.076770 mu:-7.630447 unit_bearing:0.179138 0.140235 0.973778 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.360506, -0.010650, -1.075171 mu:-7.630447 unit_bearing:0.086756 0.201279 0.975684 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.295734, -0.001137, -1.083502 mu:-7.630447 unit_bearing:-0.405544 0.121489 0.905966 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.380057, -0.002977, -1.078603 mu:-7.630447 unit_bearing:0.236456 0.139977 0.961507 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.360516, -0.009495, -1.075082 mu:-7.630447 unit_bearing:0.086778 0.192614 0.977430 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.360581, -0.000271, -1.074743 mu:-7.630447 unit_bearing:0.086918 0.123075 0.988584 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.362090, -0.000292, -1.074932 mu:-7.630447 unit_bearing:0.098479 0.123055 0.987502 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.419874, -0.012718, -1.097985 mu:-7.630447 unit_bearing:0.545012 0.195727 0.815263 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.336271, -0.015193, -1.075015 mu:-7.630447 unit_bearing:-0.097980 0.235829 0.966843 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583323, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.336267, -0.016349, -1.075156 mu:-7.630447 unit_bearing:-0.097949 0.244453 0.964701 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.362084, -0.001443, -1.074938 mu:-7.630447 unit_bearing:0.098463 0.131764 0.986379 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.369610, -0.001572, -1.076145 mu:-7.630447 unit_bearing:0.156154 0.131622 0.978924 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.908] If point is visible? 0.371110, -0.001603, -1.076440 mu:-7.630447 unit_bearing:0.167667 0.131585 0.977023 T_cur_ref: x=0.345134 y=0.000000 z=-1.204884 +[21:42:46.908] Z inverse min: -7.583313, Z inverse max: 0.000000 +[21:42:46.909] If point is visible? 0.115498, 0.064037, 0.081458 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:46.909] If point is visible? 0.118169, 0.063970, 0.080829 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:46.909] If point is visible? 0.147760, 0.012224, 0.080435 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] If point is visible? 0.147731, -0.031296, 0.078546 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] If point is visible? 0.204428, -0.034956, 0.046211 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] If point is visible? 0.175492, -0.024528, 0.066549 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] If point is visible? 0.204204, -0.037016, 0.045981 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] If point is visible? 0.115498, 0.064037, 0.081458 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:46.909] If point is visible? 0.118169, 0.063970, 0.080829 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:46.909] If point is visible? 0.147760, 0.012224, 0.080435 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] If point is visible? 0.204204, -0.037016, 0.045981 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] If point is visible? 0.204428, -0.034956, 0.046211 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] If point is visible? 0.147731, -0.031296, 0.078546 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] If point is visible? 0.175492, -0.024528, 0.066549 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.063424 y=0.000000 z=-0.138900 +[21:42:46.909] If point is visible? 0.312229, 0.292513, 0.345286 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.062716 y=0.000000 z=-0.137164 +[21:42:46.909] If point is visible? 0.282408, -0.092904, 0.431767 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.062716 y=0.000000 z=-0.137164 +[21:42:46.909] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:46.909] If point is visible? -0.199246, -0.170055, 0.394847 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.062716 y=0.000000 z=-0.137164 +[21:42:46.909] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:46.909] If point is visible? 0.347698, -0.216336, 0.365392 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.062716 y=0.000000 z=-0.137164 +[21:42:46.909] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:46.909] If point is visible? 0.312229, 0.292513, 0.345286 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.062716 y=0.000000 z=-0.137164 +[21:42:46.909] If point is visible? 0.282408, -0.092904, 0.431767 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.062716 y=0.000000 z=-0.137164 +[21:42:46.909] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:46.909] If point is visible? -0.199246, -0.170055, 0.394847 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.062716 y=0.000000 z=-0.137164 +[21:42:46.909] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:46.909] If point is visible? 0.347698, -0.216336, 0.365392 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.062716 y=0.000000 z=-0.137164 +[21:42:46.909] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:46.909] If point is visible? 0.158215, 0.212057, -0.733477 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.057483 y=0.000000 z=-0.124750 +[21:42:46.909] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:46.909] If point is visible? 0.158215, 0.212057, -0.733477 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.057483 y=0.000000 z=-0.124750 +[21:42:46.909] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:46.909] If point is visible? -0.431150, 0.125648, -0.606928 mu:1.417085 unit_bearing:0.348231 0.263413 0.899638 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.909] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.909] If point is visible? -0.479192, 0.115235, -0.558906 mu:1.417085 unit_bearing:0.436969 0.240472 0.866736 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.909] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.909] If point is visible? -0.187955, 0.186669, -0.743053 mu:1.417085 unit_bearing:-0.040035 0.372749 0.927068 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.909] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.909] If point is visible? -0.275085, 0.235063, -0.686271 mu:1.417085 unit_bearing:0.108461 0.431010 0.895805 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.909] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.909] If point is visible? -0.276250, 0.228932, -0.688065 mu:1.417085 unit_bearing:0.108536 0.422695 0.899749 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.909] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.909] If point is visible? -0.283213, 0.229363, -0.683959 mu:1.417085 unit_bearing:0.119921 0.422593 0.898351 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.909] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.009187, 0.210136, -0.776153 mu:1.417085 unit_bearing:-0.289130 0.411471 0.864347 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.010137, 0.204034, -0.777951 mu:1.417085 unit_bearing:-0.289334 0.403200 0.868168 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.316676, -0.408538, -0.549489 mu:1.417085 unit_bearing:0.195044 -0.497852 0.845045 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] If point is visible? -0.323202, -0.407785, -0.544743 mu:1.417085 unit_bearing:0.206245 -0.497612 0.842523 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] If point is visible? -0.322837, -0.409106, -0.543824 mu:1.417085 unit_bearing:0.206198 -0.499628 0.841341 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] If point is visible? 0.030054, -0.408953, -0.679775 mu:1.417085 unit_bearing:-0.328572 -0.475935 0.815798 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] If point is visible? 0.034121, -0.387500, -0.694565 mu:1.417085 unit_bearing:-0.340711 -0.443207 0.829146 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.284879, -0.362794, -0.610051 mu:1.417085 unit_bearing:0.122761 -0.423052 0.897751 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.265750, -0.336857, -0.639431 mu:1.417085 unit_bearing:0.083147 -0.381498 0.920623 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.260111, -0.328909, -0.647607 mu:1.417085 unit_bearing:0.071764 -0.368907 0.926692 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.268357, -0.287370, -0.666125 mu:1.417085 unit_bearing:0.074894 -0.307283 0.948666 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.171989, -0.238821, -0.731277 mu:1.417085 unit_bearing:-0.083598 -0.227746 0.970125 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.173922, -0.238746, -0.730621 mu:1.417085 unit_bearing:-0.080715 -0.227754 0.970368 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.175852, -0.238670, -0.729960 mu:1.417085 unit_bearing:-0.077831 -0.227762 0.970601 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.167838, -0.241911, -0.731540 mu:1.417085 unit_bearing:-0.089350 -0.232047 0.968592 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.169774, -0.241838, -0.730896 mu:1.417085 unit_bearing:-0.086467 -0.232056 0.968852 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.178192, -0.234172, -0.730816 mu:1.417085 unit_bearing:-0.074964 -0.221288 0.972323 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.180118, -0.234095, -0.730143 mu:1.417085 unit_bearing:-0.072079 -0.221295 0.972540 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.182177, -0.232541, -0.729966 mu:1.417085 unit_bearing:-0.069199 -0.219140 0.973237 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.190117, -0.229264, -0.728191 mu:1.417085 unit_bearing:-0.057664 -0.214838 0.974946 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.211809, -0.219424, -0.723023 mu:1.417085 unit_bearing:-0.025909 -0.201889 0.979066 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.213697, -0.219331, -0.722256 mu:1.417085 unit_bearing:-0.023020 -0.201891 0.979137 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.215832, -0.216271, -0.722425 mu:1.417085 unit_bearing:-0.020132 -0.197559 0.980084 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.213822, -0.217848, -0.722728 mu:1.417085 unit_bearing:-0.023021 -0.199724 0.979582 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.218770, -0.129276, -0.745086 mu:1.417085 unit_bearing:-0.023079 -0.071284 0.997189 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.211349, -0.123574, -0.749257 mu:1.417085 unit_bearing:-0.034670 -0.062544 0.997440 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.194221, -0.121329, -0.756330 mu:1.417085 unit_bearing:-0.060740 -0.058165 0.996457 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.194255, -0.119809, -0.756598 mu:1.417085 unit_bearing:-0.060741 -0.055981 0.996583 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.205744, -0.119286, -0.752296 mu:1.417085 unit_bearing:-0.043363 -0.055988 0.997489 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.198324, -0.107461, -0.757222 mu:1.417085 unit_bearing:-0.054955 -0.038505 0.997746 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.217218, -0.115695, -0.748324 mu:1.417085 unit_bearing:-0.025981 -0.051623 0.998329 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.200263, -0.105849, -0.756748 mu:1.417085 unit_bearing:-0.052059 -0.036320 0.997983 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.202177, -0.105762, -0.756028 mu:1.417085 unit_bearing:-0.049163 -0.036321 0.998130 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.042453, -0.107488, -0.796442 mu:1.417085 unit_bearing:-0.279413 -0.031770 0.959645 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.042471, -0.105972, -0.796674 mu:1.417085 unit_bearing:-0.279415 -0.029597 0.959714 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.202199, -0.104237, -0.756266 mu:1.417085 unit_bearing:-0.049163 -0.034136 0.998207 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.211735, -0.103787, -0.752584 mu:1.417085 unit_bearing:-0.034677 -0.034138 0.998815 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.211774, -0.100736, -0.753050 mu:1.417085 unit_bearing:-0.034677 -0.029767 0.998955 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.052879, -0.099736, -0.796151 mu:1.417085 unit_bearing:-0.265179 -0.020916 0.963972 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.055001, -0.086007, -0.797679 mu:1.417085 unit_bearing:-0.262335 -0.001342 0.964976 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.050834, -0.096731, -0.796876 mu:1.417085 unit_bearing:-0.268034 -0.016565 0.963267 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.910] If point is visible? -0.034273, -0.087864, -0.800234 mu:1.417085 unit_bearing:-0.290811 -0.003513 0.956774 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.910] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.330326, -0.070429, -0.696057 mu:1.417085 unit_bearing:0.153469 0.003019 0.988149 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.296822, -0.078990, -0.715198 mu:1.417085 unit_bearing:0.098585 -0.005718 0.995112 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.335526, -0.073079, -0.692366 mu:1.417085 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.034241, -0.074159, -0.801833 mu:1.417085 unit_bearing:-0.290805 0.016040 0.956648 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.050858, -0.078460, -0.799181 mu:1.417085 unit_bearing:-0.268038 0.009532 0.963361 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.302119, -0.060243, -0.714314 mu:1.417085 unit_bearing:0.107259 0.020497 0.994020 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.033876, -0.046662, -0.804256 mu:1.417085 unit_bearing:-0.290741 0.055133 0.955212 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.023385, -0.043769, -0.805601 mu:1.417085 unit_bearing:-0.304917 0.059434 0.950523 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.017003, -0.039273, -0.806495 mu:1.417085 unit_bearing:-0.313393 0.065912 0.947333 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.050294, -0.038696, -0.802609 mu:1.417085 unit_bearing:-0.267948 0.066053 0.961166 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.288965, -0.027269, -0.724036 mu:1.417085 unit_bearing:0.086983 0.068555 0.993848 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.019026, -0.032063, -0.809304 mu:1.417085 unit_bearing:-0.361244 0.076538 0.929325 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.016906, -0.032042, -0.809212 mu:1.417085 unit_bearing:-0.358440 0.076551 0.930409 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.031578, -0.039801, -0.809326 mu:1.417085 unit_bearing:-0.378086 0.065659 0.923439 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.111303, -0.031006, -0.791582 mu:1.417085 unit_bearing:-0.182003 0.074964 0.980436 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.002245, -0.027288, -0.808598 mu:1.417085 unit_bearing:-0.338733 0.083133 0.937203 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.031862, -0.029122, -0.809855 mu:1.417085 unit_bearing:-0.378013 0.080771 0.922270 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.021375, -0.024443, -0.809704 mu:1.417085 unit_bearing:-0.363992 0.087325 0.927300 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.008672, -0.024305, -0.809102 mu:1.417085 unit_bearing:-0.347153 0.087416 0.933725 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.031818, -0.030648, -0.809789 mu:1.417085 unit_bearing:-0.378024 0.078612 0.922452 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.051815, -0.007889, -0.810606 mu:1.417085 unit_bearing:-0.402864 0.110764 0.908533 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.036990, -0.004708, -0.810544 mu:1.417085 unit_bearing:-0.383366 0.115228 0.916381 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.037120, -0.001649, -0.810560 mu:1.417085 unit_bearing:-0.383331 0.119534 0.915843 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.034990, -0.001627, -0.810522 mu:1.417085 unit_bearing:-0.380544 0.119557 0.917002 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.032861, -0.001606, -0.810478 mu:1.417085 unit_bearing:-0.377754 0.119580 0.918152 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.024295, -0.003044, -0.810229 mu:1.417085 unit_bearing:-0.366595 0.117514 0.922929 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.007710, 0.004841, -0.809450 mu:1.417085 unit_bearing:-0.344081 0.128469 0.930109 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.042238, 0.010366, -0.804698 mu:1.417085 unit_bearing:-0.276185 0.135420 0.951516 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.044307, 0.010412, -0.804426 mu:1.417085 unit_bearing:-0.273341 0.135437 0.952335 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.037187, -0.000119, -0.810563 mu:1.417085 unit_bearing:-0.383314 0.121686 0.915567 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.035057, -0.000097, -0.810525 mu:1.417085 unit_bearing:-0.380526 0.121710 0.916726 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.032928, -0.000075, -0.810481 mu:1.417085 unit_bearing:-0.377737 0.121733 0.917876 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.024567, 0.003084, -0.810238 mu:1.417085 unit_bearing:-0.366527 0.126134 0.921818 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? 0.028744, 0.001502, -0.810373 mu:1.417085 unit_bearing:-0.372136 0.123934 0.919867 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.291465, 0.034901, -0.722282 mu:1.417085 unit_bearing:0.095526 0.155696 0.983175 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.335509, 0.034900, -0.695876 mu:1.417085 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.335608, 0.033354, -0.695901 mu:1.417085 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.295233, 0.032039, -0.720346 mu:1.417085 unit_bearing:0.101311 0.151336 0.983277 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.295134, 0.033587, -0.720319 mu:1.417085 unit_bearing:0.101306 0.153509 0.982940 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.337629, 0.053728, -0.693076 mu:1.417085 unit_bearing:0.173235 0.177132 0.968821 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.334080, 0.055017, -0.695272 mu:1.417085 unit_bearing:0.167479 0.179325 0.969429 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.911] If point is visible? -0.335796, 0.055146, -0.694144 mu:1.417085 unit_bearing:0.170352 0.179312 0.968931 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.911] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.326575, 0.062250, -0.699359 mu:1.417085 unit_bearing:0.155932 0.190205 0.969282 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.328302, 0.062377, -0.698252 mu:1.417085 unit_bearing:0.158807 0.190191 0.968818 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.330026, 0.062504, -0.697139 mu:1.417085 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? 0.321131, 0.065318, -0.752656 mu:1.417085 unit_bearing:-0.714654 0.203724 0.669153 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] calculated Z= 17.525399 +[21:42:46.912] update seeds 305 +[21:42:46.912] If point is visible? 0.318971, 0.065294, -0.753563 mu:1.417085 unit_bearing:-0.712364 0.203846 0.671554 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? 0.316898, 0.066733, -0.754277 mu:1.417085 unit_bearing:-0.709976 0.205993 0.673424 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.209848, 0.122244, -0.750114 mu:1.417085 unit_bearing:-0.020068 0.283352 0.958806 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.199232, 0.187242, -0.738587 mu:1.417085 unit_bearing:-0.022837 0.372783 0.927637 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.202973, 0.187436, -0.737054 mu:1.417085 unit_bearing:-0.017103 0.372791 0.927758 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.133073, 0.227494, -0.747779 mu:1.417085 unit_bearing:-0.111109 0.430986 0.895492 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.122559, 0.231647, -0.749182 mu:1.417085 unit_bearing:-0.125260 0.437069 0.890663 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? 0.038141, -0.375240, -0.702528 mu:1.417085 unit_bearing:-0.349573 -0.424587 0.835179 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.282855, -0.364320, -0.610284 mu:1.417085 unit_bearing:0.119896 -0.425159 0.897143 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.246465, -0.314379, -0.663579 mu:1.417085 unit_bearing:0.046043 -0.345712 0.937210 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.254972, -0.327866, -0.651127 mu:1.417085 unit_bearing:0.063179 -0.366832 0.928139 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.234015, -0.300965, -0.677240 mu:1.417085 unit_bearing:0.023102 -0.324486 0.945608 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.237266, -0.303618, -0.674215 mu:1.417085 unit_bearing:0.028845 -0.328739 0.943980 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.265553, -0.281840, -0.670490 mu:1.417085 unit_bearing:0.069174 -0.298751 0.951821 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? 0.053810, -0.277232, -0.753899 mu:1.417085 unit_bearing:-0.392113 -0.277865 0.876948 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? 0.056586, -0.262843, -0.759831 mu:1.417085 unit_bearing:-0.398068 -0.256603 0.880736 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.206005, -0.221178, -0.724814 mu:1.417085 unit_bearing:-0.034575 -0.204047 0.978350 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.206500, -0.215246, -0.726696 mu:1.417085 unit_bearing:-0.034584 -0.195380 0.980118 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? 0.061850, -0.225111, -0.773659 mu:1.417085 unit_bearing:-0.410090 -0.201144 0.889588 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.145780, -0.057558, -0.780888 mu:1.417085 unit_bearing:-0.133056 0.035771 0.990463 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.177126, -0.056347, -0.771175 mu:1.417085 unit_bearing:-0.086803 0.035797 0.995582 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.218495, -0.020524, -0.757801 mu:1.417085 unit_bearing:-0.023076 0.083874 0.996209 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.171168, 0.008266, -0.775485 mu:1.417085 unit_bearing:-0.092491 0.127421 0.987527 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.038246, 0.007197, -0.805245 mu:1.417085 unit_bearing:-0.281894 0.131057 0.950452 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.323485, 0.057351, -0.701790 mu:1.417085 unit_bearing:0.150209 0.183734 0.971432 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.334080, 0.055017, -0.695272 mu:1.417085 unit_bearing:0.167479 0.179325 0.969429 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.431150, 0.125648, -0.606928 mu:1.417085 unit_bearing:0.348231 0.263413 0.899638 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? 0.383197, 0.133262, -0.711874 mu:1.417085 unit_bearing:-0.767489 0.292246 0.570572 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.195483, 0.187050, -0.740098 mu:1.417085 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.199232, 0.187242, -0.738587 mu:1.417085 unit_bearing:-0.022837 0.372783 0.927637 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? 0.276854, 0.178174, -0.748541 mu:1.417085 unit_bearing:-0.647040 0.361748 0.671177 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? 0.272560, 0.178270, -0.750021 mu:1.417085 unit_bearing:-0.642295 0.362139 0.675509 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.016915, 0.213481, -0.774385 mu:1.417085 unit_bearing:-0.277869 0.415871 0.865933 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.017400, 0.210431, -0.775302 mu:1.417085 unit_bearing:-0.277968 0.411739 0.867874 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.374845, 0.254139, -0.608981 mu:1.417085 unit_bearing:0.282892 0.444492 0.849941 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.912] If point is visible? -0.135545, 0.224516, -0.748122 mu:1.417085 unit_bearing:-0.108301 0.426857 0.897811 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.912] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.118936, 0.229939, -0.750744 mu:1.417085 unit_bearing:-0.130963 0.434937 0.890886 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.268756, -0.284484, -0.667369 mu:1.417085 unit_bearing:0.074910 -0.303009 0.950039 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.275914, -0.283979, -0.663524 mu:1.417085 unit_bearing:0.086406 -0.302963 0.949077 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.269536, -0.278700, -0.669818 mu:1.417085 unit_bearing:0.074941 -0.294451 0.952724 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.084722, -0.297696, -0.730727 mu:1.417085 unit_bearing:-0.200640 -0.310650 0.929107 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.270591, -0.357148, -0.623139 mu:1.417085 unit_bearing:0.097219 -0.412852 0.905595 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.115156, -0.239124, -0.748374 mu:1.417085 unit_bearing:-0.167037 -0.225221 0.959882 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.123119, -0.238925, -0.746368 mu:1.417085 unit_bearing:-0.155556 -0.225286 0.961794 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.131049, -0.238710, -0.744271 mu:1.417085 unit_bearing:-0.144065 -0.225347 0.963568 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.202940, -0.212454, -0.729102 mu:1.417085 unit_bearing:-0.040369 -0.191037 0.980752 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.191926, -0.135072, -0.754474 mu:1.417085 unit_bearing:-0.063623 -0.077816 0.994936 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.199602, -0.134731, -0.751650 mu:1.417085 unit_bearing:-0.052042 -0.077823 0.995608 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.214845, -0.134013, -0.745740 mu:1.417085 unit_bearing:-0.028871 -0.077833 0.996548 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.128078, -0.167533, -0.767300 mu:1.417085 unit_bearing:-0.155985 -0.121257 0.980288 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.128356, -0.161519, -0.768718 mu:1.417085 unit_bearing:-0.156008 -0.112553 0.981322 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.300267, 0.037043, -0.717223 mu:1.417085 unit_bearing:0.109955 0.157835 0.981325 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.307342, 0.037526, -0.713107 mu:1.417085 unit_bearing:0.121494 0.157803 0.979968 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.321360, 0.038517, -0.704617 mu:1.417085 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.022156, -0.005433, -0.807071 mu:1.417085 unit_bearing:-0.304684 0.113608 0.945654 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.030495, -0.005279, -0.806181 mu:1.417085 unit_bearing:-0.293348 0.113672 0.949224 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.038807, -0.005114, -0.805194 mu:1.417085 unit_bearing:-0.281990 0.113732 0.952652 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.199360, -0.018359, -0.765372 mu:1.417085 unit_bearing:-0.052036 0.088226 0.994740 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.214602, -0.017625, -0.759465 mu:1.417085 unit_bearing:-0.028868 0.088238 0.995681 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.327875, 0.045216, -0.700076 mu:1.417085 unit_bearing:0.156033 0.166369 0.973640 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.021888, 0.000714, -0.807119 mu:1.417085 unit_bearing:-0.304633 0.122263 0.944590 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.030226, 0.000872, -0.806231 mu:1.417085 unit_bearing:-0.293299 0.122331 0.948162 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.355462, 0.115919, -0.671733 mu:1.417085 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.010137, 0.204034, -0.777951 mu:1.417085 unit_bearing:-0.289334 0.403200 0.868168 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.018356, 0.204324, -0.777094 mu:1.417085 unit_bearing:-0.278163 0.403460 0.871691 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.479192, 0.115235, -0.558906 mu:1.417085 unit_bearing:0.436969 0.240472 0.866736 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.275085, 0.235063, -0.686271 mu:1.417085 unit_bearing:0.108461 0.431010 0.895805 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? 0.277517, 0.183992, -0.746666 mu:1.417085 unit_bearing:-0.646438 0.369607 0.667464 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.187955, 0.186669, -0.743053 mu:1.417085 unit_bearing:-0.040035 0.372749 0.927068 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.276250, 0.228932, -0.688065 mu:1.417085 unit_bearing:0.108536 0.422695 0.899749 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? -0.283213, 0.229363, -0.683959 mu:1.417085 unit_bearing:0.119921 0.422593 0.898351 T_cur_ref: x=0.048682 y=0.000000 z=-0.104983 +[21:42:46.913] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:46.913] If point is visible? 0.033790, 0.008446, -0.121788 mu:33.525898 unit_bearing:-0.017083 0.389645 0.920807 T_cur_ref: x=0.044360 y=0.000000 z=-0.095205 +[21:42:46.913] Z inverse min: 33.740864, Z inverse max: 33.310932 +[21:42:46.913] If point is visible? 0.033790, 0.008446, -0.121788 mu:33.525898 unit_bearing:-0.017083 0.389645 0.920807 T_cur_ref: x=0.044360 y=0.000000 z=-0.095205 +[21:42:46.913] Z inverse min: 33.740864, Z inverse max: 33.310932 +[21:42:46.913] If point is visible? 0.244056, 0.180033, 0.433227 mu:-1.719143 unit_bearing:-0.040359 -0.199708 0.979024 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.321874, -0.066301, 0.423174 mu:-1.719143 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.322565, -0.153899, 0.403212 mu:-1.719143 unit_bearing:0.131862 0.363801 0.922096 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.468875, -0.084373, 0.300985 mu:-1.719143 unit_bearing:0.426376 0.223750 0.876436 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.000999, -0.125409, 0.487029 mu:-1.719143 unit_bearing:-0.434328 0.332749 0.837041 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.323368, -0.148809, 0.404331 mu:-1.719143 unit_bearing:0.131933 0.355351 0.925375 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.244056, 0.180033, 0.433227 mu:-1.719143 unit_bearing:-0.040359 -0.199708 0.979024 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.468875, -0.084373, 0.300985 mu:-1.719143 unit_bearing:0.426376 0.223750 0.876436 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.322565, -0.153899, 0.403212 mu:-1.719143 unit_bearing:0.131862 0.363801 0.922096 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.321874, -0.066301, 0.423174 mu:-1.719143 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.323368, -0.148809, 0.404331 mu:-1.719143 unit_bearing:0.131933 0.355351 0.925375 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.000999, -0.125409, 0.487029 mu:-1.719143 unit_bearing:-0.434328 0.332749 0.837041 T_cur_ref: x=0.037329 y=0.000000 z=-0.079813 +[21:42:46.914] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.201182, 0.302943, 0.592469 mu:-1.336774 unit_bearing:-0.166552 -0.293918 0.941208 T_cur_ref: x=0.033514 y=0.000000 z=-0.070646 +[21:42:46.914] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.014288, -0.155439, 0.660844 mu:-1.336774 unit_bearing:-0.401921 0.325407 0.855903 T_cur_ref: x=0.033514 y=0.000000 z=-0.070646 +[21:42:46.914] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.002092, -0.181038, 0.654507 mu:-1.336774 unit_bearing:-0.411825 0.358338 0.837851 T_cur_ref: x=0.033514 y=0.000000 z=-0.070646 +[21:42:46.914] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.416692, -0.185778, 0.544390 mu:-1.336774 unit_bearing:0.154854 0.346689 0.925109 T_cur_ref: x=0.033514 y=0.000000 z=-0.070646 +[21:42:46.914] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.201182, 0.302943, 0.592469 mu:-1.336774 unit_bearing:-0.166552 -0.293918 0.941208 T_cur_ref: x=0.033514 y=0.000000 z=-0.070646 +[21:42:46.914] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.002092, -0.181038, 0.654507 mu:-1.336774 unit_bearing:-0.411825 0.358338 0.837851 T_cur_ref: x=0.033514 y=0.000000 z=-0.070646 +[21:42:46.914] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.416692, -0.185778, 0.544390 mu:-1.336774 unit_bearing:0.154854 0.346689 0.925109 T_cur_ref: x=0.033514 y=0.000000 z=-0.070646 +[21:42:46.914] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.333175, -0.151940, 0.449868 mu:-1.627231 unit_bearing:0.120563 0.346972 0.930094 T_cur_ref: x=0.029486 y=0.000000 z=-0.062331 +[21:42:46.914] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.339190, -0.152345, 0.446132 mu:-1.627231 unit_bearing:0.132003 0.346886 0.928572 T_cur_ref: x=0.029486 y=0.000000 z=-0.062331 +[21:42:46.914] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.334715, -0.179202, 0.440046 mu:-1.627231 unit_bearing:0.131634 0.389055 0.911761 T_cur_ref: x=0.029486 y=0.000000 z=-0.062331 +[21:42:46.914] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.334715, -0.179202, 0.440046 mu:-1.627231 unit_bearing:0.131634 0.389055 0.911761 T_cur_ref: x=0.029486 y=0.000000 z=-0.062331 +[21:42:46.914] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.333175, -0.151940, 0.449868 mu:-1.627231 unit_bearing:0.120563 0.346972 0.930094 T_cur_ref: x=0.029486 y=0.000000 z=-0.062331 +[21:42:46.914] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.339190, -0.152345, 0.446132 mu:-1.627231 unit_bearing:0.132003 0.346886 0.928572 T_cur_ref: x=0.029486 y=0.000000 z=-0.062331 +[21:42:46.914] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.119302, 0.073018, 0.884065 mu:-1.058207 unit_bearing:-0.321940 0.044207 0.945727 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.914] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.381098, 0.179318, 0.803516 mu:-1.058207 unit_bearing:-0.040458 -0.077829 0.996145 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.914] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.400602, -0.127580, 0.804461 mu:-1.058207 unit_bearing:-0.005672 0.244633 0.969599 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.914] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? -0.321327, -0.198022, 0.803092 mu:-1.058207 unit_bearing:-0.696422 0.318444 0.643110 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.914] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.391669, -0.202416, 0.793863 mu:-1.058207 unit_bearing:-0.005652 0.321869 0.946767 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.914] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.347426, -0.291846, 0.785711 mu:-1.058207 unit_bearing:-0.039915 0.414747 0.909061 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.914] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.380579, -0.210177, 0.796691 mu:-1.058207 unit_bearing:-0.017147 0.330385 0.943690 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.914] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.914] If point is visible? 0.390518, -0.210719, 0.792334 mu:-1.058207 unit_bearing:-0.005649 0.330392 0.943827 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.914] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.516636, 0.543640, 0.543360 mu:-1.058207 unit_bearing:0.183908 -0.494035 0.849769 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] If point is visible? 0.518822, 0.543394, 0.541778 mu:-1.058207 unit_bearing:0.186715 -0.493980 0.849188 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] If point is visible? 0.582729, 0.519814, 0.505309 mu:-1.058207 unit_bearing:0.265400 -0.473917 0.839623 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] If point is visible? 0.583218, 0.518028, 0.506478 mu:-1.058207 unit_bearing:0.265457 -0.471890 0.840745 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] If point is visible? 0.583705, 0.516240, 0.507643 mu:-1.058207 unit_bearing:0.265514 -0.469862 0.841862 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] If point is visible? 0.544834, 0.500265, 0.557257 mu:-1.058207 unit_bearing:0.207324 -0.446684 0.870339 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] If point is visible? 0.545277, 0.498443, 0.558369 mu:-1.058207 unit_bearing:0.207363 -0.444628 0.871382 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] If point is visible? 0.488143, 0.447891, 0.638150 mu:-1.058207 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.474972, 0.432225, 0.656562 mu:-1.058207 unit_bearing:0.100428 -0.362414 0.926591 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.475975, 0.365746, 0.692382 mu:-1.058207 unit_bearing:0.089344 -0.287970 0.953463 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.346837, 0.316758, 0.776856 mu:-1.058207 unit_bearing:-0.069184 -0.225624 0.971755 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.354885, 0.312473, 0.775323 mu:-1.058207 unit_bearing:-0.060537 -0.221320 0.973320 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.357435, 0.312358, 0.774348 mu:-1.058207 unit_bearing:-0.057651 -0.221326 0.973494 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.357623, 0.310382, 0.775016 mu:-1.058207 unit_bearing:-0.057656 -0.219164 0.973983 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.360170, 0.310266, 0.774033 mu:-1.058207 unit_bearing:-0.054769 -0.219169 0.974148 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.386912, 0.293195, 0.768991 mu:-1.058207 unit_bearing:-0.025909 -0.201889 0.979066 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.389425, 0.293066, 0.767927 mu:-1.058207 unit_bearing:-0.023020 -0.201891 0.979137 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.363084, 0.306193, 0.774366 mu:-1.058207 unit_bearing:-0.051890 -0.214848 0.975268 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.373593, 0.301754, 0.771638 mu:-1.058207 unit_bearing:-0.040345 -0.210537 0.976753 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.407608, 0.284186, 0.762771 mu:-1.058207 unit_bearing:-0.002790 -0.193228 0.981150 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.384045, 0.297291, 0.768776 mu:-1.058207 unit_bearing:-0.028795 -0.206219 0.978082 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.404949, 0.286311, 0.763269 mu:-1.058207 unit_bearing:-0.005681 -0.195396 0.980708 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.381703, 0.295433, 0.770462 mu:-1.058207 unit_bearing:-0.031686 -0.204050 0.978447 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.411497, 0.171656, 0.791847 mu:-1.058207 unit_bearing:-0.005695 -0.071286 0.997440 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.401653, 0.166095, 0.797379 mu:-1.058207 unit_bearing:-0.017285 -0.064733 0.997753 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.404163, 0.165962, 0.796291 mu:-1.058207 unit_bearing:-0.014388 -0.064733 0.997799 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.394311, 0.158349, 0.802059 mu:-1.058207 unit_bearing:-0.025980 -0.055993 0.998093 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.381567, 0.163058, 0.806564 mu:-1.058207 unit_bearing:-0.040465 -0.060358 0.997356 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.386780, 0.156698, 0.805571 mu:-1.058207 unit_bearing:-0.034673 -0.053806 0.997949 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.389309, 0.156570, 0.804525 mu:-1.058207 unit_bearing:-0.031775 -0.053807 0.998046 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.391835, 0.156441, 0.803473 mu:-1.058207 unit_bearing:-0.028878 -0.053807 0.998134 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.389354, 0.154533, 0.804876 mu:-1.058207 unit_bearing:-0.031776 -0.051622 0.998161 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.391880, 0.154404, 0.803823 mu:-1.058207 unit_bearing:-0.028878 -0.051622 0.998249 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.389550, 0.144338, 0.806566 mu:-1.058207 unit_bearing:-0.031778 -0.040696 0.998666 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.392110, 0.142168, 0.805839 mu:-1.058207 unit_bearing:-0.028881 -0.038511 0.998841 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.211002, 0.110096, 0.866609 mu:-1.058207 unit_bearing:-0.228024 0.003012 0.973651 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.163429, 0.049691, 0.880124 mu:-1.058207 unit_bearing:-0.276487 0.068200 0.958595 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.149499, 0.047918, 0.882170 mu:-1.058207 unit_bearing:-0.290697 0.070326 0.954227 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.129674, 0.038018, 0.885041 mu:-1.058207 unit_bearing:-0.310506 0.081095 0.947106 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.160302, 0.037424, 0.881153 mu:-1.058207 unit_bearing:-0.279289 0.081217 0.956766 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.129737, 0.040070, 0.884948 mu:-1.058207 unit_bearing:-0.310515 0.078928 0.947286 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.157594, 0.039537, 0.881453 mu:-1.058207 unit_bearing:-0.282141 0.079036 0.956112 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.915] If point is visible? 0.348883, -0.004027, 0.834476 mu:-1.058207 unit_bearing:-0.075158 0.118734 0.990078 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.915] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.348782, -0.006098, 0.834501 mu:-1.058207 unit_bearing:-0.075155 0.120913 0.989814 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.136229, -0.007374, 0.885030 mu:-1.058207 unit_bearing:-0.301761 0.128769 0.944647 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.141802, -0.007491, 0.884354 mu:-1.058207 unit_bearing:-0.296095 0.128805 0.946434 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.210834, -0.005095, 0.873193 mu:-1.058207 unit_bearing:-0.224891 0.124849 0.966352 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.210732, -0.007161, 0.873200 mu:-1.058207 unit_bearing:-0.224882 0.127020 0.966072 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.105613, -0.002673, 0.888167 mu:-1.058207 unit_bearing:-0.332859 0.124236 0.934757 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.529436, -0.029354, 0.745387 mu:-1.058207 unit_bearing:0.138862 0.133847 0.981225 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.508531, -0.025755, 0.758325 mu:-1.058207 unit_bearing:0.112903 0.131735 0.984834 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.510882, -0.025922, 0.756915 mu:-1.058207 unit_bearing:0.115790 0.131729 0.984500 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.155588, -0.009861, 0.882518 mu:-1.058207 unit_bearing:-0.281894 0.131057 0.950452 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.204750, -0.017334, 0.874242 mu:-1.058207 unit_bearing:-0.230552 0.137839 0.963248 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.508291, -0.029898, 0.758325 mu:-1.058207 unit_bearing:0.112893 0.136087 0.984244 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.510642, -0.030065, 0.756916 mu:-1.058207 unit_bearing:0.115780 0.136080 0.983909 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.512989, -0.030233, 0.755500 mu:-1.058207 unit_bearing:0.118666 0.136073 0.983566 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.556612, -0.037687, 0.727220 mu:-1.058207 unit_bearing:0.173389 0.140256 0.974815 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.202133, -0.015190, 0.874782 mu:-1.058207 unit_bearing:-0.233422 0.135657 0.962866 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.550218, -0.064251, 0.729806 mu:-1.058207 unit_bearing:0.167527 0.168490 0.971363 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.550062, -0.066323, 0.729738 mu:-1.058207 unit_bearing:0.167518 0.170658 0.970986 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.549904, -0.068396, 0.729666 mu:-1.058207 unit_bearing:0.167508 0.172825 0.970604 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.544747, 0.509090, 0.549994 mu:-1.058207 unit_bearing:0.209933 -0.456891 0.864395 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] If point is visible? 0.542219, 0.502335, 0.557776 mu:-1.058207 unit_bearing:0.204470 -0.448792 0.869930 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] If point is visible? 0.582237, 0.521598, 0.504136 mu:-1.058207 unit_bearing:0.265342 -0.475942 0.838495 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] If point is visible? 0.518822, 0.543394, 0.541778 mu:-1.058207 unit_bearing:0.186715 -0.493980 0.849188 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] If point is visible? 0.523182, 0.542897, 0.538593 mu:-1.058207 unit_bearing:0.192327 -0.493869 0.848000 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] If point is visible? 0.479221, 0.446783, 0.644748 mu:-1.058207 unit_bearing:0.108889 -0.379228 0.918874 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.483868, 0.446398, 0.641952 mu:-1.058207 unit_bearing:0.114601 -0.379185 0.918197 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.483155, 0.450163, 0.639992 mu:-1.058207 unit_bearing:0.114568 -0.383392 0.916452 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] If point is visible? 0.478602, 0.363626, 0.691827 mu:-1.058207 unit_bearing:0.092228 -0.285815 0.953836 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.257412, 0.374394, 0.782654 mu:-1.058207 unit_bearing:-0.160897 -0.285412 0.944803 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.462038, 0.345507, 0.710112 mu:-1.058207 unit_bearing:0.069282 -0.264427 0.961914 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.295019, 0.318722, 0.794365 mu:-1.058207 unit_bearing:-0.126811 -0.225429 0.965972 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? -0.278263, 0.208896, 0.816750 mu:-1.058207 unit_bearing:-0.682678 -0.107189 0.722815 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.391788, 0.158478, 0.803119 mu:-1.058207 unit_bearing:-0.028877 -0.055992 0.998014 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.406303, 0.178020, 0.792887 mu:-1.058207 unit_bearing:-0.011489 -0.077837 0.996900 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.411305, 0.177749, 0.790675 mu:-1.058207 unit_bearing:-0.005694 -0.077838 0.996950 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.208195, 0.132609, 0.864199 mu:-1.058207 unit_bearing:-0.230881 -0.020944 0.972757 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.519107, 0.109693, 0.744846 mu:-1.058207 unit_bearing:0.121713 -0.012268 0.992490 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.916] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.916] If point is visible? 0.523791, 0.109340, 0.741978 mu:-1.058207 unit_bearing:0.127491 -0.012266 0.991764 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.519125, 0.105601, 0.745386 mu:-1.058207 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.523809, 0.105248, 0.742519 mu:-1.058207 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.325387, 0.071445, 0.839844 mu:-1.058207 unit_bearing:-0.104157 0.040156 0.993750 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.330655, 0.075342, 0.837737 mu:-1.058207 unit_bearing:-0.098376 0.035791 0.994505 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.119302, 0.073018, 0.884065 mu:-1.058207 unit_bearing:-0.321940 0.044207 0.945727 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.349079, 0.000115, 0.834414 mu:-1.058207 unit_bearing:-0.075163 0.114376 0.990590 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.105897, 0.003493, 0.888140 mu:-1.058207 unit_bearing:-0.332903 0.117757 0.935579 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.194358, -0.006701, 0.876329 mu:-1.058207 unit_bearing:-0.242036 0.126940 0.961928 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.105709, -0.000617, 0.888163 mu:-1.058207 unit_bearing:-0.332874 0.122077 0.935036 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.550372, -0.062179, 0.729871 mu:-1.058207 unit_bearing:0.167536 0.166322 0.971735 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.550062, -0.066323, 0.729738 mu:-1.058207 unit_bearing:0.167518 0.170658 0.970986 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.573023, -0.155866, 0.700781 mu:-1.058207 unit_bearing:0.207033 0.260972 0.942885 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.404257, -0.140334, 0.800856 mu:-1.058207 unit_bearing:0.000100 0.257565 0.966261 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.577928, -0.152080, 0.697971 mu:-1.058207 unit_bearing:0.212778 0.256633 0.942797 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? -0.156473, -0.180705, 0.856144 mu:-1.058207 unit_bearing:-0.561733 0.307097 0.768210 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? -0.071156, -0.242961, 0.854700 mu:-1.058207 unit_bearing:-0.475625 0.372300 0.796978 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.479656, -0.262064, 0.732699 mu:-1.058207 unit_bearing:0.108908 0.376630 0.919940 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.482268, 0.371032, 0.685914 mu:-1.058207 unit_bearing:0.097938 -0.294356 0.950664 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.491662, 0.370300, 0.680395 mu:-1.058207 unit_bearing:0.109427 -0.294300 0.949428 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.543830, 0.512708, 0.547715 mu:-1.058207 unit_bearing:0.209849 -0.460984 0.862239 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] If point is visible? 0.560959, 0.510613, 0.534332 mu:-1.058207 unit_bearing:0.232286 -0.460510 0.856723 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] If point is visible? 0.290510, 0.311000, 0.798645 mu:-1.058207 unit_bearing:-0.132604 -0.216766 0.967176 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.300996, 0.310652, 0.795438 mu:-1.058207 unit_bearing:-0.121091 -0.216814 0.968674 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.300255, 0.318547, 0.792748 mu:-1.058207 unit_bearing:-0.121055 -0.225453 0.966704 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.310691, 0.318183, 0.789424 mu:-1.058207 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.469882, 0.447534, 0.650254 mu:-1.058207 unit_bearing:0.097457 -0.379307 0.920124 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.252106, 0.374523, 0.784050 mu:-1.058207 unit_bearing:-0.166621 -0.285368 0.943823 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.401007, 0.186403, 0.793449 mu:-1.058207 unit_bearing:-0.017281 -0.086569 0.996096 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.285731, 0.231616, 0.824988 mu:-1.058207 unit_bearing:-0.144437 -0.129990 0.980939 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.286146, 0.223572, 0.826947 mu:-1.058207 unit_bearing:-0.144460 -0.121288 0.982049 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.296700, 0.223218, 0.823842 mu:-1.058207 unit_bearing:-0.132926 -0.121317 0.983673 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.307207, 0.222846, 0.820618 mu:-1.058207 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.519138, 0.097410, 0.746419 mu:-1.058207 unit_bearing:0.121714 0.000837 0.992565 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.528490, 0.096703, 0.740655 mu:-1.058207 unit_bearing:0.133269 0.000836 0.991080 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.519081, 0.113784, 0.744289 mu:-1.058207 unit_bearing:0.121712 -0.016636 0.992426 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.202761, 0.128659, 0.865826 mu:-1.058207 unit_bearing:-0.236610 -0.016585 0.971463 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.381098, 0.179318, 0.803516 mu:-1.058207 unit_bearing:-0.040458 -0.077829 0.996145 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.391219, 0.178810, 0.799351 mu:-1.058207 unit_bearing:-0.028871 -0.077833 0.996548 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.917] If point is visible? 0.202801, 0.120501, 0.866923 mu:-1.058207 unit_bearing:-0.236614 -0.007876 0.971572 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.917] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.178090, -0.002144, 0.879160 mu:-1.058207 unit_bearing:-0.259177 0.122519 0.958027 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.122925, 0.007306, 0.886507 mu:-1.058207 unit_bearing:-0.316000 0.113541 0.941941 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.178469, 0.006104, 0.879081 mu:-1.058207 unit_bearing:-0.259219 0.113845 0.959085 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.514010, -0.051126, 0.753831 mu:-1.058207 unit_bearing:0.121494 0.157803 0.979968 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.523341, -0.051802, 0.748065 mu:-1.058207 unit_bearing:0.133027 0.157769 0.978475 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.532611, -0.052488, 0.742186 mu:-1.058207 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.123269, 0.015528, 0.886371 mu:-1.058207 unit_bearing:-0.316050 0.104888 0.942927 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.400950, 0.022424, 0.813456 mu:-1.058207 unit_bearing:-0.017281 0.088241 0.995949 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.349079, 0.000115, 0.834414 mu:-1.058207 unit_bearing:-0.075163 0.114376 0.990590 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.359346, -0.000366, 0.830603 mu:-1.058207 unit_bearing:-0.063591 0.114389 0.991399 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.390566, 0.014680, 0.818046 mu:-1.058207 unit_bearing:-0.028865 0.096967 0.994869 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.523896, -0.043511, 0.748213 mu:-1.058207 unit_bearing:0.133053 0.149080 0.979833 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.533169, -0.044199, 0.742334 mu:-1.058207 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.391669, -0.202416, 0.793863 mu:-1.058207 unit_bearing:-0.005652 0.321869 0.946767 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.400602, -0.127580, 0.804461 mu:-1.058207 unit_bearing:-0.005672 0.244633 0.969599 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? -0.071156, -0.242961, 0.854700 mu:-1.058207 unit_bearing:-0.475625 0.372300 0.796978 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? -0.059666, -0.243271, 0.855765 mu:-1.058207 unit_bearing:-0.465009 0.372763 0.803004 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? -0.321327, -0.198022, 0.803092 mu:-1.058207 unit_bearing:-0.696422 0.318444 0.643110 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.380579, -0.210177, 0.796691 mu:-1.058207 unit_bearing:-0.017147 0.330385 0.943690 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.390518, -0.210719, 0.792334 mu:-1.058207 unit_bearing:-0.005649 0.330392 0.943827 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.513359, -0.226722, 0.723433 mu:-1.058207 unit_bearing:0.143506 0.338315 0.930026 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.347426, -0.291846, 0.785711 mu:-1.058207 unit_bearing:-0.039915 0.414747 0.909061 T_cur_ref: x=0.025378 y=0.000000 z=-0.053411 +[21:42:46.918] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.098710, -0.320560, 1.329964 mu:-0.707360 unit_bearing:-0.346385 0.343569 0.872913 T_cur_ref: x=0.021372 y=0.000000 z=-0.044747 +[21:42:46.918] Z inverse min: -0.676929, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 1.138851, -0.374724, 0.735889 mu:-0.707360 unit_bearing:0.498658 0.330384 0.801366 T_cur_ref: x=0.021372 y=0.000000 z=-0.044747 +[21:42:46.918] Z inverse min: -0.676929, Z inverse max: 0.000000 +[21:42:46.918] If point is visible? 0.057201, 0.047450, 1.352528 mu:-0.733836 unit_bearing:-0.394699 0.087142 0.914669 T_cur_ref: x=0.004109 y=0.000000 z=-0.008312 +[21:42:46.918] Z inverse min: -0.712418, Z inverse max: 0.000000 +[21:42:46.918] init seeds +[21:42:46.920] DepthFilter: Initialized 0 new seeds +[21:42:47.180] add new frame +[21:42:47.180] add key frame +[21:42:47.180] remove key frame +[21:42:47.180] update seed +[21:42:47.180] init seeds +[21:42:47.180] update seed +[21:42:47.180] If point is visible? 0.563323, -0.222238, -0.433538 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.349983 y=0.000000 z=-1.209973 +[21:42:47.180] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.180] If point is visible? 0.283012, -0.096895, -0.383002 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.349983 y=0.000000 z=-1.209973 +[21:42:47.180] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.180] If point is visible? 0.272954, -0.214684, -0.406398 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.349983 y=0.000000 z=-1.209973 +[21:42:47.181] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.181] If point is visible? 0.563323, -0.222238, -0.433538 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.349983 y=0.000000 z=-1.209973 +[21:42:47.181] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.181] If point is visible? 0.283012, -0.096895, -0.383002 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.349983 y=0.000000 z=-1.209973 +[21:42:47.181] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.181] If point is visible? 0.272954, -0.214684, -0.406398 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.349983 y=0.000000 z=-1.209973 +[21:42:47.181] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.181] If point is visible? 0.119998, 0.064037, 0.073262 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.181] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.181] If point is visible? 0.122669, 0.063970, 0.072633 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.181] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.181] If point is visible? 0.152260, 0.012224, 0.072239 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.181] If point is visible? 0.152231, -0.031296, 0.070350 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.181] If point is visible? 0.208928, -0.034956, 0.038015 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.181] If point is visible? 0.179992, -0.024528, 0.058353 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.181] If point is visible? 0.208704, -0.037016, 0.037785 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.181] If point is visible? 0.119998, 0.064037, 0.073262 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.181] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.182] If point is visible? 0.122669, 0.063970, 0.072633 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.182] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.182] If point is visible? 0.152260, 0.012224, 0.072239 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.182] If point is visible? 0.208704, -0.037016, 0.037785 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.182] If point is visible? 0.208928, -0.034956, 0.038015 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.182] If point is visible? 0.152231, -0.031296, 0.070350 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.182] If point is visible? 0.179992, -0.024528, 0.058353 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.067924 y=0.000000 z=-0.147096 +[21:42:47.182] If point is visible? 0.316729, 0.292513, 0.337090 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.067216 y=0.000000 z=-0.145360 +[21:42:47.182] If point is visible? 0.286908, -0.092904, 0.423571 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.067216 y=0.000000 z=-0.145360 +[21:42:47.182] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.182] If point is visible? -0.194746, -0.170055, 0.386651 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.067216 y=0.000000 z=-0.145360 +[21:42:47.182] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.182] If point is visible? 0.352198, -0.216336, 0.357196 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.067216 y=0.000000 z=-0.145360 +[21:42:47.182] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.182] If point is visible? 0.316729, 0.292513, 0.337090 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.067216 y=0.000000 z=-0.145360 +[21:42:47.182] If point is visible? 0.286908, -0.092904, 0.423571 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.067216 y=0.000000 z=-0.145360 +[21:42:47.182] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.182] If point is visible? -0.194746, -0.170055, 0.386651 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.067216 y=0.000000 z=-0.145360 +[21:42:47.182] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.182] If point is visible? 0.352198, -0.216336, 0.357196 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.067216 y=0.000000 z=-0.145360 +[21:42:47.182] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.182] If point is visible? 0.162715, 0.212057, -0.741673 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.061983 y=0.000000 z=-0.132946 +[21:42:47.182] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:47.182] If point is visible? 0.162715, 0.212057, -0.741673 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.061983 y=0.000000 z=-0.132946 +[21:42:47.182] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:47.182] If point is visible? -0.426650, 0.125648, -0.615124 mu:1.417085 unit_bearing:0.348231 0.263413 0.899638 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.182] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.182] If point is visible? -0.474692, 0.115235, -0.567102 mu:1.417085 unit_bearing:0.436969 0.240472 0.866736 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.182] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.182] If point is visible? -0.183455, 0.186669, -0.751249 mu:1.417085 unit_bearing:-0.040035 0.372749 0.927068 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.270585, 0.235063, -0.694467 mu:1.417085 unit_bearing:0.108461 0.431010 0.895805 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.271750, 0.228932, -0.696261 mu:1.417085 unit_bearing:0.108536 0.422695 0.899749 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.278713, 0.229363, -0.692155 mu:1.417085 unit_bearing:0.119921 0.422593 0.898351 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.004687, 0.210136, -0.784349 mu:1.417085 unit_bearing:-0.289130 0.411471 0.864347 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.005637, 0.204034, -0.786147 mu:1.417085 unit_bearing:-0.289334 0.403200 0.868168 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.312176, -0.408538, -0.557685 mu:1.417085 unit_bearing:0.195044 -0.497852 0.845045 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] If point is visible? -0.318702, -0.407785, -0.552939 mu:1.417085 unit_bearing:0.206245 -0.497612 0.842523 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] If point is visible? -0.318337, -0.409106, -0.552020 mu:1.417085 unit_bearing:0.206198 -0.499628 0.841341 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] If point is visible? 0.034554, -0.408953, -0.687971 mu:1.417085 unit_bearing:-0.328572 -0.475935 0.815798 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] If point is visible? 0.038621, -0.387500, -0.702761 mu:1.417085 unit_bearing:-0.340711 -0.443207 0.829146 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.280379, -0.362794, -0.618246 mu:1.417085 unit_bearing:0.122761 -0.423052 0.897751 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.261250, -0.336857, -0.647627 mu:1.417085 unit_bearing:0.083147 -0.381498 0.920623 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.255611, -0.328909, -0.655803 mu:1.417085 unit_bearing:0.071764 -0.368907 0.926692 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.263857, -0.287370, -0.674321 mu:1.417085 unit_bearing:0.074894 -0.307283 0.948666 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.167489, -0.238821, -0.739473 mu:1.417085 unit_bearing:-0.083598 -0.227746 0.970125 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.169422, -0.238746, -0.738817 mu:1.417085 unit_bearing:-0.080715 -0.227754 0.970368 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.171352, -0.238670, -0.738156 mu:1.417085 unit_bearing:-0.077831 -0.227762 0.970601 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.163338, -0.241911, -0.739736 mu:1.417085 unit_bearing:-0.089350 -0.232047 0.968592 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.165274, -0.241838, -0.739092 mu:1.417085 unit_bearing:-0.086467 -0.232056 0.968852 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.173692, -0.234172, -0.739012 mu:1.417085 unit_bearing:-0.074964 -0.221288 0.972323 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.175618, -0.234095, -0.738339 mu:1.417085 unit_bearing:-0.072079 -0.221295 0.972540 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] If point is visible? -0.177677, -0.232541, -0.738162 mu:1.417085 unit_bearing:-0.069199 -0.219140 0.973237 T_cur_ref: x=0.053182 y=0.000000 z=-0.113179 +[21:42:47.183] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.183] init seeds +[21:42:47.183] DepthFilter: Initialized 1 new seeds +[21:42:47.186] DepthFilter: Initialized 1 new seeds +[21:42:47.466] add new frame +[21:42:47.466] update seed +[21:42:47.466] If point is visible? 0.567489, -0.222238, -0.442297 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.354148 y=0.000000 z=-1.218731 +[21:42:47.466] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.466] If point is visible? 0.287177, -0.096895, -0.391761 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.354148 y=0.000000 z=-1.218731 +[21:42:47.466] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.466] If point is visible? 0.277120, -0.214684, -0.415157 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.354148 y=0.000000 z=-1.218731 +[21:42:47.466] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.466] If point is visible? 0.567489, -0.222238, -0.442297 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.354148 y=0.000000 z=-1.218731 +[21:42:47.466] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.466] If point is visible? 0.287177, -0.096895, -0.391761 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.354148 y=0.000000 z=-1.218731 +[21:42:47.466] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.466] If point is visible? 0.277120, -0.214684, -0.415157 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.354148 y=0.000000 z=-1.218731 +[21:42:47.466] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.466] If point is visible? 0.124164, 0.064037, 0.064503 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.466] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.466] If point is visible? 0.126834, 0.063970, 0.063874 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.466] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.466] If point is visible? 0.156426, 0.012224, 0.063480 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.466] If point is visible? 0.156397, -0.031296, 0.061591 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.466] If point is visible? 0.213093, -0.034956, 0.029256 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.466] If point is visible? 0.184157, -0.024528, 0.049594 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.466] If point is visible? 0.212869, -0.037016, 0.029026 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.466] If point is visible? 0.124164, 0.064037, 0.064503 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.466] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.467] If point is visible? 0.126834, 0.063970, 0.063874 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.467] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.467] If point is visible? 0.156426, 0.012224, 0.063480 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.467] If point is visible? 0.212869, -0.037016, 0.029026 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.467] If point is visible? 0.213093, -0.034956, 0.029256 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.467] If point is visible? 0.156397, -0.031296, 0.061591 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.467] If point is visible? 0.184157, -0.024528, 0.049594 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.072090 y=0.000000 z=-0.155855 +[21:42:47.467] If point is visible? 0.320894, 0.292513, 0.328331 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.071382 y=0.000000 z=-0.154119 +[21:42:47.467] If point is visible? 0.291073, -0.092904, 0.414813 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.071382 y=0.000000 z=-0.154119 +[21:42:47.467] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.467] If point is visible? -0.190581, -0.170055, 0.377892 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.071382 y=0.000000 z=-0.154119 +[21:42:47.467] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.467] If point is visible? 0.356363, -0.216336, 0.348437 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.071382 y=0.000000 z=-0.154119 +[21:42:47.467] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.467] If point is visible? 0.320894, 0.292513, 0.328331 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.071382 y=0.000000 z=-0.154119 +[21:42:47.467] If point is visible? 0.291073, -0.092904, 0.414813 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.071382 y=0.000000 z=-0.154119 +[21:42:47.467] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.467] If point is visible? -0.190581, -0.170055, 0.377892 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.071382 y=0.000000 z=-0.154119 +[21:42:47.467] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.467] If point is visible? 0.356363, -0.216336, 0.348437 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.071382 y=0.000000 z=-0.154119 +[21:42:47.467] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.467] If point is visible? 0.166881, 0.212057, -0.750432 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.066148 y=0.000000 z=-0.141705 +[21:42:47.467] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:47.467] If point is visible? 0.166881, 0.212057, -0.750432 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.066148 y=0.000000 z=-0.141705 +[21:42:47.467] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:47.467] If point is visible? -0.422485, 0.125648, -0.623883 mu:1.417085 unit_bearing:0.348231 0.263413 0.899638 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.467] If point is visible? -0.470526, 0.115235, -0.575861 mu:1.417085 unit_bearing:0.436969 0.240472 0.866736 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.467] If point is visible? -0.179289, 0.186669, -0.760008 mu:1.417085 unit_bearing:-0.040035 0.372749 0.927068 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.467] If point is visible? -0.266420, 0.235063, -0.703225 mu:1.417085 unit_bearing:0.108461 0.431010 0.895805 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.467] If point is visible? -0.267585, 0.228932, -0.705020 mu:1.417085 unit_bearing:0.108536 0.422695 0.899749 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.467] If point is visible? -0.274548, 0.229363, -0.700914 mu:1.417085 unit_bearing:0.119921 0.422593 0.898351 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.467] If point is visible? -0.000521, 0.210136, -0.793108 mu:1.417085 unit_bearing:-0.289130 0.411471 0.864347 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.467] If point is visible? -0.001472, 0.204034, -0.794906 mu:1.417085 unit_bearing:-0.289334 0.403200 0.868168 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.467] If point is visible? -0.308011, -0.408538, -0.566444 mu:1.417085 unit_bearing:0.195044 -0.497852 0.845045 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] If point is visible? -0.314537, -0.407785, -0.561698 mu:1.417085 unit_bearing:0.206245 -0.497612 0.842523 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] If point is visible? -0.314172, -0.409106, -0.560779 mu:1.417085 unit_bearing:0.206198 -0.499628 0.841341 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] If point is visible? 0.038720, -0.408953, -0.696730 mu:1.417085 unit_bearing:-0.328572 -0.475935 0.815798 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] If point is visible? 0.042787, -0.387500, -0.711520 mu:1.417085 unit_bearing:-0.340711 -0.443207 0.829146 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.467] If point is visible? -0.276214, -0.362794, -0.627005 mu:1.417085 unit_bearing:0.122761 -0.423052 0.897751 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.467] If point is visible? -0.257085, -0.336857, -0.656386 mu:1.417085 unit_bearing:0.083147 -0.381498 0.920623 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.467] If point is visible? -0.251446, -0.328909, -0.664562 mu:1.417085 unit_bearing:0.071764 -0.368907 0.926692 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.467] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.259692, -0.287370, -0.683080 mu:1.417085 unit_bearing:0.074894 -0.307283 0.948666 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.163324, -0.238821, -0.748232 mu:1.417085 unit_bearing:-0.083598 -0.227746 0.970125 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.165256, -0.238746, -0.747576 mu:1.417085 unit_bearing:-0.080715 -0.227754 0.970368 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.167186, -0.238670, -0.746915 mu:1.417085 unit_bearing:-0.077831 -0.227762 0.970601 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.159172, -0.241911, -0.748495 mu:1.417085 unit_bearing:-0.089350 -0.232047 0.968592 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.161109, -0.241838, -0.747851 mu:1.417085 unit_bearing:-0.086467 -0.232056 0.968852 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.169527, -0.234172, -0.747771 mu:1.417085 unit_bearing:-0.074964 -0.221288 0.972323 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.171453, -0.234095, -0.747098 mu:1.417085 unit_bearing:-0.072079 -0.221295 0.972540 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.173512, -0.232541, -0.746921 mu:1.417085 unit_bearing:-0.069199 -0.219140 0.973237 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.181452, -0.229264, -0.745146 mu:1.417085 unit_bearing:-0.057664 -0.214838 0.974946 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.203144, -0.219424, -0.739978 mu:1.417085 unit_bearing:-0.025909 -0.201889 0.979066 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.205032, -0.219331, -0.739211 mu:1.417085 unit_bearing:-0.023020 -0.201891 0.979137 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.207166, -0.216271, -0.739380 mu:1.417085 unit_bearing:-0.020132 -0.197559 0.980084 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.205157, -0.217848, -0.739683 mu:1.417085 unit_bearing:-0.023021 -0.199724 0.979582 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.210105, -0.129276, -0.762041 mu:1.417085 unit_bearing:-0.023079 -0.071284 0.997189 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.202684, -0.123574, -0.766212 mu:1.417085 unit_bearing:-0.034670 -0.062544 0.997440 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.185555, -0.121329, -0.773285 mu:1.417085 unit_bearing:-0.060740 -0.058165 0.996457 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.185590, -0.119809, -0.773553 mu:1.417085 unit_bearing:-0.060741 -0.055981 0.996583 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.197079, -0.119286, -0.769250 mu:1.417085 unit_bearing:-0.043363 -0.055988 0.997489 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.189659, -0.107461, -0.774177 mu:1.417085 unit_bearing:-0.054955 -0.038505 0.997746 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.208552, -0.115695, -0.765279 mu:1.417085 unit_bearing:-0.025981 -0.051623 0.998329 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.191598, -0.105849, -0.773703 mu:1.417085 unit_bearing:-0.052059 -0.036320 0.997983 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.193512, -0.105762, -0.772983 mu:1.417085 unit_bearing:-0.049163 -0.036321 0.998130 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.033788, -0.107488, -0.813397 mu:1.417085 unit_bearing:-0.279413 -0.031770 0.959645 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.033805, -0.105972, -0.813629 mu:1.417085 unit_bearing:-0.279415 -0.029597 0.959714 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.193533, -0.104237, -0.773220 mu:1.417085 unit_bearing:-0.049163 -0.034136 0.998207 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.203069, -0.103787, -0.769539 mu:1.417085 unit_bearing:-0.034677 -0.034138 0.998815 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.203108, -0.100736, -0.770005 mu:1.417085 unit_bearing:-0.034677 -0.029767 0.998955 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.044213, -0.099736, -0.813106 mu:1.417085 unit_bearing:-0.265179 -0.020916 0.963972 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.046335, -0.086007, -0.814634 mu:1.417085 unit_bearing:-0.262335 -0.001342 0.964976 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.042168, -0.096731, -0.813830 mu:1.417085 unit_bearing:-0.268034 -0.016565 0.963267 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.025607, -0.087864, -0.817189 mu:1.417085 unit_bearing:-0.290811 -0.003513 0.956774 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.321661, -0.070429, -0.713012 mu:1.417085 unit_bearing:0.153469 0.003019 0.988149 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.288157, -0.078990, -0.732153 mu:1.417085 unit_bearing:0.098585 -0.005718 0.995112 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.326861, -0.073079, -0.709321 mu:1.417085 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.025575, -0.074159, -0.818788 mu:1.417085 unit_bearing:-0.290805 0.016040 0.956648 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.042192, -0.078460, -0.816136 mu:1.417085 unit_bearing:-0.268038 0.009532 0.963361 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.293454, -0.060243, -0.731269 mu:1.417085 unit_bearing:0.107259 0.020497 0.994020 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.025210, -0.046662, -0.821211 mu:1.417085 unit_bearing:-0.290741 0.055133 0.955212 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.014719, -0.043769, -0.822556 mu:1.417085 unit_bearing:-0.304917 0.059434 0.950523 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.008338, -0.039273, -0.823449 mu:1.417085 unit_bearing:-0.313393 0.065912 0.947333 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.041629, -0.038696, -0.819564 mu:1.417085 unit_bearing:-0.267948 0.066053 0.961166 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.468] If point is visible? -0.280300, -0.027269, -0.740990 mu:1.417085 unit_bearing:0.086983 0.068555 0.993848 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.468] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.027691, -0.032063, -0.826259 mu:1.417085 unit_bearing:-0.361244 0.076538 0.929325 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.025572, -0.032042, -0.826167 mu:1.417085 unit_bearing:-0.358440 0.076551 0.930409 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.040244, -0.039801, -0.826281 mu:1.417085 unit_bearing:-0.378086 0.065659 0.923439 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.102638, -0.031006, -0.808537 mu:1.417085 unit_bearing:-0.182003 0.074964 0.980436 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.010910, -0.027288, -0.825553 mu:1.417085 unit_bearing:-0.338733 0.083133 0.937203 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.040528, -0.029122, -0.826810 mu:1.417085 unit_bearing:-0.378013 0.080771 0.922270 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.030041, -0.024443, -0.826659 mu:1.417085 unit_bearing:-0.363992 0.087325 0.927300 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.017337, -0.024305, -0.826057 mu:1.417085 unit_bearing:-0.347153 0.087416 0.933725 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.040483, -0.030648, -0.826744 mu:1.417085 unit_bearing:-0.378024 0.078612 0.922452 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.060480, -0.007889, -0.827561 mu:1.417085 unit_bearing:-0.402864 0.110764 0.908533 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.045655, -0.004708, -0.827499 mu:1.417085 unit_bearing:-0.383366 0.115228 0.916381 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.045785, -0.001649, -0.827515 mu:1.417085 unit_bearing:-0.383331 0.119534 0.915843 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.043655, -0.001627, -0.827477 mu:1.417085 unit_bearing:-0.380544 0.119557 0.917002 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.041527, -0.001606, -0.827432 mu:1.417085 unit_bearing:-0.377754 0.119580 0.918152 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.032961, -0.003044, -0.827184 mu:1.417085 unit_bearing:-0.366595 0.117514 0.922929 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.016376, 0.004841, -0.826405 mu:1.417085 unit_bearing:-0.344081 0.128469 0.930109 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.033573, 0.010366, -0.821653 mu:1.417085 unit_bearing:-0.276185 0.135420 0.951516 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.035642, 0.010412, -0.821381 mu:1.417085 unit_bearing:-0.273341 0.135437 0.952335 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.045852, -0.000119, -0.827518 mu:1.417085 unit_bearing:-0.383314 0.121686 0.915567 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.043722, -0.000097, -0.827480 mu:1.417085 unit_bearing:-0.380526 0.121710 0.916726 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.041594, -0.000075, -0.827436 mu:1.417085 unit_bearing:-0.377737 0.121733 0.917876 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.033232, 0.003084, -0.827193 mu:1.417085 unit_bearing:-0.366527 0.126134 0.921818 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.037409, 0.001502, -0.827328 mu:1.417085 unit_bearing:-0.372136 0.123934 0.919867 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.282799, 0.034901, -0.739236 mu:1.417085 unit_bearing:0.095526 0.155696 0.983175 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.326843, 0.034900, -0.712831 mu:1.417085 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.326943, 0.033354, -0.712856 mu:1.417085 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.286567, 0.032039, -0.737301 mu:1.417085 unit_bearing:0.101311 0.151336 0.983277 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.286469, 0.033587, -0.737273 mu:1.417085 unit_bearing:0.101306 0.153509 0.982940 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.328963, 0.053728, -0.710030 mu:1.417085 unit_bearing:0.173235 0.177132 0.968821 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.325415, 0.055017, -0.712227 mu:1.417085 unit_bearing:0.167479 0.179325 0.969429 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.327131, 0.055146, -0.711099 mu:1.417085 unit_bearing:0.170352 0.179312 0.968931 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.317910, 0.062250, -0.716313 mu:1.417085 unit_bearing:0.155932 0.190205 0.969282 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.319637, 0.062377, -0.715207 mu:1.417085 unit_bearing:0.158807 0.190191 0.968818 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.321360, 0.062504, -0.714094 mu:1.417085 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.329796, 0.065318, -0.769611 mu:1.417085 unit_bearing:-0.714654 0.203724 0.669153 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.327636, 0.065294, -0.770518 mu:1.417085 unit_bearing:-0.712364 0.203846 0.671554 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? 0.325563, 0.066733, -0.771232 mu:1.417085 unit_bearing:-0.709976 0.205993 0.673424 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.201182, 0.122244, -0.767069 mu:1.417085 unit_bearing:-0.020068 0.283352 0.958806 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.190567, 0.187242, -0.755542 mu:1.417085 unit_bearing:-0.022837 0.372783 0.927637 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.194307, 0.187436, -0.754008 mu:1.417085 unit_bearing:-0.017103 0.372791 0.927758 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.124408, 0.227494, -0.764734 mu:1.417085 unit_bearing:-0.111109 0.430986 0.895492 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.469] If point is visible? -0.113894, 0.231647, -0.766136 mu:1.417085 unit_bearing:-0.125260 0.437069 0.890663 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.469] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? 0.046806, -0.375240, -0.719482 mu:1.417085 unit_bearing:-0.349573 -0.424587 0.835179 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.274190, -0.364320, -0.627239 mu:1.417085 unit_bearing:0.119896 -0.425159 0.897143 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.237800, -0.314379, -0.680534 mu:1.417085 unit_bearing:0.046043 -0.345712 0.937210 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.246307, -0.327866, -0.668082 mu:1.417085 unit_bearing:0.063179 -0.366832 0.928139 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.225349, -0.300965, -0.694195 mu:1.417085 unit_bearing:0.023102 -0.324486 0.945608 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.228601, -0.303618, -0.691170 mu:1.417085 unit_bearing:0.028845 -0.328739 0.943980 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.256888, -0.281840, -0.687445 mu:1.417085 unit_bearing:0.069174 -0.298751 0.951821 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? 0.062475, -0.277232, -0.770854 mu:1.417085 unit_bearing:-0.392113 -0.277865 0.876948 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? 0.065252, -0.262843, -0.776786 mu:1.417085 unit_bearing:-0.398068 -0.256603 0.880736 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.197340, -0.221178, -0.741769 mu:1.417085 unit_bearing:-0.034575 -0.204047 0.978350 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.197834, -0.215246, -0.743651 mu:1.417085 unit_bearing:-0.034584 -0.195380 0.980118 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? 0.070515, -0.225111, -0.790613 mu:1.417085 unit_bearing:-0.410090 -0.201144 0.889588 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.137115, -0.057558, -0.797842 mu:1.417085 unit_bearing:-0.133056 0.035771 0.990463 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.168461, -0.056347, -0.788129 mu:1.417085 unit_bearing:-0.086803 0.035797 0.995582 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.209830, -0.020524, -0.774755 mu:1.417085 unit_bearing:-0.023076 0.083874 0.996209 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.162503, 0.008266, -0.792440 mu:1.417085 unit_bearing:-0.092491 0.127421 0.987527 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.029581, 0.007197, -0.822200 mu:1.417085 unit_bearing:-0.281894 0.131057 0.950452 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.314819, 0.057351, -0.718745 mu:1.417085 unit_bearing:0.150209 0.183734 0.971432 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.325415, 0.055017, -0.712227 mu:1.417085 unit_bearing:0.167479 0.179325 0.969429 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.422485, 0.125648, -0.623883 mu:1.417085 unit_bearing:0.348231 0.263413 0.899638 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? 0.391862, 0.133262, -0.728829 mu:1.417085 unit_bearing:-0.767489 0.292246 0.570572 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.186817, 0.187050, -0.757053 mu:1.417085 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.190567, 0.187242, -0.755542 mu:1.417085 unit_bearing:-0.022837 0.372783 0.927637 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? 0.285520, 0.178174, -0.765496 mu:1.417085 unit_bearing:-0.647040 0.361748 0.671177 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? 0.281226, 0.178270, -0.766976 mu:1.417085 unit_bearing:-0.642295 0.362139 0.675509 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.008249, 0.213481, -0.791339 mu:1.417085 unit_bearing:-0.277869 0.415871 0.865933 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.008735, 0.210431, -0.792257 mu:1.417085 unit_bearing:-0.277968 0.411739 0.867874 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.366179, 0.254139, -0.625936 mu:1.417085 unit_bearing:0.282892 0.444492 0.849941 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.126880, 0.224516, -0.765077 mu:1.417085 unit_bearing:-0.108301 0.426857 0.897811 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.110271, 0.229939, -0.767699 mu:1.417085 unit_bearing:-0.130963 0.434937 0.890886 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.260091, -0.284484, -0.684324 mu:1.417085 unit_bearing:0.074910 -0.303009 0.950039 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.267249, -0.283979, -0.680479 mu:1.417085 unit_bearing:0.086406 -0.302963 0.949077 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.260871, -0.278700, -0.686773 mu:1.417085 unit_bearing:0.074941 -0.294451 0.952724 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.076057, -0.297696, -0.747682 mu:1.417085 unit_bearing:-0.200640 -0.310650 0.929107 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.261926, -0.357148, -0.640094 mu:1.417085 unit_bearing:0.097219 -0.412852 0.905595 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.470] If point is visible? -0.106491, -0.239124, -0.765329 mu:1.417085 unit_bearing:-0.167037 -0.225221 0.959882 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.470] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.114454, -0.238925, -0.763323 mu:1.417085 unit_bearing:-0.155556 -0.225286 0.961794 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.122384, -0.238710, -0.761226 mu:1.417085 unit_bearing:-0.144065 -0.225347 0.963568 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.194275, -0.212454, -0.746057 mu:1.417085 unit_bearing:-0.040369 -0.191037 0.980752 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.183260, -0.135072, -0.771429 mu:1.417085 unit_bearing:-0.063623 -0.077816 0.994936 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.190937, -0.134731, -0.768605 mu:1.417085 unit_bearing:-0.052042 -0.077823 0.995608 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.206180, -0.134013, -0.762695 mu:1.417085 unit_bearing:-0.028871 -0.077833 0.996548 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.119413, -0.167533, -0.784255 mu:1.417085 unit_bearing:-0.155985 -0.121257 0.980288 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.119691, -0.161519, -0.785673 mu:1.417085 unit_bearing:-0.156008 -0.112553 0.981322 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.291602, 0.037043, -0.734178 mu:1.417085 unit_bearing:0.109955 0.157835 0.981325 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.298676, 0.037526, -0.730061 mu:1.417085 unit_bearing:0.121494 0.157803 0.979968 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.312695, 0.038517, -0.721571 mu:1.417085 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.013491, -0.005433, -0.824026 mu:1.417085 unit_bearing:-0.304684 0.113608 0.945654 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.021830, -0.005279, -0.823136 mu:1.417085 unit_bearing:-0.293348 0.113672 0.949224 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.030142, -0.005114, -0.822149 mu:1.417085 unit_bearing:-0.281990 0.113732 0.952652 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.190695, -0.018359, -0.782327 mu:1.417085 unit_bearing:-0.052036 0.088226 0.994740 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.205936, -0.017625, -0.776420 mu:1.417085 unit_bearing:-0.028868 0.088238 0.995681 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.319209, 0.045216, -0.717031 mu:1.417085 unit_bearing:0.156033 0.166369 0.973640 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.013223, 0.000714, -0.824074 mu:1.417085 unit_bearing:-0.304633 0.122263 0.944590 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.021561, 0.000872, -0.823185 mu:1.417085 unit_bearing:-0.293299 0.122331 0.948162 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.346797, 0.115919, -0.688688 mu:1.417085 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.001472, 0.204034, -0.794906 mu:1.417085 unit_bearing:-0.289334 0.403200 0.868168 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.009690, 0.204324, -0.794049 mu:1.417085 unit_bearing:-0.278163 0.403460 0.871691 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.470526, 0.115235, -0.575861 mu:1.417085 unit_bearing:0.436969 0.240472 0.866736 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.266420, 0.235063, -0.703225 mu:1.417085 unit_bearing:0.108461 0.431010 0.895805 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? 0.286182, 0.183992, -0.763621 mu:1.417085 unit_bearing:-0.646438 0.369607 0.667464 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.179289, 0.186669, -0.760008 mu:1.417085 unit_bearing:-0.040035 0.372749 0.927068 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.267585, 0.228932, -0.705020 mu:1.417085 unit_bearing:0.108536 0.422695 0.899749 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? -0.274548, 0.229363, -0.700914 mu:1.417085 unit_bearing:0.119921 0.422593 0.898351 T_cur_ref: x=0.057347 y=0.000000 z=-0.121937 +[21:42:47.471] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.471] If point is visible? 0.042455, 0.008446, -0.138743 mu:33.525898 unit_bearing:-0.017083 0.389645 0.920807 T_cur_ref: x=0.053026 y=0.000000 z=-0.112160 +[21:42:47.471] Z inverse min: 33.740864, Z inverse max: 33.310932 +[21:42:47.471] If point is visible? 0.042455, 0.008446, -0.138743 mu:33.525898 unit_bearing:-0.017083 0.389645 0.920807 T_cur_ref: x=0.053026 y=0.000000 z=-0.112160 +[21:42:47.471] Z inverse min: 33.740864, Z inverse max: 33.310932 +[21:42:47.471] If point is visible? 0.252721, 0.180033, 0.416272 mu:-1.719143 unit_bearing:-0.040359 -0.199708 0.979024 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.471] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.471] If point is visible? 0.330539, -0.066301, 0.406220 mu:-1.719143 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.471] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.331231, -0.153899, 0.386257 mu:-1.719143 unit_bearing:0.131862 0.363801 0.922096 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.472] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.477540, -0.084373, 0.284030 mu:-1.719143 unit_bearing:0.426376 0.223750 0.876436 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.472] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.009665, -0.125409, 0.470075 mu:-1.719143 unit_bearing:-0.434328 0.332749 0.837041 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.472] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.332033, -0.148809, 0.387376 mu:-1.719143 unit_bearing:0.131933 0.355351 0.925375 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.472] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.252721, 0.180033, 0.416272 mu:-1.719143 unit_bearing:-0.040359 -0.199708 0.979024 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.472] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.477540, -0.084373, 0.284030 mu:-1.719143 unit_bearing:0.426376 0.223750 0.876436 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.472] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.331231, -0.153899, 0.386257 mu:-1.719143 unit_bearing:0.131862 0.363801 0.922096 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.472] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.330539, -0.066301, 0.406220 mu:-1.719143 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.472] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.332033, -0.148809, 0.387376 mu:-1.719143 unit_bearing:0.131933 0.355351 0.925375 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.472] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.009665, -0.125409, 0.470075 mu:-1.719143 unit_bearing:-0.434328 0.332749 0.837041 T_cur_ref: x=0.045995 y=0.000000 z=-0.096768 +[21:42:47.472] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.209848, 0.302943, 0.575514 mu:-1.336774 unit_bearing:-0.166552 -0.293918 0.941208 T_cur_ref: x=0.042180 y=0.000000 z=-0.087601 +[21:42:47.472] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.022953, -0.155439, 0.643889 mu:-1.336774 unit_bearing:-0.401921 0.325407 0.855903 T_cur_ref: x=0.042180 y=0.000000 z=-0.087601 +[21:42:47.472] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.010758, -0.181038, 0.637552 mu:-1.336774 unit_bearing:-0.411825 0.358338 0.837851 T_cur_ref: x=0.042180 y=0.000000 z=-0.087601 +[21:42:47.472] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.425358, -0.185778, 0.527435 mu:-1.336774 unit_bearing:0.154854 0.346689 0.925109 T_cur_ref: x=0.042180 y=0.000000 z=-0.087601 +[21:42:47.472] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.209848, 0.302943, 0.575514 mu:-1.336774 unit_bearing:-0.166552 -0.293918 0.941208 T_cur_ref: x=0.042180 y=0.000000 z=-0.087601 +[21:42:47.472] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.010758, -0.181038, 0.637552 mu:-1.336774 unit_bearing:-0.411825 0.358338 0.837851 T_cur_ref: x=0.042180 y=0.000000 z=-0.087601 +[21:42:47.472] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.425358, -0.185778, 0.527435 mu:-1.336774 unit_bearing:0.154854 0.346689 0.925109 T_cur_ref: x=0.042180 y=0.000000 z=-0.087601 +[21:42:47.472] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.341840, -0.151940, 0.432913 mu:-1.627231 unit_bearing:0.120563 0.346972 0.930094 T_cur_ref: x=0.038151 y=0.000000 z=-0.079286 +[21:42:47.472] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.347855, -0.152345, 0.429178 mu:-1.627231 unit_bearing:0.132003 0.346886 0.928572 T_cur_ref: x=0.038151 y=0.000000 z=-0.079286 +[21:42:47.472] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.343380, -0.179202, 0.423092 mu:-1.627231 unit_bearing:0.131634 0.389055 0.911761 T_cur_ref: x=0.038151 y=0.000000 z=-0.079286 +[21:42:47.472] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.343380, -0.179202, 0.423092 mu:-1.627231 unit_bearing:0.131634 0.389055 0.911761 T_cur_ref: x=0.038151 y=0.000000 z=-0.079286 +[21:42:47.472] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.341840, -0.151940, 0.432913 mu:-1.627231 unit_bearing:0.120563 0.346972 0.930094 T_cur_ref: x=0.038151 y=0.000000 z=-0.079286 +[21:42:47.472] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.347855, -0.152345, 0.429178 mu:-1.627231 unit_bearing:0.132003 0.346886 0.928572 T_cur_ref: x=0.038151 y=0.000000 z=-0.079286 +[21:42:47.472] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.472] If point is visible? 0.127967, 0.073018, 0.867110 mu:-1.058207 unit_bearing:-0.321940 0.044207 0.945727 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.389764, 0.179318, 0.786561 mu:-1.058207 unit_bearing:-0.040458 -0.077829 0.996145 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.409268, -0.127580, 0.787507 mu:-1.058207 unit_bearing:-0.005672 0.244633 0.969599 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? -0.312661, -0.198022, 0.786137 mu:-1.058207 unit_bearing:-0.696422 0.318444 0.643110 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.400334, -0.202416, 0.776908 mu:-1.058207 unit_bearing:-0.005652 0.321869 0.946767 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.356092, -0.291846, 0.768756 mu:-1.058207 unit_bearing:-0.039915 0.414747 0.909061 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.389244, -0.210177, 0.779736 mu:-1.058207 unit_bearing:-0.017147 0.330385 0.943690 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.399184, -0.210719, 0.775379 mu:-1.058207 unit_bearing:-0.005649 0.330392 0.943827 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.525301, 0.543640, 0.526405 mu:-1.058207 unit_bearing:0.183908 -0.494035 0.849769 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] If point is visible? 0.527488, 0.543394, 0.524823 mu:-1.058207 unit_bearing:0.186715 -0.493980 0.849188 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] If point is visible? 0.591394, 0.519814, 0.488354 mu:-1.058207 unit_bearing:0.265400 -0.473917 0.839623 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] If point is visible? 0.591884, 0.518028, 0.489524 mu:-1.058207 unit_bearing:0.265457 -0.471890 0.840745 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] If point is visible? 0.592371, 0.516240, 0.490688 mu:-1.058207 unit_bearing:0.265514 -0.469862 0.841862 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] If point is visible? 0.553499, 0.500265, 0.540302 mu:-1.058207 unit_bearing:0.207324 -0.446684 0.870339 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] If point is visible? 0.553942, 0.498443, 0.541414 mu:-1.058207 unit_bearing:0.207363 -0.444628 0.871382 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] If point is visible? 0.496809, 0.447891, 0.621195 mu:-1.058207 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] If point is visible? 0.483637, 0.432225, 0.639607 mu:-1.058207 unit_bearing:0.100428 -0.362414 0.926591 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.484641, 0.365746, 0.675427 mu:-1.058207 unit_bearing:0.089344 -0.287970 0.953463 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.355502, 0.316758, 0.759901 mu:-1.058207 unit_bearing:-0.069184 -0.225624 0.971755 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] calculated Z= 1.053817 +[21:42:47.473] update seeds 305 +[21:42:47.473] If point is visible? 0.363550, 0.312473, 0.758369 mu:-1.058207 unit_bearing:-0.060537 -0.221320 0.973320 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.366100, 0.312358, 0.757393 mu:-1.058207 unit_bearing:-0.057651 -0.221326 0.973494 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.366288, 0.310382, 0.758061 mu:-1.058207 unit_bearing:-0.057656 -0.219164 0.973983 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.368835, 0.310266, 0.757079 mu:-1.058207 unit_bearing:-0.054769 -0.219169 0.974148 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.395578, 0.293195, 0.752036 mu:-1.058207 unit_bearing:-0.025909 -0.201889 0.979066 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.398090, 0.293066, 0.750973 mu:-1.058207 unit_bearing:-0.023020 -0.201891 0.979137 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.371749, 0.306193, 0.757411 mu:-1.058207 unit_bearing:-0.051890 -0.214848 0.975268 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.382258, 0.301754, 0.754683 mu:-1.058207 unit_bearing:-0.040345 -0.210537 0.976753 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.416273, 0.284186, 0.745817 mu:-1.058207 unit_bearing:-0.002790 -0.193228 0.981150 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.392711, 0.297291, 0.751821 mu:-1.058207 unit_bearing:-0.028795 -0.206219 0.978082 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.413615, 0.286311, 0.746314 mu:-1.058207 unit_bearing:-0.005681 -0.195396 0.980708 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.390368, 0.295433, 0.753507 mu:-1.058207 unit_bearing:-0.031686 -0.204050 0.978447 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.420162, 0.171656, 0.774892 mu:-1.058207 unit_bearing:-0.005695 -0.071286 0.997440 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.410318, 0.166095, 0.780425 mu:-1.058207 unit_bearing:-0.017285 -0.064733 0.997753 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.412828, 0.165962, 0.779336 mu:-1.058207 unit_bearing:-0.014388 -0.064733 0.997799 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.402976, 0.158349, 0.785104 mu:-1.058207 unit_bearing:-0.025980 -0.055993 0.998093 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.390232, 0.163058, 0.789609 mu:-1.058207 unit_bearing:-0.040465 -0.060358 0.997356 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.473] If point is visible? 0.395445, 0.156698, 0.788616 mu:-1.058207 unit_bearing:-0.034673 -0.053806 0.997949 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.473] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.397974, 0.156570, 0.787571 mu:-1.058207 unit_bearing:-0.031775 -0.053807 0.998046 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.400500, 0.156441, 0.786518 mu:-1.058207 unit_bearing:-0.028878 -0.053807 0.998134 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.398019, 0.154533, 0.787921 mu:-1.058207 unit_bearing:-0.031776 -0.051622 0.998161 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.400545, 0.154404, 0.786869 mu:-1.058207 unit_bearing:-0.028878 -0.051622 0.998249 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.398215, 0.144338, 0.789611 mu:-1.058207 unit_bearing:-0.031778 -0.040696 0.998666 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.400775, 0.142168, 0.788884 mu:-1.058207 unit_bearing:-0.028881 -0.038511 0.998841 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.219667, 0.110096, 0.849655 mu:-1.058207 unit_bearing:-0.228024 0.003012 0.973651 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.172095, 0.049691, 0.863169 mu:-1.058207 unit_bearing:-0.276487 0.068200 0.958595 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.158164, 0.047918, 0.865216 mu:-1.058207 unit_bearing:-0.290697 0.070326 0.954227 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.138339, 0.038018, 0.868086 mu:-1.058207 unit_bearing:-0.310506 0.081095 0.947106 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.168968, 0.037424, 0.864198 mu:-1.058207 unit_bearing:-0.279289 0.081217 0.956766 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.138402, 0.040070, 0.867994 mu:-1.058207 unit_bearing:-0.310515 0.078928 0.947286 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.166259, 0.039537, 0.864498 mu:-1.058207 unit_bearing:-0.282141 0.079036 0.956112 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.357548, -0.004027, 0.817521 mu:-1.058207 unit_bearing:-0.075158 0.118734 0.990078 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.357447, -0.006098, 0.817546 mu:-1.058207 unit_bearing:-0.075155 0.120913 0.989814 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.144895, -0.007374, 0.868076 mu:-1.058207 unit_bearing:-0.301761 0.128769 0.944647 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.150467, -0.007491, 0.867400 mu:-1.058207 unit_bearing:-0.296095 0.128805 0.946434 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.219500, -0.005095, 0.856238 mu:-1.058207 unit_bearing:-0.224891 0.124849 0.966352 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.219398, -0.007161, 0.856245 mu:-1.058207 unit_bearing:-0.224882 0.127020 0.966072 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.114278, -0.002673, 0.871213 mu:-1.058207 unit_bearing:-0.332859 0.124236 0.934757 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.538102, -0.029354, 0.728432 mu:-1.058207 unit_bearing:0.138862 0.133847 0.981225 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.517196, -0.025755, 0.741370 mu:-1.058207 unit_bearing:0.112903 0.131735 0.984834 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.519547, -0.025922, 0.739961 mu:-1.058207 unit_bearing:0.115790 0.131729 0.984500 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.164253, -0.009861, 0.865563 mu:-1.058207 unit_bearing:-0.281894 0.131057 0.950452 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.213415, -0.017334, 0.857287 mu:-1.058207 unit_bearing:-0.230552 0.137839 0.963248 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.516956, -0.029898, 0.741371 mu:-1.058207 unit_bearing:0.112893 0.136087 0.984244 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.519307, -0.030065, 0.739961 mu:-1.058207 unit_bearing:0.115780 0.136080 0.983909 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.521654, -0.030233, 0.738545 mu:-1.058207 unit_bearing:0.118666 0.136073 0.983566 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.565277, -0.037687, 0.710265 mu:-1.058207 unit_bearing:0.173389 0.140256 0.974815 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.210798, -0.015190, 0.857827 mu:-1.058207 unit_bearing:-0.233422 0.135657 0.962866 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.558883, -0.064251, 0.712852 mu:-1.058207 unit_bearing:0.167527 0.168490 0.971363 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.558728, -0.066323, 0.712783 mu:-1.058207 unit_bearing:0.167518 0.170658 0.970986 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.558570, -0.068396, 0.712711 mu:-1.058207 unit_bearing:0.167508 0.172825 0.970604 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.474] If point is visible? 0.553413, 0.509090, 0.533039 mu:-1.058207 unit_bearing:0.209933 -0.456891 0.864395 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] If point is visible? 0.550885, 0.502335, 0.540821 mu:-1.058207 unit_bearing:0.204470 -0.448792 0.869930 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] If point is visible? 0.590902, 0.521598, 0.487181 mu:-1.058207 unit_bearing:0.265342 -0.475942 0.838495 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] If point is visible? 0.527488, 0.543394, 0.524823 mu:-1.058207 unit_bearing:0.186715 -0.493980 0.849188 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] If point is visible? 0.531847, 0.542897, 0.521639 mu:-1.058207 unit_bearing:0.192327 -0.493869 0.848000 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] If point is visible? 0.487887, 0.446783, 0.627793 mu:-1.058207 unit_bearing:0.108889 -0.379228 0.918874 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] If point is visible? 0.492533, 0.446398, 0.624998 mu:-1.058207 unit_bearing:0.114601 -0.379185 0.918197 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] If point is visible? 0.491821, 0.450163, 0.623037 mu:-1.058207 unit_bearing:0.114568 -0.383392 0.916452 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.474] If point is visible? 0.487267, 0.363626, 0.674872 mu:-1.058207 unit_bearing:0.092228 -0.285815 0.953836 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.266077, 0.374394, 0.765699 mu:-1.058207 unit_bearing:-0.160897 -0.285412 0.944803 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.470703, 0.345507, 0.693157 mu:-1.058207 unit_bearing:0.069282 -0.264427 0.961914 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.303684, 0.318722, 0.777410 mu:-1.058207 unit_bearing:-0.126811 -0.225429 0.965972 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? -0.269597, 0.208896, 0.799795 mu:-1.058207 unit_bearing:-0.682678 -0.107189 0.722815 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.400453, 0.158478, 0.786164 mu:-1.058207 unit_bearing:-0.028877 -0.055992 0.998014 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.414968, 0.178020, 0.775932 mu:-1.058207 unit_bearing:-0.011489 -0.077837 0.996900 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.419970, 0.177749, 0.773720 mu:-1.058207 unit_bearing:-0.005694 -0.077838 0.996950 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.216860, 0.132609, 0.847244 mu:-1.058207 unit_bearing:-0.230881 -0.020944 0.972757 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.527772, 0.109693, 0.727891 mu:-1.058207 unit_bearing:0.121713 -0.012268 0.992490 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.532456, 0.109340, 0.725024 mu:-1.058207 unit_bearing:0.127491 -0.012266 0.991764 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.527790, 0.105601, 0.728431 mu:-1.058207 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.532474, 0.105248, 0.725564 mu:-1.058207 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.334053, 0.071445, 0.822889 mu:-1.058207 unit_bearing:-0.104157 0.040156 0.993750 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.339320, 0.075342, 0.820782 mu:-1.058207 unit_bearing:-0.098376 0.035791 0.994505 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.127967, 0.073018, 0.867110 mu:-1.058207 unit_bearing:-0.321940 0.044207 0.945727 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.357744, 0.000115, 0.817459 mu:-1.058207 unit_bearing:-0.075163 0.114376 0.990590 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.114562, 0.003493, 0.871186 mu:-1.058207 unit_bearing:-0.332903 0.117757 0.935579 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.203023, -0.006701, 0.859374 mu:-1.058207 unit_bearing:-0.242036 0.126940 0.961928 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.114374, -0.000617, 0.871208 mu:-1.058207 unit_bearing:-0.332874 0.122077 0.935036 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.559037, -0.062179, 0.712916 mu:-1.058207 unit_bearing:0.167536 0.166322 0.971735 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.558728, -0.066323, 0.712783 mu:-1.058207 unit_bearing:0.167518 0.170658 0.970986 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.581688, -0.155866, 0.683826 mu:-1.058207 unit_bearing:0.207033 0.260972 0.942885 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.412922, -0.140334, 0.783901 mu:-1.058207 unit_bearing:0.000100 0.257565 0.966261 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.586593, -0.152080, 0.681016 mu:-1.058207 unit_bearing:0.212778 0.256633 0.942797 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? -0.147808, -0.180705, 0.839189 mu:-1.058207 unit_bearing:-0.561733 0.307097 0.768210 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? -0.062490, -0.242961, 0.837745 mu:-1.058207 unit_bearing:-0.475625 0.372300 0.796978 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.488321, -0.262064, 0.715744 mu:-1.058207 unit_bearing:0.108908 0.376630 0.919940 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.490933, 0.371032, 0.668960 mu:-1.058207 unit_bearing:0.097938 -0.294356 0.950664 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.475] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.475] If point is visible? 0.500327, 0.370300, 0.663441 mu:-1.058207 unit_bearing:0.109427 -0.294300 0.949428 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.552495, 0.512708, 0.530760 mu:-1.058207 unit_bearing:0.209849 -0.460984 0.862239 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] If point is visible? 0.569625, 0.510613, 0.517377 mu:-1.058207 unit_bearing:0.232286 -0.460510 0.856723 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] If point is visible? 0.299176, 0.311000, 0.781690 mu:-1.058207 unit_bearing:-0.132604 -0.216766 0.967176 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.309662, 0.310652, 0.778483 mu:-1.058207 unit_bearing:-0.121091 -0.216814 0.968674 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.308920, 0.318547, 0.775793 mu:-1.058207 unit_bearing:-0.121055 -0.225453 0.966704 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.319356, 0.318183, 0.772469 mu:-1.058207 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.478548, 0.447534, 0.633299 mu:-1.058207 unit_bearing:0.097457 -0.379307 0.920124 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] If point is visible? 0.260772, 0.374523, 0.767095 mu:-1.058207 unit_bearing:-0.166621 -0.285368 0.943823 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.409672, 0.186403, 0.776494 mu:-1.058207 unit_bearing:-0.017281 -0.086569 0.996096 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.294396, 0.231616, 0.808033 mu:-1.058207 unit_bearing:-0.144437 -0.129990 0.980939 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.294812, 0.223572, 0.809992 mu:-1.058207 unit_bearing:-0.144460 -0.121288 0.982049 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.305365, 0.223218, 0.806887 mu:-1.058207 unit_bearing:-0.132926 -0.121317 0.983673 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.315872, 0.222846, 0.803663 mu:-1.058207 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.527803, 0.097410, 0.729464 mu:-1.058207 unit_bearing:0.121714 0.000837 0.992565 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.537156, 0.096703, 0.723701 mu:-1.058207 unit_bearing:0.133269 0.000836 0.991080 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.527747, 0.113784, 0.727334 mu:-1.058207 unit_bearing:0.121712 -0.016636 0.992426 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.211427, 0.128659, 0.848871 mu:-1.058207 unit_bearing:-0.236610 -0.016585 0.971463 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.389764, 0.179318, 0.786561 mu:-1.058207 unit_bearing:-0.040458 -0.077829 0.996145 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.399884, 0.178810, 0.782396 mu:-1.058207 unit_bearing:-0.028871 -0.077833 0.996548 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.211466, 0.120501, 0.849969 mu:-1.058207 unit_bearing:-0.236614 -0.007876 0.971572 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.186755, -0.002144, 0.862205 mu:-1.058207 unit_bearing:-0.259177 0.122519 0.958027 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.131590, 0.007306, 0.869552 mu:-1.058207 unit_bearing:-0.316000 0.113541 0.941941 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.187134, 0.006104, 0.862126 mu:-1.058207 unit_bearing:-0.259219 0.113845 0.959085 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.522676, -0.051126, 0.736876 mu:-1.058207 unit_bearing:0.121494 0.157803 0.979968 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.532006, -0.051802, 0.731111 mu:-1.058207 unit_bearing:0.133027 0.157769 0.978475 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.541276, -0.052488, 0.725231 mu:-1.058207 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.131934, 0.015528, 0.869417 mu:-1.058207 unit_bearing:-0.316050 0.104888 0.942927 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.409615, 0.022424, 0.796501 mu:-1.058207 unit_bearing:-0.017281 0.088241 0.995949 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.357744, 0.000115, 0.817459 mu:-1.058207 unit_bearing:-0.075163 0.114376 0.990590 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.368011, -0.000366, 0.813648 mu:-1.058207 unit_bearing:-0.063591 0.114389 0.991399 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.476] If point is visible? 0.399232, 0.014680, 0.801091 mu:-1.058207 unit_bearing:-0.028865 0.096967 0.994869 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.476] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? 0.532561, -0.043511, 0.731258 mu:-1.058207 unit_bearing:0.133053 0.149080 0.979833 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.477] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? 0.541834, -0.044199, 0.725379 mu:-1.058207 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.477] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? 0.400334, -0.202416, 0.776908 mu:-1.058207 unit_bearing:-0.005652 0.321869 0.946767 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.477] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? 0.409268, -0.127580, 0.787507 mu:-1.058207 unit_bearing:-0.005672 0.244633 0.969599 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.477] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? -0.062490, -0.242961, 0.837745 mu:-1.058207 unit_bearing:-0.475625 0.372300 0.796978 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.477] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? -0.051000, -0.243271, 0.838810 mu:-1.058207 unit_bearing:-0.465009 0.372763 0.803004 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.477] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? -0.312661, -0.198022, 0.786137 mu:-1.058207 unit_bearing:-0.696422 0.318444 0.643110 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.477] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? 0.389244, -0.210177, 0.779736 mu:-1.058207 unit_bearing:-0.017147 0.330385 0.943690 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.477] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? 0.399184, -0.210719, 0.775379 mu:-1.058207 unit_bearing:-0.005649 0.330392 0.943827 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.477] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? 0.522025, -0.226722, 0.706478 mu:-1.058207 unit_bearing:0.143506 0.338315 0.930026 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.477] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? 0.356092, -0.291846, 0.768756 mu:-1.058207 unit_bearing:-0.039915 0.414747 0.909061 T_cur_ref: x=0.034044 y=0.000000 z=-0.070366 +[21:42:47.477] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? 0.107375, -0.320560, 1.313009 mu:-0.707360 unit_bearing:-0.346385 0.343569 0.872913 T_cur_ref: x=0.030038 y=0.000000 z=-0.061702 +[21:42:47.477] Z inverse min: -0.676929, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? 1.147517, -0.374724, 0.718934 mu:-0.707360 unit_bearing:0.498658 0.330384 0.801366 T_cur_ref: x=0.030038 y=0.000000 z=-0.061702 +[21:42:47.477] Z inverse min: -0.676929, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? 0.065866, 0.047450, 1.335573 mu:-0.733836 unit_bearing:-0.394699 0.087142 0.914669 T_cur_ref: x=0.012774 y=0.000000 z=-0.025267 +[21:42:47.477] Z inverse min: -0.712418, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? -0.083289, -0.095225, 0.473955 mu:-2.001087 unit_bearing:-0.566844 0.306852 0.764546 T_cur_ref: x=0.004165 y=0.000000 z=-0.008759 +[21:42:47.477] Z inverse min: -1.902191, Z inverse max: 0.000000 +[21:42:47.477] If point is visible? -0.083289, -0.095225, 0.473955 mu:-2.001087 unit_bearing:-0.566844 0.306852 0.764546 T_cur_ref: x=0.004165 y=0.000000 z=-0.008759 +[21:42:47.477] Z inverse min: -1.902191, Z inverse max: 0.000000 +[21:42:47.751] add new frame +[21:42:47.751] update seed +[21:42:47.751] If point is visible? 0.568640, -0.222238, -0.444575 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.355299 y=0.000000 z=-1.221010 +[21:42:47.751] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.751] If point is visible? 0.288328, -0.096895, -0.394039 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.355299 y=0.000000 z=-1.221010 +[21:42:47.751] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.751] If point is visible? 0.278271, -0.214684, -0.417436 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.355299 y=0.000000 z=-1.221010 +[21:42:47.751] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.751] If point is visible? 0.568640, -0.222238, -0.444575 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.355299 y=0.000000 z=-1.221010 +[21:42:47.751] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.751] If point is visible? 0.288328, -0.096895, -0.394039 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.355299 y=0.000000 z=-1.221010 +[21:42:47.751] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.752] If point is visible? 0.278271, -0.214684, -0.417436 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.355299 y=0.000000 z=-1.221010 +[21:42:47.752] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:47.752] If point is visible? 0.125315, 0.064037, 0.062224 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.752] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.752] If point is visible? 0.127986, 0.063970, 0.061596 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.752] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.752] If point is visible? 0.157577, 0.012224, 0.061202 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] If point is visible? 0.157548, -0.031296, 0.059313 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] If point is visible? 0.214245, -0.034956, 0.026977 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] If point is visible? 0.185308, -0.024528, 0.047315 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] If point is visible? 0.214020, -0.037016, 0.026747 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] If point is visible? 0.125315, 0.064037, 0.062224 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.754] If point is visible? 0.127986, 0.063970, 0.061596 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] Z inverse min: -4.165369, Z inverse max: 0.000000 +[21:42:47.754] If point is visible? 0.157577, 0.012224, 0.061202 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] If point is visible? 0.214020, -0.037016, 0.026747 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] If point is visible? 0.214245, -0.034956, 0.026977 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] If point is visible? 0.157548, -0.031296, 0.059313 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] If point is visible? 0.185308, -0.024528, 0.047315 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.073241 y=0.000000 z=-0.158134 +[21:42:47.754] If point is visible? 0.322046, 0.292513, 0.326052 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.072533 y=0.000000 z=-0.156397 +[21:42:47.754] If point is visible? 0.292224, -0.092904, 0.412534 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.072533 y=0.000000 z=-0.156397 +[21:42:47.754] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.754] If point is visible? -0.189430, -0.170055, 0.375613 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.072533 y=0.000000 z=-0.156397 +[21:42:47.754] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.754] If point is visible? 0.357514, -0.216336, 0.346159 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.072533 y=0.000000 z=-0.156397 +[21:42:47.754] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.754] If point is visible? 0.322046, 0.292513, 0.326052 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.072533 y=0.000000 z=-0.156397 +[21:42:47.754] If point is visible? 0.292224, -0.092904, 0.412534 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.072533 y=0.000000 z=-0.156397 +[21:42:47.754] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.754] If point is visible? -0.189430, -0.170055, 0.375613 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.072533 y=0.000000 z=-0.156397 +[21:42:47.754] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.755] If point is visible? 0.357514, -0.216336, 0.346159 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.072533 y=0.000000 z=-0.156397 +[21:42:47.755] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:47.755] If point is visible? 0.168032, 0.212057, -0.752711 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.067300 y=0.000000 z=-0.143983 +[21:42:47.755] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:47.755] If point is visible? 0.168032, 0.212057, -0.752711 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.067300 y=0.000000 z=-0.143983 +[21:42:47.755] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:47.755] If point is visible? -0.421334, 0.125648, -0.626161 mu:1.417085 unit_bearing:0.348231 0.263413 0.899638 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.469375, 0.115235, -0.578139 mu:1.417085 unit_bearing:0.436969 0.240472 0.866736 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.178138, 0.186669, -0.762286 mu:1.417085 unit_bearing:-0.040035 0.372749 0.927068 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.265269, 0.235063, -0.705504 mu:1.417085 unit_bearing:0.108461 0.431010 0.895805 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.266434, 0.228932, -0.707298 mu:1.417085 unit_bearing:0.108536 0.422695 0.899749 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.273397, 0.229363, -0.703193 mu:1.417085 unit_bearing:0.119921 0.422593 0.898351 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? 0.000630, 0.210136, -0.795387 mu:1.417085 unit_bearing:-0.289130 0.411471 0.864347 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.000321, 0.204034, -0.797184 mu:1.417085 unit_bearing:-0.289334 0.403200 0.868168 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.306859, -0.408538, -0.568722 mu:1.417085 unit_bearing:0.195044 -0.497852 0.845045 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] If point is visible? -0.313386, -0.407785, -0.563977 mu:1.417085 unit_bearing:0.206245 -0.497612 0.842523 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] If point is visible? -0.313021, -0.409106, -0.563058 mu:1.417085 unit_bearing:0.206198 -0.499628 0.841341 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] If point is visible? 0.039871, -0.408953, -0.699009 mu:1.417085 unit_bearing:-0.328572 -0.475935 0.815798 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? 0.043938, -0.387500, -0.713799 mu:1.417085 unit_bearing:-0.340711 -0.443207 0.829146 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.275063, -0.362794, -0.629284 mu:1.417085 unit_bearing:0.122761 -0.423052 0.897751 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.255934, -0.336857, -0.658665 mu:1.417085 unit_bearing:0.083147 -0.381498 0.920623 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.250295, -0.328909, -0.666841 mu:1.417085 unit_bearing:0.071764 -0.368907 0.926692 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.258540, -0.287370, -0.685358 mu:1.417085 unit_bearing:0.074894 -0.307283 0.948666 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.162173, -0.238821, -0.750510 mu:1.417085 unit_bearing:-0.083598 -0.227746 0.970125 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.164105, -0.238746, -0.749855 mu:1.417085 unit_bearing:-0.080715 -0.227754 0.970368 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.166035, -0.238670, -0.749194 mu:1.417085 unit_bearing:-0.077831 -0.227762 0.970601 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.158021, -0.241911, -0.750774 mu:1.417085 unit_bearing:-0.089350 -0.232047 0.968592 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.159957, -0.241838, -0.750129 mu:1.417085 unit_bearing:-0.086467 -0.232056 0.968852 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.168376, -0.234172, -0.750049 mu:1.417085 unit_bearing:-0.074964 -0.221288 0.972323 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.170302, -0.234095, -0.749377 mu:1.417085 unit_bearing:-0.072079 -0.221295 0.972540 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.172361, -0.232541, -0.749200 mu:1.417085 unit_bearing:-0.069199 -0.219140 0.973237 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.180301, -0.229264, -0.747424 mu:1.417085 unit_bearing:-0.057664 -0.214838 0.974946 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.201992, -0.219424, -0.742256 mu:1.417085 unit_bearing:-0.025909 -0.201889 0.979066 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.203881, -0.219331, -0.741490 mu:1.417085 unit_bearing:-0.023020 -0.201891 0.979137 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.206015, -0.216271, -0.741658 mu:1.417085 unit_bearing:-0.020132 -0.197559 0.980084 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.204005, -0.217848, -0.741962 mu:1.417085 unit_bearing:-0.023021 -0.199724 0.979582 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.208954, -0.129276, -0.764320 mu:1.417085 unit_bearing:-0.023079 -0.071284 0.997189 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.201533, -0.123574, -0.768490 mu:1.417085 unit_bearing:-0.034670 -0.062544 0.997440 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.184404, -0.121329, -0.775563 mu:1.417085 unit_bearing:-0.060740 -0.058165 0.996457 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.184439, -0.119809, -0.775832 mu:1.417085 unit_bearing:-0.060741 -0.055981 0.996583 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.195928, -0.119286, -0.771529 mu:1.417085 unit_bearing:-0.043363 -0.055988 0.997489 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.188508, -0.107461, -0.776455 mu:1.417085 unit_bearing:-0.054955 -0.038505 0.997746 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.755] If point is visible? -0.207401, -0.115695, -0.767557 mu:1.417085 unit_bearing:-0.025981 -0.051623 0.998329 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.755] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.190447, -0.105849, -0.775981 mu:1.417085 unit_bearing:-0.052059 -0.036320 0.997983 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.192361, -0.105762, -0.775261 mu:1.417085 unit_bearing:-0.049163 -0.036321 0.998130 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.032637, -0.107488, -0.815676 mu:1.417085 unit_bearing:-0.279413 -0.031770 0.959645 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.032654, -0.105972, -0.815908 mu:1.417085 unit_bearing:-0.279415 -0.029597 0.959714 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.192382, -0.104237, -0.775499 mu:1.417085 unit_bearing:-0.049163 -0.034136 0.998207 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.201918, -0.103787, -0.771817 mu:1.417085 unit_bearing:-0.034677 -0.034138 0.998815 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.201957, -0.100736, -0.772283 mu:1.417085 unit_bearing:-0.034677 -0.029767 0.998955 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.043062, -0.099736, -0.815385 mu:1.417085 unit_bearing:-0.265179 -0.020916 0.963972 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.045184, -0.086007, -0.816913 mu:1.417085 unit_bearing:-0.262335 -0.001342 0.964976 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.041017, -0.096731, -0.816109 mu:1.417085 unit_bearing:-0.268034 -0.016565 0.963267 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.024456, -0.087864, -0.819467 mu:1.417085 unit_bearing:-0.290811 -0.003513 0.956774 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.320509, -0.070429, -0.715290 mu:1.417085 unit_bearing:0.153469 0.003019 0.988149 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.287006, -0.078990, -0.734432 mu:1.417085 unit_bearing:0.098585 -0.005718 0.995112 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.325709, -0.073079, -0.711600 mu:1.417085 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.024424, -0.074159, -0.821066 mu:1.417085 unit_bearing:-0.290805 0.016040 0.956648 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.041041, -0.078460, -0.818415 mu:1.417085 unit_bearing:-0.268038 0.009532 0.963361 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.292303, -0.060243, -0.733548 mu:1.417085 unit_bearing:0.107259 0.020497 0.994020 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.024059, -0.046662, -0.823489 mu:1.417085 unit_bearing:-0.290741 0.055133 0.955212 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.013568, -0.043769, -0.824835 mu:1.417085 unit_bearing:-0.304917 0.059434 0.950523 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.007186, -0.039273, -0.825728 mu:1.417085 unit_bearing:-0.313393 0.065912 0.947333 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.040477, -0.038696, -0.821842 mu:1.417085 unit_bearing:-0.267948 0.066053 0.961166 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.279149, -0.027269, -0.743269 mu:1.417085 unit_bearing:0.086983 0.068555 0.993848 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.028843, -0.032063, -0.828537 mu:1.417085 unit_bearing:-0.361244 0.076538 0.929325 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.026723, -0.032042, -0.828446 mu:1.417085 unit_bearing:-0.358440 0.076551 0.930409 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.041395, -0.039801, -0.828559 mu:1.417085 unit_bearing:-0.378086 0.065659 0.923439 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.101486, -0.031006, -0.810816 mu:1.417085 unit_bearing:-0.182003 0.074964 0.980436 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.012061, -0.027288, -0.827832 mu:1.417085 unit_bearing:-0.338733 0.083133 0.937203 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.041679, -0.029122, -0.829088 mu:1.417085 unit_bearing:-0.378013 0.080771 0.922270 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.031192, -0.024443, -0.828938 mu:1.417085 unit_bearing:-0.363992 0.087325 0.927300 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.018488, -0.024305, -0.828336 mu:1.417085 unit_bearing:-0.347153 0.087416 0.933725 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.041635, -0.030648, -0.829023 mu:1.417085 unit_bearing:-0.378024 0.078612 0.922452 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.061632, -0.007889, -0.829839 mu:1.417085 unit_bearing:-0.402864 0.110764 0.908533 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.046807, -0.004708, -0.829778 mu:1.417085 unit_bearing:-0.383366 0.115228 0.916381 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.046937, -0.001649, -0.829794 mu:1.417085 unit_bearing:-0.383331 0.119534 0.915843 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.044807, -0.001627, -0.829755 mu:1.417085 unit_bearing:-0.380544 0.119557 0.917002 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.042678, -0.001606, -0.829711 mu:1.417085 unit_bearing:-0.377754 0.119580 0.918152 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.034112, -0.003044, -0.829462 mu:1.417085 unit_bearing:-0.366595 0.117514 0.922929 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.017527, 0.004841, -0.828683 mu:1.417085 unit_bearing:-0.344081 0.128469 0.930109 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.032421, 0.010366, -0.823932 mu:1.417085 unit_bearing:-0.276185 0.135420 0.951516 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? -0.034491, 0.010412, -0.823659 mu:1.417085 unit_bearing:-0.273341 0.135437 0.952335 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.756] If point is visible? 0.047003, -0.000119, -0.829797 mu:1.417085 unit_bearing:-0.383314 0.121686 0.915567 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.756] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? 0.044873, -0.000097, -0.829759 mu:1.417085 unit_bearing:-0.380526 0.121710 0.916726 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? 0.042745, -0.000075, -0.829714 mu:1.417085 unit_bearing:-0.377737 0.121733 0.917876 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? 0.034383, 0.003084, -0.829471 mu:1.417085 unit_bearing:-0.366527 0.126134 0.921818 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? 0.038561, 0.001502, -0.829607 mu:1.417085 unit_bearing:-0.372136 0.123934 0.919867 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.281648, 0.034901, -0.741515 mu:1.417085 unit_bearing:0.095526 0.155696 0.983175 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.325692, 0.034900, -0.715110 mu:1.417085 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.325792, 0.033354, -0.715134 mu:1.417085 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.285416, 0.032039, -0.739579 mu:1.417085 unit_bearing:0.101311 0.151336 0.983277 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.285317, 0.033587, -0.739552 mu:1.417085 unit_bearing:0.101306 0.153509 0.982940 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.327812, 0.053728, -0.712309 mu:1.417085 unit_bearing:0.173235 0.177132 0.968821 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.324264, 0.055017, -0.714506 mu:1.417085 unit_bearing:0.167479 0.179325 0.969429 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.325980, 0.055146, -0.713377 mu:1.417085 unit_bearing:0.170352 0.179312 0.968931 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.316759, 0.062250, -0.718592 mu:1.417085 unit_bearing:0.155932 0.190205 0.969282 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.318485, 0.062377, -0.717485 mu:1.417085 unit_bearing:0.158807 0.190191 0.968818 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.320209, 0.062504, -0.716373 mu:1.417085 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? 0.330948, 0.065318, -0.771890 mu:1.417085 unit_bearing:-0.714654 0.203724 0.669153 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] calculated Z= 21.574105 +[21:42:47.757] update seeds 305 +[21:42:47.757] If point is visible? 0.328788, 0.065294, -0.772797 mu:1.417085 unit_bearing:-0.712364 0.203846 0.671554 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? 0.326715, 0.066733, -0.773510 mu:1.417085 unit_bearing:-0.709976 0.205993 0.673424 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.200031, 0.122244, -0.769348 mu:1.417085 unit_bearing:-0.020068 0.283352 0.958806 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.189416, 0.187242, -0.757821 mu:1.417085 unit_bearing:-0.022837 0.372783 0.927637 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.193156, 0.187436, -0.756287 mu:1.417085 unit_bearing:-0.017103 0.372791 0.927758 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.123257, 0.227494, -0.767012 mu:1.417085 unit_bearing:-0.111109 0.430986 0.895492 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.112742, 0.231647, -0.768415 mu:1.417085 unit_bearing:-0.125260 0.437069 0.890663 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? 0.047958, -0.375240, -0.721761 mu:1.417085 unit_bearing:-0.349573 -0.424587 0.835179 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.273038, -0.364320, -0.629518 mu:1.417085 unit_bearing:0.119896 -0.425159 0.897143 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.236648, -0.314379, -0.682812 mu:1.417085 unit_bearing:0.046043 -0.345712 0.937210 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.245156, -0.327866, -0.670361 mu:1.417085 unit_bearing:0.063179 -0.366832 0.928139 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.224198, -0.300965, -0.696473 mu:1.417085 unit_bearing:0.023102 -0.324486 0.945608 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.227449, -0.303618, -0.693449 mu:1.417085 unit_bearing:0.028845 -0.328739 0.943980 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.255737, -0.281840, -0.689723 mu:1.417085 unit_bearing:0.069174 -0.298751 0.951821 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? 0.063626, -0.277232, -0.773132 mu:1.417085 unit_bearing:-0.392113 -0.277865 0.876948 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? 0.066403, -0.262843, -0.779065 mu:1.417085 unit_bearing:-0.398068 -0.256603 0.880736 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.196188, -0.221178, -0.744047 mu:1.417085 unit_bearing:-0.034575 -0.204047 0.978350 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.196683, -0.215246, -0.745929 mu:1.417085 unit_bearing:-0.034584 -0.195380 0.980118 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? 0.071667, -0.225111, -0.792892 mu:1.417085 unit_bearing:-0.410090 -0.201144 0.889588 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.135963, -0.057558, -0.800121 mu:1.417085 unit_bearing:-0.133056 0.035771 0.990463 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.167309, -0.056347, -0.790408 mu:1.417085 unit_bearing:-0.086803 0.035797 0.995582 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.208678, -0.020524, -0.777034 mu:1.417085 unit_bearing:-0.023076 0.083874 0.996209 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.161352, 0.008266, -0.794718 mu:1.417085 unit_bearing:-0.092491 0.127421 0.987527 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.757] If point is visible? -0.028430, 0.007197, -0.824479 mu:1.417085 unit_bearing:-0.281894 0.131057 0.950452 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.757] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.313668, 0.057351, -0.721023 mu:1.417085 unit_bearing:0.150209 0.183734 0.971432 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.324264, 0.055017, -0.714506 mu:1.417085 unit_bearing:0.167479 0.179325 0.969429 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.421334, 0.125648, -0.626161 mu:1.417085 unit_bearing:0.348231 0.263413 0.899638 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? 0.393013, 0.133262, -0.731108 mu:1.417085 unit_bearing:-0.767489 0.292246 0.570572 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.185666, 0.187050, -0.759332 mu:1.417085 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.189416, 0.187242, -0.757821 mu:1.417085 unit_bearing:-0.022837 0.372783 0.927637 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? 0.286671, 0.178174, -0.767774 mu:1.417085 unit_bearing:-0.647040 0.361748 0.671177 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? 0.282377, 0.178270, -0.769254 mu:1.417085 unit_bearing:-0.642295 0.362139 0.675509 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.007098, 0.213481, -0.793618 mu:1.417085 unit_bearing:-0.277869 0.415871 0.865933 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.007583, 0.210431, -0.794535 mu:1.417085 unit_bearing:-0.277968 0.411739 0.867874 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.365028, 0.254139, -0.628215 mu:1.417085 unit_bearing:0.282892 0.444492 0.849941 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.125728, 0.224516, -0.767356 mu:1.417085 unit_bearing:-0.108301 0.426857 0.897811 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.109119, 0.229939, -0.769978 mu:1.417085 unit_bearing:-0.130963 0.434937 0.890886 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.258939, -0.284484, -0.686602 mu:1.417085 unit_bearing:0.074910 -0.303009 0.950039 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.266098, -0.283979, -0.682758 mu:1.417085 unit_bearing:0.086406 -0.302963 0.949077 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.259720, -0.278700, -0.689052 mu:1.417085 unit_bearing:0.074941 -0.294451 0.952724 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.074905, -0.297696, -0.749961 mu:1.417085 unit_bearing:-0.200640 -0.310650 0.929107 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.260774, -0.357148, -0.642372 mu:1.417085 unit_bearing:0.097219 -0.412852 0.905595 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.105340, -0.239124, -0.767607 mu:1.417085 unit_bearing:-0.167037 -0.225221 0.959882 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.113302, -0.238925, -0.765602 mu:1.417085 unit_bearing:-0.155556 -0.225286 0.961794 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.121232, -0.238710, -0.763505 mu:1.417085 unit_bearing:-0.144065 -0.225347 0.963568 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.193124, -0.212454, -0.748336 mu:1.417085 unit_bearing:-0.040369 -0.191037 0.980752 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.182109, -0.135072, -0.773708 mu:1.417085 unit_bearing:-0.063623 -0.077816 0.994936 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.189785, -0.134731, -0.770883 mu:1.417085 unit_bearing:-0.052042 -0.077823 0.995608 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.205028, -0.134013, -0.764973 mu:1.417085 unit_bearing:-0.028871 -0.077833 0.996548 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.118262, -0.167533, -0.786533 mu:1.417085 unit_bearing:-0.155985 -0.121257 0.980288 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.118539, -0.161519, -0.787952 mu:1.417085 unit_bearing:-0.156008 -0.112553 0.981322 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.290450, 0.037043, -0.736456 mu:1.417085 unit_bearing:0.109955 0.157835 0.981325 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.297525, 0.037526, -0.732340 mu:1.417085 unit_bearing:0.121494 0.157803 0.979968 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.311544, 0.038517, -0.723850 mu:1.417085 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.012340, -0.005433, -0.826305 mu:1.417085 unit_bearing:-0.304684 0.113608 0.945654 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] calculated Z= 0.866378 +[21:42:47.758] update seeds 305 +[21:42:47.758] If point is visible? -0.020678, -0.005279, -0.825414 mu:1.417085 unit_bearing:-0.293348 0.113672 0.949224 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.028990, -0.005114, -0.824427 mu:1.417085 unit_bearing:-0.281990 0.113732 0.952652 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.758] If point is visible? -0.189544, -0.018359, -0.784605 mu:1.417085 unit_bearing:-0.052036 0.088226 0.994740 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.758] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.204785, -0.017625, -0.778698 mu:1.417085 unit_bearing:-0.028868 0.088238 0.995681 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.318058, 0.045216, -0.719310 mu:1.417085 unit_bearing:0.156033 0.166369 0.973640 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.012071, 0.000714, -0.826352 mu:1.417085 unit_bearing:-0.304633 0.122263 0.944590 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.020409, 0.000872, -0.825464 mu:1.417085 unit_bearing:-0.293299 0.122331 0.948162 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.345646, 0.115919, -0.690966 mu:1.417085 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.000321, 0.204034, -0.797184 mu:1.417085 unit_bearing:-0.289334 0.403200 0.868168 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.008539, 0.204324, -0.796327 mu:1.417085 unit_bearing:-0.278163 0.403460 0.871691 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.469375, 0.115235, -0.578139 mu:1.417085 unit_bearing:0.436969 0.240472 0.866736 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.265269, 0.235063, -0.705504 mu:1.417085 unit_bearing:0.108461 0.431010 0.895805 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? 0.287333, 0.183992, -0.765899 mu:1.417085 unit_bearing:-0.646438 0.369607 0.667464 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.178138, 0.186669, -0.762286 mu:1.417085 unit_bearing:-0.040035 0.372749 0.927068 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.266434, 0.228932, -0.707298 mu:1.417085 unit_bearing:0.108536 0.422695 0.899749 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? -0.273397, 0.229363, -0.703193 mu:1.417085 unit_bearing:0.119921 0.422593 0.898351 T_cur_ref: x=0.058499 y=0.000000 z=-0.124216 +[21:42:47.759] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:47.759] If point is visible? 0.043606, 0.008446, -0.141021 mu:33.525898 unit_bearing:-0.017083 0.389645 0.920807 T_cur_ref: x=0.054177 y=0.000000 z=-0.114439 +[21:42:47.759] Z inverse min: 33.740864, Z inverse max: 33.310932 +[21:42:47.759] If point is visible? 0.043606, 0.008446, -0.141021 mu:33.525898 unit_bearing:-0.017083 0.389645 0.920807 T_cur_ref: x=0.054177 y=0.000000 z=-0.114439 +[21:42:47.759] Z inverse min: 33.740864, Z inverse max: 33.310932 +[21:42:47.759] If point is visible? 0.253872, 0.180033, 0.413994 mu:-1.719143 unit_bearing:-0.040359 -0.199708 0.979024 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.331690, -0.066301, 0.403941 mu:-1.719143 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.332382, -0.153899, 0.383978 mu:-1.719143 unit_bearing:0.131862 0.363801 0.922096 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.478692, -0.084373, 0.281751 mu:-1.719143 unit_bearing:0.426376 0.223750 0.876436 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.010816, -0.125409, 0.467796 mu:-1.719143 unit_bearing:-0.434328 0.332749 0.837041 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.333185, -0.148809, 0.385097 mu:-1.719143 unit_bearing:0.131933 0.355351 0.925375 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.253872, 0.180033, 0.413994 mu:-1.719143 unit_bearing:-0.040359 -0.199708 0.979024 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.478692, -0.084373, 0.281751 mu:-1.719143 unit_bearing:0.426376 0.223750 0.876436 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.332382, -0.153899, 0.383978 mu:-1.719143 unit_bearing:0.131862 0.363801 0.922096 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.331690, -0.066301, 0.403941 mu:-1.719143 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.333185, -0.148809, 0.385097 mu:-1.719143 unit_bearing:0.131933 0.355351 0.925375 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.010816, -0.125409, 0.467796 mu:-1.719143 unit_bearing:-0.434328 0.332749 0.837041 T_cur_ref: x=0.047146 y=0.000000 z=-0.099046 +[21:42:47.759] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.210999, 0.302943, 0.573235 mu:-1.336774 unit_bearing:-0.166552 -0.293918 0.941208 T_cur_ref: x=0.043331 y=0.000000 z=-0.089879 +[21:42:47.759] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.024104, -0.155439, 0.641610 mu:-1.336774 unit_bearing:-0.401921 0.325407 0.855903 T_cur_ref: x=0.043331 y=0.000000 z=-0.089879 +[21:42:47.759] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.759] If point is visible? 0.011909, -0.181038, 0.635273 mu:-1.336774 unit_bearing:-0.411825 0.358338 0.837851 T_cur_ref: x=0.043331 y=0.000000 z=-0.089879 +[21:42:47.759] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.426509, -0.185778, 0.525157 mu:-1.336774 unit_bearing:0.154854 0.346689 0.925109 T_cur_ref: x=0.043331 y=0.000000 z=-0.089879 +[21:42:47.760] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.210999, 0.302943, 0.573235 mu:-1.336774 unit_bearing:-0.166552 -0.293918 0.941208 T_cur_ref: x=0.043331 y=0.000000 z=-0.089879 +[21:42:47.760] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.011909, -0.181038, 0.635273 mu:-1.336774 unit_bearing:-0.411825 0.358338 0.837851 T_cur_ref: x=0.043331 y=0.000000 z=-0.089879 +[21:42:47.760] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.426509, -0.185778, 0.525157 mu:-1.336774 unit_bearing:0.154854 0.346689 0.925109 T_cur_ref: x=0.043331 y=0.000000 z=-0.089879 +[21:42:47.760] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.342992, -0.151940, 0.430635 mu:-1.627231 unit_bearing:0.120563 0.346972 0.930094 T_cur_ref: x=0.039302 y=0.000000 z=-0.081564 +[21:42:47.760] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.349007, -0.152345, 0.426899 mu:-1.627231 unit_bearing:0.132003 0.346886 0.928572 T_cur_ref: x=0.039302 y=0.000000 z=-0.081564 +[21:42:47.760] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.344531, -0.179202, 0.420813 mu:-1.627231 unit_bearing:0.131634 0.389055 0.911761 T_cur_ref: x=0.039302 y=0.000000 z=-0.081564 +[21:42:47.760] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.344531, -0.179202, 0.420813 mu:-1.627231 unit_bearing:0.131634 0.389055 0.911761 T_cur_ref: x=0.039302 y=0.000000 z=-0.081564 +[21:42:47.760] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.342992, -0.151940, 0.430635 mu:-1.627231 unit_bearing:0.120563 0.346972 0.930094 T_cur_ref: x=0.039302 y=0.000000 z=-0.081564 +[21:42:47.760] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.349007, -0.152345, 0.426899 mu:-1.627231 unit_bearing:0.132003 0.346886 0.928572 T_cur_ref: x=0.039302 y=0.000000 z=-0.081564 +[21:42:47.760] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.129119, 0.073018, 0.864832 mu:-1.058207 unit_bearing:-0.321940 0.044207 0.945727 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.390915, 0.179318, 0.784282 mu:-1.058207 unit_bearing:-0.040458 -0.077829 0.996145 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.410419, -0.127580, 0.785228 mu:-1.058207 unit_bearing:-0.005672 0.244633 0.969599 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? -0.311510, -0.198022, 0.783859 mu:-1.058207 unit_bearing:-0.696422 0.318444 0.643110 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.401486, -0.202416, 0.774630 mu:-1.058207 unit_bearing:-0.005652 0.321869 0.946767 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.357243, -0.291846, 0.766478 mu:-1.058207 unit_bearing:-0.039915 0.414747 0.909061 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.390396, -0.210177, 0.777457 mu:-1.058207 unit_bearing:-0.017147 0.330385 0.943690 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.400335, -0.210719, 0.773101 mu:-1.058207 unit_bearing:-0.005649 0.330392 0.943827 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.526453, 0.543640, 0.524126 mu:-1.058207 unit_bearing:0.183908 -0.494035 0.849769 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] If point is visible? 0.528639, 0.543394, 0.522545 mu:-1.058207 unit_bearing:0.186715 -0.493980 0.849188 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] If point is visible? 0.592545, 0.519814, 0.486076 mu:-1.058207 unit_bearing:0.265400 -0.473917 0.839623 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] If point is visible? 0.593035, 0.518028, 0.487245 mu:-1.058207 unit_bearing:0.265457 -0.471890 0.840745 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] If point is visible? 0.593522, 0.516240, 0.488410 mu:-1.058207 unit_bearing:0.265514 -0.469862 0.841862 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] If point is visible? 0.554650, 0.500265, 0.538024 mu:-1.058207 unit_bearing:0.207324 -0.446684 0.870339 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] If point is visible? 0.555093, 0.498443, 0.539135 mu:-1.058207 unit_bearing:0.207363 -0.444628 0.871382 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] If point is visible? 0.497960, 0.447891, 0.618917 mu:-1.058207 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] If point is visible? 0.484788, 0.432225, 0.637329 mu:-1.058207 unit_bearing:0.100428 -0.362414 0.926591 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.485792, 0.365746, 0.673149 mu:-1.058207 unit_bearing:0.089344 -0.287970 0.953463 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.356653, 0.316758, 0.757623 mu:-1.058207 unit_bearing:-0.069184 -0.225624 0.971755 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.364702, 0.312473, 0.756090 mu:-1.058207 unit_bearing:-0.060537 -0.221320 0.973320 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.367251, 0.312358, 0.755115 mu:-1.058207 unit_bearing:-0.057651 -0.221326 0.973494 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.367439, 0.310382, 0.755783 mu:-1.058207 unit_bearing:-0.057656 -0.219164 0.973983 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.369986, 0.310266, 0.754800 mu:-1.058207 unit_bearing:-0.054769 -0.219169 0.974148 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.396729, 0.293195, 0.749757 mu:-1.058207 unit_bearing:-0.025909 -0.201889 0.979066 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.399242, 0.293066, 0.748694 mu:-1.058207 unit_bearing:-0.023020 -0.201891 0.979137 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] If point is visible? 0.372901, 0.306193, 0.755133 mu:-1.058207 unit_bearing:-0.051890 -0.214848 0.975268 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.760] calculated Z= 1.004195 +[21:42:47.760] update seeds 305 +[21:42:47.760] If point is visible? 0.383409, 0.301754, 0.752405 mu:-1.058207 unit_bearing:-0.040345 -0.210537 0.976753 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.760] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.417425, 0.284186, 0.743538 mu:-1.058207 unit_bearing:-0.002790 -0.193228 0.981150 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.393862, 0.297291, 0.749542 mu:-1.058207 unit_bearing:-0.028795 -0.206219 0.978082 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.414766, 0.286311, 0.744036 mu:-1.058207 unit_bearing:-0.005681 -0.195396 0.980708 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.391519, 0.295433, 0.751229 mu:-1.058207 unit_bearing:-0.031686 -0.204050 0.978447 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.421313, 0.171656, 0.772614 mu:-1.058207 unit_bearing:-0.005695 -0.071286 0.997440 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.411470, 0.166095, 0.778146 mu:-1.058207 unit_bearing:-0.017285 -0.064733 0.997753 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.413979, 0.165962, 0.777058 mu:-1.058207 unit_bearing:-0.014388 -0.064733 0.997799 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.404127, 0.158349, 0.782826 mu:-1.058207 unit_bearing:-0.025980 -0.055993 0.998093 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.391384, 0.163058, 0.787330 mu:-1.058207 unit_bearing:-0.040465 -0.060358 0.997356 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.396597, 0.156698, 0.786337 mu:-1.058207 unit_bearing:-0.034673 -0.053806 0.997949 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.399126, 0.156570, 0.785292 mu:-1.058207 unit_bearing:-0.031775 -0.053807 0.998046 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.401651, 0.156441, 0.784240 mu:-1.058207 unit_bearing:-0.028878 -0.053807 0.998134 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.399170, 0.154533, 0.785642 mu:-1.058207 unit_bearing:-0.031776 -0.051622 0.998161 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.401696, 0.154404, 0.784590 mu:-1.058207 unit_bearing:-0.028878 -0.051622 0.998249 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.399366, 0.144338, 0.787333 mu:-1.058207 unit_bearing:-0.031778 -0.040696 0.998666 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.401926, 0.142168, 0.786606 mu:-1.058207 unit_bearing:-0.028881 -0.038511 0.998841 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.220818, 0.110096, 0.847376 mu:-1.058207 unit_bearing:-0.228024 0.003012 0.973651 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.173246, 0.049691, 0.860891 mu:-1.058207 unit_bearing:-0.276487 0.068200 0.958595 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.159315, 0.047918, 0.862937 mu:-1.058207 unit_bearing:-0.290697 0.070326 0.954227 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.139491, 0.038018, 0.865807 mu:-1.058207 unit_bearing:-0.310506 0.081095 0.947106 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.170119, 0.037424, 0.861919 mu:-1.058207 unit_bearing:-0.279289 0.081217 0.956766 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.139554, 0.040070, 0.865715 mu:-1.058207 unit_bearing:-0.310515 0.078928 0.947286 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.167410, 0.039537, 0.862220 mu:-1.058207 unit_bearing:-0.282141 0.079036 0.956112 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.358700, -0.004027, 0.815243 mu:-1.058207 unit_bearing:-0.075158 0.118734 0.990078 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.358599, -0.006098, 0.815267 mu:-1.058207 unit_bearing:-0.075155 0.120913 0.989814 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.146046, -0.007374, 0.865797 mu:-1.058207 unit_bearing:-0.301761 0.128769 0.944647 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.151618, -0.007491, 0.865121 mu:-1.058207 unit_bearing:-0.296095 0.128805 0.946434 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.220651, -0.005095, 0.853960 mu:-1.058207 unit_bearing:-0.224891 0.124849 0.966352 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.220549, -0.007161, 0.853966 mu:-1.058207 unit_bearing:-0.224882 0.127020 0.966072 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.115429, -0.002673, 0.868934 mu:-1.058207 unit_bearing:-0.332859 0.124236 0.934757 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.539253, -0.029354, 0.726154 mu:-1.058207 unit_bearing:0.138862 0.133847 0.981225 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.518348, -0.025755, 0.739091 mu:-1.058207 unit_bearing:0.112903 0.131735 0.984834 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.520699, -0.025922, 0.737682 mu:-1.058207 unit_bearing:0.115790 0.131729 0.984500 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.165405, -0.009861, 0.863285 mu:-1.058207 unit_bearing:-0.281894 0.131057 0.950452 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.214566, -0.017334, 0.855009 mu:-1.058207 unit_bearing:-0.230552 0.137839 0.963248 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.518108, -0.029898, 0.739092 mu:-1.058207 unit_bearing:0.112893 0.136087 0.984244 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.761] If point is visible? 0.520458, -0.030065, 0.737683 mu:-1.058207 unit_bearing:0.115780 0.136080 0.983909 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.761] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.522806, -0.030233, 0.736266 mu:-1.058207 unit_bearing:0.118666 0.136073 0.983566 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.566429, -0.037687, 0.707987 mu:-1.058207 unit_bearing:0.173389 0.140256 0.974815 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.211950, -0.015190, 0.855548 mu:-1.058207 unit_bearing:-0.233422 0.135657 0.962866 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.560035, -0.064251, 0.710573 mu:-1.058207 unit_bearing:0.167527 0.168490 0.971363 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.559879, -0.066323, 0.710505 mu:-1.058207 unit_bearing:0.167518 0.170658 0.970986 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.559721, -0.068396, 0.710432 mu:-1.058207 unit_bearing:0.167508 0.172825 0.970604 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.554564, 0.509090, 0.530761 mu:-1.058207 unit_bearing:0.209933 -0.456891 0.864395 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] If point is visible? 0.552036, 0.502335, 0.538542 mu:-1.058207 unit_bearing:0.204470 -0.448792 0.869930 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] If point is visible? 0.592054, 0.521598, 0.484903 mu:-1.058207 unit_bearing:0.265342 -0.475942 0.838495 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] If point is visible? 0.528639, 0.543394, 0.522545 mu:-1.058207 unit_bearing:0.186715 -0.493980 0.849188 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] If point is visible? 0.532998, 0.542897, 0.519360 mu:-1.058207 unit_bearing:0.192327 -0.493869 0.848000 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] If point is visible? 0.489038, 0.446783, 0.625515 mu:-1.058207 unit_bearing:0.108889 -0.379228 0.918874 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] If point is visible? 0.493685, 0.446398, 0.622719 mu:-1.058207 unit_bearing:0.114601 -0.379185 0.918197 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] If point is visible? 0.492972, 0.450163, 0.620759 mu:-1.058207 unit_bearing:0.114568 -0.383392 0.916452 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] If point is visible? 0.488418, 0.363626, 0.672593 mu:-1.058207 unit_bearing:0.092228 -0.285815 0.953836 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.267229, 0.374394, 0.763420 mu:-1.058207 unit_bearing:-0.160897 -0.285412 0.944803 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.471855, 0.345507, 0.690879 mu:-1.058207 unit_bearing:0.069282 -0.264427 0.961914 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.304836, 0.318722, 0.775132 mu:-1.058207 unit_bearing:-0.126811 -0.225429 0.965972 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? -0.268446, 0.208896, 0.797516 mu:-1.058207 unit_bearing:-0.682678 -0.107189 0.722815 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.401605, 0.158478, 0.783885 mu:-1.058207 unit_bearing:-0.028877 -0.055992 0.998014 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.416120, 0.178020, 0.773653 mu:-1.058207 unit_bearing:-0.011489 -0.077837 0.996900 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.421122, 0.177749, 0.771441 mu:-1.058207 unit_bearing:-0.005694 -0.077838 0.996950 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.218011, 0.132609, 0.844965 mu:-1.058207 unit_bearing:-0.230881 -0.020944 0.972757 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.528924, 0.109693, 0.725612 mu:-1.058207 unit_bearing:0.121713 -0.012268 0.992490 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.533608, 0.109340, 0.722745 mu:-1.058207 unit_bearing:0.127491 -0.012266 0.991764 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.528942, 0.105601, 0.726153 mu:-1.058207 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.533626, 0.105248, 0.723285 mu:-1.058207 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.335204, 0.071445, 0.820611 mu:-1.058207 unit_bearing:-0.104157 0.040156 0.993750 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.340472, 0.075342, 0.818503 mu:-1.058207 unit_bearing:-0.098376 0.035791 0.994505 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.129119, 0.073018, 0.864832 mu:-1.058207 unit_bearing:-0.321940 0.044207 0.945727 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.358896, 0.000115, 0.815180 mu:-1.058207 unit_bearing:-0.075163 0.114376 0.990590 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.115714, 0.003493, 0.868907 mu:-1.058207 unit_bearing:-0.332903 0.117757 0.935579 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.204174, -0.006701, 0.857095 mu:-1.058207 unit_bearing:-0.242036 0.126940 0.961928 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.115526, -0.000617, 0.868929 mu:-1.058207 unit_bearing:-0.332874 0.122077 0.935036 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.560189, -0.062179, 0.710637 mu:-1.058207 unit_bearing:0.167536 0.166322 0.971735 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.559879, -0.066323, 0.710505 mu:-1.058207 unit_bearing:0.167518 0.170658 0.970986 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.582839, -0.155866, 0.681548 mu:-1.058207 unit_bearing:0.207033 0.260972 0.942885 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.414073, -0.140334, 0.781623 mu:-1.058207 unit_bearing:0.000100 0.257565 0.966261 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.587745, -0.152080, 0.678738 mu:-1.058207 unit_bearing:0.212778 0.256633 0.942797 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? -0.146657, -0.180705, 0.836911 mu:-1.058207 unit_bearing:-0.561733 0.307097 0.768210 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? -0.061339, -0.242961, 0.835467 mu:-1.058207 unit_bearing:-0.475625 0.372300 0.796978 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.762] If point is visible? 0.489472, -0.262064, 0.713466 mu:-1.058207 unit_bearing:0.108908 0.376630 0.919940 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.762] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.492084, 0.371032, 0.666681 mu:-1.058207 unit_bearing:0.097938 -0.294356 0.950664 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.501479, 0.370300, 0.661162 mu:-1.058207 unit_bearing:0.109427 -0.294300 0.949428 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] calculated Z= 1.007291 +[21:42:47.763] update seeds 305 +[21:42:47.763] If point is visible? 0.553647, 0.512708, 0.528482 mu:-1.058207 unit_bearing:0.209849 -0.460984 0.862239 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] If point is visible? 0.570776, 0.510613, 0.515098 mu:-1.058207 unit_bearing:0.232286 -0.460510 0.856723 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] If point is visible? 0.300327, 0.311000, 0.779411 mu:-1.058207 unit_bearing:-0.132604 -0.216766 0.967176 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] calculated Z= 1.028492 +[21:42:47.763] update seeds 305 +[21:42:47.763] If point is visible? 0.310813, 0.310652, 0.776204 mu:-1.058207 unit_bearing:-0.121091 -0.216814 0.968674 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.310072, 0.318547, 0.773515 mu:-1.058207 unit_bearing:-0.121055 -0.225453 0.966704 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.320508, 0.318183, 0.770191 mu:-1.058207 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.479699, 0.447534, 0.631021 mu:-1.058207 unit_bearing:0.097457 -0.379307 0.920124 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] If point is visible? 0.261923, 0.374523, 0.764817 mu:-1.058207 unit_bearing:-0.166621 -0.285368 0.943823 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.410824, 0.186403, 0.774216 mu:-1.058207 unit_bearing:-0.017281 -0.086569 0.996096 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.295548, 0.231616, 0.805755 mu:-1.058207 unit_bearing:-0.144437 -0.129990 0.980939 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.295963, 0.223572, 0.807714 mu:-1.058207 unit_bearing:-0.144460 -0.121288 0.982049 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.306517, 0.223218, 0.804609 mu:-1.058207 unit_bearing:-0.132926 -0.121317 0.983673 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.317024, 0.222846, 0.801385 mu:-1.058207 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.528954, 0.097410, 0.727185 mu:-1.058207 unit_bearing:0.121714 0.000837 0.992565 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.538307, 0.096703, 0.721422 mu:-1.058207 unit_bearing:0.133269 0.000836 0.991080 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.528898, 0.113784, 0.725056 mu:-1.058207 unit_bearing:0.121712 -0.016636 0.992426 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.212578, 0.128659, 0.846593 mu:-1.058207 unit_bearing:-0.236610 -0.016585 0.971463 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.390915, 0.179318, 0.784282 mu:-1.058207 unit_bearing:-0.040458 -0.077829 0.996145 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.401035, 0.178810, 0.780117 mu:-1.058207 unit_bearing:-0.028871 -0.077833 0.996548 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.212617, 0.120501, 0.847690 mu:-1.058207 unit_bearing:-0.236614 -0.007876 0.971572 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.187907, -0.002144, 0.859927 mu:-1.058207 unit_bearing:-0.259177 0.122519 0.958027 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.132742, 0.007306, 0.867274 mu:-1.058207 unit_bearing:-0.316000 0.113541 0.941941 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.188285, 0.006104, 0.859847 mu:-1.058207 unit_bearing:-0.259219 0.113845 0.959085 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.523827, -0.051126, 0.734597 mu:-1.058207 unit_bearing:0.121494 0.157803 0.979968 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.533158, -0.051802, 0.728832 mu:-1.058207 unit_bearing:0.133027 0.157769 0.978475 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.542428, -0.052488, 0.722953 mu:-1.058207 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.133086, 0.015528, 0.867138 mu:-1.058207 unit_bearing:-0.316050 0.104888 0.942927 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.410766, 0.022424, 0.794222 mu:-1.058207 unit_bearing:-0.017281 0.088241 0.995949 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.358896, 0.000115, 0.815180 mu:-1.058207 unit_bearing:-0.075163 0.114376 0.990590 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.763] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.763] If point is visible? 0.369163, -0.000366, 0.811369 mu:-1.058207 unit_bearing:-0.063591 0.114389 0.991399 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 0.400383, 0.014680, 0.798812 mu:-1.058207 unit_bearing:-0.028865 0.096967 0.994869 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 0.533713, -0.043511, 0.728980 mu:-1.058207 unit_bearing:0.133053 0.149080 0.979833 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 0.542985, -0.044199, 0.723101 mu:-1.058207 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 0.401486, -0.202416, 0.774630 mu:-1.058207 unit_bearing:-0.005652 0.321869 0.946767 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 0.410419, -0.127580, 0.785228 mu:-1.058207 unit_bearing:-0.005672 0.244633 0.969599 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? -0.061339, -0.242961, 0.835467 mu:-1.058207 unit_bearing:-0.475625 0.372300 0.796978 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? -0.049849, -0.243271, 0.836532 mu:-1.058207 unit_bearing:-0.465009 0.372763 0.803004 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? -0.311510, -0.198022, 0.783859 mu:-1.058207 unit_bearing:-0.696422 0.318444 0.643110 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 0.390396, -0.210177, 0.777457 mu:-1.058207 unit_bearing:-0.017147 0.330385 0.943690 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 0.400335, -0.210719, 0.773101 mu:-1.058207 unit_bearing:-0.005649 0.330392 0.943827 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 0.523176, -0.226722, 0.704199 mu:-1.058207 unit_bearing:0.143506 0.338315 0.930026 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 0.357243, -0.291846, 0.766478 mu:-1.058207 unit_bearing:-0.039915 0.414747 0.909061 T_cur_ref: x=0.035195 y=0.000000 z=-0.072644 +[21:42:47.764] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 0.108527, -0.320560, 1.310731 mu:-0.707360 unit_bearing:-0.346385 0.343569 0.872913 T_cur_ref: x=0.031189 y=0.000000 z=-0.063980 +[21:42:47.764] Z inverse min: -0.676929, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 1.148668, -0.374724, 0.716656 mu:-0.707360 unit_bearing:0.498658 0.330384 0.801366 T_cur_ref: x=0.031189 y=0.000000 z=-0.063980 +[21:42:47.764] Z inverse min: -0.676929, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? 0.067017, 0.047450, 1.333295 mu:-0.733836 unit_bearing:-0.394699 0.087142 0.914669 T_cur_ref: x=0.013926 y=0.000000 z=-0.027546 +[21:42:47.764] Z inverse min: -0.712418, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? -0.082137, -0.095225, 0.471676 mu:-2.001087 unit_bearing:-0.566844 0.306852 0.764546 T_cur_ref: x=0.005317 y=0.000000 z=-0.011037 +[21:42:47.764] Z inverse min: -1.902191, Z inverse max: 0.000000 +[21:42:47.764] If point is visible? -0.082137, -0.095225, 0.471676 mu:-2.001087 unit_bearing:-0.566844 0.306852 0.764546 T_cur_ref: x=0.005317 y=0.000000 z=-0.011037 +[21:42:47.764] Z inverse min: -1.902191, Z inverse max: 0.000000 +[21:42:48.032] add new frame +[21:42:48.033] update seed +[21:42:48.033] If point is visible? 0.576338, -0.222238, -0.458666 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.362997 y=0.000000 z=-1.235100 +[21:42:48.033] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:48.033] add key frame +[21:42:48.033] remove key frame +[21:42:48.033] init seeds +[21:42:48.033] update seed +[21:42:48.033] If point is visible? 0.576338, -0.222238, -0.458666 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.362997 y=0.000000 z=-1.235100 +[21:42:48.033] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:48.033] If point is visible? 0.296026, -0.096895, -0.408129 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.362997 y=0.000000 z=-1.235100 +[21:42:48.033] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:48.033] If point is visible? 0.285969, -0.214684, -0.431526 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.362997 y=0.000000 z=-1.235100 +[21:42:48.033] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:48.033] If point is visible? 0.576338, -0.222238, -0.458666 mu:-1.197150 unit_bearing:0.228297 0.377347 0.897491 T_cur_ref: x=0.362997 y=0.000000 z=-1.235100 +[21:42:48.033] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:48.033] If point is visible? 0.296026, -0.096895, -0.408129 mu:-1.197150 unit_bearing:-0.109499 0.235785 0.965617 T_cur_ref: x=0.362997 y=0.000000 z=-1.235100 +[21:42:48.033] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:48.033] If point is visible? 0.285969, -0.214684, -0.431526 mu:-1.197150 unit_bearing:-0.120169 0.372332 0.920287 T_cur_ref: x=0.362997 y=0.000000 z=-1.235100 +[21:42:48.033] Z inverse min: -1.164487, Z inverse max: 0.000000 +[21:42:48.033] If point is visible? 0.133013, 0.064037, 0.048134 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.033] If point is visible? 0.135684, 0.063970, 0.047505 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.033] If point is visible? 0.165275, 0.012224, 0.047112 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.033] If point is visible? 0.165246, -0.031296, 0.045222 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.033] If point is visible? 0.221943, -0.034956, 0.012887 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.033] If point is visible? 0.193007, -0.024528, 0.033225 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.033] If point is visible? 0.221719, -0.037016, 0.012657 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.033] If point is visible? 0.133013, 0.064037, 0.048134 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.033] If point is visible? 0.135684, 0.063970, 0.047505 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.033] If point is visible? 0.165275, 0.012224, 0.047112 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.033] If point is visible? 0.221719, -0.037016, 0.012657 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.034] If point is visible? 0.221943, -0.034956, 0.012887 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.034] If point is visible? 0.165246, -0.031296, 0.045222 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.034] If point is visible? 0.193007, -0.024528, 0.033225 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.080939 y=0.000000 z=-0.172224 +[21:42:48.034] If point is visible? 0.329744, 0.292513, 0.311962 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.080231 y=0.000000 z=-0.170488 +[21:42:48.034] If point is visible? 0.299922, -0.092904, 0.398444 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.080231 y=0.000000 z=-0.170488 +[21:42:48.034] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.034] If point is visible? -0.181732, -0.170055, 0.361523 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.080231 y=0.000000 z=-0.170488 +[21:42:48.034] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.034] If point is visible? 0.365212, -0.216336, 0.332069 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.080231 y=0.000000 z=-0.170488 +[21:42:48.034] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.034] If point is visible? 0.329744, 0.292513, 0.311962 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.080231 y=0.000000 z=-0.170488 +[21:42:48.034] If point is visible? 0.299922, -0.092904, 0.398444 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.080231 y=0.000000 z=-0.170488 +[21:42:48.034] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.034] If point is visible? -0.181732, -0.170055, 0.361523 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.080231 y=0.000000 z=-0.170488 +[21:42:48.034] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.034] If point is visible? 0.365212, -0.216336, 0.332069 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.080231 y=0.000000 z=-0.170488 +[21:42:48.034] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.034] If point is visible? 0.175730, 0.212057, -0.766801 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.074998 y=0.000000 z=-0.158073 +[21:42:48.034] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:48.034] If point is visible? 0.175730, 0.212057, -0.766801 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.074998 y=0.000000 z=-0.158073 +[21:42:48.034] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:48.034] If point is visible? -0.413636, 0.125648, -0.640252 mu:1.417085 unit_bearing:0.348231 0.263413 0.899638 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.034] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.034] If point is visible? -0.461677, 0.115235, -0.592230 mu:1.417085 unit_bearing:0.436969 0.240472 0.866736 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.034] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.034] If point is visible? -0.170440, 0.186669, -0.776376 mu:1.417085 unit_bearing:-0.040035 0.372749 0.927068 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.034] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.034] If point is visible? -0.257571, 0.235063, -0.719594 mu:1.417085 unit_bearing:0.108461 0.431010 0.895805 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.034] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.034] If point is visible? -0.258736, 0.228932, -0.721389 mu:1.417085 unit_bearing:0.108536 0.422695 0.899749 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.034] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.034] If point is visible? -0.265699, 0.229363, -0.717283 mu:1.417085 unit_bearing:0.119921 0.422593 0.898351 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.034] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.034] If point is visible? 0.008328, 0.210136, -0.809477 mu:1.417085 unit_bearing:-0.289130 0.411471 0.864347 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.034] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.034] If point is visible? 0.007378, 0.204034, -0.811275 mu:1.417085 unit_bearing:-0.289334 0.403200 0.868168 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.034] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.299161, -0.408538, -0.582812 mu:1.417085 unit_bearing:0.195044 -0.497852 0.845045 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] If point is visible? -0.305688, -0.407785, -0.578067 mu:1.417085 unit_bearing:0.206245 -0.497612 0.842523 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] If point is visible? -0.305322, -0.409106, -0.577148 mu:1.417085 unit_bearing:0.206198 -0.499628 0.841341 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] If point is visible? 0.047569, -0.408953, -0.713099 mu:1.417085 unit_bearing:-0.328572 -0.475935 0.815798 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? 0.051636, -0.387500, -0.727889 mu:1.417085 unit_bearing:-0.340711 -0.443207 0.829146 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.267365, -0.362794, -0.643374 mu:1.417085 unit_bearing:0.122761 -0.423052 0.897751 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.248236, -0.336857, -0.672755 mu:1.417085 unit_bearing:0.083147 -0.381498 0.920623 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.242597, -0.328909, -0.680931 mu:1.417085 unit_bearing:0.071764 -0.368907 0.926692 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.250842, -0.287370, -0.699449 mu:1.417085 unit_bearing:0.074894 -0.307283 0.948666 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.154475, -0.238821, -0.764601 mu:1.417085 unit_bearing:-0.083598 -0.227746 0.970125 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.156407, -0.238746, -0.763945 mu:1.417085 unit_bearing:-0.080715 -0.227754 0.970368 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.158337, -0.238670, -0.763284 mu:1.417085 unit_bearing:-0.077831 -0.227762 0.970601 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.150323, -0.241911, -0.764864 mu:1.417085 unit_bearing:-0.089350 -0.232047 0.968592 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.152259, -0.241838, -0.764219 mu:1.417085 unit_bearing:-0.086467 -0.232056 0.968852 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.160678, -0.234172, -0.764140 mu:1.417085 unit_bearing:-0.074964 -0.221288 0.972323 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.162604, -0.234095, -0.763467 mu:1.417085 unit_bearing:-0.072079 -0.221295 0.972540 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.164662, -0.232541, -0.763290 mu:1.417085 unit_bearing:-0.069199 -0.219140 0.973237 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.172603, -0.229264, -0.761515 mu:1.417085 unit_bearing:-0.057664 -0.214838 0.974946 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.194294, -0.219424, -0.756346 mu:1.417085 unit_bearing:-0.025909 -0.201889 0.979066 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.196182, -0.219331, -0.755580 mu:1.417085 unit_bearing:-0.023020 -0.201891 0.979137 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.198317, -0.216271, -0.755749 mu:1.417085 unit_bearing:-0.020132 -0.197559 0.980084 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.196307, -0.217848, -0.756052 mu:1.417085 unit_bearing:-0.023021 -0.199724 0.979582 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.201256, -0.129276, -0.778410 mu:1.417085 unit_bearing:-0.023079 -0.071284 0.997189 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.193835, -0.123574, -0.782580 mu:1.417085 unit_bearing:-0.034670 -0.062544 0.997440 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.176706, -0.121329, -0.789654 mu:1.417085 unit_bearing:-0.060740 -0.058165 0.996457 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.035] If point is visible? -0.176740, -0.119809, -0.789922 mu:1.417085 unit_bearing:-0.060741 -0.055981 0.996583 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.035] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.036] If point is visible? -0.188230, -0.119286, -0.785619 mu:1.417085 unit_bearing:-0.043363 -0.055988 0.997489 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.036] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.036] If point is visible? -0.180809, -0.107461, -0.790545 mu:1.417085 unit_bearing:-0.054955 -0.038505 0.997746 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.036] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.036] If point is visible? -0.199703, -0.115695, -0.781648 mu:1.417085 unit_bearing:-0.025981 -0.051623 0.998329 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.036] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.036] If point is visible? -0.182748, -0.105849, -0.790072 mu:1.417085 unit_bearing:-0.052059 -0.036320 0.997983 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.036] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.036] If point is visible? -0.184662, -0.105762, -0.789352 mu:1.417085 unit_bearing:-0.049163 -0.036321 0.998130 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.036] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.036] If point is visible? -0.024938, -0.107488, -0.829766 mu:1.417085 unit_bearing:-0.279413 -0.031770 0.959645 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.036] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.036] If point is visible? -0.024956, -0.105972, -0.829998 mu:1.417085 unit_bearing:-0.279415 -0.029597 0.959714 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.036] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.036] If point is visible? -0.184684, -0.104237, -0.789589 mu:1.417085 unit_bearing:-0.049163 -0.034136 0.998207 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.036] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.036] If point is visible? -0.194220, -0.103787, -0.785908 mu:1.417085 unit_bearing:-0.034677 -0.034138 0.998815 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.036] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.036] If point is visible? -0.194259, -0.100736, -0.786373 mu:1.417085 unit_bearing:-0.034677 -0.029767 0.998955 T_cur_ref: x=0.066197 y=0.000000 z=-0.138306 +[21:42:48.036] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.036] init seeds +[21:42:48.036] DepthFilter: Initialized 8 new seeds +[21:42:48.038] DepthFilter: Initialized 10 new seeds +[21:42:48.319] add new frame +[21:42:48.319] add key frame +[21:42:48.319] remove key frame +[21:42:48.319] update seed +[21:42:48.319] If point is visible? 0.133182, 0.064037, 0.047735 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.135852, 0.063970, 0.047106 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.165444, 0.012224, 0.046712 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.165415, -0.031296, 0.044823 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.222111, -0.034956, 0.012488 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.193175, -0.024528, 0.032826 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.221887, -0.037016, 0.012258 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.133182, 0.064037, 0.047735 mu:-4.249738 unit_bearing:-0.167379 -0.155984 0.973475 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.135852, 0.063970, 0.047106 mu:-4.249738 unit_bearing:-0.155873 -0.156028 0.975376 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.165444, 0.012224, 0.046712 mu:-4.249738 unit_bearing:-0.028876 0.062035 0.997656 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.221887, -0.037016, 0.012258 mu:-4.249738 unit_bearing:0.258341 0.251887 0.932638 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.222111, -0.034956, 0.012488 mu:-4.249738 unit_bearing:0.258435 0.243318 0.934884 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.165415, -0.031296, 0.044823 mu:-4.249738 unit_bearing:-0.017215 0.244628 0.969464 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.193175, -0.024528, 0.032826 mu:-4.249738 unit_bearing:0.109797 0.209866 0.971546 T_cur_ref: x=0.081107 y=0.000000 z=-0.172623 +[21:42:48.319] If point is visible? 0.329912, 0.292513, 0.311563 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.080400 y=0.000000 z=-0.170887 +[21:42:48.319] If point is visible? 0.300091, -0.092904, 0.398045 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.080400 y=0.000000 z=-0.170887 +[21:42:48.319] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.319] If point is visible? -0.181563, -0.170055, 0.361124 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.080400 y=0.000000 z=-0.170887 +[21:42:48.319] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.319] If point is visible? 0.365381, -0.216336, 0.331669 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.080400 y=0.000000 z=-0.170887 +[21:42:48.319] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.319] If point is visible? 0.329912, 0.292513, 0.311563 mu:-1.620981 unit_bearing:0.051687 -0.375317 0.925454 T_cur_ref: x=0.080400 y=0.000000 z=-0.170887 +[21:42:48.319] If point is visible? 0.300091, -0.092904, 0.398045 mu:-1.620981 unit_bearing:-0.017203 0.261865 0.964951 T_cur_ref: x=0.080400 y=0.000000 z=-0.170887 +[21:42:48.319] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.319] If point is visible? -0.181563, -0.170055, 0.361124 mu:-1.620981 unit_bearing:-0.708834 0.378698 0.595098 T_cur_ref: x=0.080400 y=0.000000 z=-0.170887 +[21:42:48.319] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.319] If point is visible? 0.365381, -0.216336, 0.331669 mu:-1.620981 unit_bearing:0.131018 0.447342 0.884714 T_cur_ref: x=0.080400 y=0.000000 z=-0.170887 +[21:42:48.319] Z inverse min: -1.596494, Z inverse max: 0.000000 +[21:42:48.319] If point is visible? 0.175898, 0.212057, -0.767200 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.075166 y=0.000000 z=-0.158473 +[21:42:48.319] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:48.319] If point is visible? 0.175898, 0.212057, -0.767200 mu:1.532732 unit_bearing:-0.482908 0.436310 0.759232 T_cur_ref: x=0.075166 y=0.000000 z=-0.158473 +[21:42:48.319] Z inverse min: 1.627879, Z inverse max: 1.437586 +[21:42:48.319] If point is visible? -0.413467, 0.125648, -0.640651 mu:1.417085 unit_bearing:0.348231 0.263413 0.899638 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.319] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.319] If point is visible? -0.461508, 0.115235, -0.592629 mu:1.417085 unit_bearing:0.436969 0.240472 0.866736 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.319] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.319] If point is visible? -0.170272, 0.186669, -0.776776 mu:1.417085 unit_bearing:-0.040035 0.372749 0.927068 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.319] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.257402, 0.235063, -0.719993 mu:1.417085 unit_bearing:0.108461 0.431010 0.895805 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.258567, 0.228932, -0.721788 mu:1.417085 unit_bearing:0.108536 0.422695 0.899749 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.265530, 0.229363, -0.717682 mu:1.417085 unit_bearing:0.119921 0.422593 0.898351 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? 0.008496, 0.210136, -0.809876 mu:1.417085 unit_bearing:-0.289130 0.411471 0.864347 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? 0.007546, 0.204034, -0.811674 mu:1.417085 unit_bearing:-0.289334 0.403200 0.868168 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.298993, -0.408538, -0.583212 mu:1.417085 unit_bearing:0.195044 -0.497852 0.845045 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] If point is visible? -0.305519, -0.407785, -0.578466 mu:1.417085 unit_bearing:0.206245 -0.497612 0.842523 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] If point is visible? -0.305154, -0.409106, -0.577547 mu:1.417085 unit_bearing:0.206198 -0.499628 0.841341 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] If point is visible? 0.047737, -0.408953, -0.713498 mu:1.417085 unit_bearing:-0.328572 -0.475935 0.815798 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? 0.051804, -0.387500, -0.728288 mu:1.417085 unit_bearing:-0.340711 -0.443207 0.829146 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.267196, -0.362794, -0.643773 mu:1.417085 unit_bearing:0.122761 -0.423052 0.897751 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.248067, -0.336857, -0.673154 mu:1.417085 unit_bearing:0.083147 -0.381498 0.920623 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.242428, -0.328909, -0.681330 mu:1.417085 unit_bearing:0.071764 -0.368907 0.926692 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.250674, -0.287370, -0.699848 mu:1.417085 unit_bearing:0.074894 -0.307283 0.948666 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.154306, -0.238821, -0.765000 mu:1.417085 unit_bearing:-0.083598 -0.227746 0.970125 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.156239, -0.238746, -0.764344 mu:1.417085 unit_bearing:-0.080715 -0.227754 0.970368 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.158169, -0.238670, -0.763683 mu:1.417085 unit_bearing:-0.077831 -0.227762 0.970601 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.150154, -0.241911, -0.765263 mu:1.417085 unit_bearing:-0.089350 -0.232047 0.968592 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.152091, -0.241838, -0.764619 mu:1.417085 unit_bearing:-0.086467 -0.232056 0.968852 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.160509, -0.234172, -0.764539 mu:1.417085 unit_bearing:-0.074964 -0.221288 0.972323 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.162435, -0.234095, -0.763866 mu:1.417085 unit_bearing:-0.072079 -0.221295 0.972540 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.164494, -0.232541, -0.763689 mu:1.417085 unit_bearing:-0.069199 -0.219140 0.973237 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.172434, -0.229264, -0.761914 mu:1.417085 unit_bearing:-0.057664 -0.214838 0.974946 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.194126, -0.219424, -0.756746 mu:1.417085 unit_bearing:-0.025909 -0.201889 0.979066 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.196014, -0.219331, -0.755979 mu:1.417085 unit_bearing:-0.023020 -0.201891 0.979137 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.198148, -0.216271, -0.756148 mu:1.417085 unit_bearing:-0.020132 -0.197559 0.980084 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.196139, -0.217848, -0.756451 mu:1.417085 unit_bearing:-0.023021 -0.199724 0.979582 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.201087, -0.129276, -0.778809 mu:1.417085 unit_bearing:-0.023079 -0.071284 0.997189 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.320] If point is visible? -0.193666, -0.123574, -0.782980 mu:1.417085 unit_bearing:-0.034670 -0.062544 0.997440 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.320] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.176537, -0.121329, -0.790053 mu:1.417085 unit_bearing:-0.060740 -0.058165 0.996457 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.176572, -0.119809, -0.790321 mu:1.417085 unit_bearing:-0.060741 -0.055981 0.996583 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.188061, -0.119286, -0.786018 mu:1.417085 unit_bearing:-0.043363 -0.055988 0.997489 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.180641, -0.107461, -0.790945 mu:1.417085 unit_bearing:-0.054955 -0.038505 0.997746 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.199534, -0.115695, -0.782047 mu:1.417085 unit_bearing:-0.025981 -0.051623 0.998329 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.182580, -0.105849, -0.790471 mu:1.417085 unit_bearing:-0.052059 -0.036320 0.997983 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.184494, -0.105762, -0.789751 mu:1.417085 unit_bearing:-0.049163 -0.036321 0.998130 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.024770, -0.107488, -0.830165 mu:1.417085 unit_bearing:-0.279413 -0.031770 0.959645 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.024788, -0.105972, -0.830397 mu:1.417085 unit_bearing:-0.279415 -0.029597 0.959714 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.184516, -0.104237, -0.789988 mu:1.417085 unit_bearing:-0.049163 -0.034136 0.998207 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.194051, -0.103787, -0.786307 mu:1.417085 unit_bearing:-0.034677 -0.034138 0.998815 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.194091, -0.100736, -0.786773 mu:1.417085 unit_bearing:-0.034677 -0.029767 0.998955 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.035195, -0.099736, -0.829874 mu:1.417085 unit_bearing:-0.265179 -0.020916 0.963972 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.037318, -0.086007, -0.831402 mu:1.417085 unit_bearing:-0.262335 -0.001342 0.964976 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.033150, -0.096731, -0.830598 mu:1.417085 unit_bearing:-0.268034 -0.016565 0.963267 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.016590, -0.087864, -0.833957 mu:1.417085 unit_bearing:-0.290811 -0.003513 0.956774 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.312643, -0.070429, -0.729780 mu:1.417085 unit_bearing:0.153469 0.003019 0.988149 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.279139, -0.078990, -0.748921 mu:1.417085 unit_bearing:0.098585 -0.005718 0.995112 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.317843, -0.073079, -0.726089 mu:1.417085 unit_bearing:0.162118 -0.001346 0.986770 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.016557, -0.074159, -0.835556 mu:1.417085 unit_bearing:-0.290805 0.016040 0.956648 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.033175, -0.078460, -0.832904 mu:1.417085 unit_bearing:-0.268038 0.009532 0.963361 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.284436, -0.060243, -0.748037 mu:1.417085 unit_bearing:0.107259 0.020497 0.994020 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.016193, -0.046662, -0.837979 mu:1.417085 unit_bearing:-0.290741 0.055133 0.955212 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.005702, -0.043769, -0.839324 mu:1.417085 unit_bearing:-0.304917 0.059434 0.950523 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? 0.000680, -0.039273, -0.840218 mu:1.417085 unit_bearing:-0.313393 0.065912 0.947333 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.032611, -0.038696, -0.836332 mu:1.417085 unit_bearing:-0.267948 0.066053 0.961166 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? -0.271282, -0.027269, -0.757758 mu:1.417085 unit_bearing:0.086983 0.068555 0.993848 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.321] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.321] If point is visible? 0.036709, -0.032063, -0.843027 mu:1.417085 unit_bearing:-0.361244 0.076538 0.929325 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.034589, -0.032042, -0.842935 mu:1.417085 unit_bearing:-0.358440 0.076551 0.930409 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.049262, -0.039801, -0.843049 mu:1.417085 unit_bearing:-0.378086 0.065659 0.923439 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? -0.093620, -0.031006, -0.825305 mu:1.417085 unit_bearing:-0.182003 0.074964 0.980436 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.019928, -0.027288, -0.842321 mu:1.417085 unit_bearing:-0.338733 0.083133 0.937203 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.049545, -0.029122, -0.843578 mu:1.417085 unit_bearing:-0.378013 0.080771 0.922270 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.039058, -0.024443, -0.843427 mu:1.417085 unit_bearing:-0.363992 0.087325 0.927300 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.026355, -0.024305, -0.842825 mu:1.417085 unit_bearing:-0.347153 0.087416 0.933725 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.049501, -0.030648, -0.843512 mu:1.417085 unit_bearing:-0.378024 0.078612 0.922452 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.069498, -0.007889, -0.844329 mu:1.417085 unit_bearing:-0.402864 0.110764 0.908533 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.054673, -0.004708, -0.844267 mu:1.417085 unit_bearing:-0.383366 0.115228 0.916381 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.054803, -0.001649, -0.844283 mu:1.417085 unit_bearing:-0.383331 0.119534 0.915843 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.052673, -0.001627, -0.844245 mu:1.417085 unit_bearing:-0.380544 0.119557 0.917002 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] calculated Z= 0.859095 +[21:42:48.322] update seeds 305 +[21:42:48.322] If point is visible? 0.050545, -0.001606, -0.844200 mu:1.417085 unit_bearing:-0.377754 0.119580 0.918152 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.041979, -0.003044, -0.843952 mu:1.417085 unit_bearing:-0.366595 0.117514 0.922929 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.025393, 0.004841, -0.843173 mu:1.417085 unit_bearing:-0.344081 0.128469 0.930109 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? -0.024555, 0.010366, -0.838421 mu:1.417085 unit_bearing:-0.276185 0.135420 0.951516 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? -0.026624, 0.010412, -0.838149 mu:1.417085 unit_bearing:-0.273341 0.135437 0.952335 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.054870, -0.000119, -0.844286 mu:1.417085 unit_bearing:-0.383314 0.121686 0.915567 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.052740, -0.000097, -0.844248 mu:1.417085 unit_bearing:-0.380526 0.121710 0.916726 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.050611, -0.000075, -0.844204 mu:1.417085 unit_bearing:-0.377737 0.121733 0.917876 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.042250, 0.003084, -0.843961 mu:1.417085 unit_bearing:-0.366527 0.126134 0.921818 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? 0.046427, 0.001502, -0.844096 mu:1.417085 unit_bearing:-0.372136 0.123934 0.919867 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? -0.273782, 0.034901, -0.756004 mu:1.417085 unit_bearing:0.095526 0.155696 0.983175 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? -0.317826, 0.034900, -0.729599 mu:1.417085 unit_bearing:0.167598 0.151135 0.974202 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? -0.317925, 0.033354, -0.729624 mu:1.417085 unit_bearing:0.167606 0.148964 0.974535 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? -0.277550, 0.032039, -0.754069 mu:1.417085 unit_bearing:0.101311 0.151336 0.983277 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.322] If point is visible? -0.277451, 0.033587, -0.754041 mu:1.417085 unit_bearing:0.101306 0.153509 0.982940 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.322] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.319945, 0.053728, -0.726798 mu:1.417085 unit_bearing:0.173235 0.177132 0.968821 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.316397, 0.055017, -0.728995 mu:1.417085 unit_bearing:0.167479 0.179325 0.969429 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.318113, 0.055146, -0.727867 mu:1.417085 unit_bearing:0.170352 0.179312 0.968931 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.308892, 0.062250, -0.733081 mu:1.417085 unit_bearing:0.155932 0.190205 0.969282 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.310619, 0.062377, -0.731975 mu:1.417085 unit_bearing:0.158807 0.190191 0.968818 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.312343, 0.062504, -0.730862 mu:1.417085 unit_bearing:0.161681 0.190178 0.968345 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? 0.338814, 0.065318, -0.786379 mu:1.417085 unit_bearing:-0.714654 0.203724 0.669153 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? 0.336654, 0.065294, -0.787286 mu:1.417085 unit_bearing:-0.712364 0.203846 0.671554 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? 0.334581, 0.066733, -0.788000 mu:1.417085 unit_bearing:-0.709976 0.205993 0.673424 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.192164, 0.122244, -0.783837 mu:1.417085 unit_bearing:-0.020068 0.283352 0.958806 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.181549, 0.187242, -0.772310 mu:1.417085 unit_bearing:-0.022837 0.372783 0.927637 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.185290, 0.187436, -0.770776 mu:1.417085 unit_bearing:-0.017103 0.372791 0.927758 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.115390, 0.227494, -0.781502 mu:1.417085 unit_bearing:-0.111109 0.430986 0.895492 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.104876, 0.231647, -0.782904 mu:1.417085 unit_bearing:-0.125260 0.437069 0.890663 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? 0.055824, -0.375240, -0.736250 mu:1.417085 unit_bearing:-0.349573 -0.424587 0.835179 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.265172, -0.364320, -0.644007 mu:1.417085 unit_bearing:0.119896 -0.425159 0.897143 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.228782, -0.314379, -0.697302 mu:1.417085 unit_bearing:0.046043 -0.345712 0.937210 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.237289, -0.327866, -0.684850 mu:1.417085 unit_bearing:0.063179 -0.366832 0.928139 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.216332, -0.300965, -0.710963 mu:1.417085 unit_bearing:0.023102 -0.324486 0.945608 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.219583, -0.303618, -0.707938 mu:1.417085 unit_bearing:0.028845 -0.328739 0.943980 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.247870, -0.281840, -0.704213 mu:1.417085 unit_bearing:0.069174 -0.298751 0.951821 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? 0.071493, -0.277232, -0.787622 mu:1.417085 unit_bearing:-0.392113 -0.277865 0.876948 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? 0.074270, -0.262843, -0.793554 mu:1.417085 unit_bearing:-0.398068 -0.256603 0.880736 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.188322, -0.221178, -0.758537 mu:1.417085 unit_bearing:-0.034575 -0.204047 0.978350 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? -0.188817, -0.215246, -0.760419 mu:1.417085 unit_bearing:-0.034584 -0.195380 0.980118 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.323] If point is visible? 0.079533, -0.225111, -0.807381 mu:1.417085 unit_bearing:-0.410090 -0.201144 0.889588 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.323] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.128097, -0.057558, -0.814610 mu:1.417085 unit_bearing:-0.133056 0.035771 0.990463 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.159443, -0.056347, -0.804897 mu:1.417085 unit_bearing:-0.086803 0.035797 0.995582 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.200812, -0.020524, -0.791523 mu:1.417085 unit_bearing:-0.023076 0.083874 0.996209 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.153485, 0.008266, -0.809208 mu:1.417085 unit_bearing:-0.092491 0.127421 0.987527 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.020563, 0.007197, -0.838968 mu:1.417085 unit_bearing:-0.281894 0.131057 0.950452 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.305801, 0.057351, -0.735513 mu:1.417085 unit_bearing:0.150209 0.183734 0.971432 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.316397, 0.055017, -0.728995 mu:1.417085 unit_bearing:0.167479 0.179325 0.969429 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.413467, 0.125648, -0.640651 mu:1.417085 unit_bearing:0.348231 0.263413 0.899638 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? 0.400880, 0.133262, -0.745597 mu:1.417085 unit_bearing:-0.767489 0.292246 0.570572 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.177800, 0.187050, -0.773821 mu:1.417085 unit_bearing:-0.028570 0.372774 0.927482 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.181549, 0.187242, -0.772310 mu:1.417085 unit_bearing:-0.022837 0.372783 0.927637 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? 0.294537, 0.178174, -0.782264 mu:1.417085 unit_bearing:-0.647040 0.361748 0.671177 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? 0.290244, 0.178270, -0.783744 mu:1.417085 unit_bearing:-0.642295 0.362139 0.675509 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? 0.000768, 0.213481, -0.808107 mu:1.417085 unit_bearing:-0.277869 0.415871 0.865933 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? 0.000283, 0.210431, -0.809025 mu:1.417085 unit_bearing:-0.277968 0.411739 0.867874 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.357162, 0.254139, -0.642704 mu:1.417085 unit_bearing:0.282892 0.444492 0.849941 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.117862, 0.224516, -0.781845 mu:1.417085 unit_bearing:-0.108301 0.426857 0.897811 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.101253, 0.229939, -0.784467 mu:1.417085 unit_bearing:-0.130963 0.434937 0.890886 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.251073, -0.284484, -0.701092 mu:1.417085 unit_bearing:0.074910 -0.303009 0.950039 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.258231, -0.283979, -0.697247 mu:1.417085 unit_bearing:0.086406 -0.302963 0.949077 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.251853, -0.278700, -0.703541 mu:1.417085 unit_bearing:0.074941 -0.294451 0.952724 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.067039, -0.297696, -0.764450 mu:1.417085 unit_bearing:-0.200640 -0.310650 0.929107 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.252908, -0.357148, -0.656862 mu:1.417085 unit_bearing:0.097219 -0.412852 0.905595 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.097473, -0.239124, -0.782097 mu:1.417085 unit_bearing:-0.167037 -0.225221 0.959882 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.105436, -0.238925, -0.780091 mu:1.417085 unit_bearing:-0.155556 -0.225286 0.961794 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.324] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.324] If point is visible? -0.113366, -0.238710, -0.777994 mu:1.417085 unit_bearing:-0.144065 -0.225347 0.963568 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.185257, -0.212454, -0.762825 mu:1.417085 unit_bearing:-0.040369 -0.191037 0.980752 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.174243, -0.135072, -0.788197 mu:1.417085 unit_bearing:-0.063623 -0.077816 0.994936 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.181919, -0.134731, -0.785373 mu:1.417085 unit_bearing:-0.052042 -0.077823 0.995608 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.197162, -0.134013, -0.779463 mu:1.417085 unit_bearing:-0.028871 -0.077833 0.996548 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.110395, -0.167533, -0.801023 mu:1.417085 unit_bearing:-0.155985 -0.121257 0.980288 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.110673, -0.161519, -0.802441 mu:1.417085 unit_bearing:-0.156008 -0.112553 0.981322 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.282584, 0.037043, -0.750946 mu:1.417085 unit_bearing:0.109955 0.157835 0.981325 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.289659, 0.037526, -0.746830 mu:1.417085 unit_bearing:0.121494 0.157803 0.979968 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.303677, 0.038517, -0.738340 mu:1.417085 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? 0.018935, -0.003638, -0.608792 mu:2.116459 unit_bearing:-0.304684 0.113608 0.945654 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: -nan, Z inverse max: -nan +[21:42:48.325] If point is visible? -0.012812, -0.005279, -0.839904 mu:1.417085 unit_bearing:-0.293348 0.113672 0.949224 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.021124, -0.005114, -0.838917 mu:1.417085 unit_bearing:-0.281990 0.113732 0.952652 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.181677, -0.018359, -0.799095 mu:1.417085 unit_bearing:-0.052036 0.088226 0.994740 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.196919, -0.017625, -0.793188 mu:1.417085 unit_bearing:-0.028868 0.088238 0.995681 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.310192, 0.045216, -0.733799 mu:1.417085 unit_bearing:0.156033 0.166369 0.973640 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.004205, 0.000714, -0.840842 mu:1.417085 unit_bearing:-0.304633 0.122263 0.944590 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.012543, 0.000872, -0.839953 mu:1.417085 unit_bearing:-0.293299 0.122331 0.948162 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.337779, 0.115919, -0.705456 mu:1.417085 unit_bearing:0.212738 0.260920 0.941628 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? 0.007546, 0.204034, -0.811674 mu:1.417085 unit_bearing:-0.289334 0.403200 0.868168 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.000672, 0.204324, -0.810817 mu:1.417085 unit_bearing:-0.278163 0.403460 0.871691 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.461508, 0.115235, -0.592629 mu:1.417085 unit_bearing:0.436969 0.240472 0.866736 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.257402, 0.235063, -0.719993 mu:1.417085 unit_bearing:0.108461 0.431010 0.895805 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? 0.295200, 0.183992, -0.780389 mu:1.417085 unit_bearing:-0.646438 0.369607 0.667464 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.170272, 0.186669, -0.776776 mu:1.417085 unit_bearing:-0.040035 0.372749 0.927068 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.258567, 0.228932, -0.721788 mu:1.417085 unit_bearing:0.108536 0.422695 0.899749 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.325] If point is visible? -0.265530, 0.229363, -0.717682 mu:1.417085 unit_bearing:0.119921 0.422593 0.898351 T_cur_ref: x=0.066365 y=0.000000 z=-0.138705 +[21:42:48.325] Z inverse min: 1.599984, Z inverse max: 1.234185 +[21:42:48.326] If point is visible? 0.051473, 0.008446, -0.155511 mu:33.525898 unit_bearing:-0.017083 0.389645 0.920807 T_cur_ref: x=0.062043 y=0.000000 z=-0.128928 +[21:42:48.326] Z inverse min: 33.740864, Z inverse max: 33.310932 +[21:42:48.326] If point is visible? 0.051473, 0.008446, -0.155511 mu:33.525898 unit_bearing:-0.017083 0.389645 0.920807 T_cur_ref: x=0.062043 y=0.000000 z=-0.128928 +[21:42:48.326] Z inverse min: 33.740864, Z inverse max: 33.310932 +[21:42:48.326] If point is visible? 0.261739, 0.180033, 0.399504 mu:-1.719143 unit_bearing:-0.040359 -0.199708 0.979024 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:48.326] calculated Z= 1.120053 +[21:42:48.326] update seeds 305 +[21:42:48.326] If point is visible? 0.339557, -0.066301, 0.389452 mu:-1.719143 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.340249, -0.153899, 0.369489 mu:-1.719143 unit_bearing:0.131862 0.363801 0.922096 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.486558, -0.084373, 0.267262 mu:-1.719143 unit_bearing:0.426376 0.223750 0.876436 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] If point is visible? 0.018683, -0.125409, 0.453307 mu:-1.719143 unit_bearing:-0.434328 0.332749 0.837041 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.341051, -0.148809, 0.370608 mu:-1.719143 unit_bearing:0.131933 0.355351 0.925375 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.261739, 0.180033, 0.399504 mu:-1.719143 unit_bearing:-0.040359 -0.199708 0.979024 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:48.326] calculated Z= 1.120053 +[21:42:48.326] update seeds 305 +[21:42:48.326] If point is visible? 0.486558, -0.084373, 0.267262 mu:-1.719143 unit_bearing:0.426376 0.223750 0.876436 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] If point is visible? 0.340249, -0.153899, 0.369489 mu:-1.719143 unit_bearing:0.131862 0.363801 0.922096 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.339557, -0.066301, 0.389452 mu:-1.719143 unit_bearing:0.109765 0.218513 0.969641 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.341051, -0.148809, 0.370608 mu:-1.719143 unit_bearing:0.131933 0.355351 0.925375 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.018683, -0.125409, 0.453307 mu:-1.719143 unit_bearing:-0.434328 0.332749 0.837041 T_cur_ref: x=0.055012 y=0.000000 z=-0.113536 +[21:42:48.326] Z inverse min: -1.571660, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.218866, 0.302943, 0.558746 mu:-1.336774 unit_bearing:-0.166552 -0.293918 0.941208 T_cur_ref: x=0.051198 y=0.000000 z=-0.104369 +[21:42:48.326] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.031971, -0.155439, 0.627121 mu:-1.336774 unit_bearing:-0.401921 0.325407 0.855903 T_cur_ref: x=0.051198 y=0.000000 z=-0.104369 +[21:42:48.326] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.019775, -0.181038, 0.620784 mu:-1.336774 unit_bearing:-0.411825 0.358338 0.837851 T_cur_ref: x=0.051198 y=0.000000 z=-0.104369 +[21:42:48.326] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.434375, -0.185778, 0.510667 mu:-1.336774 unit_bearing:0.154854 0.346689 0.925109 T_cur_ref: x=0.051198 y=0.000000 z=-0.104369 +[21:42:48.326] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.218866, 0.302943, 0.558746 mu:-1.336774 unit_bearing:-0.166552 -0.293918 0.941208 T_cur_ref: x=0.051198 y=0.000000 z=-0.104369 +[21:42:48.326] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.019775, -0.181038, 0.620784 mu:-1.336774 unit_bearing:-0.411825 0.358338 0.837851 T_cur_ref: x=0.051198 y=0.000000 z=-0.104369 +[21:42:48.326] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:48.326] If point is visible? 0.434375, -0.185778, 0.510667 mu:-1.336774 unit_bearing:0.154854 0.346689 0.925109 T_cur_ref: x=0.051198 y=0.000000 z=-0.104369 +[21:42:48.327] Z inverse min: -1.282126, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.350858, -0.151940, 0.416145 mu:-1.627231 unit_bearing:0.120563 0.346972 0.930094 T_cur_ref: x=0.047169 y=0.000000 z=-0.096054 +[21:42:48.327] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.356873, -0.152345, 0.412410 mu:-1.627231 unit_bearing:0.132003 0.346886 0.928572 T_cur_ref: x=0.047169 y=0.000000 z=-0.096054 +[21:42:48.327] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.352398, -0.179202, 0.406324 mu:-1.627231 unit_bearing:0.131634 0.389055 0.911761 T_cur_ref: x=0.047169 y=0.000000 z=-0.096054 +[21:42:48.327] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.352398, -0.179202, 0.406324 mu:-1.627231 unit_bearing:0.131634 0.389055 0.911761 T_cur_ref: x=0.047169 y=0.000000 z=-0.096054 +[21:42:48.327] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.350858, -0.151940, 0.416145 mu:-1.627231 unit_bearing:0.120563 0.346972 0.930094 T_cur_ref: x=0.047169 y=0.000000 z=-0.096054 +[21:42:48.327] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.356873, -0.152345, 0.412410 mu:-1.627231 unit_bearing:0.132003 0.346886 0.928572 T_cur_ref: x=0.047169 y=0.000000 z=-0.096054 +[21:42:48.327] Z inverse min: -1.571035, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.136985, 0.073018, 0.850342 mu:-1.058207 unit_bearing:-0.321940 0.044207 0.945727 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.398781, 0.179318, 0.769793 mu:-1.058207 unit_bearing:-0.040458 -0.077829 0.996145 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.418285, -0.127580, 0.770738 mu:-1.058207 unit_bearing:-0.005672 0.244633 0.969599 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? -0.303644, -0.198022, 0.769369 mu:-1.058207 unit_bearing:-0.696422 0.318444 0.643110 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.409352, -0.202416, 0.760140 mu:-1.058207 unit_bearing:-0.005652 0.321869 0.946767 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.365109, -0.291846, 0.751988 mu:-1.058207 unit_bearing:-0.039915 0.414747 0.909061 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.398262, -0.210177, 0.762968 mu:-1.058207 unit_bearing:-0.017147 0.330385 0.943690 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.408202, -0.210719, 0.758611 mu:-1.058207 unit_bearing:-0.005649 0.330392 0.943827 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.534319, 0.543640, 0.509637 mu:-1.058207 unit_bearing:0.183908 -0.494035 0.849769 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] If point is visible? 0.536505, 0.543394, 0.508055 mu:-1.058207 unit_bearing:0.186715 -0.493980 0.849188 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] If point is visible? 0.600412, 0.519814, 0.471586 mu:-1.058207 unit_bearing:0.265400 -0.473917 0.839623 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] If point is visible? 0.600901, 0.518028, 0.472756 mu:-1.058207 unit_bearing:0.265457 -0.471890 0.840745 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] If point is visible? 0.601388, 0.516240, 0.473920 mu:-1.058207 unit_bearing:0.265514 -0.469862 0.841862 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] If point is visible? 0.562517, 0.500265, 0.523534 mu:-1.058207 unit_bearing:0.207324 -0.446684 0.870339 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] If point is visible? 0.562960, 0.498443, 0.524646 mu:-1.058207 unit_bearing:0.207363 -0.444628 0.871382 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] If point is visible? 0.505826, 0.447891, 0.604427 mu:-1.058207 unit_bearing:0.120295 -0.381243 0.916615 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] If point is visible? 0.492655, 0.432225, 0.622839 mu:-1.058207 unit_bearing:0.100428 -0.362414 0.926591 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.493658, 0.365746, 0.658659 mu:-1.058207 unit_bearing:0.089344 -0.287970 0.953463 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.364520, 0.316758, 0.743133 mu:-1.058207 unit_bearing:-0.069184 -0.225624 0.971755 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.372568, 0.312473, 0.741601 mu:-1.058207 unit_bearing:-0.060537 -0.221320 0.973320 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.375118, 0.312358, 0.740625 mu:-1.058207 unit_bearing:-0.057651 -0.221326 0.973494 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.375306, 0.310382, 0.741293 mu:-1.058207 unit_bearing:-0.057656 -0.219164 0.973983 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.377853, 0.310266, 0.740311 mu:-1.058207 unit_bearing:-0.054769 -0.219169 0.974148 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.327] If point is visible? 0.404595, 0.293195, 0.735268 mu:-1.058207 unit_bearing:-0.025909 -0.201889 0.979066 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.327] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.407108, 0.293066, 0.734205 mu:-1.058207 unit_bearing:-0.023020 -0.201891 0.979137 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.380767, 0.306193, 0.740643 mu:-1.058207 unit_bearing:-0.051890 -0.214848 0.975268 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.391276, 0.301754, 0.737915 mu:-1.058207 unit_bearing:-0.040345 -0.210537 0.976753 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.425291, 0.284186, 0.729049 mu:-1.058207 unit_bearing:-0.002790 -0.193228 0.981150 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.401728, 0.297291, 0.735053 mu:-1.058207 unit_bearing:-0.028795 -0.206219 0.978082 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.422632, 0.286311, 0.729546 mu:-1.058207 unit_bearing:-0.005681 -0.195396 0.980708 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.399386, 0.295433, 0.736739 mu:-1.058207 unit_bearing:-0.031686 -0.204050 0.978447 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.429180, 0.171656, 0.758124 mu:-1.058207 unit_bearing:-0.005695 -0.071286 0.997440 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.419336, 0.166095, 0.763657 mu:-1.058207 unit_bearing:-0.017285 -0.064733 0.997753 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.421846, 0.165962, 0.762568 mu:-1.058207 unit_bearing:-0.014388 -0.064733 0.997799 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.411994, 0.158349, 0.768336 mu:-1.058207 unit_bearing:-0.025980 -0.055993 0.998093 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.399250, 0.163058, 0.772841 mu:-1.058207 unit_bearing:-0.040465 -0.060358 0.997356 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.404463, 0.156698, 0.771848 mu:-1.058207 unit_bearing:-0.034673 -0.053806 0.997949 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.406992, 0.156570, 0.770803 mu:-1.058207 unit_bearing:-0.031775 -0.053807 0.998046 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.409518, 0.156441, 0.769750 mu:-1.058207 unit_bearing:-0.028878 -0.053807 0.998134 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.407037, 0.154533, 0.771153 mu:-1.058207 unit_bearing:-0.031776 -0.051622 0.998161 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.409563, 0.154404, 0.770101 mu:-1.058207 unit_bearing:-0.028878 -0.051622 0.998249 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.407233, 0.144338, 0.772843 mu:-1.058207 unit_bearing:-0.031778 -0.040696 0.998666 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.409793, 0.142168, 0.772116 mu:-1.058207 unit_bearing:-0.028881 -0.038511 0.998841 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.228685, 0.110096, 0.832886 mu:-1.058207 unit_bearing:-0.228024 0.003012 0.973651 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.181112, 0.049691, 0.846401 mu:-1.058207 unit_bearing:-0.276487 0.068200 0.958595 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.167182, 0.047918, 0.848448 mu:-1.058207 unit_bearing:-0.290697 0.070326 0.954227 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.147357, 0.038018, 0.851318 mu:-1.058207 unit_bearing:-0.310506 0.081095 0.947106 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.177986, 0.037424, 0.847430 mu:-1.058207 unit_bearing:-0.279289 0.081217 0.956766 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.147420, 0.040070, 0.851226 mu:-1.058207 unit_bearing:-0.310515 0.078928 0.947286 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.175277, 0.039537, 0.847730 mu:-1.058207 unit_bearing:-0.282141 0.079036 0.956112 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.366566, -0.004027, 0.800753 mu:-1.058207 unit_bearing:-0.075158 0.118734 0.990078 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.366465, -0.006098, 0.800778 mu:-1.058207 unit_bearing:-0.075155 0.120913 0.989814 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.153912, -0.007374, 0.851308 mu:-1.058207 unit_bearing:-0.301761 0.128769 0.944647 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.159485, -0.007491, 0.850632 mu:-1.058207 unit_bearing:-0.296095 0.128805 0.946434 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.228517, -0.005095, 0.839470 mu:-1.058207 unit_bearing:-0.224891 0.124849 0.966352 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.228416, -0.007161, 0.839477 mu:-1.058207 unit_bearing:-0.224882 0.127020 0.966072 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.123296, -0.002673, 0.854445 mu:-1.058207 unit_bearing:-0.332859 0.124236 0.934757 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.328] If point is visible? 0.547120, -0.029354, 0.711664 mu:-1.058207 unit_bearing:0.138862 0.133847 0.981225 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.328] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.526214, -0.025755, 0.724602 mu:-1.058207 unit_bearing:0.112903 0.131735 0.984834 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.528565, -0.025922, 0.723193 mu:-1.058207 unit_bearing:0.115790 0.131729 0.984500 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.173271, -0.009861, 0.848795 mu:-1.058207 unit_bearing:-0.281894 0.131057 0.950452 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.222433, -0.017334, 0.840519 mu:-1.058207 unit_bearing:-0.230552 0.137839 0.963248 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.525974, -0.029898, 0.724603 mu:-1.058207 unit_bearing:0.112893 0.136087 0.984244 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.528325, -0.030065, 0.723193 mu:-1.058207 unit_bearing:0.115780 0.136080 0.983909 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.530672, -0.030233, 0.721777 mu:-1.058207 unit_bearing:0.118666 0.136073 0.983566 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.574295, -0.037687, 0.693497 mu:-1.058207 unit_bearing:0.173389 0.140256 0.974815 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.219816, -0.015190, 0.841059 mu:-1.058207 unit_bearing:-0.233422 0.135657 0.962866 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.567901, -0.064251, 0.696084 mu:-1.058207 unit_bearing:0.167527 0.168490 0.971363 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.567745, -0.066323, 0.696015 mu:-1.058207 unit_bearing:0.167518 0.170658 0.970986 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.567587, -0.068396, 0.695943 mu:-1.058207 unit_bearing:0.167508 0.172825 0.970604 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.562430, 0.509090, 0.516271 mu:-1.058207 unit_bearing:0.209933 -0.456891 0.864395 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] If point is visible? 0.559902, 0.502335, 0.524053 mu:-1.058207 unit_bearing:0.204470 -0.448792 0.869930 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] If point is visible? 0.599920, 0.521598, 0.470413 mu:-1.058207 unit_bearing:0.265342 -0.475942 0.838495 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] If point is visible? 0.536505, 0.543394, 0.508055 mu:-1.058207 unit_bearing:0.186715 -0.493980 0.849188 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] If point is visible? 0.540865, 0.542897, 0.504871 mu:-1.058207 unit_bearing:0.192327 -0.493869 0.848000 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] If point is visible? 0.496904, 0.446783, 0.611025 mu:-1.058207 unit_bearing:0.108889 -0.379228 0.918874 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] If point is visible? 0.501551, 0.446398, 0.608229 mu:-1.058207 unit_bearing:0.114601 -0.379185 0.918197 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] If point is visible? 0.500839, 0.450163, 0.606269 mu:-1.058207 unit_bearing:0.114568 -0.383392 0.916452 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] If point is visible? 0.496285, 0.363626, 0.658104 mu:-1.058207 unit_bearing:0.092228 -0.285815 0.953836 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.275095, 0.374394, 0.748931 mu:-1.058207 unit_bearing:-0.160897 -0.285412 0.944803 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.479721, 0.345507, 0.676389 mu:-1.058207 unit_bearing:0.069282 -0.264427 0.961914 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.312702, 0.318722, 0.760642 mu:-1.058207 unit_bearing:-0.126811 -0.225429 0.965972 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? -0.260579, 0.208896, 0.783027 mu:-1.058207 unit_bearing:-0.682678 -0.107189 0.722815 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.409471, 0.158478, 0.769396 mu:-1.058207 unit_bearing:-0.028877 -0.055992 0.998014 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.423986, 0.178020, 0.759164 mu:-1.058207 unit_bearing:-0.011489 -0.077837 0.996900 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.428988, 0.177749, 0.756952 mu:-1.058207 unit_bearing:-0.005694 -0.077838 0.996950 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.225878, 0.132609, 0.830476 mu:-1.058207 unit_bearing:-0.230881 -0.020944 0.972757 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.536790, 0.109693, 0.711123 mu:-1.058207 unit_bearing:0.121713 -0.012268 0.992490 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.541474, 0.109340, 0.708256 mu:-1.058207 unit_bearing:0.127491 -0.012266 0.991764 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.536808, 0.105601, 0.711663 mu:-1.058207 unit_bearing:0.121714 -0.007900 0.992534 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.541492, 0.105248, 0.708796 mu:-1.058207 unit_bearing:0.127492 -0.007899 0.991808 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.343070, 0.071445, 0.806121 mu:-1.058207 unit_bearing:-0.104157 0.040156 0.993750 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.348338, 0.075342, 0.804014 mu:-1.058207 unit_bearing:-0.098376 0.035791 0.994505 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.136985, 0.073018, 0.850342 mu:-1.058207 unit_bearing:-0.321940 0.044207 0.945727 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.366762, 0.000115, 0.800691 mu:-1.058207 unit_bearing:-0.075163 0.114376 0.990590 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.123580, 0.003493, 0.854418 mu:-1.058207 unit_bearing:-0.332903 0.117757 0.935579 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.212041, -0.006701, 0.842606 mu:-1.058207 unit_bearing:-0.242036 0.126940 0.961928 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.123392, -0.000617, 0.854440 mu:-1.058207 unit_bearing:-0.332874 0.122077 0.935036 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.568055, -0.062179, 0.696148 mu:-1.058207 unit_bearing:0.167536 0.166322 0.971735 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.567745, -0.066323, 0.696015 mu:-1.058207 unit_bearing:0.167518 0.170658 0.970986 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.329] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.329] If point is visible? 0.590706, -0.155866, 0.667058 mu:-1.058207 unit_bearing:0.207033 0.260972 0.942885 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.421940, -0.140334, 0.767133 mu:-1.058207 unit_bearing:0.000100 0.257565 0.966261 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.595611, -0.152080, 0.664248 mu:-1.058207 unit_bearing:0.212778 0.256633 0.942797 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? -0.138790, -0.180705, 0.822421 mu:-1.058207 unit_bearing:-0.561733 0.307097 0.768210 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? -0.053472, -0.242961, 0.820977 mu:-1.058207 unit_bearing:-0.475625 0.372300 0.796978 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.497339, -0.262064, 0.698976 mu:-1.058207 unit_bearing:0.108908 0.376630 0.919940 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.499951, 0.371032, 0.652192 mu:-1.058207 unit_bearing:0.097938 -0.294356 0.950664 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.509345, 0.370300, 0.646673 mu:-1.058207 unit_bearing:0.109427 -0.294300 0.949428 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.561513, 0.512708, 0.513992 mu:-1.058207 unit_bearing:0.209849 -0.460984 0.862239 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] If point is visible? 0.578643, 0.510613, 0.500609 mu:-1.058207 unit_bearing:0.232286 -0.460510 0.856723 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] If point is visible? 0.308194, 0.311000, 0.764922 mu:-1.058207 unit_bearing:-0.132604 -0.216766 0.967176 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.318680, 0.310652, 0.761715 mu:-1.058207 unit_bearing:-0.121091 -0.216814 0.968674 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.317938, 0.318547, 0.759025 mu:-1.058207 unit_bearing:-0.121055 -0.225453 0.966704 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.328374, 0.318183, 0.755701 mu:-1.058207 unit_bearing:-0.109539 -0.225500 0.968066 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.487565, 0.447534, 0.616531 mu:-1.058207 unit_bearing:0.097457 -0.379307 0.920124 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] If point is visible? 0.269789, 0.374523, 0.750327 mu:-1.058207 unit_bearing:-0.166621 -0.285368 0.943823 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.418690, 0.186403, 0.759726 mu:-1.058207 unit_bearing:-0.017281 -0.086569 0.996096 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.303414, 0.231616, 0.791265 mu:-1.058207 unit_bearing:-0.144437 -0.129990 0.980939 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.303829, 0.223572, 0.793224 mu:-1.058207 unit_bearing:-0.144460 -0.121288 0.982049 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.314383, 0.223218, 0.790119 mu:-1.058207 unit_bearing:-0.132926 -0.121317 0.983673 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.324890, 0.222846, 0.786895 mu:-1.058207 unit_bearing:-0.121385 -0.121343 0.985161 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.536821, 0.097410, 0.712696 mu:-1.058207 unit_bearing:0.121714 0.000837 0.992565 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.546174, 0.096703, 0.706933 mu:-1.058207 unit_bearing:0.133269 0.000836 0.991080 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.536764, 0.113784, 0.710566 mu:-1.058207 unit_bearing:0.121712 -0.016636 0.992426 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.220445, 0.128659, 0.832103 mu:-1.058207 unit_bearing:-0.236610 -0.016585 0.971463 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.398781, 0.179318, 0.769793 mu:-1.058207 unit_bearing:-0.040458 -0.077829 0.996145 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.408902, 0.178810, 0.765628 mu:-1.058207 unit_bearing:-0.028871 -0.077833 0.996548 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.220484, 0.120501, 0.833201 mu:-1.058207 unit_bearing:-0.236614 -0.007876 0.971572 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.195773, -0.002144, 0.845437 mu:-1.058207 unit_bearing:-0.259177 0.122519 0.958027 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.140608, 0.007306, 0.852784 mu:-1.058207 unit_bearing:-0.316000 0.113541 0.941941 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.196152, 0.006104, 0.845358 mu:-1.058207 unit_bearing:-0.259219 0.113845 0.959085 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.531693, -0.051126, 0.720108 mu:-1.058207 unit_bearing:0.121494 0.157803 0.979968 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.541024, -0.051802, 0.714343 mu:-1.058207 unit_bearing:0.133027 0.157769 0.978475 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.550294, -0.052488, 0.708463 mu:-1.058207 unit_bearing:0.144551 0.157731 0.976845 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.140952, 0.015528, 0.852649 mu:-1.058207 unit_bearing:-0.316050 0.104888 0.942927 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.418633, 0.022424, 0.779733 mu:-1.058207 unit_bearing:-0.017281 0.088241 0.995949 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.330] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.330] If point is visible? 0.366762, 0.000115, 0.800691 mu:-1.058207 unit_bearing:-0.075163 0.114376 0.990590 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.377029, -0.000366, 0.796880 mu:-1.058207 unit_bearing:-0.063591 0.114389 0.991399 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.408249, 0.014680, 0.784323 mu:-1.058207 unit_bearing:-0.028865 0.096967 0.994869 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.541579, -0.043511, 0.714490 mu:-1.058207 unit_bearing:0.133053 0.149080 0.979833 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.550852, -0.044199, 0.708611 mu:-1.058207 unit_bearing:0.144580 0.149044 0.978204 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.409352, -0.202416, 0.760140 mu:-1.058207 unit_bearing:-0.005652 0.321869 0.946767 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.418285, -0.127580, 0.770738 mu:-1.058207 unit_bearing:-0.005672 0.244633 0.969599 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? -0.053472, -0.242961, 0.820977 mu:-1.058207 unit_bearing:-0.475625 0.372300 0.796978 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? -0.041983, -0.243271, 0.822042 mu:-1.058207 unit_bearing:-0.465009 0.372763 0.803004 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? -0.303644, -0.198022, 0.769369 mu:-1.058207 unit_bearing:-0.696422 0.318444 0.643110 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.398262, -0.210177, 0.762968 mu:-1.058207 unit_bearing:-0.017147 0.330385 0.943690 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.408202, -0.210719, 0.758611 mu:-1.058207 unit_bearing:-0.005649 0.330392 0.943827 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.531042, -0.226722, 0.689710 mu:-1.058207 unit_bearing:0.143506 0.338315 0.930026 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.365109, -0.291846, 0.751988 mu:-1.058207 unit_bearing:-0.039915 0.414747 0.909061 T_cur_ref: x=0.043061 y=0.000000 z=-0.087134 +[21:42:48.331] Z inverse min: -0.970862, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.116393, -0.320560, 1.296241 mu:-0.707360 unit_bearing:-0.346385 0.343569 0.872913 T_cur_ref: x=0.039056 y=0.000000 z=-0.078470 +[21:42:48.331] Z inverse min: -0.676929, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 1.156534, -0.374724, 0.702166 mu:-0.707360 unit_bearing:0.498658 0.330384 0.801366 T_cur_ref: x=0.039056 y=0.000000 z=-0.078470 +[21:42:48.331] Z inverse min: -0.676929, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.074884, 0.047450, 1.318805 mu:-0.733836 unit_bearing:-0.394699 0.087142 0.914669 T_cur_ref: x=0.021792 y=0.000000 z=-0.042035 +[21:42:48.331] Z inverse min: -0.712418, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? -0.074271, -0.095225, 0.457187 mu:-2.001087 unit_bearing:-0.566844 0.306852 0.764546 T_cur_ref: x=0.013183 y=0.000000 z=-0.025527 +[21:42:48.331] Z inverse min: -1.902191, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? -0.074271, -0.095225, 0.457187 mu:-2.001087 unit_bearing:-0.566844 0.306852 0.764546 T_cur_ref: x=0.013183 y=0.000000 z=-0.025527 +[21:42:48.331] Z inverse min: -1.902191, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.862051, 0.501773, 1.770192 mu:-0.492091 unit_bearing:-0.023056 -0.138894 0.990039 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.872669, 0.501160, 1.765158 mu:-0.492091 unit_bearing:-0.017267 -0.138896 0.990156 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? -0.077361, -0.462389, 1.976921 mu:-0.492091 unit_bearing:-0.455451 0.344423 0.820937 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.851404, 0.502378, 1.775165 mu:-0.492091 unit_bearing:-0.028844 -0.138891 0.989888 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 1.346017, -0.512629, 1.433307 mu:-0.492091 unit_bearing:0.290959 0.336360 0.895659 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.814596, -0.418733, 1.813707 mu:-0.492091 unit_bearing:-0.028669 0.313312 0.949217 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 1.511453, -0.511706, 1.258087 mu:-0.492091 unit_bearing:0.402111 0.325401 0.855816 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 1.153507, -0.459953, 1.608285 mu:-0.492091 unit_bearing:0.166512 0.321126 0.932283 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.862051, 0.501773, 1.770192 mu:-0.492091 unit_bearing:-0.023056 -0.138894 0.990039 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.872669, 0.501160, 1.765158 mu:-0.492091 unit_bearing:-0.017267 -0.138896 0.990156 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? -0.077361, -0.462389, 1.976921 mu:-0.492091 unit_bearing:-0.455451 0.344423 0.820937 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.851404, 0.502378, 1.775165 mu:-0.492091 unit_bearing:-0.028844 -0.138891 0.989888 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 0.814596, -0.418733, 1.813707 mu:-0.492091 unit_bearing:-0.028669 0.313312 0.949217 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 1.342848, -0.530278, 1.429855 mu:-0.492091 unit_bearing:0.290798 0.344774 0.892506 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 1.349102, -0.494967, 1.436611 mu:-0.492091 unit_bearing:0.291114 0.327932 0.898729 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 1.511453, -0.511706, 1.258087 mu:-0.492091 unit_bearing:0.402111 0.325401 0.855816 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 1.346017, -0.512629, 1.433307 mu:-0.492091 unit_bearing:0.290959 0.336360 0.895659 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] If point is visible? 1.153507, -0.459953, 1.608285 mu:-0.492091 unit_bearing:0.166512 0.321126 0.932283 T_cur_ref: x=0.000168 y=0.000000 z=-0.000399 +[21:42:48.331] Z inverse min: -0.481822, Z inverse max: 0.000000 +[21:42:48.331] init seeds +[21:42:48.334] DepthFilter: Initialized 6 new seeds +[21:43:03.251] DepthFilter stop thread invoked. +[21:43:03.251] DepthFilter interrupt and join thread diff --git a/GPU_version/vio/frame_handler_log.txt b/GPU_version/vio/frame_handler_log.txt index 320f006..b0cddbf 100755 --- a/GPU_version/vio/frame_handler_log.txt +++ b/GPU_version/vio/frame_handler_log.txt @@ -1,772 +1,3917 @@ -[18:02:41.746] Init: frame zero: 0.000000, 0.000000 0.000000 -[18:02:41.746] Init: Selected first frame. -[18:02:41.848] Init: px average disparity is:0.191979 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:41.848] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:41.949] Init: px average disparity is:0.252768 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:41.949] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:42.044] Init: px average disparity is:0.266863 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:42.044] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:42.145] Init: px average disparity is:0.326913 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:42.145] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:42.245] Init: px average disparity is:0.494200 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:42.245] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:42.347] Init: px average disparity is:0.392298 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:42.347] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:42.444] Init: px average disparity is:0.538573 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:42.444] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:42.546] Init: px average disparity is:0.535160 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:42.546] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:42.647] Init: px average disparity is:0.532697 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:42.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:42.753] Init: px average disparity is:0.603017 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:42.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:42.852] Init: px average disparity is:0.680904 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:42.852] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:42.952] Init: px average disparity is:0.760582 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:42.952] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:43.054] Init: px average disparity is:0.744621 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:43.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:43.153] Init: px average disparity is:0.710485 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:43.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:43.251] Init: px average disparity is:0.780823 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:43.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:43.353] Init: px average disparity is:0.665254 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:43.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:43.452] Init: px average disparity is:0.688072 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:43.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:43.553] Init: px average disparity is:0.742336 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:43.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:43.653] Init: px average disparity is:0.813359 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:43.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:43.754] Init: px average disparity is:0.685432 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:43.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:43.852] Init: px average disparity is:0.724481 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:43.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:43.953] Init: px average disparity is:0.737220 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:43.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:44.052] Init: px average disparity is:0.681092 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:44.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:44.153] Init: px average disparity is:0.679798 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:44.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:44.253] Init: px average disparity is:0.736825 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:44.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:44.352] Init: px average disparity is:0.623157 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:44.352] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:44.453] Init: px average disparity is:0.751859 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:44.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:44.553] Init: px average disparity is:0.707305 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:44.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:44.653] Init: px average disparity is:0.683558 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:44.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:44.753] Init: px average disparity is:0.670095 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:44.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:44.853] Init: px average disparity is:0.739708 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:44.853] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:44.953] Init: px average disparity is:0.765367 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:44.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:45.052] Init: px average disparity is:0.636324 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:45.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:45.153] Init: px average disparity is:0.585932 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:45.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:45.252] Init: px average disparity is:0.681309 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:45.252] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:45.354] Init: px average disparity is:0.692798 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:45.354] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:45.451] Init: px average disparity is:0.645602 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:45.452] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:45.552] Init: px average disparity is:0.616700 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:45.552] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:45.653] Init: px average disparity is:0.754621 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:45.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:45.752] Init: px average disparity is:0.613545 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:45.753] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:45.852] Init: px average disparity is:0.739658 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:45.852] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:45.952] Init: px average disparity is:0.644549 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:45.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:46.052] Init: px average disparity is:0.722340 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:46.052] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:46.153] Init: px average disparity is:0.707351 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:46.153] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:46.251] Init: px average disparity is:0.763697 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:46.251] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:46.353] Init: px average disparity is:0.670882 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:46.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:46.453] Init: px average disparity is:0.754096 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:46.453] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:46.553] Init: px average disparity is:0.560867 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:46.553] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:46.652] Init: px average disparity is:0.775139 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:46.652] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:46.752] Init: px average disparity is:0.748035 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:46.752] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:46.856] Init: px average disparity is:0.745632 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:46.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:46.953] Init: px average disparity is:0.652232 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:46.953] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:47.053] Init: px average disparity is:0.704000 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:47.053] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:47.139] Odometry x=-0.000039, y=0.004196, theta=0.058241 -[18:02:47.154] Init: px average disparity is:0.689047 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:47.154] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:47.240] Odometry x=-0.000041, y=0.004278, theta=0.060855 -[18:02:47.253] Init: px average disparity is:0.639077 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:47.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:47.340] Odometry x=0.000189, y=-0.003267, theta=0.063383 -[18:02:47.353] Init: px average disparity is:0.702210 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:47.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:47.441] Odometry x=0.000419, y=-0.011399, theta=0.068831 -[18:02:47.455] Init: px average disparity is:5.069706 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:47.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:47.535] Odometry x=0.000684, y=-0.019079, theta=0.065581 -[18:02:47.554] Init: px average disparity is:9.892597 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:47.554] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:47.640] Odometry x=0.000927, y=-0.026371, theta=0.056621 -[18:02:47.654] Init: px average disparity is:9.368447 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:47.654] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:47.740] Odometry x=0.001171, y=-0.034327, theta=0.052479 -[18:02:47.754] Init: px average disparity is:10.831678 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:47.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:47.838] Odometry x=0.001379, y=-0.041939, theta=0.050019 -[18:02:47.847] Init: px average disparity is:13.577461 ,While minimum is: 40.000000 KLT tracked : 110 -[18:02:47.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:47.939] Odometry x=0.001566, y=-0.049116, theta=0.057259 -[18:02:47.955] Init: px average disparity is:17.160603 ,While minimum is: 40.000000 KLT tracked : 109 -[18:02:47.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:48.046] Odometry x=0.001781, y=-0.056743, theta=0.052247 -[18:02:48.054] Init: px average disparity is:18.569967 ,While minimum is: 40.000000 KLT tracked : 108 -[18:02:48.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:48.133] Odometry x=0.001987, y=-0.064698, theta=0.045682 -[18:02:48.155] Init: px average disparity is:20.933234 ,While minimum is: 40.000000 KLT tracked : 107 -[18:02:48.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:48.240] Odometry x=0.002138, y=-0.071274, theta=0.043353 -[18:02:48.253] Init: px average disparity is:23.045007 ,While minimum is: 40.000000 KLT tracked : 107 -[18:02:48.253] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:48.334] Odometry x=0.002327, y=-0.079361, theta=0.043414 -[18:02:48.353] Init: px average disparity is:25.891669 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:48.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:48.436] Odometry x=0.002513, y=-0.087145, theta=0.047058 -[18:02:48.454] Init: px average disparity is:25.093763 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:48.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:48.536] Odometry x=0.002708, y=-0.094768, theta=0.053883 -[18:02:48.555] Init: px average disparity is:18.185836 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:48.555] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:48.637] Odometry x=0.002931, y=-0.102567, theta=0.055765 -[18:02:48.653] Init: px average disparity is:14.725233 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:48.653] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:48.739] Odometry x=0.003152, y=-0.110205, theta=0.065489 -[18:02:48.755] Init: px average disparity is:11.501778 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:48.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:48.841] Odometry x=0.003405, y=-0.117702, theta=0.072328 -[18:02:48.855] Init: px average disparity is:10.378457 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:48.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:48.938] Odometry x=0.001536, y=-0.125289, theta=0.031401 -[18:02:48.955] Init: px average disparity is:10.227916 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:48.955] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:49.043] Odometry x=0.001656, y=-0.132861, theta=0.039964 -[18:02:49.055] Init: px average disparity is:9.720639 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:49.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:49.139] Odometry x=0.001812, y=-0.140654, theta=0.041355 -[18:02:49.155] Init: px average disparity is:10.744968 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:49.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:49.238] Odometry x=0.001979, y=-0.147748, theta=0.029401 -[18:02:49.246] Init: px average disparity is:13.343581 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:49.246] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:49.342] Odometry x=0.002095, y=-0.155375, theta=0.031651 -[18:02:49.355] Init: px average disparity is:13.890903 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:49.355] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:49.438] Odometry x=0.002234, y=-0.163121, theta=0.028516 -[18:02:49.454] Init: px average disparity is:14.923131 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:49.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:49.538] Odometry x=0.002344, y=-0.170724, theta=0.025210 -[18:02:49.555] Init: px average disparity is:16.987894 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:49.555] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:49.639] Odometry x=0.002473, y=-0.178347, theta=0.032626 -[18:02:49.655] Init: px average disparity is:15.839418 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:49.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:49.741] Odometry x=0.002598, y=-0.185976, theta=0.030778 -[18:02:49.755] Init: px average disparity is:20.062873 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:49.755] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:49.842] Odometry x=0.002717, y=-0.193612, theta=0.022438 -[18:02:49.855] Init: px average disparity is:22.569069 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:49.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:49.942] Odometry x=0.002802, y=-0.201247, theta=0.024206 -[18:02:49.956] Init: px average disparity is:23.549105 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:49.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:50.042] Odometry x=0.002895, y=-0.208922, theta=0.020582 -[18:02:50.055] Init: px average disparity is:24.668909 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:50.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:50.143] Odometry x=0.002975, y=-0.216570, theta=0.036631 -[18:02:50.155] Init: px average disparity is:20.531670 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:50.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:50.242] Odometry x=0.003127, y=-0.224268, theta=0.036331 -[18:02:50.255] Init: px average disparity is:19.157497 ,While minimum is: 40.000000 KLT tracked : 106 -[18:02:50.255] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:50.347] Odometry x=0.003268, y=-0.231879, theta=0.054685 -[18:02:50.356] Init: px average disparity is:13.948780 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:50.356] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:50.440] Odometry x=0.003491, y=-0.239862, theta=0.071305 -[18:02:50.456] Init: px average disparity is:12.228991 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:50.456] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:50.539] Odometry x=0.001570, y=-0.247124, theta=0.045045 -[18:02:50.557] Init: px average disparity is:13.362598 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:50.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:50.644] Odometry x=0.001743, y=-0.254722, theta=0.060947 -[18:02:50.647] Init: px average disparity is:15.962453 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:50.647] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:50.739] Odometry x=0.001975, y=-0.262334, theta=0.053971 -[18:02:50.754] Init: px average disparity is:13.693605 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:50.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:50.832] Odometry x=0.002170, y=-0.269597, theta=0.057497 -[18:02:50.854] Init: px average disparity is:16.112203 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:50.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:50.943] Odometry x=0.002385, y=-0.276842, theta=0.047279 -[18:02:50.956] Init: px average disparity is:14.053156 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:50.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:51.035] Odometry x=0.002610, y=-0.284900, theta=0.043284 -[18:02:51.055] Init: px average disparity is:13.889745 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:51.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:51.136] Odometry x=0.002766, y=-0.292025, theta=0.040232 -[18:02:51.155] Init: px average disparity is:15.470360 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:51.155] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:51.234] Odometry x=0.002929, y=-0.299186, theta=0.036382 -[18:02:51.256] Init: px average disparity is:16.369030 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:51.257] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:51.340] Odometry x=0.003077, y=-0.307251, theta=0.017834 -[18:02:51.362] Init: px average disparity is:23.161670 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:51.362] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:51.440] Odometry x=0.003463, y=-0.314759, theta=0.020234 -[18:02:51.455] Init: px average disparity is:22.250116 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:51.455] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:51.543] Odometry x=0.003568, y=-0.322767, theta=0.025990 -[18:02:51.556] Init: px average disparity is:21.140932 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:51.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:51.636] Odometry x=0.003679, y=-0.330084, theta=0.039198 -[18:02:51.655] Init: px average disparity is:19.441157 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:51.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:51.737] Odometry x=0.003823, y=-0.337271, theta=0.038437 -[18:02:51.754] Init: px average disparity is:20.338915 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:51.754] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:51.838] Odometry x=0.003985, y=-0.345154, theta=0.041532 -[18:02:51.855] Init: px average disparity is:20.774032 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:51.855] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:51.941] Odometry x=0.004150, y=-0.352845, theta=0.050454 -[18:02:51.956] Init: px average disparity is:19.689029 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:51.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:52.037] Odometry x=0.004374, y=-0.360633, theta=0.047785 -[18:02:52.054] Init: px average disparity is:22.268991 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:52.054] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:52.136] Odometry x=0.004574, y=-0.368031, theta=0.066287 -[18:02:52.156] Init: px average disparity is:21.674189 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:52.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:52.238] Odometry x=0.004902, y=-0.375416, theta=0.083560 -[18:02:52.262] Init: px average disparity is:21.597978 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:52.263] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:52.337] Odometry x=0.002191, y=-0.383215, theta=0.045506 -[18:02:52.353] Init: px average disparity is:22.940420 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:52.353] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:52.439] Odometry x=0.002368, y=-0.390493, theta=0.046103 -[18:02:52.453] Init: px average disparity is:23.676992 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:52.454] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:52.538] Odometry x=0.002557, y=-0.398643, theta=0.044231 -[18:02:52.556] Init: px average disparity is:22.727043 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:52.556] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:52.641] Odometry x=0.002745, y=-0.406076, theta=0.040416 -[18:02:52.656] Init: px average disparity is:22.774608 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:52.656] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:52.738] Odometry x=0.002911, y=-0.413866, theta=0.037567 -[18:02:52.756] Init: px average disparity is:22.237967 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:52.756] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:52.841] Odometry x=0.003085, y=-0.421315, theta=0.035948 -[18:02:52.856] Init: px average disparity is:23.724841 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:52.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:52.938] Odometry x=0.003238, y=-0.429115, theta=0.036551 -[18:02:52.956] Init: px average disparity is:24.640983 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:52.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:53.041] Odometry x=0.003378, y=-0.436539, theta=0.033227 -[18:02:53.056] Init: px average disparity is:26.688575 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:53.056] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:53.135] Odometry x=0.003513, y=-0.444337, theta=0.027854 -[18:02:53.156] Init: px average disparity is:26.827931 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:53.156] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:53.236] Odometry x=0.003620, y=-0.451596, theta=0.023930 -[18:02:53.257] Init: px average disparity is:25.770529 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:53.257] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:53.337] Odometry x=0.003713, y=-0.459234, theta=0.024113 -[18:02:53.359] Init: px average disparity is:23.755510 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:53.359] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:53.438] Odometry x=0.003807, y=-0.466867, theta=0.017285 -[18:02:53.462] Init: px average disparity is:24.752830 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:53.462] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:53.539] Odometry x=0.003874, y=-0.474643, theta=0.016348 -[18:02:53.557] Init: px average disparity is:25.141405 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:53.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:53.637] Odometry x=0.003937, y=-0.482149, theta=0.013784 -[18:02:53.655] Init: px average disparity is:26.440415 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:53.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:53.736] Odometry x=0.003990, y=-0.489717, theta=0.024077 -[18:02:53.757] Init: px average disparity is:25.267538 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:53.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:53.839] Odometry x=0.004086, y=-0.497387, theta=0.029313 -[18:02:53.856] Init: px average disparity is:26.680032 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:53.856] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:53.936] Odometry x=0.004207, y=-0.505151, theta=0.036157 -[18:02:53.956] Init: px average disparity is:26.280724 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:53.956] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:54.040] Odometry x=0.004351, y=-0.512530, theta=0.047768 -[18:02:54.055] Init: px average disparity is:28.244892 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:54.055] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:54.144] Odometry x=0.004543, y=-0.520553, theta=0.061678 -[18:02:54.157] Init: px average disparity is:28.976897 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:54.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:54.237] Odometry x=0.004781, y=-0.528220, theta=0.070038 -[18:02:54.255] Init: px average disparity is:32.243741 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:54.255] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:54.339] Odometry x=0.002104, y=-0.535413, theta=0.038663 -[18:02:54.367] Init: px average disparity is:30.476518 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:54.367] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:54.437] Odometry x=0.002257, y=-0.543082, theta=0.045765 -[18:02:54.457] Init: px average disparity is:29.717848 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:54.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:54.536] Odometry x=0.002434, y=-0.550759, theta=0.040232 -[18:02:54.557] Init: px average disparity is:30.422998 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:54.557] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:54.639] Odometry x=0.002589, y=-0.558419, theta=0.033431 -[18:02:54.657] Init: px average disparity is:33.230943 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:54.657] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:54.737] Odometry x=0.002714, y=-0.565952, theta=0.026516 -[18:02:54.757] Init: px average disparity is:33.154529 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:54.757] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:54.839] Odometry x=0.002820, y=-0.573586, theta=0.018361 -[18:02:54.847] Init: px average disparity is:34.664082 ,While minimum is: 40.000000 KLT tracked : 105 -[18:02:54.847] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:54.937] Odometry x=0.002895, y=-0.581147, theta=0.016507 -[18:02:54.965] Init: px average disparity is:36.845577 ,While minimum is: 40.000000 KLT tracked : 104 -[18:02:54.965] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:55.036] Odometry x=0.002961, y=-0.588700, theta=0.012425 -[18:02:55.058] Init: px average disparity is:37.823195 ,While minimum is: 40.000000 KLT tracked : 104 -[18:02:55.058] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:55.139] Odometry x=0.003011, y=-0.596330, theta=0.023072 -[18:02:55.157] Init: px average disparity is:32.632947 ,While minimum is: 40.000000 KLT tracked : 102 -[18:02:55.157] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:55.238] Odometry x=0.003098, y=-0.603963, theta=0.017958 -[18:02:55.257] Init: px average disparity is:28.663544 ,While minimum is: 40.000000 KLT tracked : 100 -[18:02:55.257] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:55.337] Odometry x=0.003167, y=-0.611604, theta=0.026467 -[18:02:55.357] Init: px average disparity is:28.843887 ,While minimum is: 40.000000 KLT tracked : 100 -[18:02:55.357] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:55.436] Odometry x=0.003268, y=-0.619276, theta=0.007277 -[18:02:55.458] Init: px average disparity is:35.427599 ,While minimum is: 40.000000 KLT tracked : 100 -[18:02:55.458] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:55.535] Odometry x=0.003299, y=-0.626848, theta=0.011118 -[18:02:55.558] Init: px average disparity is:33.533351 ,While minimum is: 40.000000 KLT tracked : 98 -[18:02:55.558] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:55.638] Odometry x=0.003349, y=-0.634476, theta=0.023310 -[18:02:55.655] Init: px average disparity is:33.922991 ,While minimum is: 40.000000 KLT tracked : 98 -[18:02:55.655] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:55.736] Odometry x=0.003449, y=-0.642109, theta=0.040491 -[18:02:55.758] Init: px average disparity is:32.521279 ,While minimum is: 40.000000 KLT tracked : 97 -[18:02:55.758] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:55.840] Odometry x=0.003605, y=-0.649726, theta=0.052843 -[18:02:55.857] Init: px average disparity is:33.663227 ,While minimum is: 40.000000 KLT tracked : 97 -[18:02:55.857] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:55.939] Odometry x=0.003817, y=-0.657731, theta=0.061854 -[18:02:55.957] Init: px average disparity is:34.390904 ,While minimum is: 40.000000 KLT tracked : 97 -[18:02:55.957] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:56.037] Odometry x=0.004042, y=-0.664964, theta=0.071467 -[18:02:56.057] Init: px average disparity is:36.449998 ,While minimum is: 40.000000 KLT tracked : 97 -[18:02:56.057] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:56.137] Odometry x=0.001811, y=-0.672517, theta=0.032108 -[18:02:56.158] Init: px average disparity is:38.548580 ,While minimum is: 40.000000 KLT tracked : 97 -[18:02:56.158] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 -[18:02:56.237] Odometry x=0.001937, y=-0.680131, theta=0.042114 -[18:02:56.319] Init finished: Homography RANSAC (inlier) is:35 ,While 20 inliers minimum required. px average disparity is:40.823408 ,While minimum is: 40.000000 KLT tracked: 97 -[18:02:56.319] Init: distance between the first and current frame is x:0.002100 ,z=-0.687751,angle between two frames: 0.050278 -[18:02:56.322] Init: Selected Second frame. The number of features: 35 depth mean:3.013051 min:2.463441 -[18:02:56.341] Odometry x=0.002100, y=-0.687750, theta=0.050412 -[18:02:56.442] Odometry x=0.002290, y=-0.695310, theta=0.050386 -[18:02:56.485] After Reprojection Map nPoint:29 ,nCell:26 ,nMatches:2 ,distance between two frames x:-0.000060 ,z=0.000048,angle between two frames:0.000118 -[18:02:56.486] n deleted obs = 0 n obs with reprojection error less than 0.5 px =2 error init =0.193986 error end=0.193986 -[18:02:56.486] After pose optimization, distance between two frames x:-0.000060 ,z=0.000048,angle between two frames:0.000118 -[18:02:56.540] Odometry x=0.002480, y=-0.702896, theta=0.032456 -[18:02:56.630] After Reprojection Map nPoint:31 ,nCell:29 ,nMatches:3 ,distance between two frames x:-0.003128 ,z=0.000556,angle between two frames:0.002113 -[18:02:56.630] n deleted obs = 0 n obs with reprojection error less than 0.5 px =3 error init =0.234827 error end=0.220525 -[18:02:56.630] After pose optimization, distance between two frames x:0.060088 ,z=0.445584,angle between two frames:0.022470 -[18:02:56.633] Odometry x=0.002608, y=-0.710655, theta=0.034441 -[18:02:56.742] Odometry x=0.002737, y=-0.717802, theta=0.033581 -[18:02:56.775] After Reprojection Map nPoint:31 ,nCell:30 ,nMatches:4 ,distance between two frames x:-0.000064 ,z=0.000211,angle between two frames:0.000029 -[18:02:56.775] n deleted obs = 1 n obs with reprojection error less than 0.5 px =3 error init =0.444741 error end=0.408023 -[18:02:56.775] After pose optimization, distance between two frames x:0.077843 ,z=0.323599,angle between two frames:0.002469 -[18:02:56.836] Odometry x=0.002873, y=-0.725859, theta=0.026394 -[18:02:56.926] After Reprojection Map nPoint:30 ,nCell:26 ,nMatches:4 ,distance between two frames x:0.002184 ,z=0.001914,angle between two frames:0.000156 -[18:02:56.926] n deleted obs = 1 n obs with reprojection error less than 0.5 px =4 error init =0.386040 error end=0.328652 -[18:02:56.926] After pose optimization, distance between two frames x:0.011780 ,z=0.034381,angle between two frames:0.000548 -[18:02:56.938] Odometry x=0.002970, y=-0.733205, theta=0.020837 -[18:02:57.036] Odometry x=0.003049, y=-0.740902, theta=0.013975 -[18:02:57.070] After Reprojection Map nPoint:29 ,nCell:29 ,nMatches:1 ,distance between two frames x:-0.000080 ,z=0.000075,angle between two frames:0.000383 -[18:02:57.070] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.076256 error end=0.064490 -[18:02:57.070] After pose optimization, distance between two frames x:0.003736 ,z=0.078784,angle between two frames:0.006007 -[18:02:57.139] Odometry x=0.003104, y=-0.748548, theta=0.015699 -[18:02:57.215] After Reprojection Map nPoint:29 ,nCell:28 ,nMatches:2 ,distance between two frames x:0.005088 ,z=-0.007182,angle between two frames:0.001943 -[18:02:57.215] n deleted obs = 1 n obs with reprojection error less than 0.5 px =1 error init =0.519265 error end=0.514957 -[18:02:57.215] After pose optimization, distance between two frames x:-0.101590 ,z=0.152538,angle between two frames:0.030843 -[18:02:57.236] Odometry x=0.003165, y=-0.756186, theta=0.011333 -[18:02:57.334] Odometry x=0.003214, y=-0.763823, theta=0.024306 -[18:02:57.360] After Reprojection Map nPoint:29 ,nCell:29 ,nMatches:0 ,distance between two frames x:-0.025636 ,z=0.004587,angle between two frames:0.005949 -[18:02:57.360] After pose optimization, distance between two frames x:-0.025636 ,z=0.004587,angle between two frames:0.005949 -[18:02:57.364] Image Alignment failed 0 -[18:02:57.436] Odometry x=0.003304, y=-0.771108, theta=0.022237 -[18:02:57.501] After Reprojection Map nPoint:30 ,nCell:29 ,nMatches:2 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:02:57.501] n deleted obs = 1 n obs with reprojection error less than 0.5 px =1 error init =0.334879 error end=0.334879 -[18:02:57.501] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:02:57.533] Odometry x=0.003393, y=-0.778815, theta=0.033335 -[18:02:57.636] Odometry x=0.003521, y=-0.786452, theta=0.041604 -[18:02:57.647] After Reprojection Map nPoint:31 ,nCell:25 ,nMatches:3 ,distance between two frames x:-0.000421 ,z=-0.002235,angle between two frames:0.000745 -[18:02:57.648] n deleted obs = 2 n obs with reprojection error less than 0.5 px =2 error init =3.142358 error end=0.819298 -[18:02:57.648] After pose optimization, distance between two frames x:-0.192137 ,z=-0.684413,angle between two frames:0.022547 -[18:02:57.733] Odometry x=0.003681, y=-0.794076, theta=0.050505 -[18:02:57.805] After Reprojection Map nPoint:30 ,nCell:25 ,nMatches:4 ,distance between two frames x:0.032702 ,z=0.040774,angle between two frames:0.003518 -[18:02:57.805] n deleted obs = 0 n obs with reprojection error less than 0.5 px =5 error init =1.338358 error end=0.176224 -[18:02:57.805] After pose optimization, distance between two frames x:0.156513 ,z=0.833551,angle between two frames:0.031960 -[18:02:57.836] Odometry x=0.003874, y=-0.801699, theta=0.060395 -[18:02:57.934] Odometry x=0.004108, y=-0.809306, theta=0.067933 -[18:02:57.966] After Reprojection Map nPoint:31 ,nCell:28 ,nMatches:3 ,distance between two frames x:0.001825 ,z=0.003331,angle between two frames:0.000166 -[18:02:57.966] n deleted obs = 0 n obs with reprojection error less than 0.5 px =3 error init =0.164617 error end=0.164617 -[18:02:57.966] After pose optimization, distance between two frames x:0.001825 ,z=0.003331,angle between two frames:0.000166 -[18:02:58.032] Odometry x=0.004383, y=-0.816892, theta=0.079300 -[18:02:58.124] After Reprojection Map nPoint:26 ,nCell:24 ,nMatches:2 ,distance between two frames x:0.007599 ,z=0.006626,angle between two frames:0.001668 -[18:02:58.124] n deleted obs = 1 n obs with reprojection error less than 0.5 px =1 error init =0.619030 error end=0.599944 -[18:02:58.124] After pose optimization, distance between two frames x:-0.154121 ,z=0.315774,angle between two frames:0.063335 -[18:02:58.133] Odometry x=0.004687, y=-0.824496, theta=0.092615 -[18:02:58.236] Odometry x=0.005041, y=-0.832063, theta=0.095741 -[18:02:58.270] After Reprojection Map nPoint:31 ,nCell:28 ,nMatches:2 ,distance between two frames x:-0.002883 ,z=-0.004207,angle between two frames:0.000140 -[18:02:58.270] n deleted obs = 0 n obs with reprojection error less than 0.5 px =3 error init =0.748806 error end=0.236622 -[18:02:58.270] After pose optimization, distance between two frames x:-0.123557 ,z=0.313393,angle between two frames:0.054384 -[18:02:58.334] Odometry x=0.005404, y=-0.839616, theta=0.081959 -[18:02:58.415] After Reprojection Map nPoint:30 ,nCell:28 ,nMatches:1 ,distance between two frames x:-0.000046 ,z=0.000111,angle between two frames:0.000753 -[18:02:58.415] n deleted obs = 0 n obs with reprojection error less than 0.5 px =1 error init =0.162819 error end=0.162819 -[18:02:58.415] After pose optimization, distance between two frames x:-0.000046 ,z=0.000111,angle between two frames:0.000753 -[18:02:58.432] Odometry x=0.005719, y=-0.847179, theta=0.075298 -[18:02:58.534] Odometry x=0.006013, y=-0.854766, theta=0.068654 -[18:02:58.559] After Reprojection Map nPoint:30 ,nCell:30 ,nMatches:3 ,distance between two frames x:0.000426 ,z=-0.001013,angle between two frames:0.000072 -[18:02:58.559] n deleted obs = 1 n obs with reprojection error less than 0.5 px =2 error init =0.447097 error end=0.447097 -[18:02:58.559] After pose optimization, distance between two frames x:0.000426 ,z=-0.001013,angle between two frames:0.000072 -[18:02:58.637] Odometry x=0.006279, y=-0.862385, theta=0.057608 -[18:02:58.704] After Reprojection Map nPoint:28 ,nCell:27 ,nMatches:4 ,distance between two frames x:0.002014 ,z=0.000279,angle between two frames:0.000192 -[18:02:58.704] n deleted obs = 3 n obs with reprojection error less than 0.5 px =2 error init =8.132808 error end=0.925792 -[18:02:58.704] After pose optimization, distance between two frames x:-0.191410 ,z=-0.498238,angle between two frames:0.005430 -[18:02:58.739] Odometry x=0.006503, y=-0.870010, theta=0.058968 -[18:02:58.836] Odometry x=0.006731, y=-0.877723, theta=0.060357 -[18:02:58.855] After Reprojection Map nPoint:31 ,nCell:25 ,nMatches:8 ,distance between two frames x:0.004021 ,z=0.000463,angle between two frames:0.000730 -[18:02:58.855] n deleted obs = 13 n obs with reprojection error less than 0.5 px =2 error init =39.238151 error end=0.790573 -[18:02:58.855] After pose optimization, distance between two frames x:-124.639006 ,z=-115.272072,angle between two frames:2.287517 -[18:02:58.938] Odometry x=0.006966, y=-0.885383, theta=0.065889 -[18:02:59.016] After Reprojection Map nPoint:36 ,nCell:25 ,nMatches:14 ,distance between two frames x:0.007740 ,z=-0.008280,angle between two frames:0.004985 -[18:02:59.016] n deleted obs = 30 n obs with reprojection error less than 0.5 px =1 error init =21.893191 error end=1.477299 -[18:02:59.016] After pose optimization, distance between two frames x:155.466799 ,z=84.066725,angle between two frames:0.898545 -[18:02:59.036] Odometry x=0.007221, y=-0.893049, theta=0.063267 -[18:02:59.137] Odometry x=0.007453, y=-0.900241, theta=0.070103 -[18:02:59.161] After Reprojection Map nPoint:42 ,nCell:25 ,nMatches:18 ,distance between two frames x:0.000437 ,z=0.020066,angle between two frames:0.002304 -[18:02:59.162] n deleted obs = 44 n obs with reprojection error less than 0.5 px =0 error init =36.033542 error end=2.847048 -[18:02:59.162] After pose optimization, distance between two frames x:1013.429333 ,z=279.398238,angle between two frames:1.747498 -[18:02:59.166] Image Alignment failed 0 -[18:02:59.233] Odometry x=0.007732, y=-0.908170, theta=0.073298 -[18:02:59.303] After Reprojection Map nPoint:51 ,nCell:29 ,nMatches:19 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000057 -[18:02:59.303] n deleted obs = 44 n obs with reprojection error less than 0.5 px =8 error init =22.912259 error end=0.904618 -[18:02:59.304] After pose optimization, distance between two frames x:-29.246841 ,z=44.497349,angle between two frames:2.958466 -[18:02:59.339] Odometry x=0.008021, y=-0.915924, theta=0.084230 -[18:02:59.443] Odometry x=0.008331, y=-0.923180, theta=0.095061 -[18:02:59.459] After Reprojection Map nPoint:57 ,nCell:27 ,nMatches:21 ,distance between two frames x:0.019627 ,z=0.001766,angle between two frames:0.007525 -[18:02:59.459] n deleted obs = 12 n obs with reprojection error less than 0.5 px =45 error init =16.729646 error end=0.409055 -[18:02:59.459] After pose optimization, distance between two frames x:1.057209 ,z=-257.991582,angle between two frames:0.284725 -[18:02:59.538] Odometry x=0.008734, y=-0.931601, theta=0.102643 -[18:02:59.627] After Reprojection Map nPoint:61 ,nCell:50 ,nMatches:15 ,distance between two frames x:0.001739 ,z=0.002484,angle between two frames:0.000414 -[18:02:59.627] n deleted obs = 36 n obs with reprojection error less than 0.5 px =1 error init =8.378083 error end=8.378083 -[18:02:59.627] After pose optimization, distance between two frames x:0.001739 ,z=0.002484,angle between two frames:0.000414 -[18:02:59.640] Odometry x=0.009096, y=-0.938533, theta=0.113668 -[18:02:59.739] Odometry x=0.009559, y=-0.946585, theta=0.123770 -[18:02:59.772] After Reprojection Map nPoint:47 ,nCell:30 ,nMatches:24 ,distance between two frames x:0.000774 ,z=-0.009431,angle between two frames:0.000873 -[18:02:59.772] n deleted obs = 59 n obs with reprojection error less than 0.5 px =0 error init =7.998746 error end=7.998746 -[18:02:59.772] After pose optimization, distance between two frames x:0.000774 ,z=-0.009431,angle between two frames:0.000873 -[18:02:59.776] Image Alignment failed 0 -[18:02:59.832] Odometry x=0.010028, y=-0.954004, theta=0.132328 -[18:02:59.916] After Reprojection Map nPoint:58 ,nCell:30 ,nMatches:26 ,distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000788 -[18:02:59.916] n deleted obs = 71 n obs with reprojection error less than 0.5 px =0 error init =8.179541 error end=8.179541 -[18:02:59.916] After pose optimization, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000788 -[18:02:59.920] Image Alignment failed 0 -[18:02:59.937] Odometry x=0.010486, y=-0.960842, theta=0.128466 -[18:03:00.038] Odometry x=0.011014, y=-0.968970, theta=0.129113 -[18:03:00.061] After Reprojection Map nPoint:68 ,nCell:32 ,nMatches:29 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:03:00.061] n deleted obs = 85 n obs with reprojection error less than 0.5 px =0 error init =6.874717 error end=6.874717 -[18:03:00.061] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:03:00.065] Image Alignment failed 0 -[18:03:00.138] Odometry x=0.011490, y=-0.975991, theta=0.123006 -[18:03:00.204] After Reprojection Map nPoint:71 ,nCell:35 ,nMatches:32 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000153 -[18:03:00.204] n deleted obs = 94 n obs with reprojection error less than 0.5 px =0 error init =7.102954 error end=7.102954 -[18:03:00.204] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000153 -[18:03:00.208] Image Alignment failed 0 -[18:03:00.238] Odometry x=0.011944, y=-0.983380, theta=0.117124 -[18:03:00.338] Odometry x=0.012378, y=-0.990708, theta=0.104569 -[18:03:00.345] After Reprojection Map nPoint:70 ,nCell:28 ,nMatches:25 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000407 -[18:03:00.345] n deleted obs = 85 n obs with reprojection error less than 0.5 px =0 error init =5.164063 error end=5.164063 -[18:03:00.345] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000407 -[18:03:00.350] Image Alignment failed 0 -[18:03:00.438] Odometry x=0.012794, y=-0.998557, theta=0.097754 -[18:03:00.486] After Reprojection Map nPoint:68 ,nCell:33 ,nMatches:30 ,distance between two frames x:0.000003 ,z=0.000001,angle between two frames:0.001369 -[18:03:00.490] n deleted obs = 74 n obs with reprojection error less than 0.5 px =16 error init =3.906183 error end=0.825114 -[18:03:00.490] After pose optimization, distance between two frames x:2.502201 ,z=-3.881819,angle between two frames:1.620197 -[18:03:00.538] Odometry x=0.013162, y=-1.005881, theta=0.094552 -[18:03:00.633] Odometry x=0.013526, y=-1.013585, theta=0.089263 -[18:03:00.645] After Reprojection Map nPoint:73 ,nCell:39 ,nMatches:31 ,distance between two frames x:0.002511 ,z=0.000897,angle between two frames:0.000822 -[18:03:00.646] n deleted obs = 86 n obs with reprojection error less than 0.5 px =1 error init =3.942339 error end=3.942339 -[18:03:00.646] After pose optimization, distance between two frames x:0.002511 ,z=0.000897,angle between two frames:0.000822 -[18:03:00.738] Odometry x=0.013856, y=-1.020772, theta=0.099653 -[18:03:00.791] After Reprojection Map nPoint:77 ,nCell:33 ,nMatches:31 ,distance between two frames x:-0.000508 ,z=-0.001435,angle between two frames:0.000558 -[18:03:00.791] n deleted obs = 99 n obs with reprojection error less than 0.5 px =0 error init =3.190939 error end=3.190939 -[18:03:00.791] After pose optimization, distance between two frames x:-0.000508 ,z=-0.001435,angle between two frames:0.000558 -[18:03:00.795] Image Alignment failed 0 -[18:03:00.838] Odometry x=0.014257, y=-1.028683, theta=0.109330 -[18:03:00.931] After Reprojection Map nPoint:74 ,nCell:28 ,nMatches:28 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000217 -[18:03:00.931] n deleted obs = 94 n obs with reprojection error less than 0.5 px =0 error init =2.948693 error end=2.948693 -[18:03:00.931] After pose optimization, distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000217 -[18:03:00.933] Odometry x=0.014689, y=-1.036542, theta=0.109752 -[18:03:00.935] Image Alignment failed 0 -[18:03:01.038] Odometry x=0.015068, y=-1.043362, theta=0.107066 -[18:03:01.072] After Reprojection Map nPoint:81 ,nCell:34 ,nMatches:32 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:03:01.072] n deleted obs = 102 n obs with reprojection error less than 0.5 px =0 error init =2.952650 error end=2.952650 -[18:03:01.072] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:03:01.077] Image Alignment failed 0 -[18:03:01.139] Odometry x=0.015506, y=-1.051443, theta=0.114954 -[18:03:01.214] After Reprojection Map nPoint:77 ,nCell:33 ,nMatches:31 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000467 -[18:03:01.215] n deleted obs = 101 n obs with reprojection error less than 0.5 px =0 error init =2.639587 error end=2.639587 -[18:03:01.215] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000467 -[18:03:01.219] Image Alignment failed 0 -[18:03:01.238] Odometry x=0.015964, y=-1.059285, theta=0.122056 -[18:03:01.338] Odometry x=0.016414, y=-1.066589, theta=0.132597 -[18:03:01.357] After Reprojection Map nPoint:74 ,nCell:33 ,nMatches:33 ,distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.000421 -[18:03:01.357] n deleted obs = 100 n obs with reprojection error less than 0.5 px =0 error init =2.432722 error end=2.432722 -[18:03:01.357] After pose optimization, distance between two frames x:0.000000 ,z=0.000002,angle between two frames:0.000421 -[18:03:01.362] Image Alignment failed 0 -[18:03:01.433] Odometry x=0.016939, y=-1.074418, theta=0.142051 -[18:03:01.500] After Reprojection Map nPoint:74 ,nCell:35 ,nMatches:33 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000503 -[18:03:01.500] n deleted obs = 99 n obs with reprojection error less than 0.5 px =0 error init =2.203824 error end=2.203824 -[18:03:01.500] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000503 -[18:03:01.505] Image Alignment failed 0 -[18:03:01.539] Odometry x=0.017428, y=-1.081218, theta=0.153827 -[18:03:01.638] Odometry x=0.018052, y=-1.089251, theta=0.157083 -[18:03:01.643] After Reprojection Map nPoint:68 ,nCell:32 ,nMatches:32 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:03:01.643] n deleted obs = 95 n obs with reprojection error less than 0.5 px =0 error init =2.288128 error end=2.288128 -[18:03:01.643] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:03:01.648] Image Alignment failed 0 -[18:03:01.738] Odometry x=0.018646, y=-1.096684, theta=0.166607 -[18:03:01.785] After Reprojection Map nPoint:76 ,nCell:32 ,nMatches:32 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:03:01.786] n deleted obs = 98 n obs with reprojection error less than 0.5 px =1 error init =2.158432 error end=2.158432 -[18:03:01.786] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:03:01.838] Odometry x=0.019285, y=-1.104214, theta=0.172269 -[18:03:01.940] Odometry x=0.019943, y=-1.111526, theta=0.170120 -[18:03:01.940] After Reprojection Map nPoint:75 ,nCell:32 ,nMatches:31 ,distance between two frames x:-0.006131 ,z=-0.023724,angle between two frames:0.001324 -[18:03:01.941] n deleted obs = 100 n obs with reprojection error less than 0.5 px =0 error init =1.867638 error end=1.867638 -[18:03:01.941] After pose optimization, distance between two frames x:-0.006131 ,z=-0.023724,angle between two frames:0.001324 -[18:03:01.945] Image Alignment failed 0 -[18:03:02.034] Odometry x=0.020609, y=-1.119285, theta=0.162572 -[18:03:02.081] After Reprojection Map nPoint:76 ,nCell:32 ,nMatches:32 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:03:02.082] n deleted obs = 100 n obs with reprojection error less than 0.5 px =0 error init =1.978655 error end=1.978655 -[18:03:02.082] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 -[18:03:02.086] Image Alignment failed 0 -[18:03:02.138] Odometry x=0.021196, y=-1.126404, theta=0.154589 -[18:03:02.225] After Reprojection Map nPoint:75 ,nCell:34 ,nMatches:34 ,distance between two frames x:-0.000000 ,z=0.000006,angle between two frames:0.000187 -[18:03:02.225] n deleted obs = 103 n obs with reprojection error less than 0.5 px =0 error init =1.947492 error end=1.947492 -[18:03:02.225] After pose optimization, distance between two frames x:-0.000000 ,z=0.000006,angle between two frames:0.000187 -[18:03:02.229] Image Alignment failed 0 -[18:03:02.238] Odometry x=0.021820, y=-1.134376, theta=0.144148 -[18:03:02.337] Odometry x=0.022361, y=-1.141723, theta=0.141553 -[18:03:02.368] After Reprojection Map nPoint:75 ,nCell:35 ,nMatches:35 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000012 -[18:03:02.368] n deleted obs = 105 n obs with reprojection error less than 0.5 px =0 error init =1.914884 error end=1.914884 -[18:03:02.368] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000012 -[18:03:02.372] Image Alignment failed 0 -[18:03:02.437] Odometry x=0.022897, y=-1.149228, theta=0.128168 -[18:03:02.509] After Reprojection Map nPoint:70 ,nCell:34 ,nMatches:34 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000856 -[18:03:02.510] n deleted obs = 97 n obs with reprojection error less than 0.5 px =1 error init =1.786113 error end=1.786113 -[18:03:02.510] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000856 -[18:03:02.540] Odometry x=0.023398, y=-1.156864, theta=0.142802 -[18:03:02.640] Odometry x=0.023956, y=-1.164544, theta=0.144557 -[18:03:02.655] After Reprojection Map nPoint:76 ,nCell:32 ,nMatches:30 ,distance between two frames x:0.001792 ,z=-0.000731,angle between two frames:0.001324 -[18:03:02.656] n deleted obs = 95 n obs with reprojection error less than 0.5 px =3 error init =1.707294 error end=1.707294 -[18:03:02.656] After pose optimization, distance between two frames x:0.001792 ,z=-0.000731,angle between two frames:0.001324 -[18:03:02.739] Odometry x=0.024509, y=-1.172102, theta=0.146602 -[18:03:02.801] After Reprojection Map nPoint:77 ,nCell:41 ,nMatches:38 ,distance between two frames x:0.075915 ,z=0.011631,angle between two frames:0.023285 -[18:03:02.801] n deleted obs = 105 n obs with reprojection error less than 0.5 px =2 error init =1.917590 error end=1.917590 -[18:03:02.801] After pose optimization, distance between two frames x:0.075915 ,z=0.011631,angle between two frames:0.023285 -[18:03:02.838] Odometry x=0.025070, y=-1.179649, theta=0.142670 -[18:03:02.938] Odometry x=0.025620, y=-1.187249, theta=0.150725 -[18:03:02.951] After Reprojection Map nPoint:78 ,nCell:34 ,nMatches:34 ,distance between two frames x:0.010825 ,z=0.001869,angle between two frames:0.003126 -[18:03:02.952] n deleted obs = 103 n obs with reprojection error less than 0.5 px =4 error init =1.653665 error end=1.653665 -[18:03:02.952] After pose optimization, distance between two frames x:0.010825 ,z=0.001869,angle between two frames:0.003126 -[18:03:03.038] Odometry x=0.026200, y=-1.194799, theta=0.156862 -[18:03:03.111] After Reprojection Map nPoint:81 ,nCell:39 ,nMatches:35 ,distance between two frames x:0.003060 ,z=0.001176,angle between two frames:0.001211 -[18:03:03.111] n deleted obs = 102 n obs with reprojection error less than 0.5 px =5 error init =1.593402 error end=1.593402 -[18:03:03.111] After pose optimization, distance between two frames x:0.003060 ,z=0.001176,angle between two frames:0.001211 -[18:03:03.140] Odometry x=0.026800, y=-1.202335, theta=0.165962 -[18:03:03.239] Odometry x=0.027435, y=-1.209864, theta=0.177589 -[18:03:03.271] After Reprojection Map nPoint:82 ,nCell:37 ,nMatches:37 ,distance between two frames x:0.000663 ,z=-0.001134,angle between two frames:0.000597 -[18:03:03.272] n deleted obs = 105 n obs with reprojection error less than 0.5 px =5 error init =1.614135 error end=1.614135 -[18:03:03.272] After pose optimization, distance between two frames x:0.000663 ,z=-0.001134,angle between two frames:0.000597 -[18:03:03.339] Odometry x=0.028111, y=-1.217376, theta=0.187341 -[18:03:03.425] After Reprojection Map nPoint:79 ,nCell:36 ,nMatches:34 ,distance between two frames x:0.000809 ,z=0.000591,angle between two frames:0.000784 -[18:03:03.425] n deleted obs = 101 n obs with reprojection error less than 0.5 px =3 error init =1.530840 error end=1.530840 -[18:03:03.425] After pose optimization, distance between two frames x:0.000809 ,z=0.000591,angle between two frames:0.000784 -[18:03:03.437] Odometry x=0.028827, y=-1.224896, theta=0.195962 -[18:03:03.539] Odometry x=0.029548, y=-1.232067, theta=0.204515 -[18:03:03.580] After Reprojection Map nPoint:77 ,nCell:32 ,nMatches:29 ,distance between two frames x:0.035013 ,z=0.011187,angle between two frames:0.010842 -[18:03:03.580] n deleted obs = 97 n obs with reprojection error less than 0.5 px =1 error init =1.642414 error end=1.642414 -[18:03:03.580] After pose optimization, distance between two frames x:0.035013 ,z=0.011187,angle between two frames:0.010842 -[18:03:03.642] Odometry x=0.030365, y=-1.239920, theta=0.213329 -[18:03:03.724] After Reprojection Map nPoint:73 ,nCell:39 ,nMatches:37 ,distance between two frames x:0.000129 ,z=-0.000518,angle between two frames:0.000544 -[18:03:03.725] n deleted obs = 100 n obs with reprojection error less than 0.5 px =5 error init =1.487643 error end=1.487643 -[18:03:03.725] After pose optimization, distance between two frames x:0.000129 ,z=-0.000518,angle between two frames:0.000544 -[18:03:03.740] Odometry x=0.031176, y=-1.247328, theta=0.219798 -[18:03:03.837] Odometry x=0.032008, y=-1.254781, theta=0.216912 -[18:03:03.877] After Reprojection Map nPoint:79 ,nCell:35 ,nMatches:31 ,distance between two frames x:0.001542 ,z=0.002293,angle between two frames:0.000466 -[18:03:03.877] n deleted obs = 96 n obs with reprojection error less than 0.5 px =5 error init =1.411079 error end=1.411079 -[18:03:03.877] After pose optimization, distance between two frames x:0.001542 ,z=0.002293,angle between two frames:0.000466 -[18:03:03.940] Odometry x=0.032781, y=-1.261772, theta=0.211497 -[18:03:04.037] After Reprojection Map nPoint:73 ,nCell:32 ,nMatches:29 ,distance between two frames x:0.007642 ,z=0.002910,angle between two frames:0.002101 -[18:03:04.037] n deleted obs = 87 n obs with reprojection error less than 0.5 px =5 error init =1.417441 error end=1.417441 -[18:03:04.037] After pose optimization, distance between two frames x:0.007642 ,z=0.002910,angle between two frames:0.002101 -[18:03:04.037] Odometry x=0.033624, y=-1.269617, theta=0.199970 -[18:03:04.135] Odometry x=0.034356, y=-1.276711, theta=0.195489 -[18:03:04.183] After Reprojection Map nPoint:76 ,nCell:37 ,nMatches:35 ,distance between two frames x:-0.000351 ,z=-0.000069,angle between two frames:0.000099 -[18:03:04.183] n deleted obs = 98 n obs with reprojection error less than 0.5 px =5 error init =1.401221 error end=1.401221 -[18:03:04.183] After pose optimization, distance between two frames x:-0.000351 ,z=-0.000069,angle between two frames:0.000099 -[18:03:04.238] Odometry x=0.035102, y=-1.284197, theta=0.187276 -[18:03:04.336] After Reprojection Map nPoint:69 ,nCell:32 ,nMatches:31 ,distance between two frames x:0.004902 ,z=0.001461,angle between two frames:0.000721 -[18:03:04.337] n deleted obs = 91 n obs with reprojection error less than 0.5 px =3 error init =1.417516 error end=1.417516 -[18:03:04.337] After pose optimization, distance between two frames x:0.004902 ,z=0.001461,angle between two frames:0.000721 -[18:03:04.338] Odometry x=0.035820, y=-1.291711, theta=0.183381 -[18:03:04.440] Odometry x=0.036519, y=-1.299219, theta=0.173304 -[18:03:04.488] After Reprojection Map nPoint:71 ,nCell:31 ,nMatches:27 ,distance between two frames x:0.017857 ,z=0.003173,angle between two frames:0.005126 -[18:03:04.488] n deleted obs = 82 n obs with reprojection error less than 0.5 px =7 error init =1.384375 error end=1.384375 -[18:03:04.488] After pose optimization, distance between two frames x:0.017857 ,z=0.003173,angle between two frames:0.005126 -[18:03:04.537] Odometry x=0.037217, y=-1.307157, theta=0.166546 -[18:03:04.636] Odometry x=0.037831, y=-1.314417, theta=0.155245 -[18:03:04.642] After Reprojection Map nPoint:64 ,nCell:25 ,nMatches:24 ,distance between two frames x:0.022238 ,z=0.003930,angle between two frames:0.006226 -[18:03:04.642] n deleted obs = 74 n obs with reprojection error less than 0.5 px =6 error init =1.304771 error end=1.304771 -[18:03:04.642] After pose optimization, distance between two frames x:0.022238 ,z=0.003930,angle between two frames:0.006226 -[18:03:04.739] Odometry x=0.038429, y=-1.321967, theta=0.149345 -[18:03:04.793] After Reprojection Map nPoint:64 ,nCell:32 ,nMatches:30 ,distance between two frames x:-0.002771 ,z=0.000654,angle between two frames:0.002094 -[18:03:04.793] n deleted obs = 81 n obs with reprojection error less than 0.5 px =5 error init =1.316885 error end=1.316885 -[18:03:04.793] After pose optimization, distance between two frames x:-0.002771 ,z=0.000654,angle between two frames:0.002094 -[18:03:04.838] Odometry x=0.039002, y=-1.329527, theta=0.145414 -[18:03:04.935] Odometry x=0.039564, y=-1.337156, theta=0.144108 -[18:03:04.952] After Reprojection Map nPoint:70 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.012588 ,z=0.002357,angle between two frames:0.003393 -[18:03:04.952] n deleted obs = 85 n obs with reprojection error less than 0.5 px =6 error init =1.311514 error end=1.311514 -[18:03:04.952] After pose optimization, distance between two frames x:0.012588 ,z=0.002357,angle between two frames:0.003393 -[18:03:05.049] Odometry x=0.040083, y=-1.344275, theta=0.141606 -[18:03:05.104] After Reprojection Map nPoint:71 ,nCell:34 ,nMatches:31 ,distance between two frames x:0.004398 ,z=-0.000900,angle between two frames:0.001310 -[18:03:05.104] n deleted obs = 88 n obs with reprojection error less than 0.5 px =5 error init =1.255779 error end=1.255779 -[18:03:05.104] After pose optimization, distance between two frames x:0.004398 ,z=-0.000900,angle between two frames:0.001310 -[18:03:05.141] Odometry x=0.040716, y=-1.353140, theta=0.139150 -[18:03:05.240] Odometry x=0.041201, y=-1.360058, theta=0.134374 -[18:03:05.261] After Reprojection Map nPoint:72 ,nCell:34 ,nMatches:30 ,distance between two frames x:0.007208 ,z=0.004817,angle between two frames:0.001510 -[18:03:05.261] n deleted obs = 88 n obs with reprojection error less than 0.5 px =7 error init =1.303208 error end=1.303208 -[18:03:05.261] After pose optimization, distance between two frames x:0.007208 ,z=0.004817,angle between two frames:0.001510 -[18:03:05.338] Odometry x=0.041701, y=-1.367307, theta=0.146793 -[18:03:05.420] After Reprojection Map nPoint:72 ,nCell:36 ,nMatches:33 ,distance between two frames x:0.000447 ,z=-0.000266,angle between two frames:0.000123 -[18:03:05.420] n deleted obs = 95 n obs with reprojection error less than 0.5 px =3 error init =1.220249 error end=1.220249 -[18:03:05.420] After pose optimization, distance between two frames x:0.000447 ,z=-0.000266,angle between two frames:0.000123 -[18:03:05.437] Odometry x=0.042241, y=-1.374348, theta=0.159048 -[18:03:05.532] Odometry x=0.042824, y=-1.381530, theta=0.174411 -[18:03:05.571] After Reprojection Map nPoint:74 ,nCell:29 ,nMatches:28 ,distance between two frames x:-0.002773 ,z=-0.000542,angle between two frames:0.000026 -[18:03:05.571] n deleted obs = 88 n obs with reprojection error less than 0.5 px =8 error init =1.185121 error end=1.185121 -[18:03:05.571] After pose optimization, distance between two frames x:-0.002773 ,z=-0.000542,angle between two frames:0.000026 -[18:03:05.631] Odometry x=0.043505, y=-1.389266, theta=0.177341 -[18:03:05.736] After Reprojection Map nPoint:75 ,nCell:37 ,nMatches:33 ,distance between two frames x:0.017830 ,z=0.004230,angle between two frames:0.004939 -[18:03:05.736] n deleted obs = 88 n obs with reprojection error less than 0.5 px =10 error init =1.139280 error end=1.139280 -[18:03:05.736] After pose optimization, distance between two frames x:0.017830 ,z=0.004230,angle between two frames:0.004939 -[18:03:05.736] Update EKF and 3D points, distance between two frames x:0.016826 ,z=0.003613,angle between two frames:0.005409 -[18:03:05.736] Choose frame as a key frame Scene Depth mean:-0.422016 ,depth min:-1.315882 -[18:03:05.738] Odometry x=0.060332, y=-1.385657, theta=0.181906 -[18:03:05.840] Odometry x=0.061370, y=-1.396933, theta=0.186655 -[18:03:05.901] After Reprojection Map nPoint:76 ,nCell:38 ,nMatches:35 ,distance between two frames x:0.000811 ,z=-0.000172,angle between two frames:0.000167 -[18:03:05.901] n deleted obs = 69 n obs with reprojection error less than 0.5 px =32 error init =0.979219 error end=0.979219 -[18:03:05.901] After pose optimization, distance between two frames x:0.000811 ,z=-0.000172,angle between two frames:0.000167 -[18:03:05.901] Update EKF and 3D points, distance between two frames x:0.000865 ,z=-0.001256,angle between two frames:0.000209 -[18:03:05.901] Choose frame as a key frame Scene Depth mean:-0.640479 ,depth min:-2.591972 -[18:03:05.939] Odometry x=0.061546, y=-1.393601, theta=0.184671 -[18:03:06.038] Odometry x=0.062265, y=-1.401071, theta=0.206189 -[18:03:06.053] After Reprojection Map nPoint:65 ,nCell:26 ,nMatches:24 ,distance between two frames x:0.000344 ,z=-0.006644,angle between two frames:0.000238 -[18:03:06.054] n deleted obs = 59 n obs with reprojection error less than 0.5 px =23 error init =1.056897 error end=1.056897 -[18:03:06.054] After pose optimization, distance between two frames x:0.000344 ,z=-0.006644,angle between two frames:0.000238 -[18:03:06.054] Update EKF and 3D points, distance between two frames x:0.000432 ,z=-0.007515,angle between two frames:0.001970 -[18:03:06.054] Choose frame as a key frame Scene Depth mean:-0.805973 ,depth min:-2.194612 -[18:03:06.140] Odometry x=0.062167, y=-1.399790, theta=0.218833 -[18:03:06.234] After Reprojection Map nPoint:60 ,nCell:29 ,nMatches:25 ,distance between two frames x:0.001692 ,z=0.000291,angle between two frames:0.000451 -[18:03:06.234] n deleted obs = 62 n obs with reprojection error less than 0.5 px =16 error init =1.063601 error end=1.063601 -[18:03:06.234] After pose optimization, distance between two frames x:0.001692 ,z=0.000291,angle between two frames:0.000451 -[18:03:06.234] Update EKF and 3D points, distance between two frames x:0.001674 ,z=-0.000470,angle between two frames:0.002824 -[18:03:06.234] Choose frame as a key frame Scene Depth mean:51.626402 ,depth min:-26.744127 -[18:03:06.239] Odometry x=0.063188, y=-1.399607, theta=0.201581 -[18:03:06.340] Odometry x=0.063947, y=-1.407051, theta=0.200929 -[18:03:06.405] After Reprojection Map nPoint:66 ,nCell:35 ,nMatches:32 ,distance between two frames x:-0.000114 ,z=-0.004663,angle between two frames:0.014673 -[18:03:06.405] n deleted obs = 59 n obs with reprojection error less than 0.5 px =33 error init =0.883621 error end=0.883621 -[18:03:06.405] After pose optimization, distance between two frames x:-0.000114 ,z=-0.004663,angle between two frames:0.014673 -[18:03:06.405] Update EKF and 3D points, distance between two frames x:-0.000026 ,z=-0.005533,angle between two frames:0.014868 -[18:03:06.406] Choose frame as a key frame Scene Depth mean:-1.110460 ,depth min:-15.575525 -[18:03:06.439] Odometry x=0.063824, y=-1.405809, theta=0.204213 -[18:03:06.539] Odometry x=0.064599, y=-1.413269, theta=0.213850 -[18:03:06.576] After Reprojection Map nPoint:69 ,nCell:37 ,nMatches:33 ,distance between two frames x:0.000547 ,z=-0.005334,angle between two frames:0.001248 -[18:03:06.576] n deleted obs = 83 n obs with reprojection error less than 0.5 px =11 error init =1.110912 error end=1.110912 -[18:03:06.576] After pose optimization, distance between two frames x:0.000547 ,z=-0.005334,angle between two frames:0.001248 -[18:03:06.576] Update EKF and 3D points, distance between two frames x:0.000640 ,z=-0.006205,angle between two frames:0.002215 -[18:03:06.576] Choose frame as a key frame Scene Depth mean:-1.227405 ,depth min:-4.624005 -[18:03:06.641] Odometry x=0.064485, y=-1.412002, theta=0.212808 -[18:03:06.738] Odometry x=0.065334, y=-1.419830, theta=0.214454 -[18:03:06.758] After Reprojection Map nPoint:62 ,nCell:29 ,nMatches:25 ,distance between two frames x:0.002465 ,z=-0.004055,angle between two frames:0.006964 -[18:03:06.758] n deleted obs = 46 n obs with reprojection error less than 0.5 px =32 error init =0.883084 error end=0.883084 -[18:03:06.758] After pose optimization, distance between two frames x:0.002465 ,z=-0.004055,angle between two frames:0.006964 -[18:03:06.758] Update EKF and 3D points, distance between two frames x:0.002449 ,z=-0.004999,angle between two frames:0.007284 -[18:03:06.758] Choose frame as a key frame Scene Depth mean:-0.765248 ,depth min:-8.401340 -[18:03:06.840] Odometry x=0.066269, y=-1.417474, theta=0.222030 -[18:03:06.938] After Reprojection Map nPoint:64 ,nCell:33 ,nMatches:31 ,distance between two frames x:-0.000096 ,z=-0.005779,angle between two frames:0.002187 -[18:03:06.938] n deleted obs = 47 n obs with reprojection error less than 0.5 px =43 error init =0.786532 error end=0.786532 -[18:03:06.938] After pose optimization, distance between two frames x:-0.000096 ,z=-0.005779,angle between two frames:0.002187 -[18:03:06.938] Update EKF and 3D points, distance between two frames x:-0.000045 ,z=-0.006236,angle between two frames:0.003179 -[18:03:06.939] Choose frame as a key frame Scene Depth mean:-0.845067 ,depth min:-5.720548 -[18:03:06.939] Odometry x=0.066321, y=-1.417873, theta=0.214455 -[18:03:07.038] Odometry x=0.067283, y=-1.426682, theta=0.219367 -[18:03:07.124] After Reprojection Map nPoint:62 ,nCell:30 ,nMatches:23 ,distance between two frames x:-0.000018 ,z=0.000017,angle between two frames:0.000004 -[18:03:07.125] n deleted obs = 60 n obs with reprojection error less than 0.5 px =15 error init =1.010320 error end=1.010320 -[18:03:07.125] After pose optimization, distance between two frames x:-0.000018 ,z=0.000017,angle between two frames:0.000004 -[18:03:07.125] Update EKF and 3D points, distance between two frames x:0.000088 ,z=-0.000931,angle between two frames:0.000628 -[18:03:07.125] Choose frame as a key frame Scene Depth mean:-0.687544 ,depth min:-3.246384 -[18:03:07.138] Odometry x=0.067063, y=-1.424657, theta=0.219673 -[18:03:07.241] Odometry x=0.067900, y=-1.432108, theta=0.222846 -[18:03:07.338] Odometry x=0.068754, y=-1.439582, theta=0.216175 -[18:03:07.339] After Reprojection Map nPoint:67 ,nCell:31 ,nMatches:29 ,distance between two frames x:-0.000668 ,z=-0.006497,angle between two frames:0.003849 -[18:03:07.340] n deleted obs = 60 n obs with reprojection error less than 0.5 px =30 error init =0.872327 error end=0.872327 -[18:03:07.340] After pose optimization, distance between two frames x:-0.000668 ,z=-0.006497,angle between two frames:0.003849 -[18:03:07.340] Update EKF and 3D points, distance between two frames x:-0.000367 ,z=-0.008465,angle between two frames:0.003691 -[18:03:07.340] Choose frame as a key frame Scene Depth mean:-0.349865 ,depth min:-1.744708 -[18:03:07.438] Odometry x=0.067899, y=-1.439430, theta=0.215301 -[18:03:07.533] Odometry x=0.068723, y=-1.446826, theta=0.217807 -[18:03:07.555] After Reprojection Map nPoint:109 ,nCell:32 ,nMatches:31 ,distance between two frames x:0.002025 ,z=-0.012137,angle between two frames:0.001228 -[18:03:07.555] n deleted obs = 118 n obs with reprojection error less than 0.5 px =20 error init =1.055338 error end=1.055338 -[18:03:07.555] After pose optimization, distance between two frames x:0.002025 ,z=-0.012137,angle between two frames:0.001228 -[18:03:07.555] Update EKF and 3D points, distance between two frames x:0.002109 ,z=-0.012982,angle between two frames:0.001373 -[18:03:07.555] Choose frame as a key frame Scene Depth mean:-0.720289 ,depth min:-1.417035 -[18:03:07.638] Odometry x=0.068670, y=-1.445478, theta=0.210229 -[18:03:07.738] Odometry x=0.069484, y=-1.452972, theta=0.201204 -[18:03:07.766] After Reprojection Map nPoint:114 ,nCell:42 ,nMatches:35 ,distance between two frames x:-0.000056 ,z=0.000036,angle between two frames:0.000014 -[18:03:07.766] n deleted obs = 97 n obs with reprojection error less than 0.5 px =38 error init =0.924579 error end=0.924579 -[18:03:07.766] After pose optimization, distance between two frames x:-0.000056 ,z=0.000036,angle between two frames:0.000014 -[18:03:07.766] Update EKF and 3D points, distance between two frames x:0.000070 ,z=-0.001142,angle between two frames:0.001193 -[18:03:07.766] Choose frame as a key frame Scene Depth mean:-0.999457 ,depth min:-3.270016 -[18:03:07.837] Odometry x=0.068990, y=-1.448619, theta=0.202455 -[18:03:07.992] After Reprojection Map nPoint:115 ,nCell:37 ,nMatches:35 ,distance between two frames x:0.000946 ,z=-0.007231,angle between two frames:0.007842 -[18:03:07.992] n deleted obs = 115 n obs with reprojection error less than 0.5 px =25 error init =1.048087 error end=1.048087 -[18:03:07.992] After pose optimization, distance between two frames x:0.000946 ,z=-0.007231,angle between two frames:0.007842 -[18:03:07.992] Update EKF and 3D points, distance between two frames x:0.000981 ,z=-0.007665,angle between two frames:0.007606 -[18:03:08.235] After Reprojection Map nPoint:115 ,nCell:44 ,nMatches:40 ,distance between two frames x:0.000557 ,z=-0.003418,angle between two frames:0.001707 -[18:03:08.235] n deleted obs = 96 n obs with reprojection error less than 0.5 px =50 error init =0.870815 error end=0.870815 -[18:03:08.235] After pose optimization, distance between two frames x:0.000557 ,z=-0.003418,angle between two frames:0.001707 -[18:03:08.236] Update EKF and 3D points, distance between two frames x:0.000537 ,z=-0.003373,angle between two frames \ No newline at end of file +[21:39:29.283] Init: frame zero: 0.000000, 0.000000 0.000000 +[21:39:29.284] Init: Selected first frame. +[21:39:29.387] Init: px average disparity is:0.089606 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:29.387] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:29.483] Init: px average disparity is:0.105212 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:29.483] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:29.580] Init: px average disparity is:0.095069 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:29.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:29.681] Init: px average disparity is:0.119968 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:29.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:29.781] Init: px average disparity is:0.101155 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:29.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:29.879] Init: px average disparity is:0.108525 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:29.879] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:29.981] Init: px average disparity is:0.167673 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:29.981] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:30.083] Init: px average disparity is:0.142985 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:30.083] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:30.179] Init: px average disparity is:0.100914 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:30.179] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:30.279] Init: px average disparity is:0.137062 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:30.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:30.380] Init: px average disparity is:0.225555 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:30.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:30.479] Init: px average disparity is:0.184509 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:30.479] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:30.581] Init: px average disparity is:0.164003 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:30.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:30.679] Init: px average disparity is:0.285741 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:30.679] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:30.779] Init: px average disparity is:0.217617 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:30.779] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:30.879] Init: px average disparity is:0.245696 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:30.879] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:30.980] Init: px average disparity is:0.167323 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:30.980] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:31.079] Init: px average disparity is:0.128723 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:31.079] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:31.182] Init: px average disparity is:0.157470 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:31.182] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:31.279] Init: px average disparity is:0.175366 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:31.279] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:31.379] Init: px average disparity is:0.226746 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:31.379] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:31.482] Init: px average disparity is:0.204086 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:31.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:31.580] Init: px average disparity is:0.218523 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:31.580] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:31.654] Odometry x=0.000011, y=-0.000001, theta=0.072199 +[21:39:31.678] Init: px average disparity is:0.231696 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:31.678] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:31.759] Odometry x=0.000005, y=-0.000001, theta=0.032797 +[21:39:31.780] Init: px average disparity is:0.164205 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:31.780] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:31.860] Odometry x=-0.000117, y=0.003988, theta=0.026342 +[21:39:31.880] Init: px average disparity is:4.193877 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:31.880] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:31.958] Odometry x=-0.000212, y=0.008069, theta=0.033683 +[21:39:31.980] Init: px average disparity is:2.653318 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:31.980] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:32.052] Odometry x=-0.000339, y=0.011888, theta=0.037595 +[21:39:32.080] Init: px average disparity is:2.768963 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:32.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:32.152] Odometry x=-0.000473, y=0.015532, theta=0.045868 +[21:39:32.180] Init: px average disparity is:2.789828 ,While minimum is: 40.000000 KLT tracked : 122 +[21:39:32.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:32.253] Odometry x=-0.000637, y=0.019347, theta=0.050545 +[21:39:32.280] Init: px average disparity is:2.885281 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:32.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:32.355] Odometry x=-0.000826, y=0.023179, theta=0.049358 +[21:39:32.380] Init: px average disparity is:7.404709 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:32.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:32.456] Odometry x=-0.001014, y=0.027046, theta=0.054840 +[21:39:32.481] Init: px average disparity is:10.769692 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:32.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:32.555] Odometry x=-0.001220, y=0.030864, theta=0.064348 +[21:39:32.583] Init: px average disparity is:10.490100 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:32.583] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:32.653] Odometry x=-0.001463, y=0.034694, theta=0.069658 +[21:39:32.680] Init: px average disparity is:12.935331 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:32.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:32.754] Odometry x=-0.000714, y=0.038275, theta=0.035275 +[21:39:32.781] Init: px average disparity is:15.288791 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:32.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:32.855] Odometry x=-0.000848, y=0.042202, theta=0.044865 +[21:39:32.880] Init: px average disparity is:16.527852 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:32.880] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:32.957] Odometry x=-0.001016, y=0.046057, theta=0.052724 +[21:39:32.982] Init: px average disparity is:15.003058 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:32.982] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:33.056] Odometry x=-0.001221, y=0.050023, theta=0.060008 +[21:39:33.081] Init: px average disparity is:13.453941 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:33.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:33.153] Odometry x=-0.001451, y=0.053883, theta=0.061922 +[21:39:33.181] Init: px average disparity is:14.831306 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:33.181] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:33.255] Odometry x=-0.001676, y=0.057615, theta=0.073439 +[21:39:33.281] Init: px average disparity is:14.917130 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:33.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:33.358] Odometry x=-0.000818, y=0.061427, theta=0.033246 +[21:39:33.383] Init: px average disparity is:14.671338 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:33.383] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:33.452] Odometry x=-0.000946, y=0.065312, theta=0.030631 +[21:39:33.481] Init: px average disparity is:11.881741 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:33.481] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:33.559] Odometry x=-0.001061, y=0.068975, theta=0.018965 +[21:39:33.581] Init: px average disparity is:9.779747 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:33.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:33.656] Odometry x=-0.001141, y=0.073018, theta=0.012179 +[21:39:33.681] Init: px average disparity is:7.437588 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:33.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:33.753] Odometry x=-0.001187, y=0.076692, theta=0.004310 +[21:39:33.781] Init: px average disparity is:8.706342 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:33.781] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:33.859] Odometry x=-0.001205, y=0.080543, theta=-0.002453 +[21:39:33.881] Init: px average disparity is:8.565798 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:33.881] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:33.956] Odometry x=-0.001193, y=0.084400, theta=0.008314 +[21:39:33.983] Init: px average disparity is:8.341170 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:33.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:34.060] Odometry x=-0.001224, y=0.088267, theta=0.014455 +[21:39:34.084] Init: px average disparity is:6.813993 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:34.084] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:34.157] Odometry x=-0.001275, y=0.092125, theta=0.015379 +[21:39:34.181] Init: px average disparity is:8.327341 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:34.181] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:34.255] Odometry x=-0.001333, y=0.095956, theta=0.019085 +[21:39:34.281] Init: px average disparity is:9.810968 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:34.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:34.357] Odometry x=-0.001401, y=0.099603, theta=0.025464 +[21:39:34.382] Init: px average disparity is:10.279895 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:34.382] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:34.457] Odometry x=-0.001498, y=0.103509, theta=0.028020 +[21:39:34.482] Init: px average disparity is:10.828600 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:34.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:34.555] Odometry x=-0.001607, y=0.107377, theta=0.033901 +[21:39:34.582] Init: px average disparity is:11.515268 ,While minimum is: 40.000000 KLT tracked : 121 +[21:39:34.582] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:34.658] Odometry x=-0.001732, y=0.111207, theta=0.052287 +[21:39:34.681] Init: px average disparity is:13.448482 ,While minimum is: 40.000000 KLT tracked : 120 +[21:39:34.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:34.755] Odometry x=-0.001928, y=0.115049, theta=0.062920 +[21:39:34.785] Init: px average disparity is:15.239249 ,While minimum is: 40.000000 KLT tracked : 120 +[21:39:34.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:34.857] Odometry x=-0.002169, y=0.118937, theta=0.073473 +[21:39:34.881] Init: px average disparity is:16.323800 ,While minimum is: 40.000000 KLT tracked : 120 +[21:39:34.881] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:34.956] Odometry x=-0.001022, y=0.122752, theta=0.039509 +[21:39:34.985] Init: px average disparity is:17.417716 ,While minimum is: 40.000000 KLT tracked : 120 +[21:39:34.985] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:35.055] Odometry x=-0.001168, y=0.126474, theta=0.036258 +[21:39:35.080] Init: px average disparity is:15.836590 ,While minimum is: 40.000000 KLT tracked : 118 +[21:39:35.080] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:35.154] Odometry x=-0.001310, y=0.130257, theta=0.026603 +[21:39:35.181] Init: px average disparity is:13.862680 ,While minimum is: 40.000000 KLT tracked : 118 +[21:39:35.181] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:35.254] Odometry x=-0.001418, y=0.134120, theta=0.027515 +[21:39:35.280] Init: px average disparity is:13.022936 ,While minimum is: 40.000000 KLT tracked : 118 +[21:39:35.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:35.357] Odometry x=-0.001523, y=0.137939, theta=0.023419 +[21:39:35.380] Init: px average disparity is:12.942950 ,While minimum is: 40.000000 KLT tracked : 118 +[21:39:35.380] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:35.452] Odometry x=-0.001616, y=0.141808, theta=0.017006 +[21:39:35.480] Init: px average disparity is:10.524080 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:35.480] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:35.553] Odometry x=-0.001678, y=0.145470, theta=0.010318 +[21:39:35.581] Init: px average disparity is:10.533113 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:35.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:35.655] Odometry x=-0.001720, y=0.149158, theta=0.004430 +[21:39:35.680] Init: px average disparity is:12.025748 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:35.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:35.758] Odometry x=-0.001741, y=0.153394, theta=0.004574 +[21:39:35.785] Init: px average disparity is:12.489039 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:35.785] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:35.862] Odometry x=-0.001758, y=0.157239, theta=0.016238 +[21:39:35.886] Init: px average disparity is:12.005171 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:35.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:35.951] Odometry x=-0.001828, y=0.161298, theta=0.016730 +[21:39:35.986] Init: px average disparity is:11.501170 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:35.986] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:36.061] Odometry x=-0.001885, y=0.164743, theta=0.028343 +[21:39:36.087] Init: px average disparity is:11.650812 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:36.087] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:36.158] Odometry x=-0.002005, y=0.168989, theta=0.032280 +[21:39:36.180] Init: px average disparity is:11.523723 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:36.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:36.256] Odometry x=-0.002118, y=0.172616, theta=0.042909 +[21:39:36.287] Init: px average disparity is:11.816345 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:36.287] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:36.359] Odometry x=-0.002280, y=0.176432, theta=0.048758 +[21:39:36.384] Init: px average disparity is:13.315763 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:36.384] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:36.455] Odometry x=-0.002462, y=0.180255, theta=0.060861 +[21:39:36.482] Init: px average disparity is:14.446698 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:36.482] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:36.553] Odometry x=-0.002694, y=0.184095, theta=0.068187 +[21:39:36.581] Init: px average disparity is:16.818563 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:36.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:36.656] Odometry x=-0.001226, y=0.187749, theta=0.042152 +[21:39:36.680] Init: px average disparity is:19.972147 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:36.680] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:36.756] Odometry x=-0.001385, y=0.191607, theta=0.050379 +[21:39:36.780] Init: px average disparity is:20.905971 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:36.780] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:36.853] Odometry x=-0.001578, y=0.195442, theta=0.050114 +[21:39:36.881] Init: px average disparity is:19.965992 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:36.881] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:36.958] Odometry x=-0.001770, y=0.199281, theta=0.043472 +[21:39:36.981] Init: px average disparity is:19.918059 ,While minimum is: 40.000000 KLT tracked : 117 +[21:39:36.981] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:37.054] Odometry x=-0.001938, y=0.203134, theta=0.040158 +[21:39:37.080] Init: px average disparity is:16.556764 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:37.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:37.156] Odometry x=-0.002092, y=0.206969, theta=0.031391 +[21:39:37.180] Init: px average disparity is:15.774993 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:37.180] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:37.258] Odometry x=-0.002213, y=0.210789, theta=0.027485 +[21:39:37.280] Init: px average disparity is:15.020212 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:37.280] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:37.356] Odometry x=-0.002319, y=0.214629, theta=0.022149 +[21:39:37.381] Init: px average disparity is:15.339316 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:37.381] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:37.458] Odometry x=-0.002406, y=0.218481, theta=0.018961 +[21:39:37.484] Init: px average disparity is:15.606256 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:37.484] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:37.555] Odometry x=-0.002483, y=0.222340, theta=0.023063 +[21:39:37.581] Init: px average disparity is:15.669153 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:37.581] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:37.658] Odometry x=-0.002568, y=0.226171, theta=0.029651 +[21:39:37.681] Init: px average disparity is:15.796326 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:37.681] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:37.756] Odometry x=-0.002685, y=0.230025, theta=0.033060 +[21:39:37.782] Init: px average disparity is:16.064554 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:37.782] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:37.867] Odometry x=-0.002811, y=0.233898, theta=0.041532 +[21:39:37.886] Init: px average disparity is:15.729016 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:37.886] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:37.958] Odometry x=-0.002979, y=0.237907, theta=0.046206 +[21:39:37.981] Init: px average disparity is:17.198640 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:37.981] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:38.055] Odometry x=-0.003144, y=0.241528, theta=0.054050 +[21:39:38.081] Init: px average disparity is:17.306524 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:38.081] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:38.151] Odometry x=-0.003344, y=0.245189, theta=0.062087 +[21:39:38.181] Init: px average disparity is:18.840760 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:38.181] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:38.257] Odometry x=-0.003578, y=0.249023, theta=0.076250 +[21:39:38.281] Init: px average disparity is:19.993222 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:38.281] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:38.356] Odometry x=-0.001627, y=0.253074, theta=0.033735 +[21:39:38.382] Init: px average disparity is:20.889143 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:38.382] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:38.458] Odometry x=-0.001751, y=0.256839, theta=0.046225 +[21:39:38.486] Init: px average disparity is:22.539122 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:38.486] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:38.558] Odometry x=-0.001926, y=0.260659, theta=0.051625 +[21:39:38.586] Init: px average disparity is:23.375391 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:38.586] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:38.656] Odometry x=-0.002124, y=0.264485, theta=0.053548 +[21:39:38.682] Init: px average disparity is:25.215557 ,While minimum is: 40.000000 KLT tracked : 116 +[21:39:38.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:38.759] Odometry x=-0.002331, y=0.268316, theta=0.056954 +[21:39:38.782] Init: px average disparity is:22.485969 ,While minimum is: 40.000000 KLT tracked : 114 +[21:39:38.782] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:38.857] Odometry x=-0.002549, y=0.272161, theta=0.063114 +[21:39:38.884] Init: px average disparity is:24.063670 ,While minimum is: 40.000000 KLT tracked : 114 +[21:39:38.884] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:38.954] Odometry x=-0.002791, y=0.275995, theta=0.058581 +[21:39:38.983] Init: px average disparity is:22.469277 ,While minimum is: 40.000000 KLT tracked : 114 +[21:39:38.983] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:39.057] Odometry x=-0.003020, y=0.279846, theta=0.051019 +[21:39:39.090] Init: px average disparity is:20.982096 ,While minimum is: 40.000000 KLT tracked : 114 +[21:39:39.090] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:39.157] Odometry x=-0.003217, y=0.283660, theta=0.045555 +[21:39:39.182] Init: px average disparity is:20.538068 ,While minimum is: 40.000000 KLT tracked : 113 +[21:39:39.182] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:39.255] Odometry x=-0.003392, y=0.287502, theta=0.043014 +[21:39:39.289] Init: px average disparity is:19.419463 ,While minimum is: 40.000000 KLT tracked : 113 +[21:39:39.290] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:39.358] Odometry x=-0.003561, y=0.291334, theta=0.037397 +[21:39:39.390] Init: px average disparity is:20.056292 ,While minimum is: 40.000000 KLT tracked : 113 +[21:39:39.390] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:39.456] Odometry x=-0.003705, y=0.295159, theta=0.034792 +[21:39:39.485] Init: px average disparity is:20.509527 ,While minimum is: 40.000000 KLT tracked : 112 +[21:39:39.485] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:39.558] Odometry x=-0.003841, y=0.298982, theta=0.032268 +[21:39:39.583] Init: px average disparity is:21.823044 ,While minimum is: 40.000000 KLT tracked : 112 +[21:39:39.583] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:39.657] Odometry x=-0.003965, y=0.302841, theta=0.041815 +[21:39:39.682] Init: px average disparity is:23.663051 ,While minimum is: 40.000000 KLT tracked : 112 +[21:39:39.682] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:39.757] Odometry x=-0.004125, y=0.306662, theta=0.053106 +[21:39:39.789] Init: px average disparity is:23.278788 ,While minimum is: 40.000000 KLT tracked : 108 +[21:39:39.789] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:39.856] Odometry x=-0.004327, y=0.310489, theta=0.056596 +[21:39:39.892] Init: px average disparity is:24.762939 ,While minimum is: 40.000000 KLT tracked : 108 +[21:39:39.892] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:39.959] Odometry x=-0.004543, y=0.314312, theta=0.065009 +[21:39:39.990] Init: px average disparity is:28.279624 ,While minimum is: 40.000000 KLT tracked : 108 +[21:39:39.990] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:40.211] Odometry x=-0.004815, y=0.318643, theta=0.088721 +[21:39:40.219] Init: px average disparity is:30.044975 ,While minimum is: 40.000000 KLT tracked : 107 +[21:39:40.219] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:40.235] Init: px average disparity is:31.407985 ,While minimum is: 40.000000 KLT tracked : 106 +[21:39:40.235] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:40.257] Odometry x=-0.002352, y=0.328360, theta=0.033897 +[21:39:40.282] Init: px average disparity is:29.628166 ,While minimum is: 40.000000 KLT tracked : 106 +[21:39:40.282] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:40.358] Odometry x=-0.002441, y=0.330105, theta=0.027532 +[21:39:40.394] Init: px average disparity is:30.110059 ,While minimum is: 40.000000 KLT tracked : 104 +[21:39:40.394] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:40.452] Odometry x=-0.002545, y=0.333960, theta=0.030295 +[21:39:40.551] Odometry x=-0.002659, y=0.337671, theta=0.033994 +[21:39:40.564] Init: Homography RANSAC (inlier) is:0 ,While 20 inliers minimum required. px average disparity is:44.316105 ,While minimum is: 40.000000 KLT tracked: 104 +[21:39:40.564] Init: distance between the first and current frame is x:0.000000 ,z=0.000000,angle between two frames: 0.000000 +[21:39:40.647] Init finished: Homography RANSAC (inlier) is:25 ,While 20 inliers minimum required. px average disparity is:73.212000 ,While minimum is: 40.000000 KLT tracked: 101 +[21:39:40.647] Init: distance between the first and current frame is x:-0.002789 ,z=0.341520,angle between two frames: 0.037218 +[21:39:40.650] Init: Selected Second frame. The number of features: 25 depth mean:-1.299803 min:-1.829622 +[21:39:40.655] Odometry x=-0.002790, y=0.341521, theta=0.037194 +[21:39:40.757] Odometry x=-0.002935, y=0.345421, theta=0.038405 +[21:39:40.840] After Reprojection Map nPoint:23 ,nCell:21 ,nMatches:3 ,distance between two frames x:-0.000936 ,z=0.004911,angle between two frames:0.001448 +[21:39:40.841] n deleted obs = 0 n obs with reprojection error less than 0.5 px =3 error init =0.334974 error end=0.219032 +[21:39:40.841] After pose optimization, distance between two frames x:0.115726 ,z=-0.002256,angle between two frames:0.068652 +[21:39:40.855] Odometry x=-0.003088, y=0.349405, theta=0.034994 +[21:39:40.988] Odometry x=-0.003247, y=0.353866, theta=0.029398 +[21:39:40.993] After Reprojection Map nPoint:3 ,nCell:3 ,nMatches:0 ,distance between two frames x:0.000331 ,z=-0.000093,angle between two frames:0.000101 +[21:39:40.997] Image Alignment failed 0 +[21:39:41.060] Odometry x=-0.003404, y=0.358988, theta=0.028836 +[21:39:41.069] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000155 ,z=0.005089,angle between two frames:0.000502 +[21:39:41.076] Image Alignment failed 0 +[21:39:41.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.000268 +[21:39:41.156] Odometry x=-0.003483, y=0.361715, theta=0.024861 +[21:39:41.178] Image Alignment failed 0 +[21:39:41.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000093 ,z=0.003698,angle between two frames:0.001039 +[21:39:41.257] Odometry x=-0.003576, y=0.365449, theta=0.021500 +[21:39:41.277] Image Alignment failed 0 +[21:39:41.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000081 ,z=0.003823,angle between two frames:0.000971 +[21:39:41.356] Odometry x=-0.003658, y=0.369290, theta=0.026029 +[21:39:41.376] Image Alignment failed 0 +[21:39:41.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000098 ,z=0.003863,angle between two frames:0.001964 +[21:39:41.456] Odometry x=-0.003757, y=0.373171, theta=0.032412 +[21:39:41.476] Image Alignment failed 0 +[21:39:41.548] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000123 ,z=0.003822,angle between two frames:0.001764 +[21:39:41.615] Image Alignment failed 0 +[21:39:41.616] Odometry x=-0.003855, y=0.377064, theta=0.039240 +[21:39:41.657] Odometry x=-0.004074, y=0.383169, theta=0.044652 +[21:39:41.687] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000025 ,z=0.000071,angle between two frames:0.005507 +[21:39:41.692] Image Alignment failed 0 +[21:39:41.756] Odometry x=-0.004142, y=0.384693, theta=0.047864 +[21:39:41.763] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000318 +[21:39:41.777] Image Alignment failed 0 +[21:39:41.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000005,angle between two frames:0.001141 +[21:39:41.851] Odometry x=-0.004315, y=0.388379, theta=0.055920 +[21:39:41.880] Image Alignment failed 0 +[21:39:41.956] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000212 ,z=0.003781,angle between two frames:0.000319 +[21:39:41.956] Odometry x=-0.004527, y=0.392163, theta=0.057614 +[21:39:41.977] Image Alignment failed 0 +[21:39:42.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000229 ,z=0.004008,angle between two frames:0.001878 +[21:39:42.057] Odometry x=-0.004758, y=0.396198, theta=0.064931 +[21:39:42.077] Image Alignment failed 0 +[21:39:42.148] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000247 ,z=0.003816,angle between two frames:0.001283 +[21:39:42.158] Odometry x=-0.005006, y=0.400022, theta=0.075801 +[21:39:42.177] Image Alignment failed 0 +[21:39:42.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000286 ,z=0.003813,angle between two frames:0.004371 +[21:39:42.259] Odometry x=-0.005290, y=0.403849, theta=0.085795 +[21:39:42.276] Image Alignment failed 0 +[21:39:42.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000329 ,z=0.003805,angle between two frames:0.000333 +[21:39:42.356] Odometry x=-0.005622, y=0.407668, theta=0.087507 +[21:39:42.377] Image Alignment failed 0 +[21:39:42.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000332 ,z=0.003810,angle between two frames:0.001967 +[21:39:42.451] Odometry x=-0.005957, y=0.411514, theta=0.088165 +[21:39:42.479] Image Alignment failed 0 +[21:39:42.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000321 ,z=0.003618,angle between two frames:0.001522 +[21:39:42.554] Odometry x=-0.006278, y=0.415138, theta=0.086674 +[21:39:42.577] Image Alignment failed 0 +[21:39:42.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000347 ,z=0.004004,angle between two frames:0.000395 +[21:39:42.657] Odometry x=-0.006627, y=0.419159, theta=0.086477 +[21:39:42.677] Image Alignment failed 0 +[21:39:42.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000332 ,z=0.003811,angle between two frames:0.001670 +[21:39:42.758] Odometry x=-0.006960, y=0.422973, theta=0.080957 +[21:39:42.777] Image Alignment failed 0 +[21:39:42.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000311 ,z=0.003828,angle between two frames:0.000294 +[21:39:42.857] Odometry x=-0.007272, y=0.426822, theta=0.081885 +[21:39:42.877] Image Alignment failed 0 +[21:39:42.948] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000313 ,z=0.003808,angle between two frames:0.000135 +[21:39:42.951] Odometry x=-0.007586, y=0.430637, theta=0.078553 +[21:39:42.977] Image Alignment failed 0 +[21:39:43.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000288 ,z=0.003648,angle between two frames:0.000890 +[21:39:43.058] Odometry x=-0.007877, y=0.434320, theta=0.075907 +[21:39:43.077] Image Alignment failed 0 +[21:39:43.148] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000305 ,z=0.003997,angle between two frames:0.000746 +[21:39:43.159] Odometry x=-0.008182, y=0.438318, theta=0.073826 +[21:39:43.177] Image Alignment failed 0 +[21:39:43.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000284 ,z=0.003817,angle between two frames:0.001272 +[21:39:43.257] Odometry x=-0.008466, y=0.442147, theta=0.071171 +[21:39:43.277] Image Alignment failed 0 +[21:39:43.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000274 ,z=0.003850,angle between two frames:0.000219 +[21:39:43.358] Odometry x=-0.008740, y=0.445997, theta=0.073732 +[21:39:43.377] Image Alignment failed 0 +[21:39:43.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000278 ,z=0.003758,angle between two frames:0.000035 +[21:39:43.458] Odometry x=-0.009019, y=0.449768, theta=0.078054 +[21:39:43.477] Image Alignment failed 0 +[21:39:43.549] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000301 ,z=0.003865,angle between two frames:0.001346 +[21:39:43.556] Odometry x=-0.009320, y=0.453633, theta=0.084690 +[21:39:43.576] Image Alignment failed 0 +[21:39:43.647] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000309 ,z=0.003643,angle between two frames:0.000771 +[21:39:43.655] Odometry x=-0.009629, y=0.457274, theta=0.090847 +[21:39:43.678] Image Alignment failed 0 +[21:39:43.749] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000347 ,z=0.003804,angle between two frames:0.000707 +[21:39:43.756] Odometry x=-0.009978, y=0.461096, theta=0.094082 +[21:39:43.778] Image Alignment failed 0 +[21:39:43.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000364 ,z=0.003888,angle between two frames:0.003217 +[21:39:43.860] Odometry x=-0.010343, y=0.464992, theta=0.104849 +[21:39:43.876] Image Alignment failed 0 +[21:39:43.948] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000408 ,z=0.003866,angle between two frames:0.000511 +[21:39:43.957] Odometry x=-0.010751, y=0.468865, theta=0.111581 +[21:39:43.977] Image Alignment failed 0 +[21:39:44.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000408 ,z=0.003668,angle between two frames:0.003301 +[21:39:44.054] Odometry x=-0.011162, y=0.472560, theta=0.123497 +[21:39:44.076] Image Alignment failed 0 +[21:39:44.148] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000450 ,z=0.003642,angle between two frames:0.002796 +[21:39:44.151] Odometry x=-0.011616, y=0.476205, theta=0.128884 +[21:39:44.177] Image Alignment failed 0 +[21:39:44.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000492 ,z=0.003819,angle between two frames:0.003629 +[21:39:44.254] Odometry x=-0.012101, y=0.480038, theta=0.144248 +[21:39:44.277] Image Alignment failed 0 +[21:39:44.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000556 ,z=0.003802,angle between two frames:0.002401 +[21:39:44.352] Odometry x=-0.012667, y=0.483856, theta=0.141384 +[21:39:44.377] Image Alignment failed 0 +[21:39:44.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000539 ,z=0.003790,angle between two frames:0.001487 +[21:39:44.451] Odometry x=-0.013214, y=0.487699, theta=0.146564 +[21:39:44.477] Image Alignment failed 0 +[21:39:44.549] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000559 ,z=0.003781,angle between two frames:0.000458 +[21:39:44.554] Odometry x=-0.013777, y=0.491480, theta=0.144902 +[21:39:44.580] Image Alignment failed 0 +[21:39:44.653] Odometry x=-0.014334, y=0.495292, theta=0.145043 +[21:39:44.656] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000556 ,z=0.003809,angle between two frames:0.000096 +[21:39:44.677] Image Alignment failed 0 +[21:39:44.747] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000552 ,z=0.003778,angle between two frames:0.000625 +[21:39:44.751] Odometry x=-0.014887, y=0.499073, theta=0.141812 +[21:39:44.777] Image Alignment failed 0 +[21:39:44.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000543 ,z=0.003786,angle between two frames:0.000579 +[21:39:44.854] Odometry x=-0.015433, y=0.502876, theta=0.140918 +[21:39:44.877] Image Alignment failed 0 +[21:39:44.948] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000536 ,z=0.003787,angle between two frames:0.000010 +[21:39:44.952] Odometry x=-0.015970, y=0.506665, theta=0.136578 +[21:39:44.977] Image Alignment failed 0 +[21:39:45.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000523 ,z=0.003792,angle between two frames:0.001886 +[21:39:45.050] Odometry x=-0.016496, y=0.510478, theta=0.129427 +[21:39:45.076] Image Alignment failed 0 +[21:39:45.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000492 ,z=0.003788,angle between two frames:0.001442 +[21:39:45.153] Odometry x=-0.016991, y=0.514266, theta=0.129676 +[21:39:45.177] Image Alignment failed 0 +[21:39:45.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000497 ,z=0.003799,angle between two frames:0.002937 +[21:39:45.256] Odometry x=-0.017490, y=0.518076, theta=0.126188 +[21:39:45.277] Image Alignment failed 0 +[21:39:45.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000501 ,z=0.003940,angle between two frames:0.000149 +[21:39:45.354] Odometry x=-0.017998, y=0.522024, theta=0.121062 +[21:39:45.376] Image Alignment failed 0 +[21:39:45.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000469 ,z=0.003833,angle between two frames:0.001266 +[21:39:45.455] Odometry x=-0.018468, y=0.525875, theta=0.121267 +[21:39:45.476] Image Alignment failed 0 +[21:39:45.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000460 ,z=0.003795,angle between two frames:0.002167 +[21:39:45.556] Odometry x=-0.018935, y=0.529666, theta=0.130241 +[21:39:45.577] Image Alignment failed 0 +[21:39:45.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000497 ,z=0.003789,angle between two frames:0.003032 +[21:39:45.661] Odometry x=-0.019434, y=0.533465, theta=0.148587 +[21:39:45.677] Image Alignment failed 0 +[21:39:45.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000620 ,z=0.004160,angle between two frames:0.004617 +[21:39:45.756] Odometry x=-0.020056, y=0.537627, theta=0.157289 +[21:39:45.776] Image Alignment failed 0 +[21:39:45.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000538 ,z=0.003404,angle between two frames:0.003383 +[21:39:45.855] Odometry x=-0.020598, y=0.541044, theta=0.172734 +[21:39:45.877] Image Alignment failed 0 +[21:39:45.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000653 ,z=0.003767,angle between two frames:0.005216 +[21:39:45.956] Odometry x=-0.021251, y=0.544813, theta=0.182541 +[21:39:45.979] Image Alignment failed 0 +[21:39:46.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000699 ,z=0.003764,angle between two frames:0.002612 +[21:39:46.053] Odometry x=-0.021958, y=0.548578, theta=0.182403 +[21:39:46.079] Image Alignment failed 0 +[21:39:46.154] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000669 ,z=0.003644,angle between two frames:0.003517 +[21:39:46.156] Odometry x=-0.022627, y=0.552222, theta=0.187772 +[21:39:46.176] Image Alignment failed 0 +[21:39:46.248] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000722 ,z=0.003787,angle between two frames:0.001097 +[21:39:46.256] Odometry x=-0.023356, y=0.556033, theta=0.186432 +[21:39:46.277] Image Alignment failed 0 +[21:39:46.348] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000706 ,z=0.003746,angle between two frames:0.000239 +[21:39:46.351] Odometry x=-0.024065, y=0.559778, theta=0.189412 +[21:39:46.376] Image Alignment failed 0 +[21:39:46.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000723 ,z=0.003776,angle between two frames:0.000492 +[21:39:46.460] Odometry x=-0.024793, y=0.563571, theta=0.189910 +[21:39:46.476] Image Alignment failed 0 +[21:39:46.548] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000758 ,z=0.003944,angle between two frames:0.000793 +[21:39:46.552] Odometry x=-0.025550, y=0.567514, theta=0.188331 +[21:39:46.584] Image Alignment failed 0 +[21:39:46.657] Odometry x=-0.026224, y=0.571029, theta=0.181082 +[21:39:46.660] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000669 ,z=0.003498,angle between two frames:0.002746 +[21:39:46.678] Image Alignment failed 0 +[21:39:46.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000747 ,z=0.004071,angle between two frames:0.000561 +[21:39:46.757] Odometry x=-0.026975, y=0.575110, theta=0.179472 +[21:39:46.778] Image Alignment failed 0 +[21:39:46.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000658 ,z=0.003623,angle between two frames:0.000001 +[21:39:46.860] Odometry x=-0.027636, y=0.578744, theta=0.180249 +[21:39:46.879] Image Alignment failed 0 +[21:39:46.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000703 ,z=0.003868,angle between two frames:0.001279 +[21:39:46.954] Odometry x=-0.028341, y=0.582616, theta=0.189664 +[21:39:46.978] Image Alignment failed 0 +[21:39:47.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000694 ,z=0.003603,angle between two frames:0.001630 +[21:39:47.051] Odometry x=-0.029048, y=0.586278, theta=0.182893 +[21:39:47.078] Image Alignment failed 0 +[21:39:47.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000665 ,z=0.003604,angle between two frames:0.001611 +[21:39:47.151] Odometry x=-0.029712, y=0.589880, theta=0.195729 +[21:39:47.180] Image Alignment failed 0 +[21:39:47.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000751 ,z=0.003762,angle between two frames:0.003711 +[21:39:47.254] Odometry x=-0.030474, y=0.593694, theta=0.179027 +[21:39:47.280] Image Alignment failed 0 +[21:39:47.352] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000682 ,z=0.003760,angle between two frames:0.000524 +[21:39:47.352] Odometry x=-0.031157, y=0.597464, theta=0.178893 +[21:39:47.379] Image Alignment failed 0 +[21:39:47.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000704 ,z=0.003884,angle between two frames:0.001535 +[21:39:47.450] Odometry x=-0.031864, y=0.601362, theta=0.173128 +[21:39:47.479] Image Alignment failed 0 +[21:39:47.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000655 ,z=0.003764,angle between two frames:0.003415 +[21:39:47.556] Odometry x=-0.032520, y=0.605126, theta=0.189353 +[21:39:47.583] Image Alignment failed 0 +[21:39:47.654] Odometry x=-0.033250, y=0.608938, theta=0.201956 +[21:39:47.658] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000726 ,z=0.003799,angle between two frames:0.002591 +[21:39:47.679] Image Alignment failed 0 +[21:39:47.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000765 ,z=0.003766,angle between two frames:0.005418 +[21:39:47.757] Odometry x=-0.034018, y=0.612718, theta=0.220958 +[21:39:47.778] Image Alignment failed 0 +[21:39:47.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000836 ,z=0.003742,angle between two frames:0.003860 +[21:39:47.855] Odometry x=-0.034864, y=0.616511, theta=0.230147 +[21:39:47.879] Image Alignment failed 0 +[21:39:47.958] Odometry x=-0.035739, y=0.620264, theta=0.241376 +[21:39:47.959] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000874 ,z=0.003746,angle between two frames:0.003497 +[21:39:47.980] Image Alignment failed 0 +[21:39:48.050] Odometry x=-0.036661, y=0.624009, theta=0.239457 +[21:39:48.053] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000913 ,z=0.003712,angle between two frames:0.001088 +[21:39:48.080] Image Alignment failed 0 +[21:39:48.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000861 ,z=0.003527,angle between two frames:0.000251 +[21:39:48.153] Odometry x=-0.037522, y=0.627545, theta=0.243718 +[21:39:48.179] Image Alignment failed 0 +[21:39:48.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000953 ,z=0.003840,angle between two frames:0.000325 +[21:39:48.256] Odometry x=-0.038485, y=0.631423, theta=0.240790 +[21:39:48.278] Image Alignment failed 0 +[21:39:48.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000923 ,z=0.003761,angle between two frames:0.000014 +[21:39:48.354] Odometry x=-0.039410, y=0.635191, theta=0.245495 +[21:39:48.382] Image Alignment failed 0 +[21:39:48.454] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000929 ,z=0.003719,angle between two frames:0.000358 +[21:39:48.454] Odometry x=-0.040339, y=0.638917, theta=0.242841 +[21:39:48.480] Image Alignment failed 0 +[21:39:48.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000926 ,z=0.003741,angle between two frames:0.001029 +[21:39:48.552] Odometry x=-0.041265, y=0.642661, theta=0.239823 +[21:39:48.577] Image Alignment failed 0 +[21:39:48.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000852 ,z=0.003518,angle between two frames:0.000254 +[21:39:48.657] Odometry x=-0.042115, y=0.646172, theta=0.236857 +[21:39:48.677] Image Alignment failed 0 +[21:39:48.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000969 ,z=0.004009,angle between two frames:0.000816 +[21:39:48.758] Odometry x=-0.043084, y=0.650180, theta=0.238614 +[21:39:48.776] Image Alignment failed 0 +[21:39:48.848] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000888 ,z=0.003658,angle between two frames:0.000160 +[21:39:48.852] Odometry x=-0.043970, y=0.653836, theta=0.234567 +[21:39:48.882] Image Alignment failed 0 +[21:39:48.956] Odometry x=-0.044814, y=0.657366, theta=0.237242 +[21:39:48.957] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000843 ,z=0.003532,angle between two frames:0.000607 +[21:39:48.977] Image Alignment failed 0 +[21:39:49.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000926 ,z=0.003818,angle between two frames:0.000967 +[21:39:49.055] Odometry x=-0.045739, y=0.661186, theta=0.227776 +[21:39:49.076] Image Alignment failed 0 +[21:39:49.147] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000879 ,z=0.003796,angle between two frames:0.000276 +[21:39:49.160] Odometry x=-0.046617, y=0.664983, theta=0.236595 +[21:39:49.179] Image Alignment failed 0 +[21:39:49.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000907 ,z=0.003787,angle between two frames:0.003049 +[21:39:49.255] Odometry x=-0.047523, y=0.668770, theta=0.236698 +[21:39:49.279] Image Alignment failed 0 +[21:39:49.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000852 ,z=0.003532,angle between two frames:0.000226 +[21:39:49.353] Odometry x=-0.048367, y=0.672310, theta=0.243273 +[21:39:49.378] Image Alignment failed 0 +[21:39:49.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000929 ,z=0.003749,angle between two frames:0.000990 +[21:39:49.457] Odometry x=-0.049299, y=0.676063, theta=0.247938 +[21:39:49.481] Image Alignment failed 0 +[21:39:49.556] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000935 ,z=0.003703,angle between two frames:0.004847 +[21:39:49.557] Odometry x=-0.050227, y=0.679771, theta=0.266540 +[21:39:49.580] Image Alignment failed 0 +[21:39:49.652] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001001 ,z=0.003695,angle between two frames:0.002835 +[21:39:49.657] Odometry x=-0.051234, y=0.683487, theta=0.275108 +[21:39:49.677] Image Alignment failed 0 +[21:39:49.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001084 ,z=0.003862,angle between two frames:0.004167 +[21:39:49.757] Odometry x=-0.052318, y=0.687350, theta=0.290135 +[21:39:49.778] Image Alignment failed 0 +[21:39:49.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001037 ,z=0.003480,angle between two frames:0.002718 +[21:39:49.857] Odometry x=-0.053358, y=0.690844, theta=0.299766 +[21:39:49.878] Image Alignment failed 0 +[21:39:49.947] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001186 ,z=0.003834,angle between two frames:0.000742 +[21:39:49.968] Odometry x=-0.054560, y=0.694767, theta=0.297245 +[21:39:49.978] Image Alignment failed 0 +[21:39:50.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001257 ,z=0.004132,angle between two frames:0.001854 +[21:39:50.057] Odometry x=-0.055826, y=0.698887, theta=0.291514 +[21:39:50.081] Image Alignment failed 0 +[21:39:50.157] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000941 ,z=0.003134,angle between two frames:0.001769 +[21:39:50.157] Odometry x=-0.056770, y=0.702040, theta=0.286996 +[21:39:50.179] Image Alignment failed 0 +[21:39:50.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001084 ,z=0.003664,angle between two frames:0.001982 +[21:39:50.252] Odometry x=-0.057864, y=0.705738, theta=0.278138 +[21:39:50.278] Image Alignment failed 0 +[21:39:50.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001057 ,z=0.003700,angle between two frames:0.000334 +[21:39:50.355] Odometry x=-0.058930, y=0.709474, theta=0.278611 +[21:39:50.378] Image Alignment failed 0 +[21:39:50.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001046 ,z=0.003674,angle between two frames:0.001095 +[21:39:50.455] Odometry x=-0.059973, y=0.713153, theta=0.269816 +[21:39:50.479] Image Alignment failed 0 +[21:39:50.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001022 ,z=0.003690,angle between two frames:0.001505 +[21:39:50.556] Odometry x=-0.060995, y=0.716846, theta=0.265081 +[21:39:50.577] Image Alignment failed 0 +[21:39:50.649] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001006 ,z=0.003703,angle between two frames:0.001116 +[21:39:50.658] Odometry x=-0.061998, y=0.720559, theta=0.257656 +[21:39:50.677] Image Alignment failed 0 +[21:39:50.749] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000972 ,z=0.003695,angle between two frames:0.000722 +[21:39:50.757] Odometry x=-0.062966, y=0.724255, theta=0.258059 +[21:39:50.778] Image Alignment failed 0 +[21:39:50.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000974 ,z=0.003693,angle between two frames:0.001960 +[21:39:50.862] Odometry x=-0.063939, y=0.727961, theta=0.247783 +[21:39:50.877] Image Alignment failed 0 +[21:39:50.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000985 ,z=0.003894,angle between two frames:0.000257 +[21:39:50.958] Odometry x=-0.064918, y=0.731860, theta=0.248411 +[21:39:50.978] Image Alignment failed 0 +[21:39:51.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000887 ,z=0.003518,angle between two frames:0.000007 +[21:39:51.057] Odometry x=-0.065804, y=0.735380, theta=0.244523 +[21:39:51.078] Image Alignment failed 0 +[21:39:51.149] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000925 ,z=0.003712,angle between two frames:0.000774 +[21:39:51.157] Odometry x=-0.066722, y=0.739120, theta=0.250482 +[21:39:51.177] Image Alignment failed 0 +[21:39:51.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000940 ,z=0.003702,angle between two frames:0.001403 +[21:39:51.257] Odometry x=-0.067662, y=0.742829, theta=0.254715 +[21:39:51.278] Image Alignment failed 0 +[21:39:51.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000964 ,z=0.003722,angle between two frames:0.002142 +[21:39:51.358] Odometry x=-0.068619, y=0.746561, theta=0.262658 +[21:39:51.379] Image Alignment failed 0 +[21:39:51.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000987 ,z=0.003691,angle between two frames:0.000148 +[21:39:51.454] Odometry x=-0.069609, y=0.750259, theta=0.270323 +[21:39:51.476] Image Alignment failed 0 +[21:39:51.547] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001027 ,z=0.003739,angle between two frames:0.007533 +[21:39:51.567] Odometry x=-0.070625, y=0.754006, theta=0.295505 +[21:39:51.577] Image Alignment failed 0 +[21:39:51.648] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001208 ,z=0.003979,angle between two frames:0.003851 +[21:39:51.655] Odometry x=-0.071836, y=0.758011, theta=0.304423 +[21:39:51.685] Image Alignment failed 0 +[21:39:51.756] Odometry x=-0.072871, y=0.761338, theta=0.313142 +[21:39:51.762] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001041 ,z=0.003318,angle between two frames:0.001643 +[21:39:51.779] Image Alignment failed 0 +[21:39:51.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000006,angle between two frames:0.000346 +[21:39:51.854] Odometry x=-0.074091, y=0.765114, theta=0.315338 +[21:39:51.882] Image Alignment failed 0 +[21:39:51.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001165 ,z=0.003576,angle between two frames:0.000950 +[21:39:51.959] Odometry x=-0.075263, y=0.768713, theta=0.322125 +[21:39:51.977] Image Alignment failed 0 +[21:39:52.048] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001233 ,z=0.003707,angle between two frames:0.000133 +[21:39:52.058] Odometry x=-0.076501, y=0.772438, theta=0.322449 +[21:39:52.077] Image Alignment failed 0 +[21:39:52.148] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001224 ,z=0.003667,angle between two frames:0.000881 +[21:39:52.156] Odometry x=-0.077733, y=0.776127, theta=0.324574 +[21:39:52.179] Image Alignment failed 0 +[21:39:52.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001193 ,z=0.003552,angle between two frames:0.001774 +[21:39:52.257] Odometry x=-0.078926, y=0.779679, theta=0.335007 +[21:39:52.281] Image Alignment failed 0 +[21:39:52.353] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001257 ,z=0.003620,angle between two frames:0.003789 +[21:39:52.358] Odometry x=-0.080183, y=0.783307, theta=0.340480 +[21:39:52.379] Image Alignment failed 0 +[21:39:52.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001263 ,z=0.003572,angle between two frames:0.001499 +[21:39:52.461] Odometry x=-0.081445, y=0.786879, theta=0.348993 +[21:39:52.479] Image Alignment failed 0 +[21:39:52.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001352 ,z=0.003726,angle between two frames:0.002227 +[21:39:52.559] Odometry x=-0.082800, y=0.790621, theta=0.353038 +[21:39:52.579] Image Alignment failed 0 +[21:39:52.652] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001308 ,z=0.003551,angle between two frames:0.000863 +[21:39:52.657] Odometry x=-0.084108, y=0.794173, theta=0.360053 +[21:39:52.680] Image Alignment failed 0 +[21:39:52.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001290 ,z=0.003434,angle between two frames:0.002079 +[21:39:52.760] Odometry x=-0.085400, y=0.797619, theta=0.362298 +[21:39:52.779] Image Alignment failed 0 +[21:39:52.852] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001440 ,z=0.003804,angle between two frames:0.001351 +[21:39:52.859] Odometry x=-0.086842, y=0.801429, theta=0.368706 +[21:39:52.879] Image Alignment failed 0 +[21:39:52.952] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001376 ,z=0.003571,angle between two frames:0.002445 +[21:39:52.959] Odometry x=-0.088223, y=0.805014, theta=0.375734 +[21:39:52.979] Image Alignment failed 0 +[21:39:53.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001370 ,z=0.003477,angle between two frames:0.000886 +[21:39:53.059] Odometry x=-0.089594, y=0.808495, theta=0.381985 +[21:39:53.079] Image Alignment failed 0 +[21:39:53.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001457 ,z=0.003633,angle between two frames:0.001341 +[21:39:53.154] Odometry x=-0.091055, y=0.812147, theta=0.384914 +[21:39:53.180] Image Alignment failed 0 +[21:39:53.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001367 ,z=0.003378,angle between two frames:0.001544 +[21:39:53.255] Odometry x=-0.092425, y=0.815534, theta=0.389474 +[21:39:53.279] Image Alignment failed 0 +[21:39:53.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001407 ,z=0.003432,angle between two frames:0.000996 +[21:39:53.359] Odometry x=-0.093836, y=0.818984, theta=0.385267 +[21:39:53.379] Image Alignment failed 0 +[21:39:53.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001512 ,z=0.003730,angle between two frames:0.000740 +[21:39:53.457] Odometry x=-0.095348, y=0.822713, theta=0.390967 +[21:39:53.482] Image Alignment failed 0 +[21:39:53.554] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001414 ,z=0.003435,angle between two frames:0.001083 +[21:39:53.557] Odometry x=-0.096766, y=0.826166, theta=0.391735 +[21:39:53.579] Image Alignment failed 0 +[21:39:53.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001432 ,z=0.003465,angle between two frames:0.000620 +[21:39:53.659] Odometry x=-0.098201, y=0.829637, theta=0.387619 +[21:39:53.680] Image Alignment failed 0 +[21:39:53.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001552 ,z=0.003804,angle between two frames:0.000163 +[21:39:53.758] Odometry x=-0.099755, y=0.833447, theta=0.385105 +[21:39:53.780] Image Alignment failed 0 +[21:39:53.852] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001379 ,z=0.003401,angle between two frames:0.001226 +[21:39:53.856] Odometry x=-0.101138, y=0.836857, theta=0.383400 +[21:39:53.879] Image Alignment failed 0 +[21:39:53.950] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001400 ,z=0.003469,angle between two frames:0.000728 +[21:39:53.959] Odometry x=-0.102539, y=0.840333, theta=0.377497 +[21:39:53.979] Image Alignment failed 0 +[21:39:54.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001438 ,z=0.003621,angle between two frames:0.002200 +[21:39:54.059] Odometry x=-0.103984, y=0.843973, theta=0.368931 +[21:39:54.082] Image Alignment failed 0 +[21:39:54.153] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001380 ,z=0.003568,angle between two frames:0.001200 +[21:39:54.155] Odometry x=-0.105369, y=0.847556, theta=0.365458 +[21:39:54.180] Image Alignment failed 0 +[21:39:54.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001344 ,z=0.003510,angle between two frames:0.001227 +[21:39:54.254] Odometry x=-0.106722, y=0.851076, theta=0.362937 +[21:39:54.277] Image Alignment failed 0 +[21:39:54.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001380 ,z=0.003615,angle between two frames:0.003430 +[21:39:54.359] Odometry x=-0.107985, y=0.854709, theta=0.363865 +[21:39:54.378] Image Alignment failed 0 +[21:39:54.449] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001447 ,z=0.003822,angle between two frames:0.000917 +[21:39:54.459] Odometry x=-0.109486, y=0.858653, theta=0.370003 +[21:39:54.478] Image Alignment failed 0 +[21:39:54.549] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001365 ,z=0.003515,angle between two frames:0.008947 +[21:39:54.557] Odometry x=-0.110931, y=0.862228, theta=0.427182 +[21:39:54.577] Image Alignment failed 0 +[21:39:54.649] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001094 ,z=0.002845,angle between two frames:0.009871 +[21:39:54.655] Odometry x=-0.111803, y=0.864301, theta=0.397948 +[21:39:54.676] Image Alignment failed 0 +[21:39:54.749] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001221 ,z=0.003176,angle between two frames:0.000683 +[21:39:54.755] Odometry x=-0.112981, y=0.867313, theta=0.400342 +[21:39:54.777] Image Alignment failed 0 +[21:39:54.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001470 ,z=0.003484,angle between two frames:0.001242 +[21:39:54.853] Odometry x=-0.114244, y=0.870412, theta=0.400493 +[21:39:54.879] Image Alignment failed 0 +[21:39:54.950] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001417 ,z=0.003337,angle between two frames:0.007849 +[21:39:54.956] Odometry x=-0.115564, y=0.873623, theta=0.364048 +[21:39:54.980] Image Alignment failed 0 +[21:39:55.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001336 ,z=0.003491,angle between two frames:0.004766 +[21:39:55.054] Odometry x=-0.116815, y=0.877049, theta=0.369721 +[21:39:55.080] Image Alignment failed 0 +[21:39:55.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001086 ,z=0.003211,angle between two frames:0.007455 +[21:39:55.152] Odometry x=-0.117933, y=0.880202, theta=0.380169 +[21:39:55.180] Image Alignment failed 0 +[21:39:55.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001425 ,z=0.003549,angle between two frames:0.001570 +[21:39:55.256] Odometry x=-0.119465, y=0.883890, theta=0.379963 +[21:39:55.280] Image Alignment failed 0 +[21:39:55.352] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001386 ,z=0.003561,angle between two frames:0.004210 +[21:39:55.354] Odometry x=-0.120830, y=0.887556, theta=0.389325 +[21:39:55.379] Image Alignment failed 0 +[21:39:55.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001457 ,z=0.003553,angle between two frames:0.005417 +[21:39:55.452] Odometry x=-0.122291, y=0.891234, theta=0.409313 +[21:39:55.479] Image Alignment failed 0 +[21:39:55.551] Odometry x=-0.123799, y=0.894751, theta=0.428222 +[21:39:55.552] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001511 ,z=0.003512,angle between two frames:0.007027 +[21:39:55.583] Image Alignment failed 0 +[21:39:55.654] Odometry x=-0.125396, y=0.898330, theta=0.430137 +[21:39:55.661] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001592 ,z=0.003486,angle between two frames:0.000503 +[21:39:55.680] Image Alignment failed 0 +[21:39:55.751] Odometry x=-0.127020, y=0.901865, theta=0.436486 +[21:39:55.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000022 ,z=0.000055,angle between two frames:0.000790 +[21:39:55.777] Image Alignment failed 0 +[21:39:55.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001621 ,z=0.003459,angle between two frames:0.001871 +[21:39:55.854] Odometry x=-0.128600, y=0.905426, theta=0.431473 +[21:39:55.879] Image Alignment failed 0 +[21:39:55.952] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001635 ,z=0.003534,angle between two frames:0.004013 +[21:39:55.956] Odometry x=-0.130282, y=0.908985, theta=0.449909 +[21:39:55.980] Image Alignment failed 0 +[21:39:56.052] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001657 ,z=0.003504,angle between two frames:0.001015 +[21:39:56.054] Odometry x=-0.131934, y=0.912542, theta=0.436971 +[21:39:56.079] Image Alignment failed 0 +[21:39:56.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001606 ,z=0.003464,angle between two frames:0.004428 +[21:39:56.155] Odometry x=-0.133554, y=0.916020, theta=0.446832 +[21:39:56.180] Image Alignment failed 0 +[21:39:56.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001630 ,z=0.003469,angle between two frames:0.007954 +[21:39:56.254] Odometry x=-0.135205, y=0.919584, theta=0.431059 +[21:39:56.280] Image Alignment failed 0 +[21:39:56.352] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001634 ,z=0.003455,angle between two frames:0.002491 +[21:39:56.357] Odometry x=-0.136816, y=0.923097, theta=0.439445 +[21:39:56.380] Image Alignment failed 0 +[21:39:56.452] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001708 ,z=0.003636,angle between two frames:0.002700 +[21:39:56.455] Odometry x=-0.138537, y=0.926814, theta=0.437079 +[21:39:56.480] Image Alignment failed 0 +[21:39:56.552] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001559 ,z=0.003372,angle between two frames:0.004249 +[21:39:56.552] Odometry x=-0.140103, y=0.930184, theta=0.448897 +[21:39:56.584] Image Alignment failed 0 +[21:39:56.655] Odometry x=-0.141722, y=0.933737, theta=0.456492 +[21:39:56.662] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001623 ,z=0.003480,angle between two frames:0.001393 +[21:39:56.680] Image Alignment failed 0 +[21:39:56.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.001295 +[21:39:56.753] Odometry x=-0.143439, y=0.937213, theta=0.448859 +[21:39:56.779] Image Alignment failed 0 +[21:39:56.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001636 ,z=0.003499,angle between two frames:0.000815 +[21:39:56.856] Odometry x=-0.145091, y=0.940730, theta=0.465425 +[21:39:56.878] Image Alignment failed 0 +[21:39:56.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001725 ,z=0.003460,angle between two frames:0.004355 +[21:39:56.960] Odometry x=-0.146698, y=0.944269, theta=0.470742 +[21:39:56.978] Image Alignment failed 0 +[21:39:57.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001754 ,z=0.003702,angle between two frames:0.002083 +[21:39:57.052] Odometry x=-0.148577, y=0.947977, theta=0.475035 +[21:39:57.078] Image Alignment failed 0 +[21:39:57.149] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001610 ,z=0.003132,angle between two frames:0.001941 +[21:39:57.157] Odometry x=-0.150114, y=0.951192, theta=0.485497 +[21:39:57.178] Image Alignment failed 0 +[21:39:57.249] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001741 ,z=0.003428,angle between two frames:0.004343 +[21:39:57.260] Odometry x=-0.151869, y=0.954615, theta=0.488967 +[21:39:57.278] Image Alignment failed 0 +[21:39:57.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001822 ,z=0.003404,angle between two frames:0.002406 +[21:39:57.353] Odometry x=-0.153607, y=0.958108, theta=0.487573 +[21:39:57.377] Image Alignment failed 0 +[21:39:57.448] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001688 ,z=0.003240,angle between two frames:0.006689 +[21:39:57.457] Odometry x=-0.155332, y=0.961386, theta=0.500375 +[21:39:57.477] Image Alignment failed 0 +[21:39:57.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001949 ,z=0.003550,angle between two frames:0.000046 +[21:39:57.555] Odometry x=-0.157244, y=0.964981, theta=0.508752 +[21:39:57.578] Image Alignment failed 0 +[21:39:57.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001784 ,z=0.003208,angle between two frames:0.001400 +[21:39:57.651] Odometry x=-0.159062, y=0.968174, theta=0.511844 +[21:39:57.678] Image Alignment failed 0 +[21:39:57.751] Odometry x=-0.160804, y=0.971560, theta=0.498567 +[21:39:57.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001878 ,z=0.003347,angle between two frames:0.001282 +[21:39:57.778] Image Alignment failed 0 +[21:39:57.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001765 ,z=0.003418,angle between two frames:0.002561 +[21:39:57.856] Odometry x=-0.162678, y=0.974927, theta=0.484121 +[21:39:57.878] Image Alignment failed 0 +[21:39:57.949] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001891 ,z=0.003521,angle between two frames:0.010229 +[21:39:57.955] Odometry x=-0.164520, y=0.978478, theta=0.457326 +[21:39:57.978] Image Alignment failed 0 +[21:39:58.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001694 ,z=0.003444,angle between two frames:0.001180 +[21:39:58.053] Odometry x=-0.166263, y=0.982006, theta=0.459515 +[21:39:58.078] Image Alignment failed 0 +[21:39:58.149] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001700 ,z=0.003423,angle between two frames:0.003273 +[21:39:58.155] Odometry x=-0.167936, y=0.985480, theta=0.454175 +[21:39:58.178] Image Alignment failed 0 +[21:39:58.249] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001608 ,z=0.003467,angle between two frames:0.008602 +[21:39:58.254] Odometry x=-0.169589, y=0.988977, theta=0.471301 +[21:39:58.278] Image Alignment failed 0 +[21:39:58.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001739 ,z=0.003386,angle between two frames:0.001454 +[21:39:58.358] Odometry x=-0.171267, y=0.992401, theta=0.475627 +[21:39:58.378] Image Alignment failed 0 +[21:39:58.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001890 ,z=0.003440,angle between two frames:0.004463 +[21:39:58.457] Odometry x=-0.173161, y=0.995896, theta=0.473079 +[21:39:58.478] Image Alignment failed 0 +[21:39:58.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001742 ,z=0.003404,angle between two frames:0.000287 +[21:39:58.557] Odometry x=-0.174871, y=0.999290, theta=0.483806 +[21:39:58.578] Image Alignment failed 0 +[21:39:58.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001802 ,z=0.003368,angle between two frames:0.004735 +[21:39:58.657] Odometry x=-0.176691, y=1.002705, theta=0.490676 +[21:39:58.678] Image Alignment failed 0 +[21:39:58.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001771 ,z=0.003385,angle between two frames:0.003489 +[21:39:58.757] Odometry x=-0.178366, y=1.006156, theta=0.498836 +[21:39:58.778] Image Alignment failed 0 +[21:39:58.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001868 ,z=0.003320,angle between two frames:0.002799 +[21:39:58.857] Odometry x=-0.180350, y=1.009548, theta=0.500347 +[21:39:58.878] Image Alignment failed 0 +[21:39:58.950] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001818 ,z=0.003365,angle between two frames:0.005371 +[21:39:58.957] Odometry x=-0.182112, y=1.013000, theta=0.514654 +[21:39:58.978] Image Alignment failed 0 +[21:39:59.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002073 ,z=0.003228,angle between two frames:0.000972 +[21:39:59.057] Odometry x=-0.184279, y=1.016402, theta=0.507556 +[21:39:59.078] Image Alignment failed 0 +[21:39:59.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001873 ,z=0.003365,angle between two frames:0.000455 +[21:39:59.158] Odometry x=-0.186022, y=1.019604, theta=0.503771 +[21:39:59.178] Image Alignment failed 0 +[21:39:59.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001830 ,z=0.003336,angle between two frames:0.008066 +[21:39:59.257] Odometry x=-0.187834, y=1.023017, theta=0.512956 +[21:39:59.278] Image Alignment failed 0 +[21:39:59.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001850 ,z=0.003353,angle between two frames:0.001711 +[21:39:59.357] Odometry x=-0.189728, y=1.026398, theta=0.514388 +[21:39:59.378] Image Alignment failed 0 +[21:39:59.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001943 ,z=0.003137,angle between two frames:0.000591 +[21:39:59.457] Odometry x=-0.191645, y=1.029520, theta=0.519515 +[21:39:59.478] Image Alignment failed 0 +[21:39:59.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001800 ,z=0.003348,angle between two frames:0.002023 +[21:39:59.556] Odometry x=-0.193471, y=1.033014, theta=0.532193 +[21:39:59.579] Image Alignment failed 0 +[21:39:59.649] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001958 ,z=0.003275,angle between two frames:0.004931 +[21:39:59.656] Odometry x=-0.195303, y=1.036320, theta=0.513871 +[21:39:59.677] Image Alignment failed 0 +[21:39:59.748] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001697 ,z=0.003394,angle between two frames:0.009965 +[21:39:59.754] Odometry x=-0.197073, y=1.039703, theta=0.513622 +[21:39:59.778] Image Alignment failed 0 +[21:39:59.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001880 ,z=0.003352,angle between two frames:0.001985 +[21:39:59.851] Odometry x=-0.198927, y=1.043091, theta=0.530313 +[21:39:59.880] Image Alignment failed 0 +[21:39:59.952] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001890 ,z=0.003220,angle between two frames:0.007326 +[21:39:59.955] Odometry x=-0.200868, y=1.046338, theta=0.523103 +[21:39:59.980] Image Alignment failed 0 +[21:40:00.055] Odometry x=-0.202821, y=1.049855, theta=0.533010 +[21:40:00.060] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001992 ,z=0.003465,angle between two frames:0.000321 +[21:40:00.078] Image Alignment failed 0 +[21:40:00.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002000 ,z=0.003363,angle between two frames:0.001610 +[21:40:00.154] Odometry x=-0.204855, y=1.053279, theta=0.530078 +[21:40:00.180] Image Alignment failed 0 +[21:40:00.252] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001859 ,z=0.003185,angle between two frames:0.001908 +[21:40:00.253] Odometry x=-0.206714, y=1.056489, theta=0.546062 +[21:40:00.278] Image Alignment failed 0 +[21:40:00.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002010 ,z=0.003314,angle between two frames:0.004889 +[21:40:00.352] Odometry x=-0.208803, y=1.059899, theta=0.544950 +[21:40:00.378] Image Alignment failed 0 +[21:40:00.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001973 ,z=0.003340,angle between two frames:0.004248 +[21:40:00.455] Odometry x=-0.210722, y=1.063286, theta=0.553216 +[21:40:00.478] Image Alignment failed 0 +[21:40:00.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002093 ,z=0.003284,angle between two frames:0.003269 +[21:40:00.553] Odometry x=-0.212934, y=1.066605, theta=0.560062 +[21:40:00.578] Image Alignment failed 0 +[21:40:00.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002009 ,z=0.003280,angle between two frames:0.003780 +[21:40:00.651] Odometry x=-0.214916, y=1.069950, theta=0.568064 +[21:40:00.679] Image Alignment failed 0 +[21:40:00.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002083 ,z=0.003203,angle between two frames:0.007148 +[21:40:00.755] Odometry x=-0.217026, y=1.073180, theta=0.574331 +[21:40:00.778] Image Alignment failed 0 +[21:40:00.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002068 ,z=0.003218,angle between two frames:0.001780 +[21:40:00.853] Odometry x=-0.219020, y=1.076541, theta=0.583343 +[21:40:00.878] Image Alignment failed 0 +[21:40:00.951] Odometry x=-0.221141, y=1.079739, theta=0.587183 +[21:40:00.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002107 ,z=0.003187,angle between two frames:0.006923 +[21:40:00.978] Image Alignment failed 0 +[21:40:01.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002118 ,z=0.003181,angle between two frames:0.001790 +[21:40:01.055] Odometry x=-0.223235, y=1.083032, theta=0.580696 +[21:40:01.078] Image Alignment failed 0 +[21:40:01.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002216 ,z=0.003296,angle between two frames:0.000450 +[21:40:01.152] Odometry x=-0.225507, y=1.086301, theta=0.588166 +[21:40:01.179] Image Alignment failed 0 +[21:40:01.250] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002069 ,z=0.003179,angle between two frames:0.003003 +[21:40:01.251] Odometry x=-0.227563, y=1.089576, theta=0.604874 +[21:40:01.278] Image Alignment failed 0 +[21:40:01.349] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002195 ,z=0.003146,angle between two frames:0.004660 +[21:40:01.355] Odometry x=-0.229751, y=1.092760, theta=0.587010 +[21:40:01.379] Image Alignment failed 0 +[21:40:01.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002173 ,z=0.003333,angle between two frames:0.008376 +[21:40:01.454] Odometry x=-0.231996, y=1.096205, theta=0.566764 +[21:40:01.478] Image Alignment failed 0 +[21:40:01.549] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002098 ,z=0.003279,angle between two frames:0.000064 +[21:40:01.555] Odometry x=-0.234136, y=1.099599, theta=0.568167 +[21:40:01.578] Image Alignment failed 0 +[21:40:01.650] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001997 ,z=0.003252,angle between two frames:0.002605 +[21:40:01.660] Odometry x=-0.236145, y=1.102904, theta=0.565729 +[21:40:01.678] Image Alignment failed 0 +[21:40:01.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002182 ,z=0.003399,angle between two frames:0.000956 +[21:40:01.755] Odometry x=-0.238269, y=1.106330, theta=0.566725 +[21:40:01.778] Image Alignment failed 0 +[21:40:01.849] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.001933 ,z=0.003166,angle between two frames:0.002075 +[21:40:01.855] Odometry x=-0.240222, y=1.109512, theta=0.572263 +[21:40:01.878] Image Alignment failed 0 +[21:40:01.950] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002072 ,z=0.003214,angle between two frames:0.003545 +[21:40:01.953] Odometry x=-0.242236, y=1.112770, theta=0.585041 +[21:40:01.978] Image Alignment failed 0 +[21:40:02.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002106 ,z=0.003187,angle between two frames:0.002605 +[21:40:02.050] Odometry x=-0.244358, y=1.115950, theta=0.580028 +[21:40:02.079] Image Alignment failed 0 +[21:40:02.149] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002017 ,z=0.003080,angle between two frames:0.000912 +[21:40:02.155] Odometry x=-0.246335, y=1.119107, theta=0.584094 +[21:40:02.178] Image Alignment failed 0 +[21:40:02.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002164 ,z=0.003282,angle between two frames:0.001259 +[21:40:02.255] Odometry x=-0.248570, y=1.122374, theta=0.587548 +[21:40:02.279] Image Alignment failed 0 +[21:40:02.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002131 ,z=0.003206,angle between two frames:0.003918 +[21:40:02.355] Odometry x=-0.250651, y=1.125619, theta=0.598260 +[21:40:02.380] Image Alignment failed 0 +[21:40:02.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002151 ,z=0.003211,angle between two frames:0.002271 +[21:40:02.459] Odometry x=-0.252867, y=1.128838, theta=0.600586 +[21:40:02.478] Image Alignment failed 0 +[21:40:02.550] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002204 ,z=0.003209,angle between two frames:0.002631 +[21:40:02.555] Odometry x=-0.254967, y=1.132126, theta=0.612178 +[21:40:02.578] Image Alignment failed 0 +[21:40:02.649] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002070 ,z=0.003144,angle between two frames:0.007404 +[21:40:02.658] Odometry x=-0.257077, y=1.135284, theta=0.621685 +[21:40:02.678] Image Alignment failed 0 +[21:40:02.750] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002257 ,z=0.003149,angle between two frames:0.001251 +[21:40:02.753] Odometry x=-0.259289, y=1.138480, theta=0.625088 +[21:40:02.778] Image Alignment failed 0 +[21:40:02.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002105 ,z=0.003029,angle between two frames:0.002854 +[21:40:02.852] Odometry x=-0.261474, y=1.141557, theta=0.627937 +[21:40:02.879] Image Alignment failed 0 +[21:40:02.951] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002301 ,z=0.003178,angle between two frames:0.001757 +[21:40:02.956] Odometry x=-0.263717, y=1.144841, theta=0.624289 +[21:40:02.978] Image Alignment failed 0 +[21:40:03.049] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002358 ,z=0.003247,angle between two frames:0.005018 +[21:40:03.059] Odometry x=-0.266057, y=1.148114, theta=0.612435 +[21:40:03.079] Image Alignment failed 0 +[21:40:03.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002198 ,z=0.003161,angle between two frames:0.005516 +[21:40:03.151] Odometry x=-0.268246, y=1.151290, theta=0.616989 +[21:40:03.179] Image Alignment failed 0 +[21:40:03.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002158 ,z=0.002984,angle between two frames:0.002470 +[21:40:03.260] Odometry x=-0.270423, y=1.154341, theta=0.618548 +[21:40:03.280] Image Alignment failed 0 +[21:40:03.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002304 ,z=0.003282,angle between two frames:0.007027 +[21:40:03.359] Odometry x=-0.272702, y=1.157649, theta=0.629416 +[21:40:03.380] Image Alignment failed 0 +[21:40:03.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002255 ,z=0.003069,angle between two frames:0.000240 +[21:40:03.457] Odometry x=-0.274940, y=1.160753, theta=0.625719 +[21:40:03.480] Image Alignment failed 0 +[21:40:03.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002229 ,z=0.003111,angle between two frames:0.001565 +[21:40:03.555] Odometry x=-0.277197, y=1.163892, theta=0.631672 +[21:40:03.580] Image Alignment failed 0 +[21:40:03.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002140 ,z=0.002933,angle between two frames:0.001560 +[21:40:03.653] Odometry x=-0.279318, y=1.166842, theta=0.645601 +[21:40:03.679] Image Alignment failed 0 +[21:40:03.749] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002243 ,z=0.003090,angle between two frames:0.005237 +[21:40:03.751] Odometry x=-0.281616, y=1.169971, theta=0.639544 +[21:40:03.779] Image Alignment failed 0 +[21:40:03.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002290 ,z=0.003076,angle between two frames:0.000889 +[21:40:03.854] Odometry x=-0.283900, y=1.173043, theta=0.650924 +[21:40:03.880] Image Alignment failed 0 +[21:40:03.952] Odometry x=-0.286253, y=1.176258, theta=0.649108 +[21:40:03.954] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002248 ,z=0.003084,angle between two frames:0.004965 +[21:40:03.980] Image Alignment failed 0 +[21:40:04.052] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002303 ,z=0.003041,angle between two frames:0.004687 +[21:40:04.061] Odometry x=-0.288509, y=1.179372, theta=0.652784 +[21:40:04.079] Image Alignment failed 0 +[21:40:04.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002327 ,z=0.003240,angle between two frames:0.001595 +[21:40:04.154] Odometry x=-0.290860, y=1.182577, theta=0.663137 +[21:40:04.179] Image Alignment failed 0 +[21:40:04.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002246 ,z=0.002869,angle between two frames:0.004070 +[21:40:04.252] Odometry x=-0.293097, y=1.185626, theta=0.672352 +[21:40:04.280] Image Alignment failed 0 +[21:40:04.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002385 ,z=0.002993,angle between two frames:0.002822 +[21:40:04.356] Odometry x=-0.295512, y=1.188662, theta=0.673284 +[21:40:04.380] Image Alignment failed 0 +[21:40:04.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002398 ,z=0.003051,angle between two frames:0.006970 +[21:40:04.454] Odometry x=-0.297847, y=1.191818, theta=0.684907 +[21:40:04.481] Image Alignment failed 0 +[21:40:04.552] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002458 ,z=0.002998,angle between two frames:0.001590 +[21:40:04.558] Odometry x=-0.300331, y=1.194833, theta=0.672798 +[21:40:04.580] Image Alignment failed 0 +[21:40:04.653] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002388 ,z=0.002999,angle between two frames:0.000362 +[21:40:04.656] Odometry x=-0.302716, y=1.197869, theta=0.683356 +[21:40:04.680] Image Alignment failed 0 +[21:40:04.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002479 ,z=0.002931,angle between two frames:0.009697 +[21:40:04.756] Odometry x=-0.305208, y=1.200819, theta=0.651839 +[21:40:04.780] Image Alignment failed 0 +[21:40:04.852] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002322 ,z=0.003052,angle between two frames:0.000555 +[21:40:04.859] Odometry x=-0.307569, y=1.204003, theta=0.639749 +[21:40:04.880] Image Alignment failed 0 +[21:40:04.951] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002230 ,z=0.002985,angle between two frames:0.000789 +[21:40:04.960] Odometry x=-0.309873, y=1.207030, theta=0.656424 +[21:40:04.979] Image Alignment failed 0 +[21:40:05.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002289 ,z=0.003041,angle between two frames:0.002900 +[21:40:05.059] Odometry x=-0.312143, y=1.210096, theta=0.652181 +[21:40:05.078] Image Alignment failed 0 +[21:40:05.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.002443 ,z=0.003184,angle between two frames:0.000138 +[21:40:05.152] Odometry x=-0.314612, y=1.213287, theta=0.653904 +[21:40:05.180] Image Alignment failed 0 +[21:40:05.257] Odometry x=-0.316694, y=1.216305, theta=0.660376 +[21:40:05.316] After Reprojection Map nPoint:24 ,nCell:23 ,nMatches:2 ,distance between two frames x:-0.002092 ,z=0.002953,angle between two frames:0.003040 +[21:40:05.316] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =4.867357 error end=4.867357 +[21:40:05.316] After pose optimization, distance between two frames x:-0.002092 ,z=0.002953,angle between two frames:0.003040 +[21:40:05.320] Image Alignment failed 0 +[21:40:05.354] Odometry x=-0.319097, y=1.219422, theta=0.661763 +[21:40:05.451] Odometry x=-0.321392, y=1.222423, theta=0.668390 +[21:40:05.457] After Reprojection Map nPoint:25 ,nCell:18 ,nMatches:2 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000826 +[21:40:05.457] n deleted obs = 0 n obs with reprojection error less than 0.5 px =4 error init =0.260313 error end=0.260313 +[21:40:05.457] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000826 +[21:40:05.554] Odometry x=-0.323786, y=1.225480, theta=0.669163 +[21:40:05.615] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:5 ,distance between two frames x:0.000834 ,z=0.001077,angle between two frames:0.001761 +[21:40:05.615] n deleted obs = 1 n obs with reprojection error less than 0.5 px =4 error init =6.397409 error end=0.303566 +[21:40:05.615] After pose optimization, distance between two frames x:4.214473 ,z=-10.015571,angle between two frames:0.400731 +[21:40:05.654] Odometry x=-0.326145, y=1.228647, theta=0.669563 +[21:40:05.757] Odometry x=-0.328529, y=1.231739, theta=0.682670 +[21:40:05.757] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:2 ,distance between two frames x:-0.000020 ,z=0.000017,angle between two frames:0.000586 +[21:40:05.757] n deleted obs = 0 n obs with reprojection error less than 0.5 px =3 error init =2.278645 error end=0.350984 +[21:40:05.757] After pose optimization, distance between two frames x:0.162821 ,z=0.441669,angle between two frames:0.922285 +[21:40:05.856] Odometry x=-0.331008, y=1.234819, theta=0.686543 +[21:40:05.914] After Reprojection Map nPoint:21 ,nCell:19 ,nMatches:3 ,distance between two frames x:0.000085 ,z=-0.000057,angle between two frames:0.000050 +[21:40:05.914] n deleted obs = 3 n obs with reprojection error less than 0.5 px =0 error init =3.154176 error end=3.083335 +[21:40:05.914] After pose optimization, distance between two frames x:9.111463 ,z=0.437137,angle between two frames:2.120335 +[21:40:05.918] Image Alignment failed 0 +[21:40:05.958] Odometry x=-0.333411, y=1.237820, theta=0.692184 +[21:40:06.054] After Reprojection Map nPoint:26 ,nCell:20 ,nMatches:6 ,distance between two frames x:0.000005 ,z=0.000004,angle between two frames:0.001036 +[21:40:06.054] n deleted obs = 4 n obs with reprojection error less than 0.5 px =5 error init =0.887369 error end=0.887369 +[21:40:06.054] After pose optimization, distance between two frames x:0.000005 ,z=0.000004,angle between two frames:0.001036 +[21:40:06.056] Odometry x=-0.336020, y=1.241040, theta=0.698327 +[21:40:06.158] Odometry x=-0.338337, y=1.243848, theta=0.701428 +[21:40:06.198] After Reprojection Map nPoint:25 ,nCell:23 ,nMatches:3 ,distance between two frames x:0.000013 ,z=0.000059,angle between two frames:0.000074 +[21:40:06.199] n deleted obs = 2 n obs with reprojection error less than 0.5 px =4 error init =0.363170 error end=0.345370 +[21:40:06.199] After pose optimization, distance between two frames x:-0.333650 ,z=0.007292,angle between two frames:0.318039 +[21:40:06.255] Odometry x=-0.340979, y=1.246970, theta=0.695883 +[21:40:06.357] After Reprojection Map nPoint:22 ,nCell:20 ,nMatches:3 ,distance between two frames x:0.000254 ,z=0.000328,angle between two frames:0.001527 +[21:40:06.357] n deleted obs = 3 n obs with reprojection error less than 0.5 px =1 error init =1.999582 error end=1.999582 +[21:40:06.357] After pose optimization, distance between two frames x:0.000254 ,z=0.000328,angle between two frames:0.001527 +[21:40:06.358] Odometry x=-0.343296, y=1.249797, theta=0.703488 +[21:40:06.456] Odometry x=-0.345811, y=1.252740, theta=0.700215 +[21:40:06.501] After Reprojection Map nPoint:26 ,nCell:21 ,nMatches:4 ,distance between two frames x:-0.000028 ,z=-0.000041,angle between two frames:0.000048 +[21:40:06.501] n deleted obs = 2 n obs with reprojection error less than 0.5 px =4 error init =0.507546 error end=0.449656 +[21:40:06.501] After pose optimization, distance between two frames x:0.162429 ,z=-0.000286,angle between two frames:0.270762 +[21:40:06.553] Odometry x=-0.348166, y=1.255913, theta=0.705274 +[21:40:06.645] After Reprojection Map nPoint:25 ,nCell:22 ,nMatches:5 ,distance between two frames x:-0.000043 ,z=0.000118,angle between two frames:0.000971 +[21:40:06.645] n deleted obs = 0 n obs with reprojection error less than 0.5 px =7 error init =1.516450 error end=0.198543 +[21:40:06.645] After pose optimization, distance between two frames x:0.360756 ,z=-0.551325,angle between two frames:0.826172 +[21:40:06.656] Odometry x=-0.350709, y=1.258809, theta=0.703029 +[21:40:06.758] Odometry x=-0.353152, y=1.261886, theta=0.711384 +[21:40:06.790] After Reprojection Map nPoint:21 ,nCell:20 ,nMatches:2 ,distance between two frames x:-0.000049 ,z=0.000001,angle between two frames:0.000466 +[21:40:06.790] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =2.521181 error end=2.521181 +[21:40:06.790] After pose optimization, distance between two frames x:-0.000049 ,z=0.000001,angle between two frames:0.000466 +[21:40:06.794] Image Alignment failed 0 +[21:40:06.857] Odometry x=-0.355712, y=1.264887, theta=0.725104 +[21:40:06.930] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:2 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000504 +[21:40:06.930] n deleted obs = 2 n obs with reprojection error less than 0.5 px =2 error init =0.321998 error end=0.321998 +[21:40:06.930] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000504 +[21:40:06.956] Odometry x=-0.358149, y=1.267857, theta=0.731043 +[21:40:07.059] Odometry x=-0.360725, y=1.270733, theta=0.728475 +[21:40:07.088] After Reprojection Map nPoint:24 ,nCell:24 ,nMatches:1 ,distance between two frames x:-0.000436 ,z=-0.000512,angle between two frames:0.000775 +[21:40:07.088] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =0.554896 error end=0.554896 +[21:40:07.088] After pose optimization, distance between two frames x:-0.000436 ,z=-0.000512,angle between two frames:0.000775 +[21:40:07.092] Image Alignment failed 0 +[21:40:07.156] Odometry x=-0.363221, y=1.273685, theta=0.729020 +[21:40:07.228] After Reprojection Map nPoint:23 ,nCell:23 ,nMatches:1 ,distance between two frames x:0.000005 ,z=0.000004,angle between two frames:0.000044 +[21:40:07.228] n deleted obs = 2 n obs with reprojection error less than 0.5 px =0 error init =0.555235 error end=0.555235 +[21:40:07.228] After pose optimization, distance between two frames x:0.000005 ,z=0.000004,angle between two frames:0.000044 +[21:40:07.232] Image Alignment failed 0 +[21:40:07.258] Odometry x=-0.365784, y=1.276567, theta=0.723646 +[21:40:07.357] Odometry x=-0.368301, y=1.279488, theta=0.731326 +[21:40:07.368] After Reprojection Map nPoint:22 ,nCell:22 ,nMatches:1 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:40:07.368] n deleted obs = 1 n obs with reprojection error less than 0.5 px =1 error init =0.377341 error end=0.377341 +[21:40:07.368] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:40:07.456] Odometry x=-0.370862, y=1.282352, theta=0.744745 +[21:40:07.510] After Reprojection Map nPoint:1 ,nCell:1 ,nMatches:1 ,distance between two frames x:-0.000012 ,z=0.000010,angle between two frames:0.000009 +[21:40:07.558] Odometry x=-0.373435, y=1.285322, theta=0.755364 +[21:40:07.653] After Reprojection Map nPoint:1 ,nCell:1 ,nMatches:0 ,distance between two frames x:0.000054 ,z=0.000236,angle between two frames:0.000215 +[21:40:07.657] Image Alignment failed 0 +[21:40:07.657] Odometry x=-0.376075, y=1.288126, theta=0.753056 +[21:40:07.727] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:40:07.732] Image Alignment failed 0 +[21:40:07.756] Odometry x=-0.378752, y=1.291047, theta=0.752073 +[21:40:07.802] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=0.000000,angle between two frames:0.000364 +[21:40:07.813] Image Alignment failed 0 +[21:40:07.855] Odometry x=-0.381335, y=1.293869, theta=0.758812 +[21:40:07.883] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000018 ,z=-0.000006,angle between two frames:0.001508 +[21:40:07.916] Image Alignment failed 0 +[21:40:07.954] Odometry x=-0.384002, y=1.296685, theta=0.762248 +[21:40:07.990] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000043 ,z=-0.000006,angle between two frames:0.009705 +[21:40:08.014] Image Alignment failed 0 +[21:40:08.055] Odometry x=-0.386588, y=1.299455, theta=0.765765 +[21:40:08.085] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.000011,angle between two frames:0.002631 +[21:40:08.112] Image Alignment failed 0 +[21:40:08.158] Odometry x=-0.389334, y=1.302333, theta=0.763068 +[21:40:08.181] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000059 ,z=0.000054,angle between two frames:0.001242 +[21:40:08.212] Image Alignment failed 0 +[21:40:08.261] Odometry x=-0.392036, y=1.305173, theta=0.775443 +[21:40:08.282] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=0.000022,angle between two frames:0.003493 +[21:40:08.312] Image Alignment failed 0 +[21:40:08.356] Odometry x=-0.394745, y=1.308136, theta=0.774482 +[21:40:08.381] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000031 ,z=0.000040,angle between two frames:0.002374 +[21:40:08.412] Image Alignment failed 0 +[21:40:08.457] Odometry x=-0.397204, y=1.310711, theta=0.777770 +[21:40:08.482] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=0.000008,angle between two frames:0.000802 +[21:40:08.511] Image Alignment failed 0 +[21:40:08.555] Odometry x=-0.400121, y=1.313470, theta=0.777579 +[21:40:08.582] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000128 ,z=-0.000113,angle between two frames:0.000186 +[21:40:08.612] Image Alignment failed 0 +[21:40:08.656] Odometry x=-0.402672, y=1.316173, theta=0.794465 +[21:40:08.682] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000038,angle between two frames:0.008220 +[21:40:08.711] Image Alignment failed 0 +[21:40:08.755] Odometry x=-0.405507, y=1.318955, theta=0.783149 +[21:40:08.781] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000027 ,z=0.000015,angle between two frames:0.008422 +[21:40:08.812] Image Alignment failed 0 +[21:40:08.855] Odometry x=-0.408202, y=1.321723, theta=0.796119 +[21:40:08.882] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000033 ,z=0.000027,angle between two frames:0.001565 +[21:40:08.912] Image Alignment failed 0 +[21:40:08.956] Odometry x=-0.411040, y=1.324519, theta=0.787591 +[21:40:08.982] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=0.000023,angle between two frames:0.003369 +[21:40:09.012] Image Alignment failed 0 +[21:40:09.056] Odometry x=-0.413497, y=1.327132, theta=0.797311 +[21:40:09.082] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000018 ,z=0.000017,angle between two frames:0.007856 +[21:40:09.112] Image Alignment failed 0 +[21:40:09.155] Odometry x=-0.416331, y=1.329814, theta=0.799876 +[21:40:09.182] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000027 ,z=0.000028,angle between two frames:0.000807 +[21:40:09.211] Image Alignment failed 0 +[21:40:09.255] Odometry x=-0.419319, y=1.332816, theta=0.817737 +[21:40:09.282] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000012 ,z=0.000064,angle between two frames:0.003195 +[21:40:09.312] Image Alignment failed 0 +[21:40:09.355] Odometry x=-0.421977, y=1.335304, theta=0.809607 +[21:40:09.383] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=-0.000003,angle between two frames:0.004042 +[21:40:09.412] Image Alignment failed 0 +[21:40:09.455] Odometry x=-0.424768, y=1.338076, theta=0.818297 +[21:40:09.483] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000033 ,z=0.000129,angle between two frames:0.001036 +[21:40:09.512] Image Alignment failed 0 +[21:40:09.555] Odometry x=-0.427620, y=1.340562, theta=0.822737 +[21:40:09.582] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.002503 +[21:40:09.612] Image Alignment failed 0 +[21:40:09.656] Odometry x=-0.430336, y=1.343213, theta=0.801505 +[21:40:09.682] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000028 ,z=0.000089,angle between two frames:0.005251 +[21:40:09.711] Image Alignment failed 0 +[21:40:09.759] Odometry x=-0.433390, y=1.346009, theta=0.791849 +[21:40:09.782] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000142 ,z=0.000016,angle between two frames:0.000138 +[21:40:09.812] Image Alignment failed 0 +[21:40:09.855] Odometry x=-0.436166, y=1.348971, theta=0.789182 +[21:40:09.884] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000016 ,z=0.000039,angle between two frames:0.002598 +[21:40:09.911] Image Alignment failed 0 +[21:40:09.955] Odometry x=-0.438618, y=1.351363, theta=0.789316 +[21:40:09.981] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000029 ,z=0.000008,angle between two frames:0.001566 +[21:40:10.012] Image Alignment failed 0 +[21:40:10.056] Odometry x=-0.441470, y=1.354228, theta=0.783641 +[21:40:10.082] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000012 ,z=0.000032,angle between two frames:0.004207 +[21:40:10.112] Image Alignment failed 0 +[21:40:10.155] Odometry x=-0.444047, y=1.356895, theta=0.787954 +[21:40:10.183] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000012 ,z=0.000022,angle between two frames:0.000664 +[21:40:10.211] Image Alignment failed 0 +[21:40:10.254] Odometry x=-0.447058, y=1.359877, theta=0.789124 +[21:40:10.282] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000027 ,z=0.000028,angle between two frames:0.002575 +[21:40:10.312] Image Alignment failed 0 +[21:40:10.356] Odometry x=-0.449601, y=1.362540, theta=0.792302 +[21:40:10.383] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000008,angle between two frames:0.001559 +[21:40:10.411] Image Alignment failed 0 +[21:40:10.455] Odometry x=-0.452499, y=1.365390, theta=0.798363 +[21:40:10.487] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000033 ,z=0.000048,angle between two frames:0.002771 +[21:40:10.513] Image Alignment failed 0 +[21:40:10.556] Odometry x=-0.455107, y=1.367977, theta=0.794976 +[21:40:10.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000022 ,z=0.000009,angle between two frames:0.002282 +[21:40:10.618] Image Alignment failed 0 +[21:40:10.656] Odometry x=-0.457951, y=1.370665, theta=0.803497 +[21:40:10.692] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000082 ,z=-0.000037,angle between two frames:0.009529 +[21:40:10.713] Image Alignment failed 0 +[21:40:10.761] Odometry x=-0.460756, y=1.373484, theta=0.816271 +[21:40:10.784] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000003,angle between two frames:0.002956 +[21:40:10.812] Image Alignment failed 0 +[21:40:10.855] Odometry x=-0.463635, y=1.376129, theta=0.813003 +[21:40:10.883] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000074 ,z=-0.000059,angle between two frames:0.000383 +[21:40:10.912] Image Alignment failed 0 +[21:40:10.955] Odometry x=-0.466242, y=1.378707, theta=0.824308 +[21:40:10.984] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.001466 +[21:40:11.012] Image Alignment failed 0 +[21:40:11.054] Odometry x=-0.469086, y=1.381282, theta=0.829888 +[21:40:11.083] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000022 ,z=-0.000025,angle between two frames:0.001275 +[21:40:11.111] Image Alignment failed 0 +[21:40:11.150] Odometry x=-0.471787, y=1.383771, theta=0.839645 +[21:40:11.182] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=0.000009,angle between two frames:0.005576 +[21:40:11.214] Image Alignment failed 0 +[21:40:11.255] Odometry x=-0.474702, y=1.386263, theta=0.850072 +[21:40:11.284] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000004,angle between two frames:0.000949 +[21:40:11.313] Image Alignment failed 0 +[21:40:11.358] Odometry x=-0.477778, y=1.389109, theta=0.839407 +[21:40:11.384] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000023 ,z=0.000026,angle between two frames:0.008852 +[21:40:11.414] Image Alignment failed 0 +[21:40:11.457] Odometry x=-0.480820, y=1.391722, theta=0.839493 +[21:40:11.485] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000029 ,z=-0.000057,angle between two frames:0.002239 +[21:40:11.513] Image Alignment failed 0 +[21:40:11.556] Odometry x=-0.483711, y=1.394267, theta=0.845965 +[21:40:11.584] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000044 ,z=0.000050,angle between two frames:0.001035 +[21:40:11.617] Image Alignment failed 0 +[21:40:11.654] Odometry x=-0.486529, y=1.396713, theta=0.850645 +[21:40:11.688] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000026 ,z=-0.000030,angle between two frames:0.003696 +[21:40:11.713] Image Alignment failed 0 +[21:40:11.752] Odometry x=-0.489443, y=1.399318, theta=0.856300 +[21:40:11.785] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000011 ,z=0.000039,angle between two frames:0.001532 +[21:40:11.820] Image Alignment failed 0 +[21:40:11.855] Odometry x=-0.492338, y=1.401834, theta=0.861747 +[21:40:11.897] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000023 ,z=-0.000000,angle between two frames:0.002533 +[21:40:11.931] Image Alignment failed 0 +[21:40:11.954] Odometry x=-0.495227, y=1.404388, theta=0.870620 +[21:40:12.002] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=0.000027,angle between two frames:0.007178 +[21:40:12.030] Image Alignment failed 0 +[21:40:12.052] Odometry x=-0.498157, y=1.406876, theta=0.862888 +[21:40:12.101] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000019 ,z=0.000023,angle between two frames:0.001188 +[21:40:12.154] Image Alignment failed 0 +[21:40:12.162] Odometry x=-0.501069, y=1.409381, theta=0.870546 +[21:40:12.233] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000019 ,z=-0.000021,angle between two frames:0.002456 +[21:40:12.250] Image Alignment failed 0 +[21:40:12.259] Odometry x=-0.504148, y=1.412080, theta=0.872677 +[21:40:12.321] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000011,angle between two frames:0.001690 +[21:40:12.347] Image Alignment failed 0 +[21:40:12.353] Odometry x=-0.507088, y=1.414477, theta=0.887109 +[21:40:12.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000038 ,z=-0.000049,angle between two frames:0.001629 +[21:40:12.455] Image Alignment failed 0 +[21:40:12.462] Odometry x=-0.509874, y=1.416860, theta=0.893837 +[21:40:12.532] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000047,angle between two frames:0.005713 +[21:40:12.548] Image Alignment failed 0 +[21:40:12.554] Odometry x=-0.513065, y=1.419295, theta=0.893769 +[21:40:12.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000033 ,z=-0.000043,angle between two frames:0.001451 +[21:40:12.647] Image Alignment failed 0 +[21:40:12.657] Odometry x=-0.515900, y=1.421610, theta=0.902687 +[21:40:12.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.003896 +[21:40:12.747] Image Alignment failed 0 +[21:40:12.756] Odometry x=-0.519007, y=1.424034, theta=0.905980 +[21:40:12.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000013 ,z=-0.000037,angle between two frames:0.003156 +[21:40:12.848] Image Alignment failed 0 +[21:40:12.859] Odometry x=-0.521971, y=1.426426, theta=0.917448 +[21:40:12.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000023 ,z=0.000040,angle between two frames:0.004706 +[21:40:12.947] Image Alignment failed 0 +[21:40:12.958] Odometry x=-0.524743, y=1.428526, theta=0.923827 +[21:40:13.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000008 ,z=-0.000011,angle between two frames:0.000505 +[21:40:13.048] Image Alignment failed 0 +[21:40:13.058] Odometry x=-0.527758, y=1.430921, theta=0.920109 +[21:40:13.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000037 ,z=0.000054,angle between two frames:0.000851 +[21:40:13.148] Image Alignment failed 0 +[21:40:13.155] Odometry x=-0.530894, y=1.433264, theta=0.896546 +[21:40:13.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000020 ,z=0.000006,angle between two frames:0.005510 +[21:40:13.249] Image Alignment failed 0 +[21:40:13.259] Odometry x=-0.533770, y=1.435767, theta=0.881904 +[21:40:13.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000037 ,z=0.000002,angle between two frames:0.002594 +[21:40:13.347] Image Alignment failed 0 +[21:40:13.358] Odometry x=-0.536714, y=1.438186, theta=0.866602 +[21:40:13.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000010 ,z=0.000000,angle between two frames:0.004936 +[21:40:13.446] Image Alignment failed 0 +[21:40:13.451] Odometry x=-0.539611, y=1.440710, theta=0.873111 +[21:40:13.516] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000001,angle between two frames:0.001115 +[21:40:13.546] Image Alignment failed 0 +[21:40:13.558] Odometry x=-0.542314, y=1.443031, theta=0.884927 +[21:40:13.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000021 ,z=0.000027,angle between two frames:0.007546 +[21:40:13.645] Image Alignment failed 0 +[21:40:13.653] Odometry x=-0.545532, y=1.445828, theta=0.896054 +[21:40:13.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000015 ,z=-0.000009,angle between two frames:0.002225 +[21:40:13.746] Image Alignment failed 0 +[21:40:13.758] Odometry x=-0.548256, y=1.448119, theta=0.902219 +[21:40:13.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000031 ,z=0.000040,angle between two frames:0.008389 +[21:40:13.850] Image Alignment failed 0 +[21:40:13.852] Odometry x=-0.551436, y=1.450550, theta=0.909456 +[21:40:13.926] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=-0.000001,angle between two frames:0.005286 +[21:40:13.947] Image Alignment failed 0 +[21:40:13.953] Odometry x=-0.554343, y=1.452928, theta=0.919408 +[21:40:14.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000025,angle between two frames:0.000059 +[21:40:14.047] Image Alignment failed 0 +[21:40:14.056] Odometry x=-0.557280, y=1.455162, theta=0.928426 +[21:40:14.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000074 ,z=0.000056,angle between two frames:0.000554 +[21:40:14.147] Image Alignment failed 0 +[21:40:14.159] Odometry x=-0.560556, y=1.457752, theta=0.954018 +[21:40:14.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000013 ,z=0.000037,angle between two frames:0.004502 +[21:40:14.248] Image Alignment failed 0 +[21:40:14.257] Odometry x=-0.563814, y=1.459934, theta=0.947155 +[21:40:14.319] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000029 ,z=-0.000020,angle between two frames:0.000771 +[21:40:14.346] Image Alignment failed 0 +[21:40:14.354] Odometry x=-0.566920, y=1.462248, theta=0.955192 +[21:40:14.418] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000010 ,z=0.000006,angle between two frames:0.004352 +[21:40:14.447] Image Alignment failed 0 +[21:40:14.457] Odometry x=-0.570076, y=1.464427, theta=0.941161 +[21:40:14.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000005 ,z=-0.000000,angle between two frames:0.004309 +[21:40:14.547] Image Alignment failed 0 +[21:40:14.555] Odometry x=-0.573417, y=1.466933, theta=0.946108 +[21:40:14.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000079 ,z=0.000072,angle between two frames:0.001124 +[21:40:14.647] Image Alignment failed 0 +[21:40:14.653] Odometry x=-0.576324, y=1.468986, theta=0.934431 +[21:40:14.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000003 ,z=0.000005,angle between two frames:0.000893 +[21:40:14.747] Image Alignment failed 0 +[21:40:14.756] Odometry x=-0.579437, y=1.471313, theta=0.919726 +[21:40:14.818] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000033 ,z=0.000030,angle between two frames:0.004376 +[21:40:14.847] Image Alignment failed 0 +[21:40:14.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000002,angle between two frames:0.001359 +[21:40:14.948] Image Alignment failed 0 +[21:40:15.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000002,angle between two frames:0.001491 +[21:40:15.046] Image Alignment failed 0 +[21:40:15.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000004,angle between two frames:0.001496 +[21:40:15.147] Image Alignment failed 0 +[21:40:15.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.006062 +[21:40:15.247] Image Alignment failed 0 +[21:40:15.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000020 ,z=0.000021,angle between two frames:0.001802 +[21:40:15.347] Image Alignment failed 0 +[21:40:15.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000026 ,z=-0.000026,angle between two frames:0.000376 +[21:40:15.448] Image Alignment failed 0 +[21:40:15.518] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000005 ,z=0.000026,angle between two frames:0.006133 +[21:40:15.546] Image Alignment failed 0 +[21:40:15.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000090 ,z=-0.000016,angle between two frames:0.002527 +[21:40:15.645] Image Alignment failed 0 +[21:40:15.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.004323 +[21:40:15.744] Image Alignment failed 0 +[21:40:15.815] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000002,angle between two frames:0.001504 +[21:40:15.845] Image Alignment failed 0 +[21:40:15.916] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000745 +[21:40:15.946] Image Alignment failed 0 +[21:40:16.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000949 +[21:40:16.046] Image Alignment failed 0 +[21:40:16.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000789 +[21:40:16.146] Image Alignment failed 0 +[21:40:16.216] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000803 +[21:40:16.246] Image Alignment failed 0 +[21:40:16.316] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000908 +[21:40:16.350] Image Alignment failed 0 +[21:40:16.420] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000909 +[21:40:16.446] Image Alignment failed 0 +[21:40:16.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000815 +[21:40:16.545] Image Alignment failed 0 +[21:40:16.615] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000795 +[21:40:16.646] Image Alignment failed 0 +[21:40:16.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000906 +[21:40:16.746] Image Alignment failed 0 +[21:40:16.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000850 +[21:40:16.846] Image Alignment failed 0 +[21:40:16.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000916 +[21:40:16.946] Image Alignment failed 0 +[21:40:17.016] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000768 +[21:40:17.046] Image Alignment failed 0 +[21:40:17.116] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001078 +[21:40:17.146] Image Alignment failed 0 +[21:40:17.218] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000915 +[21:40:17.246] Image Alignment failed 0 +[21:40:17.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756 +[21:40:17.346] Image Alignment failed 0 +[21:40:17.416] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001015 +[21:40:17.448] Image Alignment failed 0 +[21:40:17.522] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000696 +[21:40:17.546] Image Alignment failed 0 +[21:40:17.619] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000762 +[21:40:17.646] Image Alignment failed 0 +[21:40:17.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000875 +[21:40:17.746] Image Alignment failed 0 +[21:40:17.817] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000846 +[21:40:17.846] Image Alignment failed 0 +[21:40:17.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000896 +[21:40:17.946] Image Alignment failed 0 +[21:40:18.016] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000923 +[21:40:18.046] Image Alignment failed 0 +[21:40:18.116] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000915 +[21:40:18.146] Image Alignment failed 0 +[21:40:18.216] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000781 +[21:40:18.246] Image Alignment failed 0 +[21:40:18.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000853 +[21:40:18.346] Image Alignment failed 0 +[21:40:18.416] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000765 +[21:40:18.446] Image Alignment failed 0 +[21:40:18.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000900 +[21:40:18.546] Image Alignment failed 0 +[21:40:18.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000902 +[21:40:18.646] Image Alignment failed 0 +[21:40:18.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000906 +[21:40:18.748] Image Alignment failed 0 +[21:40:18.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000858 +[21:40:18.846] Image Alignment failed 0 +[21:40:18.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000714 +[21:40:18.946] Image Alignment failed 0 +[21:40:19.016] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000862 +[21:40:19.047] Image Alignment failed 0 +[21:40:19.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000763 +[21:40:19.145] Image Alignment failed 0 +[21:40:19.215] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000815 +[21:40:19.247] Image Alignment failed 0 +[21:40:19.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000951 +[21:40:19.353] Image Alignment failed 0 +[21:40:19.427] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000908 +[21:40:19.446] Image Alignment failed 0 +[21:40:19.516] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000688 +[21:40:19.547] Image Alignment failed 0 +[21:40:19.618] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000762 +[21:40:19.647] Image Alignment failed 0 +[21:40:19.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000918 +[21:40:19.746] Image Alignment failed 0 +[21:40:19.817] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000760 +[21:40:19.847] Image Alignment failed 0 +[21:40:19.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000763 +[21:40:19.947] Image Alignment failed 0 +[21:40:20.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000765 +[21:40:20.047] Image Alignment failed 0 +[21:40:20.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000899 +[21:40:20.147] Image Alignment failed 0 +[21:40:20.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000909 +[21:40:20.248] Image Alignment failed 0 +[21:40:20.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000751 +[21:40:20.346] Image Alignment failed 0 +[21:40:20.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000913 +[21:40:20.447] Image Alignment failed 0 +[21:40:20.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000907 +[21:40:20.547] Image Alignment failed 0 +[21:40:20.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001069 +[21:40:20.647] Image Alignment failed 0 +[21:40:20.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000914 +[21:40:20.746] Image Alignment failed 0 +[21:40:20.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000766 +[21:40:20.846] Image Alignment failed 0 +[21:40:20.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000763 +[21:40:20.946] Image Alignment failed 0 +[21:40:21.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000750 +[21:40:21.047] Image Alignment failed 0 +[21:40:21.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001042 +[21:40:21.148] Image Alignment failed 0 +[21:40:21.221] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000752 +[21:40:21.246] Image Alignment failed 0 +[21:40:21.316] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000619 +[21:40:21.347] Image Alignment failed 0 +[21:40:21.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000915 +[21:40:21.449] Image Alignment failed 0 +[21:40:21.520] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000743 +[21:40:21.546] Image Alignment failed 0 +[21:40:21.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000912 +[21:40:21.646] Image Alignment failed 0 +[21:40:21.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000905 +[21:40:21.747] Image Alignment failed 0 +[21:40:21.817] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000785 +[21:40:21.847] Image Alignment failed 0 +[21:40:21.916] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000912 +[21:40:21.946] Image Alignment failed 0 +[21:40:22.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000913 +[21:40:22.055] Image Alignment failed 0 +[21:40:22.125] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000995 +[21:40:22.146] Image Alignment failed 0 +[21:40:22.216] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000598 +[21:40:22.246] Image Alignment failed 0 +[21:40:22.316] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756 +[21:40:22.346] Image Alignment failed 0 +[21:40:22.416] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000764 +[21:40:22.447] Image Alignment failed 0 +[21:40:22.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000920 +[21:40:22.546] Image Alignment failed 0 +[21:40:22.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000764 +[21:40:22.647] Image Alignment failed 0 +[21:40:22.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000760 +[21:40:22.746] Image Alignment failed 0 +[21:40:22.817] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000890 +[21:40:22.847] Image Alignment failed 0 +[21:40:22.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001067 +[21:40:22.947] Image Alignment failed 0 +[21:40:23.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000748 +[21:40:23.047] Image Alignment failed 0 +[21:40:23.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000760 +[21:40:23.147] Image Alignment failed 0 +[21:40:23.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000899 +[21:40:23.246] Image Alignment failed 0 +[21:40:23.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000755 +[21:40:23.347] Image Alignment failed 0 +[21:40:23.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000750 +[21:40:23.447] Image Alignment failed 0 +[21:40:23.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001053 +[21:40:23.546] Image Alignment failed 0 +[21:40:23.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000762 +[21:40:23.647] Image Alignment failed 0 +[21:40:23.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000748 +[21:40:23.746] Image Alignment failed 0 +[21:40:23.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001044 +[21:40:23.852] Image Alignment failed 0 +[21:40:23.927] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001062 +[21:40:23.946] Image Alignment failed 0 +[21:40:24.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000450 +[21:40:24.047] Image Alignment failed 0 +[21:40:24.118] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001064 +[21:40:24.153] Image Alignment failed 0 +[21:40:24.223] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001007 +[21:40:24.247] Image Alignment failed 0 +[21:40:24.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000741 +[21:40:24.346] Image Alignment failed 0 +[21:40:24.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000941 +[21:40:24.446] Image Alignment failed 0 +[21:40:24.516] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000806 +[21:40:24.546] Image Alignment failed 0 +[21:40:24.616] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000908 +[21:40:24.646] Image Alignment failed 0 +[21:40:24.717] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000909 +[21:40:24.746] Image Alignment failed 0 +[21:40:24.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000797 +[21:40:24.846] Image Alignment failed 0 +[21:40:24.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001149 +[21:40:24.946] Image Alignment failed 0 +[21:40:25.016] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000894 +[21:40:25.046] Image Alignment failed 0 +[21:40:25.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000751 +[21:40:25.147] Image Alignment failed 0 +[21:40:25.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000773 +[21:40:25.246] Image Alignment failed 0 +[21:40:25.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000757 +[21:40:25.347] Image Alignment failed 0 +[21:40:25.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000917 +[21:40:25.446] Image Alignment failed 0 +[21:40:25.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000753 +[21:40:25.546] Image Alignment failed 0 +[21:40:25.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000906 +[21:40:25.647] Image Alignment failed 0 +[21:40:25.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000941 +[21:40:25.746] Image Alignment failed 0 +[21:40:25.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000751 +[21:40:25.847] Image Alignment failed 0 +[21:40:25.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000765 +[21:40:25.946] Image Alignment failed 0 +[21:40:26.016] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756 +[21:40:26.047] Image Alignment failed 0 +[21:40:26.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000856 +[21:40:26.147] Image Alignment failed 0 +[21:40:26.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000754 +[21:40:26.252] Image Alignment failed 0 +[21:40:26.323] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756 +[21:40:26.347] Image Alignment failed 0 +[21:40:26.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000600 +[21:40:26.447] Image Alignment failed 0 +[21:40:26.517] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000744 +[21:40:26.547] Image Alignment failed 0 +[21:40:26.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000744 +[21:40:26.647] Image Alignment failed 0 +[21:40:26.718] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000765 +[21:40:26.747] Image Alignment failed 0 +[21:40:26.819] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000757 +[21:40:26.846] Image Alignment failed 0 +[21:40:26.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000749 +[21:40:26.947] Image Alignment failed 0 +[21:40:27.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000905 +[21:40:27.046] Image Alignment failed 0 +[21:40:27.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000925 +[21:40:27.146] Image Alignment failed 0 +[21:40:27.217] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000747 +[21:40:27.245] Image Alignment failed 0 +[21:40:27.316] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000753 +[21:40:27.346] Image Alignment failed 0 +[21:40:27.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000760 +[21:40:27.451] Image Alignment failed 0 +[21:40:27.522] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000926 +[21:40:27.547] Image Alignment failed 0 +[21:40:27.617] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000886 +[21:40:27.648] Image Alignment failed 0 +[21:40:27.719] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000761 +[21:40:27.752] Image Alignment failed 0 +[21:40:27.827] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000911 +[21:40:27.847] Image Alignment failed 0 +[21:40:27.917] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000459 +[21:40:27.947] Image Alignment failed 0 +[21:40:28.017] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000745 +[21:40:28.047] Image Alignment failed 0 +[21:40:28.117] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000744 +[21:40:28.151] Image Alignment failed 0 +[21:40:28.226] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000924 +[21:40:28.247] Image Alignment failed 0 +[21:40:28.317] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000452 +[21:40:28.347] Image Alignment failed 0 +[21:40:28.417] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000775 +[21:40:28.456] Image Alignment failed 0 +[21:40:28.526] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001125 +[21:40:28.551] Image Alignment failed 0 +[21:40:28.624] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000775 +[21:40:28.646] Image Alignment failed 0 +[21:40:28.716] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000609 +[21:40:28.746] Image Alignment failed 0 +[21:40:28.816] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001019 +[21:40:28.847] Image Alignment failed 0 +[21:40:28.918] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001005 +[21:40:28.948] Image Alignment failed 0 +[21:40:29.019] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756 +[21:40:29.070] Image Alignment failed 0 +[21:40:29.152] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001498 +[21:40:29.183] Image Alignment failed 0 +[21:40:29.254] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000913 +[21:40:29.280] Image Alignment failed 0 +[21:40:29.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000764 +[21:40:29.383] Image Alignment failed 0 +[21:40:29.454] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000989 +[21:40:29.480] Image Alignment failed 0 +[21:40:29.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000761 +[21:40:29.581] Image Alignment failed 0 +[21:40:29.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000918 +[21:40:29.681] Image Alignment failed 0 +[21:40:29.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000749 +[21:40:29.780] Image Alignment failed 0 +[21:40:29.850] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000902 +[21:40:29.880] Image Alignment failed 0 +[21:40:29.951] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000915 +[21:40:29.981] Image Alignment failed 0 +[21:40:30.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001110 +[21:40:30.082] Image Alignment failed 0 +[21:40:30.152] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000796 +[21:40:30.182] Image Alignment failed 0 +[21:40:30.252] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000790 +[21:40:30.280] Image Alignment failed 0 +[21:40:30.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000756 +[21:40:30.380] Image Alignment failed 0 +[21:40:30.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000753 +[21:40:30.483] Image Alignment failed 0 +[21:40:30.554] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000857 +[21:40:30.581] Image Alignment failed 0 +[21:40:30.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000847 +[21:40:30.680] Image Alignment failed 0 +[21:40:30.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000988 +[21:40:30.781] Image Alignment failed 0 +[21:40:30.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000755 +[21:40:30.880] Image Alignment failed 0 +[21:40:30.950] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001134 +[21:40:30.980] Image Alignment failed 0 +[21:40:31.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000861 +[21:40:31.079] Image Alignment failed 0 +[21:40:31.150] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000753 +[21:40:31.180] Image Alignment failed 0 +[21:40:31.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000941 +[21:40:31.282] Image Alignment failed 0 +[21:40:31.352] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000937 +[21:40:31.381] Image Alignment failed 0 +[21:40:31.452] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000753 +[21:40:31.481] Image Alignment failed 0 +[21:40:31.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000797 +[21:40:31.582] Image Alignment failed 0 +[21:40:31.652] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000946 +[21:40:31.681] Image Alignment failed 0 +[21:40:31.752] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000942 +[21:40:31.782] Image Alignment failed 0 +[21:40:31.853] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000946 +[21:40:31.883] Image Alignment failed 0 +[21:40:31.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000615 +[21:40:31.980] Image Alignment failed 0 +[21:40:32.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000771 +[21:40:32.081] Image Alignment failed 0 +[21:40:32.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000850 +[21:40:32.181] Image Alignment failed 0 +[21:40:32.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000789 +[21:40:32.279] Image Alignment failed 0 +[21:40:32.350] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000625 +[21:40:32.380] Image Alignment failed 0 +[21:40:32.450] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000894 +[21:40:32.481] Image Alignment failed 0 +[21:40:32.551] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000803 +[21:40:32.580] Image Alignment failed 0 +[21:40:32.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000749 +[21:40:32.680] Image Alignment failed 0 +[21:40:32.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000869 +[21:40:32.781] Image Alignment failed 0 +[21:40:32.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000930 +[21:40:32.883] Image Alignment failed 0 +[21:40:32.953] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000774 +[21:40:32.980] Image Alignment failed 0 +[21:40:33.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000762 +[21:40:33.081] Image Alignment failed 0 +[21:40:33.151] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000749 +[21:40:33.181] Image Alignment failed 0 +[21:40:33.251] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000902 +[21:40:33.281] Image Alignment failed 0 +[21:40:33.351] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000744 +[21:40:33.381] Image Alignment failed 0 +[21:40:33.451] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000930 +[21:40:33.481] Image Alignment failed 0 +[21:40:33.552] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000761 +[21:40:33.581] Image Alignment failed 0 +[21:40:33.651] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000767 +[21:40:33.681] Image Alignment failed 0 +[21:40:33.751] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001053 +[21:40:33.781] Image Alignment failed 0 +[21:40:33.851] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000760 +[21:40:33.881] Image Alignment failed 0 +[21:40:33.951] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000757 +[21:40:33.980] Image Alignment failed 0 +[21:40:34.051] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000765 +[21:40:34.092] Image Alignment failed 0 +[21:40:34.232] After Reprojection Map nPoint:21 ,nCell:21 ,nMatches:6 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001309 +[21:40:34.232] n deleted obs = 4 n obs with reprojection error less than 0.5 px =7 error init =0.590370 error end=0.590370 +[21:40:34.232] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.001309 +[21:40:34.378] After Reprojection Map nPoint:28 ,nCell:22 ,nMatches:7 ,distance between two frames x:0.000005 ,z=-0.000008,angle between two frames:0.000010 +[21:40:34.378] n deleted obs = 5 n obs with reprojection error less than 0.5 px =9 error init =0.381980 error end=0.381980 +[21:40:34.378] After pose optimization, distance between two frames x:0.000005 ,z=-0.000008,angle between two frames:0.000010 +[21:40:34.530] After Reprojection Map nPoint:31 ,nCell:28 ,nMatches:10 ,distance between two frames x:-0.000029 ,z=-0.000031,angle between two frames:0.000046 +[21:40:34.530] n deleted obs = 2 n obs with reprojection error less than 0.5 px =19 error init =0.258217 error end=0.258217 +[21:40:34.530] After pose optimization, distance between two frames x:-0.000029 ,z=-0.000031,angle between two frames:0.000046 +[21:40:34.530] Update EKF and 3D points, distance between two frames x:-0.000028 ,z=-0.000030,angle between two frames:0.000232 +[21:40:34.530] Choose frame as a key frame Scene Depth mean:1.473615 ,depth min:1.256613 +[21:40:34.685] After Reprojection Map nPoint:32 ,nCell:28 ,nMatches:14 ,distance between two frames x:0.000002 ,z=0.000007,angle between two frames:0.001799 +[21:40:34.685] n deleted obs = 11 n obs with reprojection error less than 0.5 px =17 error init =0.425391 error end=0.423517 +[21:40:34.685] After pose optimization, distance between two frames x:-0.044080 ,z=-0.060614,angle between two frames:0.062168 +[21:40:34.685] Update EKF and 3D points, distance between two frames x:-0.041514 ,z=-0.057085,angle between two frames:0.058920 +[21:40:34.685] Choose frame as a key frame Scene Depth mean:1.368345 ,depth min:1.188735 +[21:40:34.837] After Reprojection Map nPoint:50 ,nCell:43 ,nMatches:16 ,distance between two frames x:0.015886 ,z=0.021779,angle between two frames:0.019944 +[21:40:34.837] n deleted obs = 11 n obs with reprojection error less than 0.5 px =22 error init =0.383021 error end=0.383021 +[21:40:34.837] After pose optimization, distance between two frames x:0.015886 ,z=0.021779,angle between two frames:0.019944 +[21:40:34.837] Update EKF and 3D points, distance between two frames x:0.015884 ,z=0.021780,angle between two frames:0.019666 +[21:40:34.837] Choose frame as a key frame Scene Depth mean:1.407642 ,depth min:0.899872 +[21:40:35.004] After Reprojection Map nPoint:62 ,nCell:54 ,nMatches:18 ,distance between two frames x:-0.000046 ,z=0.000098,angle between two frames:0.001744 +[21:40:35.004] n deleted obs = 17 n obs with reprojection error less than 0.5 px =22 error init =0.488685 error end=0.488685 +[21:40:35.004] After pose optimization, distance between two frames x:-0.000046 ,z=0.000098,angle between two frames:0.001744 +[21:40:35.004] Update EKF and 3D points, distance between two frames x:-0.000044 ,z=0.000093,angle between two frames:0.002043 +[21:40:35.004] Choose frame as a key frame Scene Depth mean:1.315842 ,depth min:0.878505 +[21:40:35.173] After Reprojection Map nPoint:87 ,nCell:65 ,nMatches:20 ,distance between two frames x:-0.000071 ,z=0.000095,angle between two frames:0.001842 +[21:40:35.173] n deleted obs = 19 n obs with reprojection error less than 0.5 px =34 error init =0.466570 error end=0.466570 +[21:40:35.173] After pose optimization, distance between two frames x:-0.000071 ,z=0.000095,angle between two frames:0.001842 +[21:40:35.173] Update EKF and 3D points, distance between two frames x:-0.000066 ,z=0.000088,angle between two frames:0.002141 +[21:40:35.173] Choose frame as a key frame Scene Depth mean:1.367372 ,depth min:0.599927 +[21:40:35.344] After Reprojection Map nPoint:109 ,nCell:80 ,nMatches:24 ,distance between two frames x:0.000007 ,z=0.000010,angle between two frames:0.001914 +[21:40:35.344] n deleted obs = 24 n obs with reprojection error less than 0.5 px =38 error init =0.449001 error end=0.449001 +[21:40:35.344] After pose optimization, distance between two frames x:0.000007 ,z=0.000010,angle between two frames:0.001914 +[21:40:35.344] Update EKF and 3D points, distance between two frames x:0.000008 ,z=0.000007,angle between two frames:0.002226 +[21:40:35.344] Choose frame as a key frame Scene Depth mean:1.353065 ,depth min:0.873190 +[21:40:35.504] After Reprojection Map nPoint:139 ,nCell:73 ,nMatches:25 ,distance between two frames x:0.000007 ,z=-0.000022,angle between two frames:0.002031 +[21:40:35.507] n deleted obs = 30 n obs with reprojection error less than 0.5 px =47 error init =0.493819 error end=0.467200 +[21:40:35.507] After pose optimization, distance between two frames x:0.296706 ,z=0.209729,angle between two frames:0.189570 +[21:40:35.683] After Reprojection Map nPoint:164 ,nCell:85 ,nMatches:29 ,distance between two frames x:-0.000156 ,z=0.000280,angle between two frames:0.000086 +[21:40:35.683] n deleted obs = 35 n obs with reprojection error less than 0.5 px =48 error init =0.480317 error end=0.480317 +[21:40:35.683] After pose optimization, distance between two frames x:-0.000156 ,z=0.000280,angle between two frames:0.000086 +[21:40:35.683] Update EKF and 3D points, distance between two frames x:-0.000147 ,z=0.000264,angle between two frames:0.000242 +[21:40:35.683] Choose frame as a key frame Scene Depth mean:1.398473 ,depth min:0.737580 +[21:40:35.852] After Reprojection Map nPoint:190 ,nCell:80 ,nMatches:32 ,distance between two frames x:0.000046 ,z=-0.000102,angle between two frames:0.002095 +[21:40:35.852] n deleted obs = 38 n obs with reprojection error less than 0.5 px =69 error init =0.432677 error end=0.432677 +[21:40:35.852] After pose optimization, distance between two frames x:0.000046 ,z=-0.000102,angle between two frames:0.002095 +[21:40:35.852] Update EKF and 3D points, distance between two frames x:0.000047 ,z=-0.000102,angle between two frames:0.002398 +[21:40:35.852] Choose frame as a key frame Scene Depth mean:1.429968 ,depth min:0.765671 +[21:40:36.041] After Reprojection Map nPoint:232 ,nCell:74 ,nMatches:38 ,distance between two frames x:-0.000123 ,z=0.000119,angle between two frames:0.001829 +[21:40:36.042] n deleted obs = 39 n obs with reprojection error less than 0.5 px =93 error init =0.434450 error end=0.411059 +[21:40:36.042] After pose optimization, distance between two frames x:0.248315 ,z=0.161049,angle between two frames:0.161050 +[21:40:36.217] After Reprojection Map nPoint:270 ,nCell:93 ,nMatches:37 ,distance between two frames x:-0.000036 ,z=0.000010,angle between two frames:0.000122 +[21:40:36.217] n deleted obs = 49 n obs with reprojection error less than 0.5 px =81 error init =0.450851 error end=0.450851 +[21:40:36.217] After pose optimization, distance between two frames x:-0.000036 ,z=0.000010,angle between two frames:0.000122 +[21:40:36.217] Update EKF and 3D points, distance between two frames x:-0.000034 ,z=0.000010,angle between two frames:0.000440 +[21:40:36.217] Choose frame as a key frame Scene Depth mean:1.422703 ,depth min:0.493428 +[21:40:36.397] After Reprojection Map nPoint:290 ,nCell:87 ,nMatches:34 ,distance between two frames x:-0.000013 ,z=0.000027,angle between two frames:0.002023 +[21:40:36.397] n deleted obs = 56 n obs with reprojection error less than 0.5 px =92 error init =0.439542 error end=0.439542 +[21:40:36.397] After pose optimization, distance between two frames x:-0.000013 ,z=0.000027,angle between two frames:0.002023 +[21:40:36.397] Update EKF and 3D points, distance between two frames x:-0.000012 ,z=0.000025,angle between two frames:0.002337 +[21:40:36.398] Choose frame as a key frame Scene Depth mean:115795217235.891724 ,depth min:0.490939 +[21:40:36.405] Image Alignment failed 0 +[21:40:36.569] After Reprojection Map nPoint:333 ,nCell:100 ,nMatches:41 ,distance between two frames x:0.000008 ,z=-0.000011,angle between two frames:0.002026 +[21:40:36.569] n deleted obs = 71 n obs with reprojection error less than 0.5 px =97 error init =0.472057 error end=0.472057 +[21:40:36.569] After pose optimization, distance between two frames x:0.000008 ,z=-0.000011,angle between two frames:0.002026 +[21:40:36.569] Update EKF and 3D points, distance between two frames x:0.000008 ,z=-0.000011,angle between two frames:0.002329 +[21:40:36.570] Choose frame as a key frame Scene Depth mean:225343587812.059479 ,depth min:0.540681 +[21:40:36.577] Image Alignment failed 0 +[21:40:36.747] After Reprojection Map nPoint:418 ,nCell:98 ,nMatches:46 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.001963 +[21:40:36.748] n deleted obs = 84 n obs with reprojection error less than 0.5 px =126 error init =0.433445 error end=0.433445 +[21:40:36.748] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.001963 +[21:40:36.748] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002274 +[21:40:36.748] Choose frame as a key frame Scene Depth mean:1.467482 ,depth min:0.795331 +[21:40:36.763] Image Alignment failed 0 +[21:40:36.940] After Reprojection Map nPoint:514 ,nCell:91 ,nMatches:43 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002015 +[21:40:36.940] n deleted obs = 103 n obs with reprojection error less than 0.5 px =153 error init =0.470815 error end=0.470815 +[21:40:36.940] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002015 +[21:40:36.940] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002354 +[21:40:36.941] Choose frame as a key frame Scene Depth mean:60607940985.355965 ,depth min:0.740117 +[21:40:36.948] Image Alignment failed 0 +[21:40:37.131] After Reprojection Map nPoint:564 ,nCell:110 ,nMatches:43 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002194 +[21:40:37.131] n deleted obs = 104 n obs with reprojection error less than 0.5 px =163 error init =0.427216 error end=0.427216 +[21:40:37.131] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002194 +[21:40:37.131] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002532 +[21:40:37.132] Choose frame as a key frame Scene Depth mean:1.463844 ,depth min:0.736927 +[21:40:37.139] Image Alignment failed 0 +[21:40:37.329] After Reprojection Map nPoint:664 ,nCell:126 ,nMatches:49 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002183 +[21:40:37.330] n deleted obs = 124 n obs with reprojection error less than 0.5 px =193 error init =0.440227 error end=0.440227 +[21:40:37.330] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002183 +[21:40:37.330] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002533 +[21:40:37.330] Choose frame as a key frame Scene Depth mean:12875.427785 ,depth min:0.703171 +[21:40:37.337] Image Alignment failed 0 +[21:40:37.533] After Reprojection Map nPoint:726 ,nCell:122 ,nMatches:46 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002254 +[21:40:37.533] n deleted obs = 128 n obs with reprojection error less than 0.5 px =208 error init =0.431967 error end=0.431967 +[21:40:37.533] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002254 +[21:40:37.533] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002606 +[21:40:37.534] Choose frame as a key frame Scene Depth mean:118424382052.924667 ,depth min:0.730464 +[21:40:37.541] Image Alignment failed 0 +[21:40:37.744] After Reprojection Map nPoint:864 ,nCell:103 ,nMatches:47 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002262 +[21:40:37.744] n deleted obs = 144 n obs with reprojection error less than 0.5 px =254 error init =0.406103 error end=0.406103 +[21:40:37.745] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002262 +[21:40:37.745] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002634 +[21:40:37.745] Choose frame as a key frame Scene Depth mean:1.477478 ,depth min:0.625383 +[21:40:37.753] Image Alignment failed 0 +[21:40:37.959] After Reprojection Map nPoint:899 ,nCell:101 ,nMatches:42 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:40:37.960] n deleted obs = 102 n obs with reprojection error less than 0.5 px =297 error init =0.400005 error end=0.384145 +[21:40:37.960] After pose optimization, distance between two frames x:0.156710 ,z=0.033307,angle between two frames:0.031527 +[21:40:37.968] Image Alignment failed 0 +[21:40:38.177] After Reprojection Map nPoint:1011 ,nCell:146 ,nMatches:45 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000149 +[21:40:38.178] n deleted obs = 153 n obs with reprojection error less than 0.5 px =255 error init =0.420070 error end=0.420070 +[21:40:38.178] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000149 +[21:40:38.178] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000530 +[21:40:38.179] Choose frame as a key frame Scene Depth mean:1.594675 ,depth min:0.615414 +[21:40:38.186] Image Alignment failed 0 +[21:40:38.404] After Reprojection Map nPoint:1019 ,nCell:103 ,nMatches:43 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002452 +[21:40:38.405] n deleted obs = 163 n obs with reprojection error less than 0.5 px =285 error init =0.414042 error end=0.414042 +[21:40:38.405] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002452 +[21:40:38.405] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002847 +[21:40:38.406] Choose frame as a key frame Scene Depth mean:77.220142 ,depth min:0.612414 +[21:40:38.413] Image Alignment failed 0 +[21:40:38.638] After Reprojection Map nPoint:1104 ,nCell:137 ,nMatches:52 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002688 +[21:40:38.639] n deleted obs = 146 n obs with reprojection error less than 0.5 px =319 error init =0.426295 error end=0.413968 +[21:40:38.639] After pose optimization, distance between two frames x:0.114462 ,z=-0.017092,angle between two frames:0.002703 +[21:40:38.647] Image Alignment failed 0 +[21:40:38.870] After Reprojection Map nPoint:1174 ,nCell:119 ,nMatches:49 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:40:38.871] n deleted obs = 180 n obs with reprojection error less than 0.5 px =286 error init =0.427238 error end=0.427238 +[21:40:38.871] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:40:38.871] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000416 +[21:40:38.872] Choose frame as a key frame Scene Depth mean:1.544245 ,depth min:0.601868 +[21:40:38.880] Image Alignment failed 0 +[21:40:39.112] After Reprojection Map nPoint:1151 ,nCell:108 ,nMatches:46 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002665 +[21:40:39.114] n deleted obs = 135 n obs with reprojection error less than 0.5 px =356 error init =0.438547 error end=0.412372 +[21:40:39.114] After pose optimization, distance between two frames x:0.263581 ,z=0.125387,angle between two frames:0.176931 +[21:40:39.122] Image Alignment failed 0 +[21:40:39.355] After Reprojection Map nPoint:1279 ,nCell:150 ,nMatches:48 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000238 +[21:40:39.356] n deleted obs = 182 n obs with reprojection error less than 0.5 px =311 error init =0.432385 error end=0.432385 +[21:40:39.356] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000238 +[21:40:39.356] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000666 +[21:40:39.357] Choose frame as a key frame Scene Depth mean:2.019030 ,depth min:0.591009 +[21:40:39.365] Image Alignment failed 0 +[21:40:39.605] After Reprojection Map nPoint:1343 ,nCell:116 ,nMatches:50 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002742 +[21:40:39.606] n deleted obs = 229 n obs with reprojection error less than 0.5 px =339 error init =0.450840 error end=0.450840 +[21:40:39.606] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002742 +[21:40:39.606] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003186 +[21:40:39.608] Choose frame as a key frame Scene Depth mean:1.974056 ,depth min:0.474450 +[21:40:39.615] Image Alignment failed 0 +[21:40:39.875] After Reprojection Map nPoint:1431 ,nCell:95 ,nMatches:47 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002937 +[21:40:39.876] n deleted obs = 226 n obs with reprojection error less than 0.5 px =377 error init =0.430857 error end=0.430857 +[21:40:39.876] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.002937 +[21:40:39.876] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003409 +[21:40:39.878] Choose frame as a key frame Scene Depth mean:1.890417 ,depth min:0.466774 +[21:40:39.885] Image Alignment failed 0 +[21:40:40.148] After Reprojection Map nPoint:1479 ,nCell:136 ,nMatches:43 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003011 +[21:40:40.149] n deleted obs = 234 n obs with reprojection error less than 0.5 px =373 error init =0.441079 error end=0.441079 +[21:40:40.149] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003011 +[21:40:40.149] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003496 +[21:40:40.150] Choose frame as a key frame Scene Depth mean:146637886.024329 ,depth min:0.463503 +[21:40:40.158] Image Alignment failed 0 +[21:40:40.423] After Reprojection Map nPoint:1515 ,nCell:112 ,nMatches:47 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003084 +[21:40:40.424] n deleted obs = 236 n obs with reprojection error less than 0.5 px =396 error init =0.429948 error end=0.429948 +[21:40:40.424] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003084 +[21:40:40.424] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003571 +[21:40:40.426] Choose frame as a key frame Scene Depth mean:-274842836282.361084 ,depth min:-108838619340450.234375 +[21:40:40.433] Image Alignment failed 0 +[21:40:40.706] After Reprojection Map nPoint:1640 ,nCell:128 ,nMatches:49 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003099 +[21:40:40.708] n deleted obs = 211 n obs with reprojection error less than 0.5 px =466 error init =0.428602 error end=0.422389 +[21:40:40.708] After pose optimization, distance between two frames x:0.163427 ,z=-0.035472,angle between two frames:0.003099 +[21:40:40.724] Image Alignment failed 0 +[21:40:40.998] After Reprojection Map nPoint:1674 ,nCell:119 ,nMatches:50 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000208 +[21:40:40.999] n deleted obs = 253 n obs with reprojection error less than 0.5 px =414 error init =0.435036 error end=0.435036 +[21:40:40.999] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000208 +[21:40:40.999] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000717 +[21:40:41.001] Choose frame as a key frame Scene Depth mean:1.914258 ,depth min:0.448937 +[21:40:41.008] Image Alignment failed 0 +[21:40:41.289] After Reprojection Map nPoint:1625 ,nCell:122 ,nMatches:49 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003236 +[21:40:41.290] n deleted obs = 257 n obs with reprojection error less than 0.5 px =411 error init =0.448719 error end=0.448719 +[21:40:41.290] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003236 +[21:40:41.290] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003747 +[21:40:41.292] Choose frame as a key frame Scene Depth mean:3341.003913 ,depth min:0.445503 +[21:40:41.300] Image Alignment failed 0 +[21:40:41.593] After Reprojection Map nPoint:1767 ,nCell:121 ,nMatches:49 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003255 +[21:40:41.595] n deleted obs = 264 n obs with reprojection error less than 0.5 px =466 error init =0.430856 error end=0.430856 +[21:40:41.595] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003255 +[21:40:41.595] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003793 +[21:40:41.596] Choose frame as a key frame Scene Depth mean:-948634384693.710571 ,depth min:-308770432967917.062500 +[21:40:41.604] Image Alignment failed 0 +[21:40:41.904] After Reprojection Map nPoint:1826 ,nCell:110 ,nMatches:49 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003571 +[21:40:41.906] n deleted obs = 277 n obs with reprojection error less than 0.5 px =477 error init =0.431762 error end=0.431762 +[21:40:41.906] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003571 +[21:40:41.906] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.004120 +[21:40:41.908] Choose frame as a key frame Scene Depth mean:1.827862 ,depth min:0.438298 +[21:40:41.915] Image Alignment failed 0 +[21:40:42.092] Odometry x=-0.608305, y=1.438812, theta=1.683207 +[21:40:42.194] Odometry x=0.429268, y=1.555801, theta=1.686522 +[21:40:42.234] After Reprojection Map nPoint:1822 ,nCell:119 ,nMatches:46 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003484 +[21:40:42.236] n deleted obs = 266 n obs with reprojection error less than 0.5 px =504 error init =0.415685 error end=0.415685 +[21:40:42.236] After pose optimization, distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.003484 +[21:40:42.236] Update EKF and 3D points, distance between two frames x:0.060613 ,z=0.006835,angle between two frames:0.004075 +[21:40:42.238] Choose frame as a key frame Scene Depth mean:440285841964.887329 ,depth min:0.441447 +[21:40:42.245] Image Alignment failed 0 +[21:40:42.296] Odometry x=-0.173071, y=1.487891, theta=1.683707 +[21:40:42.393] Odometry x=-0.169202, y=1.488393, theta=1.686414 +[21:40:42.494] Odometry x=-0.165034, y=1.488781, theta=1.700533 +[21:40:42.554] After Reprojection Map nPoint:1810 ,nCell:140 ,nMatches:46 ,distance between two frames x:0.374618 ,z=0.042244,angle between two frames:0.003747 +[21:40:42.556] n deleted obs = 267 n obs with reprojection error less than 0.5 px =459 error init =0.466222 error end=0.466222 +[21:40:42.556] After pose optimization, distance between two frames x:0.374618 ,z=0.042244,angle between two frames:0.003747 +[21:40:42.563] Image Alignment failed 0 +[21:40:42.591] Odometry x=-0.161450, y=1.489287, theta=1.711313 +[21:40:42.688] Odometry x=-0.157734, y=1.489815, theta=1.702542 +[21:40:42.793] Odometry x=-0.154127, y=1.490317, theta=1.710383 +[21:40:42.876] After Reprojection Map nPoint:1863 ,nCell:114 ,nMatches:48 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:40:42.879] n deleted obs = 275 n obs with reprojection error less than 0.5 px =458 error init =0.436358 error end=0.435808 +[21:40:42.879] After pose optimization, distance between two frames x:0.043627 ,z=-0.000566,angle between two frames:0.027519 +[21:40:42.879] Update EKF and 3D points, distance between two frames x:0.041724 ,z=-0.000442,angle between two frames:0.025704 +[21:40:42.881] Choose frame as a key frame Scene Depth mean:459925015124.323914 ,depth min:0.493146 +[21:40:42.889] Image Alignment failed 0 +[21:40:42.890] Odometry x=-0.131477, y=1.489567, theta=1.694550 +[21:40:42.992] Odometry x=-0.127632, y=1.490189, theta=1.703922 +[21:40:43.090] Odometry x=-0.123833, y=1.490669, theta=1.708246 +[21:40:43.191] Odometry x=-0.120407, y=1.491203, theta=1.715201 +[21:40:43.205] After Reprojection Map nPoint:1642 ,nCell:111 ,nMatches:48 ,distance between two frames x:-0.011762 ,z=0.000767,angle between two frames:0.013348 +[21:40:43.206] n deleted obs = 233 n obs with reprojection error less than 0.5 px =429 error init =0.441073 error end=0.441073 +[21:40:43.206] After pose optimization, distance between two frames x:-0.011762 ,z=0.000767,angle between two frames:0.013348 +[21:40:43.206] Update EKF and 3D points, distance between two frames x:-0.010888 ,z=0.000889,angle between two frames:0.014259 +[21:40:43.208] Choose frame as a key frame Scene Depth mean:49256587609.146988 ,depth min:0.467383 +[21:40:43.217] Image Alignment failed 0 +[21:40:43.291] Odometry x=-0.125237, y=1.490459, theta=1.723096 +[21:40:43.396] Odometry x=-0.121442, y=1.491040, theta=1.702062 +[21:40:43.490] Odometry x=-0.117740, y=1.491565, theta=1.696423 +[21:40:43.529] After Reprojection Map nPoint:1627 ,nCell:102 ,nMatches:45 ,distance between two frames x:0.005400 ,z=0.000749,angle between two frames:0.005170 +[21:40:43.531] n deleted obs = 265 n obs with reprojection error less than 0.5 px =416 error init =0.456725 error end=0.456725 +[21:40:43.531] After pose optimization, distance between two frames x:0.005400 ,z=0.000749,angle between two frames:0.005170 +[21:40:43.531] Update EKF and 3D points, distance between two frames x:0.006050 ,z=0.000843,angle between two frames:0.005170 +[21:40:43.532] Choose frame as a key frame Scene Depth mean:1.756374 ,depth min:0.465385 +[21:40:43.540] Image Alignment failed 0 +[21:40:43.586] Odometry x=-0.120592, y=1.491049, theta=1.705449 +[21:40:43.691] Odometry x=-0.117151, y=1.491552, theta=1.695093 +[21:40:43.789] Odometry x=-0.113031, y=1.491969, theta=1.698057 +[21:40:43.853] After Reprojection Map nPoint:1630 ,nCell:114 ,nMatches:52 ,distance between two frames x:0.003959 ,z=0.000570,angle between two frames:0.001993 +[21:40:43.854] n deleted obs = 270 n obs with reprojection error less than 0.5 px =415 error init =0.448889 error end=0.448889 +[21:40:43.854] After pose optimization, distance between two frames x:0.003959 ,z=0.000570,angle between two frames:0.001993 +[21:40:43.854] Update EKF and 3D points, distance between two frames x:0.004609 ,z=0.000647,angle between two frames:0.002021 +[21:40:43.856] Choose frame as a key frame Scene Depth mean:1.491243 ,depth min:0.464930 +[21:40:43.864] Image Alignment failed 0 +[21:40:43.896] Odometry x=-0.115905, y=1.491708, theta=1.705399 +[21:40:43.996] Odometry x=-0.111927, y=1.492198, theta=1.699325 +[21:40:44.088] Odometry x=-0.108144, y=1.492689, theta=1.691584 +[21:40:44.181] After Reprojection Map nPoint:1631 ,nCell:90 ,nMatches:48 ,distance between two frames x:0.004017 ,z=0.000479,angle between two frames:0.000087 +[21:40:44.182] n deleted obs = 263 n obs with reprojection error less than 0.5 px =443 error init =0.436616 error end=0.436616 +[21:40:44.182] After pose optimization, distance between two frames x:0.004017 ,z=0.000479,angle between two frames:0.000087 +[21:40:44.182] Update EKF and 3D points, distance between two frames x:0.004675 ,z=0.000565,angle between two frames:0.000740 +[21:40:44.184] Choose frame as a key frame Scene Depth mean:1.386481 ,depth min:0.452083 +[21:40:44.191] Odometry x=-0.111200, y=1.492273, theta=1.696674 +[21:40:44.192] Image Alignment failed 0 +[21:40:44.289] Odometry x=-0.107482, y=1.492757, theta=1.709711 +[21:40:44.392] Odometry x=-0.103646, y=1.493308, theta=1.687245 +[21:40:44.494] Odometry x=-0.099896, y=1.493764, theta=1.704995 +[21:40:44.522] After Reprojection Map nPoint:1642 ,nCell:128 ,nMatches:53 ,distance between two frames x:0.004069 ,z=0.000530,angle between two frames:0.005239 +[21:40:44.523] n deleted obs = 256 n obs with reprojection error less than 0.5 px =440 error init =0.433465 error end=0.433465 +[21:40:44.523] After pose optimization, distance between two frames x:0.004069 ,z=0.000530,angle between two frames:0.005239 +[21:40:44.523] Update EKF and 3D points, distance between two frames x:0.004950 ,z=0.000646,angle between two frames:0.004511 +[21:40:44.525] Choose frame as a key frame Scene Depth mean:338357581877.787659 ,depth min:0.455409 +[21:40:44.533] Image Alignment failed 0 +[21:40:44.592] Odometry x=-0.104879, y=1.493174, theta=1.722015 +[21:40:44.694] Odometry x=-0.101061, y=1.493699, theta=1.747166 +[21:40:44.791] Odometry x=-0.097317, y=1.494584, theta=1.759675 +[21:40:44.851] After Reprojection Map nPoint:1616 ,nCell:107 ,nMatches:49 ,distance between two frames x:0.005445 ,z=0.000720,angle between two frames:0.005197 +[21:40:44.852] n deleted obs = 270 n obs with reprojection error less than 0.5 px =416 error init =0.441335 error end=0.441335 +[21:40:44.852] After pose optimization, distance between two frames x:0.005445 ,z=0.000720,angle between two frames:0.005197 +[21:40:44.852] Update EKF and 3D points, distance between two frames x:0.006088 ,z=0.000840,angle between two frames:0.007336 +[21:40:44.854] Choose frame as a key frame Scene Depth mean:112669593804.477020 ,depth min:0.451901 +[21:40:44.862] Image Alignment failed 0 +[21:40:44.889] Odometry x=-0.100283, y=1.493958, theta=1.710817 +[21:40:44.992] Odometry x=-0.096552, y=1.494548, theta=1.722787 +[21:40:45.094] Odometry x=-0.092762, y=1.495118, theta=1.726088 +[21:40:45.186] After Reprojection Map nPoint:1693 ,nCell:143 ,nMatches:57 ,distance between two frames x:0.003950 ,z=0.000736,angle between two frames:0.010474 +[21:40:45.187] n deleted obs = 267 n obs with reprojection error less than 0.5 px =465 error init =0.420476 error end=0.420476 +[21:40:45.187] After pose optimization, distance between two frames x:0.003950 ,z=0.000736,angle between two frames:0.010474 +[21:40:45.187] Update EKF and 3D points, distance between two frames x:0.004604 ,z=0.000838,angle between two frames:0.009787 +[21:40:45.189] Choose frame as a key frame Scene Depth mean:321440056611.294739 ,depth min:0.447024 +[21:40:45.196] Odometry x=-0.095587, y=1.494689, theta=1.710234 +[21:40:45.197] Image Alignment failed 0 +[21:40:45.289] Odometry x=-0.091879, y=1.495186, theta=1.699134 +[21:40:45.392] Odometry x=-0.088271, y=1.495661, theta=1.720488 +[21:40:45.494] Odometry x=-0.084501, y=1.496232, theta=1.712513 +[21:40:45.529] After Reprojection Map nPoint:1676 ,nCell:110 ,nMatches:47 ,distance between two frames x:0.004039 ,z=0.000622,angle between two frames:0.004290 +[21:40:45.530] n deleted obs = 252 n obs with reprojection error less than 0.5 px =456 error init =0.416700 error end=0.416700 +[21:40:45.530] After pose optimization, distance between two frames x:0.004039 ,z=0.000622,angle between two frames:0.004290 +[21:40:45.530] Update EKF and 3D points, distance between two frames x:0.004907 ,z=0.000743,angle between two frames:0.003947 +[21:40:45.532] Choose frame as a key frame Scene Depth mean:1493604172444.345215 ,depth min:0.450060 +[21:40:45.540] Image Alignment failed 0 +[21:40:45.593] Odometry x=-0.089403, y=1.495530, theta=1.727496 +[21:40:45.695] Odometry x=-0.085690, y=1.496153, theta=1.743508 +[21:40:45.801] Odometry x=-0.081950, y=1.496783, theta=1.731269 +[21:40:45.879] After Reprojection Map nPoint:1614 ,nCell:118 ,nMatches:42 ,distance between two frames x:0.005360 ,z=0.000750,angle between two frames:0.003962 +[21:40:45.881] n deleted obs = 220 n obs with reprojection error less than 0.5 px =439 error init =0.398350 error end=0.398350 +[21:40:45.881] After pose optimization, distance between two frames x:0.005360 ,z=0.000750,angle between two frames:0.003962 +[21:40:45.881] Update EKF and 3D points, distance between two frames x:0.006015 ,z=0.000859,angle between two frames:0.005249 +[21:40:45.883] Choose frame as a key frame Scene Depth mean:1142533540622.773926 ,depth min:0.465524 +[21:40:45.890] Image Alignment failed 0 +[21:40:45.897] Odometry x=-0.084659, y=1.496342, theta=1.725996 +[21:40:45.991] Odometry x=-0.080893, y=1.496899, theta=1.735451 +[21:40:46.090] Odometry x=-0.077403, y=1.497581, theta=1.745962 +[21:40:46.192] Odometry x=-0.073619, y=1.498235, theta=1.752257 +[21:40:46.217] After Reprojection Map nPoint:1643 ,nCell:122 ,nMatches:43 ,distance between two frames x:0.004046 ,z=0.000672,angle between two frames:0.009147 +[21:40:46.218] n deleted obs = 273 n obs with reprojection error less than 0.5 px =421 error init =0.434668 error end=0.434668 +[21:40:46.218] After pose optimization, distance between two frames x:0.004046 ,z=0.000672,angle between two frames:0.009147 +[21:40:46.218] Update EKF and 3D points, distance between two frames x:0.004907 ,z=0.000827,angle between two frames:0.011339 +[21:40:46.220] Choose frame as a key frame Scene Depth mean:1445423723.530294 ,depth min:0.243257 +[21:40:46.228] Image Alignment failed 0 +[21:40:46.292] Odometry x=-0.078466, y=1.497461, theta=1.744484 +[21:40:46.394] Odometry x=-0.074775, y=1.498101, theta=1.764889 +[21:40:46.489] Odometry x=-0.071028, y=1.498854, theta=1.747261 +[21:40:46.565] After Reprojection Map nPoint:1577 ,nCell:104 ,nMatches:42 ,distance between two frames x:0.005321 ,z=0.000961,angle between two frames:0.014296 +[21:40:46.566] n deleted obs = 273 n obs with reprojection error less than 0.5 px =381 error init =0.441595 error end=0.441595 +[21:40:46.566] After pose optimization, distance between two frames x:0.005321 ,z=0.000961,angle between two frames:0.014296 +[21:40:46.566] Update EKF and 3D points, distance between two frames x:0.005968 ,z=0.001079,angle between two frames:0.014814 +[21:40:46.568] Choose frame as a key frame Scene Depth mean:-4089865478.235994 ,depth min:-1558292432452.089844 +[21:40:46.575] Image Alignment failed 0 +[21:40:46.592] Odometry x=-0.073837, y=1.498388, theta=1.751322 +[21:40:46.694] Odometry x=-0.069917, y=1.499069, theta=1.743502 +[21:40:46.794] Odometry x=-0.066148, y=1.499782, theta=1.737329 +[21:40:46.894] Odometry x=-0.062657, y=1.500365, theta=1.729436 +[21:40:46.916] After Reprojection Map nPoint:1525 ,nCell:106 ,nMatches:45 ,distance between two frames x:0.004000 ,z=0.000739,angle between two frames:0.004172 +[21:40:46.917] n deleted obs = 263 n obs with reprojection error less than 0.5 px =380 error init =0.430650 error end=0.430650 +[21:40:46.917] After pose optimization, distance between two frames x:0.004000 ,z=0.000739,angle between two frames:0.004172 +[21:40:46.917] Update EKF and 3D points, distance between two frames x:0.004872 ,z=0.000894,angle between two frames:0.002705 +[21:40:46.919] Choose frame as a key frame Scene Depth mean:2204270.705192 ,depth min:0.544436 +[21:40:46.926] Image Alignment failed 0 +[21:40:46.996] Odometry x=-0.067602, y=1.499457, theta=1.730661 +[21:40:47.092] Odometry x=-0.063820, y=1.500102, theta=1.721029 +[21:40:47.194] Odometry x=-0.060358, y=1.500621, theta=1.727002 +[21:40:47.267] After Reprojection Map nPoint:1548 ,nCell:132 ,nMatches:41 ,distance between two frames x:0.005387 ,z=0.000964,angle between two frames:0.009921 +[21:40:47.268] n deleted obs = 288 n obs with reprojection error less than 0.5 px =371 error init =0.440957 error end=0.440957 +[21:40:47.268] After pose optimization, distance between two frames x:0.005387 ,z=0.000964,angle between two frames:0.009921 +[21:40:47.268] Update EKF and 3D points, distance between two frames x:0.006029 ,z=0.001068,angle between two frames:0.009582 +[21:40:47.270] Choose frame as a key frame Scene Depth mean:1.631166 ,depth min:0.554502 +[21:40:47.277] Image Alignment failed 0 +[21:40:47.325] Odometry x=-0.063260, y=1.500683, theta=1.742860 +[21:40:47.393] Odometry x=-0.058366, y=1.501536, theta=1.740496 +[21:40:47.491] Odometry x=-0.055971, y=1.502020, theta=1.734301 +[21:40:47.593] Odometry x=-0.052258, y=1.502653, theta=1.751876 +[21:40:47.621] After Reprojection Map nPoint:1427 ,nCell:75 ,nMatches:40 ,distance between two frames x:0.003950 ,z=0.000639,angle between two frames:0.001498 +[21:40:47.622] n deleted obs = 274 n obs with reprojection error less than 0.5 px =336 error init =0.463456 error end=0.463456 +[21:40:47.622] After pose optimization, distance between two frames x:0.003950 ,z=0.000639,angle between two frames:0.001498 +[21:40:47.622] Update EKF and 3D points, distance between two frames x:0.004794 ,z=0.000825,angle between two frames:0.002280 +[21:40:47.623] Choose frame as a key frame Scene Depth mean:494582472.928772 ,depth min:0.628299 +[21:40:47.631] Image Alignment failed 0 +[21:40:47.694] Odometry x=-0.056917, y=1.501489, theta=1.727536 +[21:40:47.794] Odometry x=-0.053221, y=1.502088, theta=1.760021 +[21:40:47.896] Odometry x=-0.049618, y=1.502826, theta=1.749638 +[21:40:47.980] After Reprojection Map nPoint:1430 ,nCell:94 ,nMatches:41 ,distance between two frames x:0.005212 ,z=0.001150,angle between two frames:0.004153 +[21:40:47.982] n deleted obs = 250 n obs with reprojection error less than 0.5 px =371 error init =0.441720 error end=0.441720 +[21:40:47.982] After pose optimization, distance between two frames x:0.005212 ,z=0.001150,angle between two frames:0.004153 +[21:40:47.982] Update EKF and 3D points, distance between two frames x:0.005855 ,z=0.001258,angle between two frames:0.006522 +[21:40:47.983] Choose frame as a key frame Scene Depth mean:13887.630690 ,depth min:0.438013 +[21:40:47.991] Image Alignment failed 0 +[21:40:47.992] Odometry x=-0.052300, y=1.502292, theta=1.758990 +[21:40:48.094] Odometry x=-0.048744, y=1.503092, theta=1.771052 +[21:40:48.192] Odometry x=-0.045106, y=1.503829, theta=1.767363 +[21:40:48.296] Odometry x=-0.041426, y=1.504619, theta=1.760634 +[21:40:48.354] After Reprojection Map nPoint:1642 ,nCell:117 ,nMatches:50 ,distance between two frames x:0.003979 ,z=0.000671,angle between two frames:0.015085 +[21:40:48.356] n deleted obs = 339 n obs with reprojection error less than 0.5 px =380 error init =0.481973 error end=0.481973 +[21:40:48.356] After pose optimization, distance between two frames x:0.003979 ,z=0.000671,angle between two frames:0.015085 +[21:40:48.356] Update EKF and 3D points, distance between two frames x:0.004832 ,z=0.000849,angle between two frames:0.015549 +[21:40:48.357] Choose frame as a key frame Scene Depth mean:9094944197266.261719 ,depth min:-69494428820552.453125 +[21:40:48.365] Image Alignment failed 0 +[21:40:48.391] Odometry x=-0.046180, y=1.503566, theta=1.759619 +[21:40:48.495] Odometry x=-0.042717, y=1.504289, theta=1.760077 +[21:40:48.591] Odometry x=-0.038923, y=1.505037, theta=1.746743 +[21:40:48.690] Odometry x=-0.035293, y=1.505717, theta=1.760429 +[21:40:48.739] After Reprojection Map nPoint:1638 ,nCell:122 ,nMatches:49 ,distance between two frames x:0.005269 ,z=0.001097,angle between two frames:0.002538 +[21:40:48.740] n deleted obs = 370 n obs with reprojection error less than 0.5 px =366 error init =0.504991 error end=0.504991 +[21:40:48.740] After pose optimization, distance between two frames x:0.005269 ,z=0.001097,angle between two frames:0.002538 +[21:40:48.740] Update EKF and 3D points, distance between two frames x:0.006105 ,z=0.001263,angle between two frames:0.001040 +[21:40:48.742] Choose frame as a key frame Scene Depth mean:1.814313 ,depth min:0.581813 +[21:40:48.750] Image Alignment failed 0 +[21:40:48.795] Odometry x=-0.040168, y=1.504750, theta=1.743895 +[21:40:48.896] Odometry x=-0.036106, y=1.505507, theta=1.745760 +[21:40:48.992] Odometry x=-0.032508, y=1.506175, theta=1.746319 +[21:40:49.095] Odometry x=-0.028948, y=1.506841, theta=1.742055 +[21:40:49.109] After Reprojection Map nPoint:1294 ,nCell:64 ,nMatches:36 ,distance between two frames x:0.005165 ,z=0.001024,angle between two frames:0.010417 +[21:40:49.110] n deleted obs = 254 n obs with reprojection error less than 0.5 px =334 error init =0.455375 error end=0.455375 +[21:40:49.110] After pose optimization, distance between two frames x:0.005165 ,z=0.001024,angle between two frames:0.010417 +[21:40:49.110] Update EKF and 3D points, distance between two frames x:0.006047 ,z=0.001185,angle between two frames:0.011293 +[21:40:49.112] Choose frame as a key frame Scene Depth mean:1.951274 ,depth min:0.502281 +[21:40:49.120] Image Alignment failed 0 +[21:40:49.189] Odometry x=-0.033893, y=1.505900, theta=1.753273 +[21:40:49.291] Odometry x=-0.030379, y=1.506561, theta=1.781509 +[21:40:49.393] Odometry x=-0.026675, y=1.507401, theta=1.780827 +[21:40:49.493] After Reprojection Map nPoint:1308 ,nCell:87 ,nMatches:33 ,distance between two frames x:0.005453 ,z=0.000998,angle between two frames:0.007505 +[21:40:49.493] Odometry x=-0.022955, y=1.508204, theta=1.818731 +[21:40:49.494] n deleted obs = 268 n obs with reprojection error less than 0.5 px =314 error init =0.463297 error end=0.463297 +[21:40:49.494] After pose optimization, distance between two frames x:0.005453 ,z=0.000998,angle between two frames:0.007505 +[21:40:49.494] Update EKF and 3D points, distance between two frames x:0.006655 ,z=0.001258,angle between two frames:0.003036 +[21:40:49.495] Choose frame as a key frame Scene Depth mean:198284327143.002869 ,depth min:0.597428 +[21:40:49.503] Image Alignment failed 0 +[21:40:49.594] Odometry x=-0.025376, y=1.507862, theta=1.780907 +[21:40:49.692] Odometry x=-0.021632, y=1.508736, theta=1.792386 +[21:40:49.790] Odometry x=-0.018196, y=1.509548, theta=1.781766 +[21:40:49.875] After Reprojection Map nPoint:1599 ,nCell:94 ,nMatches:43 ,distance between two frames x:0.007412 ,z=0.001673,angle between two frames:0.027638 +[21:40:49.877] n deleted obs = 386 n obs with reprojection error less than 0.5 px =342 error init =0.507058 error end=0.507058 +[21:40:49.877] After pose optimization, distance between two frames x:0.007412 ,z=0.001673,angle between two frames:0.027638 +[21:40:49.877] Update EKF and 3D points, distance between two frames x:0.008042 ,z=0.001820,angle between two frames:0.027803 +[21:40:49.878] Choose frame as a key frame Scene Depth mean:1.895899 ,depth min:0.244647 +[21:40:49.886] Image Alignment failed 0 +[21:40:49.895] Odometry x=-0.020707, y=1.508897, theta=1.774475 +[21:40:49.988] Odometry x=-0.017012, y=1.509667, theta=1.782322 +[21:40:50.094] Odometry x=-0.013403, y=1.510478, theta=1.780124 +[21:40:50.191] Odometry x=-0.009538, y=1.511324, theta=1.767056 +[21:40:50.262] After Reprojection Map nPoint:1654 ,nCell:79 ,nMatches:42 ,distance between two frames x:0.003888 ,z=0.000903,angle between two frames:0.000672 +[21:40:50.263] n deleted obs = 414 n obs with reprojection error less than 0.5 px =368 error init =0.508237 error end=0.508237 +[21:40:50.263] After pose optimization, distance between two frames x:0.003888 ,z=0.000903,angle between two frames:0.000672 +[21:40:50.263] Update EKF and 3D points, distance between two frames x:0.004744 ,z=0.001088,angle between two frames:0.000120 +[21:40:50.265] Choose frame as a key frame Scene Depth mean:81140.261292 ,depth min:0.245713 +[21:40:50.273] Image Alignment failed 0 +[21:40:50.294] Odometry x=-0.014615, y=1.510216, theta=1.774645 +[21:40:50.390] Odometry x=-0.010832, y=1.511013, theta=1.773024 +[21:40:50.490] Odometry x=-0.007241, y=1.511762, theta=1.771979 +[21:40:50.591] Odometry x=-0.003543, y=1.512617, theta=1.746297 +[21:40:50.638] After Reprojection Map nPoint:1346 ,nCell:55 ,nMatches:29 ,distance between two frames x:0.005283 ,z=0.001143,angle between two frames:0.003001 +[21:40:50.639] n deleted obs = 291 n obs with reprojection error less than 0.5 px =310 error init =0.491552 error end=0.491552 +[21:40:50.639] After pose optimization, distance between two frames x:0.005283 ,z=0.001143,angle between two frames:0.003001 +[21:40:50.639] Update EKF and 3D points, distance between two frames x:0.006143 ,z=0.001323,angle between two frames:0.005166 +[21:40:50.641] Choose frame as a key frame Scene Depth mean:-1764760592471.012207 ,depth min:-547075783666640.187500 +[21:40:50.649] Image Alignment failed 0 +[21:40:50.690] Odometry x=-0.008409, y=1.511508, theta=1.757993 +[21:40:50.793] Odometry x=-0.004623, y=1.512335, theta=1.772849 +[21:40:50.895] Odometry x=-0.000962, y=1.513050, theta=1.768375 +[21:40:50.993] Odometry x=0.002996, y=1.513860, theta=1.795297 +[21:40:51.014] After Reprojection Map nPoint:1326 ,nCell:107 ,nMatches:30 ,distance between two frames x:0.005316 ,z=0.001113,angle between two frames:0.013598 +[21:40:51.015] n deleted obs = 331 n obs with reprojection error less than 0.5 px =262 error init =0.503513 error end=0.503513 +[21:40:51.015] After pose optimization, distance between two frames x:0.005316 ,z=0.001113,angle between two frames:0.013598 +[21:40:51.015] Update EKF and 3D points, distance between two frames x:0.006187 ,z=0.001297,angle between two frames:0.010980 +[21:40:51.016] Choose frame as a key frame Scene Depth mean:18293815507.931995 ,depth min:0.598324 +[21:40:51.024] Image Alignment failed 0 +[21:40:51.089] Odometry x=-0.002177, y=1.512835, theta=1.795010 +[21:40:51.189] Odometry x=0.001099, y=1.513690, theta=1.820413 +[21:40:51.296] Odometry x=0.004898, y=1.514740, theta=1.828527 +[21:40:51.394] Odometry x=0.008903, y=1.515860, theta=1.828544 +[21:40:51.402] After Reprojection Map nPoint:1684 ,nCell:119 ,nMatches:43 ,distance between two frames x:0.005379 ,z=0.001135,angle between two frames:0.016764 +[21:40:51.403] n deleted obs = 496 n obs with reprojection error less than 0.5 px =291 error init =0.561067 error end=0.561067 +[21:40:51.403] After pose optimization, distance between two frames x:0.005379 ,z=0.001135,angle between two frames:0.016764 +[21:40:51.403] Update EKF and 3D points, distance between two frames x:0.006232 ,z=0.001364,angle between two frames:0.020149 +[21:40:51.405] Choose frame as a key frame Scene Depth mean:2.107409 ,depth min:0.248961 +[21:40:51.413] Image Alignment failed 0 +[21:40:51.493] Odometry x=0.003907, y=1.514577, theta=1.809295 +[21:40:51.593] Odometry x=0.007451, y=1.515425, theta=1.808950 +[21:40:51.695] Odometry x=0.011220, y=1.516407, theta=1.817836 +[21:40:51.787] After Reprojection Map nPoint:1583 ,nCell:82 ,nMatches:41 ,distance between two frames x:0.005271 ,z=0.001419,angle between two frames:0.022799 +[21:40:51.788] n deleted obs = 504 n obs with reprojection error less than 0.5 px =274 error init =0.573966 error end=0.573966 +[21:40:51.788] After pose optimization, distance between two frames x:0.005271 ,z=0.001419,angle between two frames:0.022799 +[21:40:51.788] Update EKF and 3D points, distance between two frames x:0.005909 ,z=0.001584,angle between two frames:0.024671 +[21:40:51.790] Choose frame as a key frame Scene Depth mean:3.024584 ,depth min:0.551040 +[21:40:51.792] Odometry x=0.004617, y=1.514652, theta=1.802762 +[21:40:51.798] Image Alignment failed 0 +[21:40:51.889] Odometry x=0.009016, y=1.515702, theta=1.783224 +[21:40:51.993] Odometry x=0.012737, y=1.516550, theta=1.775704 +[21:40:52.096] Odometry x=0.016508, y=1.517291, theta=1.778165 +[21:40:52.172] After Reprojection Map nPoint:1558 ,nCell:67 ,nMatches:38 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:40:52.173] n deleted obs = 510 n obs with reprojection error less than 0.5 px =285 error init =0.572883 error end=0.572883 +[21:40:52.173] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:40:52.173] Update EKF and 3D points, distance between two frames x:0.000914 ,z=0.000211,angle between two frames:0.002264 +[21:40:52.174] Choose frame as a key frame Scene Depth mean:3.149854 ,depth min:0.565008 +[21:40:52.182] Image Alignment failed 0 +[21:40:52.193] Odometry x=0.011168, y=1.516152, theta=1.784673 +[21:40:52.290] Odometry x=0.014502, y=1.516972, theta=1.758911 +[21:40:52.393] Odometry x=0.018055, y=1.517640, theta=1.752733 +[21:40:52.493] Odometry x=0.021869, y=1.518411, theta=1.758018 +[21:40:52.560] After Reprojection Map nPoint:1574 ,nCell:52 ,nMatches:37 ,distance between two frames x:0.005650 ,z=0.001300,angle between two frames:0.014511 +[21:40:52.561] n deleted obs = 555 n obs with reprojection error less than 0.5 px =272 error init =0.582460 error end=0.582460 +[21:40:52.561] After pose optimization, distance between two frames x:0.005650 ,z=0.001300,angle between two frames:0.014511 +[21:40:52.561] Update EKF and 3D points, distance between two frames x:0.006492 ,z=0.001472,angle between two frames:0.016595 +[21:40:52.563] Choose frame as a key frame Scene Depth mean:3.034943 ,depth min:0.568746 +[21:40:52.571] Image Alignment failed 0 +[21:40:52.595] Odometry x=0.017189, y=1.517361, theta=1.780244 +[21:40:52.697] Odometry x=0.020937, y=1.518277, theta=1.797676 +[21:40:52.789] Odometry x=0.024491, y=1.519080, theta=1.822477 +[21:40:52.896] Odometry x=0.027968, y=1.520089, theta=1.839278 +[21:40:52.944] After Reprojection Map nPoint:1461 ,nCell:58 ,nMatches:34 ,distance between two frames x:0.005202 ,z=0.001063,angle between two frames:0.012139 +[21:40:52.946] n deleted obs = 529 n obs with reprojection error less than 0.5 px =240 error init =0.606472 error end=0.606472 +[21:40:52.946] After pose optimization, distance between two frames x:0.005202 ,z=0.001063,angle between two frames:0.012139 +[21:40:52.946] Update EKF and 3D points, distance between two frames x:0.006049 ,z=0.001277,angle between two frames:0.007978 +[21:40:52.947] Choose frame as a key frame Scene Depth mean:2.342598 ,depth min:0.521145 +[21:40:52.955] Image Alignment failed 0 +[21:40:52.998] Odometry x=0.023208, y=1.518979, theta=1.801354 +[21:40:53.090] Odometry x=0.026928, y=1.519798, theta=1.830667 +[21:40:53.197] Odometry x=0.030252, y=1.520721, theta=1.825476 +[21:40:53.290] Odometry x=0.034125, y=1.521715, theta=1.827563 +[21:40:53.335] After Reprojection Map nPoint:1635 ,nCell:58 ,nMatches:42 ,distance between two frames x:0.005235 ,z=0.001322,angle between two frames:0.025681 +[21:40:53.337] n deleted obs = 631 n obs with reprojection error less than 0.5 px =270 error init =0.627220 error end=0.627220 +[21:40:53.337] After pose optimization, distance between two frames x:0.005235 ,z=0.001322,angle between two frames:0.025681 +[21:40:53.337] Update EKF and 3D points, distance between two frames x:0.006067 ,z=0.001538,angle between two frames:0.026343 +[21:40:53.338] Choose frame as a key frame Scene Depth mean:2.376946 ,depth min:0.555602 +[21:40:53.347] Image Alignment failed 0 +[21:40:53.393] Odometry x=0.029228, y=1.520494, theta=1.808716 +[21:40:53.495] Odometry x=0.033003, y=1.521414, theta=1.802007 +[21:40:53.598] Odometry x=0.036600, y=1.522362, theta=1.803378 +[21:40:53.690] Odometry x=0.040564, y=1.523334, theta=1.795286 +[21:40:53.726] After Reprojection Map nPoint:1555 ,nCell:56 ,nMatches:39 ,distance between two frames x:0.005141 ,z=0.001332,angle between two frames:0.003473 +[21:40:53.728] n deleted obs = 698 n obs with reprojection error less than 0.5 px =232 error init =0.638080 error end=0.638080 +[21:40:53.728] After pose optimization, distance between two frames x:0.005141 ,z=0.001332,angle between two frames:0.003473 +[21:40:53.728] Update EKF and 3D points, distance between two frames x:0.005995 ,z=0.001542,angle between two frames:0.002884 +[21:40:53.729] Choose frame as a key frame Scene Depth mean:2.173672 ,depth min:0.531794 +[21:40:53.793] Odometry x=0.035394, y=1.522046, theta=1.799676 +[21:40:53.901] Odometry x=0.039089, y=1.522926, theta=1.797786 +[21:40:53.990] Odometry x=0.043158, y=1.523882, theta=1.802309 +[21:40:54.089] Odometry x=0.046288, y=1.524613, theta=1.818167 +[21:40:54.120] After Reprojection Map nPoint:1497 ,nCell:54 ,nMatches:33 ,distance between two frames x:0.005280 ,z=0.001300,angle between two frames:0.003890 +[21:40:54.122] n deleted obs = 681 n obs with reprojection error less than 0.5 px =205 error init =0.654340 error end=0.654340 +[21:40:54.122] After pose optimization, distance between two frames x:0.005280 ,z=0.001300,angle between two frames:0.003890 +[21:40:54.122] Update EKF and 3D points, distance between two frames x:0.006125 ,z=0.001508,angle between two frames:0.002896 +[21:40:54.123] Choose frame as a key frame Scene Depth mean:2.199727 ,depth min:0.677719 +[21:40:54.198] Odometry x=0.041429, y=1.523624, theta=1.794820 +[21:40:54.296] Odometry x=0.045250, y=1.524423, theta=1.804414 +[21:40:54.390] Odometry x=0.049028, y=1.525401, theta=1.811771 +[21:40:54.495] Odometry x=0.052557, y=1.526288, theta=1.826913 +[21:40:54.528] After Reprojection Map nPoint:1808 ,nCell:53 ,nMatches:45 ,distance between two frames x:0.005225 ,z=0.001288,angle between two frames:0.006057 +[21:40:54.530] n deleted obs = 875 n obs with reprojection error less than 0.5 px =292 error init =0.647538 error end=0.647538 +[21:40:54.530] After pose optimization, distance between two frames x:0.005225 ,z=0.001288,angle between two frames:0.006057 +[21:40:54.530] Update EKF and 3D points, distance between two frames x:0.006097 ,z=0.001517,angle between two frames:0.007811 +[21:40:54.532] Choose frame as a key frame Scene Depth mean:2.217114 ,depth min:0.536175 +[21:40:54.539] Image Alignment failed 0 +[21:40:54.591] Odometry x=0.047731, y=1.525129, theta=1.820961 +[21:40:54.693] Odometry x=0.051108, y=1.526043, theta=1.827237 +[21:40:54.794] Odometry x=0.054873, y=1.527030, theta=1.844835 +[21:40:54.892] Odometry x=0.058408, y=1.528124, theta=1.836150 +[21:40:54.944] After Reprojection Map nPoint:1647 ,nCell:63 ,nMatches:40 ,distance between two frames x:0.005391 ,z=0.001418,angle between two frames:0.011701 +[21:40:54.946] n deleted obs = 791 n obs with reprojection error less than 0.5 px =265 error init =0.650718 error end=0.650718 +[21:40:54.946] After pose optimization, distance between two frames x:0.005391 ,z=0.001418,angle between two frames:0.011701 +[21:40:54.946] Update EKF and 3D points, distance between two frames x:0.006228 ,z=0.001650,angle between two frames:0.013054 +[21:40:54.947] Choose frame as a key frame Scene Depth mean:2.545728 ,depth min:0.670064 +[21:40:54.955] Image Alignment failed 0 +[21:40:54.994] Odometry x=0.053743, y=1.526796, theta=1.840603 +[21:40:55.092] Odometry x=0.057443, y=1.527783, theta=1.857963 +[21:40:55.190] Odometry x=0.060944, y=1.528894, theta=1.823576 +[21:40:55.292] Odometry x=0.064655, y=1.529863, theta=1.821917 +[21:40:55.372] After Reprojection Map nPoint:1694 ,nCell:59 ,nMatches:48 ,distance between two frames x:0.005168 ,z=0.001438,angle between two frames:0.008991 +[21:40:55.374] n deleted obs = 926 n obs with reprojection error less than 0.5 px =256 error init =0.687797 error end=0.687797 +[21:40:55.374] After pose optimization, distance between two frames x:0.005168 ,z=0.001438,angle between two frames:0.008991 +[21:40:55.374] Update EKF and 3D points, distance between two frames x:0.006019 ,z=0.001671,angle between two frames:0.008514 +[21:40:55.375] Choose frame as a key frame Scene Depth mean:2.294088 ,depth min:0.560036 +[21:40:55.384] Image Alignment failed 0 +[21:40:55.395] Odometry x=0.059860, y=1.528485, theta=1.828691 +[21:40:55.493] Odometry x=0.063521, y=1.529583, theta=1.825989 +[21:40:55.590] Odometry x=0.067153, y=1.530638, theta=1.806922 +[21:40:55.693] Odometry x=0.070676, y=1.531524, theta=1.778878 +[21:40:55.790] Odometry x=0.074236, y=1.532352, theta=1.798608 +[21:40:55.803] After Reprojection Map nPoint:1660 ,nCell:60 ,nMatches:45 ,distance between two frames x:0.005259 ,z=0.001442,angle between two frames:0.002881 +[21:40:55.805] n deleted obs = 834 n obs with reprojection error less than 0.5 px =283 error init =0.663254 error end=0.663254 +[21:40:55.805] After pose optimization, distance between two frames x:0.005259 ,z=0.001442,angle between two frames:0.002881 +[21:40:55.805] Update EKF and 3D points, distance between two frames x:0.006307 ,z=0.001718,angle between two frames:0.004547 +[21:40:55.806] Choose frame as a key frame Scene Depth mean:63133924181.824562 ,depth min:0.562235 +[21:40:55.814] Image Alignment failed 0 +[21:40:55.893] Odometry x=0.067392, y=1.530421, theta=1.813781 +[21:40:55.993] Odometry x=0.071038, y=1.531409, theta=1.830465 +[21:40:56.090] Odometry x=0.074457, y=1.532296, theta=1.830919 +[21:40:56.192] Odometry x=0.078116, y=1.533371, theta=1.868227 +[21:40:56.249] After Reprojection Map nPoint:1793 ,nCell:68 ,nMatches:46 ,distance between two frames x:0.006485 ,z=0.001705,angle between two frames:0.009668 +[21:40:56.251] n deleted obs = 961 n obs with reprojection error less than 0.5 px =275 error init =0.700866 error end=0.700866 +[21:40:56.251] After pose optimization, distance between two frames x:0.006485 ,z=0.001705,angle between two frames:0.009668 +[21:40:56.251] Update EKF and 3D points, distance between two frames x:0.007321 ,z=0.001939,angle between two frames:0.006284 +[21:40:56.253] Choose frame as a key frame Scene Depth mean:2.712687 ,depth min:0.564873 +[21:40:56.261] Image Alignment failed 0 +[21:40:56.293] Odometry x=0.073323, y=1.532120, theta=1.843383 +[21:40:56.394] Odometry x=0.077032, y=1.533204, theta=1.857846 +[21:40:56.493] Odometry x=0.080676, y=1.534296, theta=1.860388 +[21:40:56.596] Odometry x=0.084312, y=1.535400, theta=1.843935 +[21:40:56.695] Odometry x=0.087917, y=1.536424, theta=1.864604 +[21:40:56.703] After Reprojection Map nPoint:1663 ,nCell:60 ,nMatches:40 ,distance between two frames x:0.005167 ,z=0.001450,angle between two frames:0.021225 +[21:40:56.705] n deleted obs = 853 n obs with reprojection error less than 0.5 px =315 error init =0.669800 error end=0.669800 +[21:40:56.705] After pose optimization, distance between two frames x:0.005167 ,z=0.001450,angle between two frames:0.021225 +[21:40:56.705] Update EKF and 3D points, distance between two frames x:0.006222 ,z=0.001762,angle between two frames:0.022616 +[21:40:56.706] Choose frame as a key frame Scene Depth mean:2.498274 ,depth min:0.554758 +[21:40:56.714] Image Alignment failed 0 +[21:40:56.790] Odometry x=0.080969, y=1.534372, theta=1.847714 +[21:40:56.892] Odometry x=0.084268, y=1.535419, theta=1.834379 +[21:40:56.990] Odometry x=0.087820, y=1.536372, theta=1.832276 +[21:40:57.095] Odometry x=0.091564, y=1.537454, theta=1.848734 +[21:40:57.155] After Reprojection Map nPoint:1720 ,nCell:75 ,nMatches:46 ,distance between two frames x:0.006557 ,z=0.001938,angle between two frames:0.009573 +[21:40:57.157] n deleted obs = 968 n obs with reprojection error less than 0.5 px =254 error init =0.714267 error end=0.714267 +[21:40:57.157] After pose optimization, distance between two frames x:0.006557 ,z=0.001938,angle between two frames:0.009573 +[21:40:57.157] Update EKF and 3D points, distance between two frames x:0.007380 ,z=0.002175,angle between two frames:0.008344 +[21:40:57.158] Choose frame as a key frame Scene Depth mean:2.995783 ,depth min:0.731368 +[21:40:57.166] Image Alignment failed 0 +[21:40:57.197] Odometry x=0.086853, y=1.536089, theta=1.840116 +[21:40:57.291] Odometry x=0.090317, y=1.537222, theta=1.839859 +[21:40:57.390] Odometry x=0.093878, y=1.538175, theta=1.837926 +[21:40:57.488] Odometry x=0.097406, y=1.539241, theta=1.835663 +[21:40:57.588] Odometry x=0.101064, y=1.540197, theta=1.821114 +[21:40:57.617] After Reprojection Map nPoint:1755 ,nCell:62 ,nMatches:49 ,distance between two frames x:0.005071 ,z=0.001465,angle between two frames:0.008285 +[21:40:57.620] n deleted obs = 988 n obs with reprojection error less than 0.5 px =282 error init =0.709989 error end=0.709989 +[21:40:57.620] After pose optimization, distance between two frames x:0.005071 ,z=0.001465,angle between two frames:0.008285 +[21:40:57.620] Update EKF and 3D points, distance between two frames x:0.006098 ,z=0.001764,angle between two frames:0.008866 +[21:40:57.621] Choose frame as a key frame Scene Depth mean:2.863679 ,depth min:0.764502 +[21:40:57.629] Image Alignment failed 0 +[21:40:57.692] Odometry x=0.094254, y=1.538248, theta=1.846950 +[21:40:57.802] Odometry x=0.097877, y=1.539303, theta=1.862001 +[21:40:57.893] Odometry x=0.101602, y=1.540161, theta=1.926096 +[21:40:57.990] Odometry x=0.104894, y=1.541377, theta=1.926705 +[21:40:58.092] Odometry x=0.108728, y=1.542804, theta=1.922208 +[21:40:58.093] After Reprojection Map nPoint:1705 ,nCell:59 ,nMatches:38 ,distance between two frames x:0.006345 ,z=0.001851,angle between two frames:0.002091 +[21:40:58.095] n deleted obs = 969 n obs with reprojection error less than 0.5 px =255 error init =0.716851 error end=0.716851 +[21:40:58.095] After pose optimization, distance between two frames x:0.006345 ,z=0.001851,angle between two frames:0.002091 +[21:40:58.095] Update EKF and 3D points, distance between two frames x:0.007722 ,z=0.002295,angle between two frames:0.002632 +[21:40:58.096] Choose frame as a key frame Scene Depth mean:2.428609 ,depth min:0.583978 +[21:40:58.104] Image Alignment failed 0 +[21:40:58.193] Odometry x=0.103970, y=1.541523, theta=1.869045 +[21:40:58.291] Odometry x=0.107523, y=1.542574, theta=1.846477 +[21:40:58.393] Odometry x=0.111238, y=1.543733, theta=1.859717 +[21:40:58.490] Odometry x=0.114859, y=1.544777, theta=1.849903 +[21:40:58.577] After Reprojection Map nPoint:1344 ,nCell:44 ,nMatches:32 ,distance between two frames x:0.008446 ,z=0.002781,angle between two frames:0.027219 +[21:40:58.578] n deleted obs = 693 n obs with reprojection error less than 0.5 px =265 error init =0.674815 error end=0.674815 +[21:40:58.578] After pose optimization, distance between two frames x:0.008446 ,z=0.002781,angle between two frames:0.027219 +[21:40:58.578] Update EKF and 3D points, distance between two frames x:0.009300 ,z=0.003041,angle between two frames:0.026466 +[21:40:58.580] Choose frame as a key frame Scene Depth mean:2.499585 ,depth min:0.783508 +[21:40:58.590] Odometry x=0.110246, y=1.543342, theta=1.867162 +[21:40:58.695] Odometry x=0.113562, y=1.544401, theta=1.852386 +[21:40:58.791] Odometry x=0.117065, y=1.545483, theta=1.869336 +[21:40:58.887] Odometry x=0.120685, y=1.546601, theta=1.873122 +[21:40:58.994] Odometry x=0.124325, y=1.547813, theta=1.876964 +[21:40:59.051] After Reprojection Map nPoint:1645 ,nCell:63 ,nMatches:45 ,distance between two frames x:0.005292 ,z=0.001609,angle between two frames:0.004835 +[21:40:59.053] n deleted obs = 1014 n obs with reprojection error less than 0.5 px =218 error init =0.745784 error end=0.745784 +[21:40:59.053] After pose optimization, distance between two frames x:0.005292 ,z=0.001609,angle between two frames:0.004835 +[21:40:59.053] Update EKF and 3D points, distance between two frames x:0.006330 ,z=0.001937,angle between two frames:0.005067 +[21:40:59.054] Choose frame as a key frame Scene Depth mean:2.684767 ,depth min:0.783018 +[21:40:59.089] Odometry x=0.117692, y=1.545719, theta=1.867836 +[21:40:59.188] Odometry x=0.121025, y=1.546777, theta=1.866281 +[21:40:59.294] Odometry x=0.124653, y=1.547879, theta=1.846219 +[21:40:59.387] Odometry x=0.128509, y=1.548996, theta=1.859965 +[21:40:59.492] Odometry x=0.131998, y=1.550210, theta=1.868740 +[21:40:59.548] After Reprojection Map nPoint:1585 ,nCell:62 ,nMatches:43 ,distance between two frames x:0.006431 ,z=0.002029,angle between two frames:0.001121 +[21:40:59.550] n deleted obs = 930 n obs with reprojection error less than 0.5 px =257 error init =0.723722 error end=0.723722 +[21:40:59.550] After pose optimization, distance between two frames x:0.006431 ,z=0.002029,angle between two frames:0.001121 +[21:40:59.550] Update EKF and 3D points, distance between two frames x:0.007485 ,z=0.002360,angle between two frames:0.000929 +[21:40:59.552] Choose frame as a key frame Scene Depth mean:-66804425925.330521 ,depth min:-17168737462406.968750 +[21:40:59.560] Image Alignment failed 0 +[21:40:59.596] Odometry x=0.125281, y=1.548071, theta=1.862583 +[21:40:59.689] Odometry x=0.128794, y=1.549194, theta=1.887699 +[21:40:59.787] Odometry x=0.132295, y=1.550338, theta=1.857336 +[21:40:59.891] Odometry x=0.135441, y=1.551514, theta=1.884528 +[21:40:59.988] Odometry x=0.139407, y=1.552750, theta=1.887000 +[21:41:00.050] After Reprojection Map nPoint:1645 ,nCell:62 ,nMatches:40 ,distance between two frames x:0.006516 ,z=0.002043,angle between two frames:0.000006 +[21:41:00.052] n deleted obs = 970 n obs with reprojection error less than 0.5 px =292 error init =0.713512 error end=0.713512 +[21:41:00.053] After pose optimization, distance between two frames x:0.006516 ,z=0.002043,angle between two frames:0.000006 +[21:41:00.053] Update EKF and 3D points, distance between two frames x:0.007550 ,z=0.002387,angle between two frames:0.003765 +[21:41:00.054] Choose frame as a key frame Scene Depth mean:2.885091 ,depth min:0.776360 +[21:41:00.062] Image Alignment failed 0 +[21:41:00.090] Odometry x=0.132699, y=1.550540, theta=1.903860 +[21:41:00.193] Odometry x=0.136287, y=1.551783, theta=1.909838 +[21:41:00.290] Odometry x=0.139826, y=1.553180, theta=1.906578 +[21:41:00.392] Odometry x=0.143395, y=1.554424, theta=1.907914 +[21:41:00.490] Odometry x=0.146962, y=1.555695, theta=1.907028 +[21:41:00.555] After Reprojection Map nPoint:1642 ,nCell:67 ,nMatches:41 ,distance between two frames x:0.006387 ,z=0.002124,angle between two frames:0.024414 +[21:41:00.557] n deleted obs = 1076 n obs with reprojection error less than 0.5 px =195 error init =0.769716 error end=0.769716 +[21:41:00.557] After pose optimization, distance between two frames x:0.006387 ,z=0.002124,angle between two frames:0.024414 +[21:41:00.557] Update EKF and 3D points, distance between two frames x:0.007421 ,z=0.002496,angle between two frames:0.024731 +[21:41:00.558] Choose frame as a key frame Scene Depth mean:3.196475 ,depth min:0.803695 +[21:41:00.566] Image Alignment failed 0 +[21:41:00.592] Odometry x=0.140126, y=1.553202, theta=1.896057 +[21:41:00.689] Odometry x=0.143655, y=1.554456, theta=1.870150 +[21:41:00.795] Odometry x=0.147187, y=1.555579, theta=1.896997 +[21:41:00.892] Odometry x=0.150941, y=1.556893, theta=1.878671 +[21:41:00.995] Odometry x=0.154341, y=1.558009, theta=1.897054 +[21:41:01.062] After Reprojection Map nPoint:1513 ,nCell:48 ,nMatches:40 ,distance between two frames x:0.006387 ,z=0.002297,angle between two frames:0.001810 +[21:41:01.064] n deleted obs = 956 n obs with reprojection error less than 0.5 px =237 error init =0.764837 error end=0.764837 +[21:41:01.064] After pose optimization, distance between two frames x:0.006387 ,z=0.002297,angle between two frames:0.001810 +[21:41:01.064] Update EKF and 3D points, distance between two frames x:0.007423 ,z=0.002647,angle between two frames:0.001685 +[21:41:01.065] Choose frame as a key frame Scene Depth mean:4.408199 ,depth min:0.808451 +[21:41:01.075] Image Alignment failed 0 +[21:41:01.094] Odometry x=0.147537, y=1.555716, theta=1.891993 +[21:41:01.195] Odometry x=0.151103, y=1.556899, theta=1.937073 +[21:41:01.294] Odometry x=0.154550, y=1.558339, theta=1.943812 +[21:41:01.395] Odometry x=0.158070, y=1.559739, theta=1.943571 +[21:41:01.492] Odometry x=0.161569, y=1.561122, theta=1.950971 +[21:41:01.585] After Reprojection Map nPoint:1665 ,nCell:69 ,nMatches:42 ,distance between two frames x:0.006378 ,z=0.002155,angle between two frames:0.002055 +[21:41:01.588] n deleted obs = 1044 n obs with reprojection error less than 0.5 px =253 error init =0.768019 error end=0.768019 +[21:41:01.588] After pose optimization, distance between two frames x:0.006378 ,z=0.002155,angle between two frames:0.002055 +[21:41:01.588] Update EKF and 3D points, distance between two frames x:0.007398 ,z=0.002552,angle between two frames:0.000156 +[21:41:01.589] Choose frame as a key frame Scene Depth mean:3.068026 ,depth min:0.781987 +[21:41:01.594] Odometry x=0.154865, y=1.558568, theta=1.909132 +[21:41:01.598] Image Alignment failed 0 +[21:41:01.693] Odometry x=0.158439, y=1.559791, theta=1.913609 +[21:41:01.795] Odometry x=0.161904, y=1.561078, theta=1.898333 +[21:41:01.892] Odometry x=0.165480, y=1.562322, theta=1.910599 +[21:41:01.992] Odometry x=0.169048, y=1.563582, theta=1.887708 +[21:41:02.102] After Reprojection Map nPoint:1477 ,nCell:51 ,nMatches:34 ,distance between two frames x:0.006304 ,z=0.002457,angle between two frames:0.012793 +[21:41:02.104] n deleted obs = 967 n obs with reprojection error less than 0.5 px =198 error init =0.784429 error end=0.784429 +[21:41:02.104] After pose optimization, distance between two frames x:0.006304 ,z=0.002457,angle between two frames:0.012793 +[21:41:02.104] Update EKF and 3D points, distance between two frames x:0.007325 ,z=0.002814,angle between two frames:0.011866 +[21:41:02.105] Choose frame as a key frame Scene Depth mean:4.816187 ,depth min:0.815825 +[21:41:02.110] Odometry x=0.162190, y=1.561137, theta=1.901983 +[21:41:02.113] Image Alignment failed 0 +[21:41:02.190] Odometry x=0.166378, y=1.562567, theta=1.900619 +[21:41:02.290] Odometry x=0.168602, y=1.563453, theta=1.930535 +[21:41:02.388] Odometry x=0.172292, y=1.564853, theta=1.981236 +[21:41:02.494] Odometry x=0.175873, y=1.566318, theta=2.005968 +[21:41:02.596] Odometry x=0.179693, y=1.568096, theta=1.999119 +[21:41:02.644] After Reprojection Map nPoint:1814 ,nCell:66 ,nMatches:49 ,distance between two frames x:0.006305 ,z=0.002211,angle between two frames:0.006223 +[21:41:02.646] n deleted obs = 1155 n obs with reprojection error less than 0.5 px =292 error init =0.778648 error end=0.778648 +[21:41:02.646] After pose optimization, distance between two frames x:0.006305 ,z=0.002211,angle between two frames:0.006223 +[21:41:02.646] Update EKF and 3D points, distance between two frames x:0.007552 ,z=0.002722,angle between two frames:0.000912 +[21:41:02.648] Choose frame as a key frame Scene Depth mean:167515.239716 ,depth min:0.786832 +[21:41:02.656] Image Alignment failed 0 +[21:41:02.691] Odometry x=0.171510, y=1.564950, theta=1.935159 +[21:41:02.789] Odometry x=0.175583, y=1.566510, theta=1.930962 +[21:41:02.894] Odometry x=0.179640, y=1.568050, theta=1.913445 +[21:41:02.991] Odometry x=0.184163, y=1.569684, theta=1.900465 +[21:41:03.093] Odometry x=0.187905, y=1.571078, theta=1.909999 +[21:41:03.193] Odometry x=0.192071, y=1.572424, theta=1.947302 +[21:41:03.196] After Reprojection Map nPoint:1595 ,nCell:69 ,nMatches:50 ,distance between two frames x:0.007804 ,z=0.003201,angle between two frames:0.031916 +[21:41:03.198] n deleted obs = 886 n obs with reprojection error less than 0.5 px =348 error init =0.731828 error end=0.731828 +[21:41:03.198] After pose optimization, distance between two frames x:0.007804 ,z=0.003201,angle between two frames:0.031916 +[21:41:03.198] Update EKF and 3D points, distance between two frames x:0.009559 ,z=0.003855,angle between two frames:0.032386 +[21:41:03.200] Choose frame as a key frame Scene Depth mean:3.303933 ,depth min:0.789192 +[21:41:03.208] Image Alignment failed 0 +[21:41:03.291] Odometry x=0.184352, y=1.569740, theta=1.949532 +[21:41:03.394] Odometry x=0.187999, y=1.571193, theta=1.939238 +[21:41:03.490] Odometry x=0.191564, y=1.572579, theta=1.933742 +[21:41:03.594] Odometry x=0.195131, y=1.573931, theta=1.935517 +[21:41:03.690] Odometry x=0.198662, y=1.575287, theta=1.922575 +[21:41:03.732] After Reprojection Map nPoint:1581 ,nCell:51 ,nMatches:38 ,distance between two frames x:0.010995 ,z=0.004095,angle between two frames:0.004436 +[21:41:03.734] n deleted obs = 993 n obs with reprojection error less than 0.5 px =261 error init =0.790641 error end=0.790641 +[21:41:03.734] After pose optimization, distance between two frames x:0.010995 ,z=0.004095,angle between two frames:0.004436 +[21:41:03.734] Update EKF and 3D points, distance between two frames x:0.012058 ,z=0.004503,angle between two frames:0.002887 +[21:41:03.736] Choose frame as a key frame Scene Depth mean:3.080461 ,depth min:0.793602 +[21:41:03.744] Image Alignment failed 0 +[21:41:03.795] Odometry x=0.191621, y=1.572527, theta=1.930949 +[21:41:03.894] Odometry x=0.195189, y=1.573869, theta=1.936399 +[21:41:03.994] Odometry x=0.198737, y=1.575233, theta=1.934478 +[21:41:04.090] Odometry x=0.202290, y=1.576588, theta=1.926274 +[21:41:04.194] Odometry x=0.205858, y=1.577923, theta=1.920905 +[21:41:04.270] After Reprojection Map nPoint:1696 ,nCell:64 ,nMatches:45 ,distance between two frames x:0.006568 ,z=0.002522,angle between two frames:0.009960 +[21:41:04.273] n deleted obs = 1069 n obs with reprojection error less than 0.5 px =263 error init =0.801074 error end=0.801074 +[21:41:04.273] After pose optimization, distance between two frames x:0.006568 ,z=0.002522,angle between two frames:0.009960 +[21:41:04.273] Update EKF and 3D points, distance between two frames x:0.007605 ,z=0.002912,angle between two frames:0.010721 +[21:41:04.274] Choose frame as a key frame Scene Depth mean:159980195792.934357 ,depth min:0.796893 +[21:41:04.282] Image Alignment failed 0 +[21:41:04.291] Odometry x=0.199064, y=1.575330, theta=1.926327 +[21:41:04.395] Odometry x=0.202518, y=1.576615, theta=1.921473 +[21:41:04.494] Odometry x=0.206150, y=1.577944, theta=1.925840 +[21:41:04.594] Odometry x=0.209770, y=1.579286, theta=1.932170 +[21:41:04.694] Odometry x=0.213357, y=1.580639, theta=1.937597 +[21:41:04.788] Odometry x=0.216916, y=1.582011, theta=1.939435 +[21:41:04.821] After Reprojection Map nPoint:1846 ,nCell:76 ,nMatches:61 ,distance between two frames x:0.006407 ,z=0.002413,angle between two frames:0.004947 +[21:41:04.824] n deleted obs = 1257 n obs with reprojection error less than 0.5 px =221 error init =0.839520 error end=0.839520 +[21:41:04.824] After pose optimization, distance between two frames x:0.006407 ,z=0.002413,angle between two frames:0.004947 +[21:41:04.824] Update EKF and 3D points, distance between two frames x:0.007644 ,z=0.002878,angle between two frames:0.003961 +[21:41:04.825] Choose frame as a key frame Scene Depth mean:2.822624 ,depth min:0.994826 +[21:41:04.833] Image Alignment failed 0 +[21:41:04.889] Odometry x=0.207946, y=1.578670, theta=1.939590 +[21:41:04.991] Odometry x=0.211452, y=1.580024, theta=1.947812 +[21:41:05.090] Odometry x=0.214978, y=1.581417, theta=1.957166 +[21:41:05.190] Odometry x=0.218523, y=1.582860, theta=1.965772 +[21:41:05.295] Odometry x=0.222077, y=1.584341, theta=1.968934 +[21:41:05.389] After Reprojection Map nPoint:1987 ,nCell:70 ,nMatches:60 ,distance between two frames x:0.007644 ,z=0.002875,angle between two frames:0.006603 +[21:41:05.392] n deleted obs = 1201 n obs with reprojection error less than 0.5 px =378 error init =0.781975 error end=0.781975 +[21:41:05.392] After pose optimization, distance between two frames x:0.007644 ,z=0.002875,angle between two frames:0.006603 +[21:41:05.392] Update EKF and 3D points, distance between two frames x:0.008684 ,z=0.003297,angle between two frames:0.009448 +[21:41:05.394] Choose frame as a key frame Scene Depth mean:0.499328 ,depth min:-1373.944926 +[21:41:05.397] Odometry x=0.208986, y=1.579092, theta=1.937332 +[21:41:05.402] Image Alignment failed 0 +[21:41:05.496] Odometry x=0.213545, y=1.580845, theta=1.953427 +[21:41:05.599] Odometry x=0.216961, y=1.582215, theta=1.961709 +[21:41:05.691] Odometry x=0.220669, y=1.583748, theta=1.951623 +[21:41:05.793] Odometry x=0.223853, y=1.585025, theta=1.946425 +[21:41:05.898] Odometry x=0.227581, y=1.586496, theta=1.940515 +[21:41:05.944] After Reprojection Map nPoint:1616 ,nCell:52 ,nMatches:39 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:41:05.946] n deleted obs = 974 n obs with reprojection error less than 0.5 px =311 error init =0.778501 error end=0.778501 +[21:41:05.946] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:41:05.946] Update EKF and 3D points, distance between two frames x:0.001289 ,z=0.000511,angle between two frames:0.000002 +[21:41:05.948] Choose frame as a key frame Scene Depth mean:4.079672 ,depth min:0.856525 +[21:41:05.956] Image Alignment failed 0 +[21:41:05.990] Odometry x=0.218236, y=1.582761, theta=1.936690 +[21:41:06.092] Odometry x=0.221606, y=1.584058, theta=1.928566 +[21:41:06.193] Odometry x=0.225161, y=1.585391, theta=1.923232 +[21:41:06.290] Odometry x=0.228927, y=1.586773, theta=1.927333 +[21:41:06.392] Odometry x=0.232295, y=1.588028, theta=1.931595 +[21:41:06.495] Odometry x=0.235842, y=1.589366, theta=1.938405 +[21:41:06.509] After Reprojection Map nPoint:1703 ,nCell:69 ,nMatches:48 ,distance between two frames x:0.007966 ,z=0.003159,angle between two frames:0.000150 +[21:41:06.511] n deleted obs = 1109 n obs with reprojection error less than 0.5 px =252 error init =0.825285 error end=0.825285 +[21:41:06.511] After pose optimization, distance between two frames x:0.007966 ,z=0.003159,angle between two frames:0.000150 +[21:41:06.512] Update EKF and 3D points, distance between two frames x:0.009208 ,z=0.003627,angle between two frames:0.000013 +[21:41:06.513] Choose frame as a key frame Scene Depth mean:322151681625.441040 ,depth min:0.929187 +[21:41:06.520] Image Alignment failed 0 +[21:41:06.592] Odometry x=0.227143, y=1.586117, theta=1.944897 +[21:41:06.690] Odometry x=0.230530, y=1.587444, theta=1.952144 +[21:41:06.793] Odometry x=0.234056, y=1.588857, theta=1.963778 +[21:41:06.890] Odometry x=0.237765, y=1.590393, theta=1.973547 +[21:41:06.993] Odometry x=0.241100, y=1.591810, theta=1.987718 +[21:41:07.089] After Reprojection Map nPoint:1826 ,nCell:80 ,nMatches:58 ,distance between two frames x:0.007677 ,z=0.002893,angle between two frames:0.001211 +[21:41:07.092] n deleted obs = 1156 n obs with reprojection error less than 0.5 px =309 error init =0.810165 error end=0.810165 +[21:41:07.092] After pose optimization, distance between two frames x:0.007677 ,z=0.002893,angle between two frames:0.001211 +[21:41:07.092] Update EKF and 3D points, distance between two frames x:0.008691 ,z=0.003314,angle between two frames:0.004271 +[21:41:07.093] Choose frame as a key frame Scene Depth mean:3.732415 ,depth min:0.652385 +[21:41:07.102] Odometry x=0.234444, y=1.589146, theta=1.960912 +[21:41:07.104] Image Alignment failed 0 +[21:41:07.190] Odometry x=0.238321, y=1.590740, theta=1.961141 +[21:41:07.292] Odometry x=0.241497, y=1.592051, theta=1.962287 +[21:41:07.394] Odometry x=0.245030, y=1.593510, theta=1.961719 +[21:41:07.492] Odometry x=0.248735, y=1.595041, theta=1.956392 +[21:41:07.596] Odometry x=0.252068, y=1.596397, theta=1.957041 +[21:41:07.671] After Reprojection Map nPoint:1793 ,nCell:69 ,nMatches:51 ,distance between two frames x:0.006269 ,z=0.002601,angle between two frames:0.019298 +[21:41:07.673] n deleted obs = 1087 n obs with reprojection error less than 0.5 px =347 error init =0.792839 error end=0.792839 +[21:41:07.673] After pose optimization, distance between two frames x:0.006269 ,z=0.002601,angle between two frames:0.019298 +[21:41:07.673] Update EKF and 3D points, distance between two frames x:0.007500 ,z=0.003107,angle between two frames:0.018856 +[21:41:07.675] Choose frame as a key frame Scene Depth mean:4.752564 ,depth min:0.670348 +[21:41:07.683] Image Alignment failed 0 +[21:41:07.697] Odometry x=0.243271, y=1.592773, theta=1.956581 +[21:41:07.795] Odometry x=0.246936, y=1.594264, theta=1.950822 +[21:41:07.895] Odometry x=0.250334, y=1.595628, theta=1.944904 +[21:41:07.996] Odometry x=0.253930, y=1.597042, theta=1.945628 +[21:41:08.094] Odometry x=0.257633, y=1.598496, theta=1.953756 +[21:41:08.199] Odometry x=0.260841, y=1.599787, theta=1.964419 +[21:41:08.248] After Reprojection Map nPoint:1816 ,nCell:75 ,nMatches:53 ,distance between two frames x:0.007606 ,z=0.003125,angle between two frames:0.002850 +[21:41:08.251] n deleted obs = 1061 n obs with reprojection error less than 0.5 px =377 error init =0.785948 error end=0.785948 +[21:41:08.251] After pose optimization, distance between two frames x:0.007606 ,z=0.003125,angle between two frames:0.002850 +[21:41:08.251] Update EKF and 3D points, distance between two frames x:0.008855 ,z=0.003627,angle between two frames:0.002084 +[21:41:08.252] Choose frame as a key frame Scene Depth mean:3.917934 ,depth min:0.650970 +[21:41:08.261] Image Alignment failed 0 +[21:41:08.295] Odometry x=0.252249, y=1.596382, theta=1.966852 +[21:41:08.392] Odometry x=0.255633, y=1.597792, theta=1.980311 +[21:41:08.504] Odometry x=0.258992, y=1.599249, theta=1.992726 +[21:41:08.600] Odometry x=0.262845, y=1.600974, theta=1.996360 +[21:41:08.692] Odometry x=0.266182, y=1.602487, theta=1.997040 +[21:41:08.790] Odometry x=0.269299, y=1.603903, theta=1.998802 +[21:41:08.825] After Reprojection Map nPoint:1821 ,nCell:67 ,nMatches:53 ,distance between two frames x:0.007720 ,z=0.003104,angle between two frames:0.005101 +[21:41:08.828] n deleted obs = 1074 n obs with reprojection error less than 0.5 px =386 error init =0.780238 error end=0.780238 +[21:41:08.828] After pose optimization, distance between two frames x:0.007720 ,z=0.003104,angle between two frames:0.005101 +[21:41:08.828] Update EKF and 3D points, distance between two frames x:0.008916 ,z=0.003634,angle between two frames:0.007174 +[21:41:08.830] Choose frame as a key frame Scene Depth mean:-0.299684 ,depth min:-1357.294236 +[21:41:08.838] Image Alignment failed 0 +[21:41:08.896] Odometry x=0.260832, y=1.600192, theta=1.981803 +[21:41:08.990] Odometry x=0.264488, y=1.601785, theta=1.982884 +[21:41:09.103] Odometry x=0.267743, y=1.603206, theta=1.984714 +[21:41:09.198] Odometry x=0.271794, y=1.604997, theta=1.977270 +[21:41:09.290] Odometry x=0.274945, y=1.606352, theta=1.979625 +[21:41:09.394] Odometry x=0.278275, y=1.607798, theta=1.972157 +[21:41:09.412] After Reprojection Map nPoint:1871 ,nCell:70 ,nMatches:56 ,distance between two frames x:0.007389 ,z=0.003279,angle between two frames:0.012861 +[21:41:09.414] n deleted obs = 1115 n obs with reprojection error less than 0.5 px =387 error init =0.790911 error end=0.790911 +[21:41:09.414] After pose optimization, distance between two frames x:0.007389 ,z=0.003279,angle between two frames:0.012861 +[21:41:09.414] Update EKF and 3D points, distance between two frames x:0.008622 ,z=0.003815,angle between two frames:0.012414 +[21:41:09.416] Choose frame as a key frame Scene Depth mean:0.222947 ,depth min:-1349.631911 +[21:41:09.424] Image Alignment failed 0 +[21:41:09.503] Odometry x=0.269685, y=1.604036, theta=1.973842 +[21:41:09.595] Odometry x=0.273037, y=1.605467, theta=1.968304 +[21:41:09.694] Odometry x=0.276799, y=1.607050, theta=1.968387 +[21:41:09.794] Odometry x=0.280137, y=1.608456, theta=1.962144 +[21:41:09.904] Odometry x=0.283666, y=1.609914, theta=1.964443 +[21:41:09.995] Odometry x=0.287567, y=1.611536, theta=1.961221 +[21:41:10.001] After Reprojection Map nPoint:1755 ,nCell:73 ,nMatches:55 ,distance between two frames x:0.007620 ,z=0.003308,angle between two frames:0.003344 +[21:41:10.003] n deleted obs = 1014 n obs with reprojection error less than 0.5 px =388 error init =0.764019 error end=0.764019 +[21:41:10.003] After pose optimization, distance between two frames x:0.007620 ,z=0.003308,angle between two frames:0.003344 +[21:41:10.003] Update EKF and 3D points, distance between two frames x:0.008846 ,z=0.003821,angle between two frames:0.004162 +[21:41:10.005] Choose frame as a key frame Scene Depth mean:3.677847 ,depth min:0.560852 +[21:41:10.013] Image Alignment failed 0 +[21:41:10.095] Odometry x=0.278488, y=1.607719, theta=1.974504 +[21:41:10.194] Odometry x=0.282002, y=1.609216, theta=1.987203 +[21:41:10.292] Odometry x=0.285493, y=1.610757, theta=1.999197 +[21:41:10.400] Odometry x=0.288969, y=1.612348, theta=2.014687 +[21:41:10.493] Odometry x=0.292703, y=1.614118, theta=2.029696 +[21:41:10.595] Odometry x=0.295858, y=1.615675, theta=2.041869 +[21:41:10.595] After Reprojection Map nPoint:1877 ,nCell:64 ,nMatches:52 ,distance between two frames x:0.007574 ,z=0.003170,angle between two frames:0.005116 +[21:41:10.598] n deleted obs = 1080 n obs with reprojection error less than 0.5 px =423 error init =0.755063 error end=0.755063 +[21:41:10.598] After pose optimization, distance between two frames x:0.007574 ,z=0.003170,angle between two frames:0.005116 +[21:41:10.598] Update EKF and 3D points, distance between two frames x:0.009111 ,z=0.003884,angle between two frames:0.000871 +[21:41:10.600] Choose frame as a key frame Scene Depth mean:4.832568 ,depth min:0.746825 +[21:41:10.608] Image Alignment failed 0 +[21:41:10.694] Odometry x=0.289505, y=1.612872, theta=2.008523 +[21:41:10.793] Odometry x=0.292709, y=1.614376, theta=2.013695 +[21:41:10.892] Odometry x=0.296364, y=1.616110, theta=2.012782 +[21:41:10.993] Odometry x=0.299666, y=1.617678, theta=2.013809 +[21:41:11.088] Odometry x=0.302941, y=1.619227, theta=2.015466 +[21:41:11.187] Odometry x=0.306309, y=1.620833, theta=2.015270 +[21:41:11.192] After Reprojection Map nPoint:1777 ,nCell:62 ,nMatches:47 ,distance between two frames x:0.009480 ,z=0.004441,angle between two frames:0.027305 +[21:41:11.194] n deleted obs = 1044 n obs with reprojection error less than 0.5 px =372 error init =0.798356 error end=0.798356 +[21:41:11.194] After pose optimization, distance between two frames x:0.009480 ,z=0.004441,angle between two frames:0.027305 +[21:41:11.194] Update EKF and 3D points, distance between two frames x:0.010663 ,z=0.005001,angle between two frames:0.028150 +[21:41:11.196] Choose frame as a key frame Scene Depth mean:54.044476 ,depth min:0.879767 +[21:41:11.204] Image Alignment failed 0 +[21:41:11.298] Odometry x=0.297986, y=1.616896, theta=2.001165 +[21:41:11.388] Odometry x=0.301446, y=1.618487, theta=2.000116 +[21:41:11.487] Odometry x=0.304914, y=1.620076, theta=2.001820 +[21:41:11.596] Odometry x=0.308394, y=1.621678, theta=2.003167 +[21:41:11.688] Odometry x=0.312229, y=1.623446, theta=2.002567 +[21:41:11.788] Odometry x=0.315361, y=1.624892, theta=2.000613 +[21:41:11.793] After Reprojection Map nPoint:1881 ,nCell:81 ,nMatches:56 ,distance between two frames x:0.007313 ,z=0.003466,angle between two frames:0.005161 +[21:41:11.795] n deleted obs = 1119 n obs with reprojection error less than 0.5 px =383 error init =0.808990 error end=0.808990 +[21:41:11.795] After pose optimization, distance between two frames x:0.007313 ,z=0.003466,angle between two frames:0.005161 +[21:41:11.795] Update EKF and 3D points, distance between two frames x:0.008519 ,z=0.004021,angle between two frames:0.004879 +[21:41:11.797] Choose frame as a key frame Scene Depth mean:8.132820 ,depth min:0.578471 +[21:41:11.805] Image Alignment failed 0 +[21:41:11.897] Odometry x=0.306654, y=1.620883, theta=2.009051 +[21:41:11.994] Odometry x=0.310360, y=1.622619, theta=2.013393 +[21:41:12.092] Odometry x=0.313635, y=1.624170, theta=2.019631 +[21:41:12.197] Odometry x=0.317295, y=1.625933, theta=2.024736 +[21:41:12.289] Odometry x=0.320895, y=1.627690, theta=2.023876 +[21:41:12.393] Odometry x=0.323987, y=1.629197, theta=2.026376 +[21:41:12.402] After Reprojection Map nPoint:1933 ,nCell:93 ,nMatches:66 ,distance between two frames x:0.007451 ,z=0.003428,angle between two frames:0.001632 +[21:41:12.405] n deleted obs = 1116 n obs with reprojection error less than 0.5 px =411 error init =0.786202 error end=0.786202 +[21:41:12.405] After pose optimization, distance between two frames x:0.007451 ,z=0.003428,angle between two frames:0.001632 +[21:41:12.405] Update EKF and 3D points, distance between two frames x:0.008669 ,z=0.004015,angle between two frames:0.000362 +[21:41:12.407] Choose frame as a key frame Scene Depth mean:82837841113.599213 ,depth min:0.393913 +[21:41:12.415] Image Alignment failed 0 +[21:41:12.491] Odometry x=0.315399, y=1.625093, theta=2.012721 +[21:41:12.594] Odometry x=0.318678, y=1.626643, theta=2.016160 +[21:41:12.693] Odometry x=0.322274, y=1.628364, theta=2.012696 +[21:41:12.791] Odometry x=0.325675, y=1.629972, theta=2.012175 +[21:41:12.889] Odometry x=0.328909, y=1.631502, theta=2.013175 +[21:41:12.996] Odometry x=0.332310, y=1.633114, theta=2.014106 +[21:41:13.020] After Reprojection Map nPoint:1968 ,nCell:114 ,nMatches:67 ,distance between two frames x:0.007529 ,z=0.003625,angle between two frames:0.007819 +[21:41:13.023] n deleted obs = 1162 n obs with reprojection error less than 0.5 px =390 error init =0.813034 error end=0.813034 +[21:41:13.023] After pose optimization, distance between two frames x:0.007529 ,z=0.003625,angle between two frames:0.007819 +[21:41:13.023] Update EKF and 3D points, distance between two frames x:0.008724 ,z=0.004192,angle between two frames:0.007900 +[21:41:13.025] Choose frame as a key frame Scene Depth mean:9.713443 ,depth min:0.587932 +[21:41:13.033] Image Alignment failed 0 +[21:41:13.102] Odometry x=0.323973, y=1.629160, theta=2.014604 +[21:41:13.189] Odometry x=0.327600, y=1.630882, theta=2.022490 +[21:41:13.293] Odometry x=0.330639, y=1.632359, theta=2.027676 +[21:41:13.399] Odometry x=0.334233, y=1.634122, theta=2.037576 +[21:41:13.492] Odometry x=0.337357, y=1.635702, theta=2.041962 +[21:41:13.589] Odometry x=0.341019, y=1.637566, theta=2.053170 +[21:41:13.634] After Reprojection Map nPoint:1885 ,nCell:71 ,nMatches:54 ,distance between two frames x:0.007381 ,z=0.003502,angle between two frames:0.000889 +[21:41:13.636] n deleted obs = 1164 n obs with reprojection error less than 0.5 px =323 error init =0.828903 error end=0.828903 +[21:41:13.636] After pose optimization, distance between two frames x:0.007381 ,z=0.003502,angle between two frames:0.000889 +[21:41:13.636] Update EKF and 3D points, distance between two frames x:0.008556 ,z=0.004087,angle between two frames:0.003567 +[21:41:13.638] Choose frame as a key frame Scene Depth mean:5.898798 ,depth min:0.592633 +[21:41:13.646] Image Alignment failed 0 +[21:41:13.695] Odometry x=0.332420, y=1.633369, theta=2.039219 +[21:41:13.795] Odometry x=0.336072, y=1.635215, theta=2.048113 +[21:41:13.893] Odometry x=0.339452, y=1.636966, theta=2.054369 +[21:41:13.992] Odometry x=0.342853, y=1.638753, theta=2.060338 +[21:41:14.099] Odometry x=0.346047, y=1.640460, theta=2.061952 +[21:41:14.195] Odometry x=0.349749, y=1.642437, theta=2.069599 +[21:41:14.252] After Reprojection Map nPoint:1714 ,nCell:55 ,nMatches:49 ,distance between two frames x:0.007265 ,z=0.003617,angle between two frames:0.017041 +[21:41:14.254] n deleted obs = 1044 n obs with reprojection error less than 0.5 px =332 error init =0.801231 error end=0.801231 +[21:41:14.254] After pose optimization, distance between two frames x:0.007265 ,z=0.003617,angle between two frames:0.017041 +[21:41:14.254] Update EKF and 3D points, distance between two frames x:0.008459 ,z=0.004246,angle between two frames:0.019121 +[21:41:14.256] Choose frame as a key frame Scene Depth mean:8.422315 ,depth min:0.750062 +[21:41:14.297] Odometry x=0.340983, y=1.637876, theta=2.049937 +[21:41:14.395] Odometry x=0.344370, y=1.639635, theta=2.050304 +[21:41:14.493] Odometry x=0.347732, y=1.641385, theta=2.051122 +[21:41:14.596] Odometry x=0.350941, y=1.643056, theta=2.050390 +[21:41:14.698] Odometry x=0.354491, y=1.644906, theta=2.049514 +[21:41:14.797] Odometry x=0.357878, y=1.646664, theta=2.045738 +[21:41:14.856] After Reprojection Map nPoint:1834 ,nCell:57 ,nMatches:45 ,distance between two frames x:0.007376 ,z=0.003886,angle between two frames:0.012746 +[21:41:14.861] n deleted obs = 146 n obs with reprojection error less than 0.5 px =1324 error init =0.852661 error end=0.268495 +[21:41:14.861] After pose optimization, distance between two frames x:0.405231 ,z=-8.644535,angle between two frames:0.878869 +[21:41:14.898] Odometry x=0.361277, y=1.648422, theta=2.045615 +[21:41:14.993] Odometry x=0.364669, y=1.650166, theta=2.045646 +[21:41:15.097] Odometry x=0.367888, y=1.651827, theta=2.043083 +[21:41:15.201] Odometry x=0.371454, y=1.653648, theta=2.046410 +[21:41:15.294] Odometry x=0.374998, y=1.655483, theta=2.044359 +[21:41:15.393] Odometry x=0.378144, y=1.657095, theta=2.050504 +[21:41:15.462] After Reprojection Map nPoint:1739 ,nCell:133 ,nMatches:50 ,distance between two frames x:0.000001 ,z=-0.000014,angle between two frames:0.000020 +[21:41:15.464] n deleted obs = 1061 n obs with reprojection error less than 0.5 px =280 error init =0.855017 error end=0.855017 +[21:41:15.464] After pose optimization, distance between two frames x:0.000001 ,z=-0.000014,angle between two frames:0.000020 +[21:41:15.464] Update EKF and 3D points, distance between two frames x:0.001179 ,z=0.000594,angle between two frames:0.000508 +[21:41:15.465] Choose frame as a key frame Scene Depth mean:-9892053086.151850 ,depth min:-2769774880967.699219 +[21:41:15.474] Image Alignment failed 0 +[21:41:15.504] Odometry x=0.369736, y=1.652777, theta=2.050707 +[21:41:15.593] Odometry x=0.373458, y=1.654713, theta=2.052785 +[21:41:15.687] Odometry x=0.376484, y=1.656312, theta=2.056255 +[21:41:15.798] Odometry x=0.379525, y=1.657917, theta=2.058948 +[21:41:15.889] Odometry x=0.383531, y=1.660070, theta=2.061815 +[21:41:15.988] Odometry x=0.386561, y=1.661690, theta=2.065540 +[21:41:16.074] After Reprojection Map nPoint:1847 ,nCell:59 ,nMatches:54 ,distance between two frames x:0.007276 ,z=0.003760,angle between two frames:0.003618 +[21:41:16.077] n deleted obs = 1169 n obs with reprojection error less than 0.5 px =324 error init =0.845117 error end=0.845117 +[21:41:16.077] After pose optimization, distance between two frames x:0.007276 ,z=0.003760,angle between two frames:0.003618 +[21:41:16.077] Update EKF and 3D points, distance between two frames x:0.008448 ,z=0.004383,angle between two frames:0.004860 +[21:41:16.078] Choose frame as a key frame Scene Depth mean:9.651017 ,depth min:0.771488 +[21:41:16.086] Image Alignment failed 0 +[21:41:16.094] Odometry x=0.378158, y=1.657256, theta=2.059222 +[21:41:16.193] Odometry x=0.381451, y=1.659004, theta=2.052068 +[21:41:16.293] Odometry x=0.384853, y=1.660782, theta=2.057186 +[21:41:16.396] Odometry x=0.388192, y=1.662554, theta=2.053476 +[21:41:16.493] Odometry x=0.391765, y=1.664444, theta=2.058331 +[21:41:16.595] Odometry x=0.395013, y=1.666170, theta=2.058031 +[21:41:16.695] After Reprojection Map nPoint:1830 ,nCell:70 ,nMatches:57 ,distance between two frames x:0.007248 ,z=0.003856,angle between two frames:0.008568 +[21:41:16.697] Odometry x=0.398387, y=1.667960, theta=2.059038 +[21:41:16.698] n deleted obs = 1162 n obs with reprojection error less than 0.5 px =316 error init =0.855534 error end=0.855534 +[21:41:16.698] After pose optimization, distance between two frames x:0.007248 ,z=0.003856,angle between two frames:0.008568 +[21:41:16.698] Update EKF and 3D points, distance between two frames x:0.008942 ,z=0.004753,angle between two frames:0.008631 +[21:41:16.699] Choose frame as a key frame Scene Depth mean:8.722604 ,depth min:0.874214 +[21:41:16.707] Image Alignment failed 0 +[21:41:16.795] Odometry x=0.390318, y=1.663693, theta=2.064774 +[21:41:16.895] Odometry x=0.393683, y=1.665503, theta=2.071551 +[21:41:16.991] Odometry x=0.397024, y=1.667331, theta=2.076247 +[21:41:17.091] Odometry x=0.400346, y=1.669187, theta=2.086461 +[21:41:17.190] Odometry x=0.403514, y=1.670982, theta=2.100241 +[21:41:17.292] Odometry x=0.406792, y=1.672912, theta=2.112319 +[21:41:17.322] After Reprojection Map nPoint:1899 ,nCell:80 ,nMatches:61 ,distance between two frames x:0.010470 ,z=0.005541,angle between two frames:0.001041 +[21:41:17.325] n deleted obs = 1214 n obs with reprojection error less than 0.5 px =308 error init =0.860216 error end=0.860216 +[21:41:17.325] After pose optimization, distance between two frames x:0.010470 ,z=0.005541,angle between two frames:0.001041 +[21:41:17.325] Update EKF and 3D points, distance between two frames x:0.011619 ,z=0.006192,angle between two frames:0.004654 +[21:41:17.326] Choose frame as a key frame Scene Depth mean:3.514594 ,depth min:0.578279 +[21:41:17.334] Image Alignment failed 0 +[21:41:17.393] Odometry x=0.398564, y=1.668366, theta=2.087705 +[21:41:17.493] Odometry x=0.401891, y=1.670268, theta=2.095648 +[21:41:17.593] Odometry x=0.405176, y=1.672181, theta=2.093970 +[21:41:17.691] Odometry x=0.408466, y=1.674093, theta=2.103924 +[21:41:17.791] Odometry x=0.411731, y=1.676023, theta=2.104619 +[21:41:17.899] Odometry x=0.415037, y=1.677977, theta=2.118257 +[21:41:17.962] After Reprojection Map nPoint:1817 ,nCell:75 ,nMatches:55 ,distance between two frames x:0.007104 ,z=0.004022,angle between two frames:0.022811 +[21:41:17.964] n deleted obs = 1124 n obs with reprojection error less than 0.5 px =306 error init =0.829563 error end=0.829563 +[21:41:17.964] After pose optimization, distance between two frames x:0.007104 ,z=0.004022,angle between two frames:0.022811 +[21:41:17.965] Update EKF and 3D points, distance between two frames x:0.008260 ,z=0.004702,angle between two frames:0.023909 +[21:41:17.966] Choose frame as a key frame Scene Depth mean:8.549419 ,depth min:0.734029 +[21:41:17.974] Image Alignment failed 0 +[21:41:17.993] Odometry x=0.406841, y=1.673233, theta=2.090897 +[21:41:18.093] Odometry x=0.409934, y=1.675010, theta=2.099972 +[21:41:18.193] Odometry x=0.413220, y=1.676940, theta=2.098172 +[21:41:18.291] Odometry x=0.416516, y=1.678869, theta=2.101663 +[21:41:18.393] Odometry x=0.419806, y=1.680811, theta=2.096457 +[21:41:18.498] Odometry x=0.423103, y=1.682738, theta=2.100378 +[21:41:18.587] After Reprojection Map nPoint:1773 ,nCell:78 ,nMatches:58 ,distance between two frames x:0.007140 ,z=0.004203,angle between two frames:0.006246 +[21:41:18.590] n deleted obs = 1039 n obs with reprojection error less than 0.5 px =347 error init =0.822095 error end=0.822095 +[21:41:18.590] After pose optimization, distance between two frames x:0.007140 ,z=0.004203,angle between two frames:0.006246 +[21:41:18.590] Update EKF and 3D points, distance between two frames x:0.008280 ,z=0.004870,angle between two frames:0.006350 +[21:41:18.591] Choose frame as a key frame Scene Depth mean:37765021923.363396 ,depth min:0.799770 +[21:41:18.594] Odometry x=0.408011, y=1.673917, theta=2.092919 +[21:41:18.600] Image Alignment failed 0 +[21:41:18.692] Odometry x=0.412193, y=1.676329, theta=2.096274 +[21:41:18.791] Odometry x=0.415378, y=1.678180, theta=2.093964 +[21:41:18.889] Odometry x=0.418599, y=1.680044, theta=2.096563 +[21:41:18.987] Odometry x=0.421982, y=1.682013, theta=2.098256 +[21:41:19.096] Odometry x=0.425184, y=1.683888, theta=2.103703 +[21:41:19.188] Odometry x=0.428722, y=1.685976, theta=2.105475 +[21:41:19.198] After Reprojection Map nPoint:1689 ,nCell:57 ,nMatches:50 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:41:19.200] n deleted obs = 1052 n obs with reprojection error less than 0.5 px =292 error init =0.827065 error end=0.827065 +[21:41:19.200] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:41:19.200] Update EKF and 3D points, distance between two frames x:0.001388 ,z=0.000810,angle between two frames:0.000747 +[21:41:19.202] Choose frame as a key frame Scene Depth mean:3.841152 ,depth min:0.800727 +[21:41:19.210] Image Alignment failed 0 +[21:41:19.291] Odometry x=0.417974, y=1.679734, theta=2.102990 +[21:41:19.392] Odometry x=0.421253, y=1.681674, theta=2.098526 +[21:41:19.489] Odometry x=0.424533, y=1.683591, theta=2.107778 +[21:41:19.591] Odometry x=0.427807, y=1.685543, theta=2.105573 +[21:41:19.693] Odometry x=0.431088, y=1.687485, theta=2.109764 +[21:41:19.790] Odometry x=0.434543, y=1.689557, theta=2.104533 +[21:41:19.846] After Reprojection Map nPoint:1913 ,nCell:76 ,nMatches:57 ,distance between two frames x:0.008577 ,z=0.005006,angle between two frames:0.004675 +[21:41:19.848] n deleted obs = 1181 n obs with reprojection error less than 0.5 px =351 error init =0.817005 error end=0.817005 +[21:41:19.848] After pose optimization, distance between two frames x:0.008577 ,z=0.005006,angle between two frames:0.004675 +[21:41:19.848] Update EKF and 3D points, distance between two frames x:0.009722 ,z=0.005684,angle between two frames:0.005507 +[21:41:19.850] Choose frame as a key frame Scene Depth mean:9.688289 ,depth min:0.663272 +[21:41:19.866] Image Alignment failed 0 +[21:41:19.893] Odometry x=0.426170, y=1.684593, theta=2.110138 +[21:41:19.992] Odometry x=0.429386, y=1.686532, theta=2.106158 +[21:41:20.089] Odometry x=0.432671, y=1.688484, theta=2.110593 +[21:41:20.191] Odometry x=0.435946, y=1.690447, theta=2.108561 +[21:41:20.293] Odometry x=0.439229, y=1.692404, theta=2.109315 +[21:41:20.390] Odometry x=0.442496, y=1.694361, theta=2.099163 +[21:41:20.479] After Reprojection Map nPoint:1747 ,nCell:78 ,nMatches:57 ,distance between two frames x:0.007073 ,z=0.004194,angle between two frames:0.005838 +[21:41:20.483] n deleted obs = 766 n obs with reprojection error less than 0.5 px =611 error init =0.806471 error end=0.633204 +[21:41:20.483] After pose optimization, distance between two frames x:-0.465745 ,z=-0.391029,angle between two frames:0.921729 +[21:41:20.491] Image Alignment failed 0 +[21:41:20.492] Odometry x=0.445790, y=1.696292, theta=2.103035 +[21:41:20.593] Odometry x=0.449084, y=1.698228, theta=2.117437 +[21:41:20.690] Odometry x=0.452346, y=1.700212, theta=2.132179 +[21:41:20.792] Odometry x=0.455569, y=1.702237, theta=2.140312 +[21:41:20.893] Odometry x=0.458777, y=1.704285, theta=2.158657 +[21:41:20.989] Odometry x=0.461953, y=1.706405, theta=2.160106 +[21:41:21.092] Odometry x=0.465119, y=1.708521, theta=2.165525 +[21:41:21.110] After Reprojection Map nPoint:1780 ,nCell:76 ,nMatches:51 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000960 +[21:41:21.113] n deleted obs = 914 n obs with reprojection error less than 0.5 px =445 error init =0.819001 error end=0.803846 +[21:41:21.113] After pose optimization, distance between two frames x:-0.442480 ,z=-0.422505,angle between two frames:0.768602 +[21:41:21.121] Image Alignment failed 0 +[21:41:21.194] Odometry x=0.468281, y=1.710667, theta=2.161433 +[21:41:21.292] Odometry x=0.471446, y=1.712793, theta=2.163872 +[21:41:21.398] Odometry x=0.474539, y=1.714884, theta=2.162980 +[21:41:21.494] Odometry x=0.477988, y=1.717204, theta=2.158626 +[21:41:21.590] Odometry x=0.480918, y=1.719162, theta=2.152595 +[21:41:21.695] Odometry x=0.483987, y=1.721182, theta=2.159975 +[21:41:21.737] After Reprojection Map nPoint:1828 ,nCell:81 ,nMatches:57 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:41:21.753] n deleted obs = 422 n obs with reprojection error less than 0.5 px =1012 error init =0.869033 error end=0.386406 +[21:41:21.753] After pose optimization, distance between two frames x:-0.459668 ,z=-0.074967,angle between two frames:5.031254 +[21:41:21.761] Image Alignment failed 0 +[21:41:21.794] Odometry x=0.487250, y=1.723366, theta=2.154779 +[21:41:21.897] Odometry x=0.490558, y=1.725552, theta=2.148237 +[21:41:21.994] Odometry x=0.493755, y=1.727639, theta=2.146575 +[21:41:22.096] Odometry x=0.496956, y=1.729715, theta=2.151893 +[21:41:22.193] Odometry x=0.500148, y=1.731813, theta=2.157438 +[21:41:22.296] Odometry x=0.503331, y=1.733926, theta=2.166798 +[21:41:22.377] After Reprojection Map nPoint:1823 ,nCell:106 ,nMatches:55 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:41:22.379] n deleted obs = 1061 n obs with reprojection error less than 0.5 px =333 error init =0.834513 error end=0.834513 +[21:41:22.379] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:41:22.379] Update EKF and 3D points, distance between two frames x:0.001120 ,z=0.000739,angle between two frames:0.001274 +[21:41:22.381] Choose frame as a key frame Scene Depth mean:1360698427.079347 ,depth min:0.769791 +[21:41:22.389] Image Alignment failed 0 +[21:41:22.400] Odometry x=0.495295, y=1.728676, theta=2.165401 +[21:41:22.493] Odometry x=0.498618, y=1.730917, theta=2.174445 +[21:41:22.595] Odometry x=0.501623, y=1.732991, theta=2.181518 +[21:41:22.697] Odometry x=0.504763, y=1.735180, theta=2.193939 +[21:41:22.790] Odometry x=0.508018, y=1.737517, theta=2.205701 +[21:41:22.892] Odometry x=0.510785, y=1.739552, theta=2.216920 +[21:41:22.991] After Reprojection Map nPoint:1644 ,nCell:77 ,nMatches:53 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:41:22.991] Odometry x=0.513833, y=1.741851, theta=2.219450 +[21:41:22.997] n deleted obs = 358 n obs with reprojection error less than 0.5 px =951 error init =0.807200 error end=0.405029 +[21:41:22.997] After pose optimization, distance between two frames x:-0.501728 ,z=-0.188631,angle between two frames:5.072945 +[21:41:23.022] Image Alignment failed 0 +[21:41:23.093] Odometry x=0.516868, y=1.744143, theta=2.219239 +[21:41:23.191] Odometry x=0.520059, y=1.746561, theta=2.221752 +[21:41:23.292] Odometry x=0.522937, y=1.748759, theta=2.214658 +[21:41:23.391] Odometry x=0.525989, y=1.751047, theta=2.218238 +[21:41:23.490] Odometry x=0.529034, y=1.753352, theta=2.213420 +[21:41:23.593] Odometry x=0.532065, y=1.755621, theta=2.212034 +[21:41:23.636] After Reprojection Map nPoint:1906 ,nCell:145 ,nMatches:66 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:41:23.692] n deleted obs = 1046 n obs with reprojection error less than 0.5 px =411 error init =0.892200 error end=0.777705 +[21:41:23.692] After pose optimization, distance between two frames x:-0.216802 ,z=-0.048686,angle between two frames:0.360361 +[21:41:24.319] After Reprojection Map nPoint:1739 ,nCell:63 ,nMatches:50 ,distance between two frames x:-0.000005 ,z=0.000004,angle between two frames:0.000613 +[21:41:24.325] n deleted obs = 308 n obs with reprojection error less than 0.5 px =1023 error init =0.822926 error end=0.349673 +[21:41:24.325] After pose optimization, distance between two frames x:-0.565479 ,z=-0.126316,angle between two frames:5.177632 +[21:41:24.958] After Reprojection Map nPoint:1917 ,nCell:151 ,nMatches:59 ,distance between two frames x:0.000000 ,z=-0.000004,angle between two frames:0.000270 +[21:41:24.965] n deleted obs = 374 n obs with reprojection error less than 0.5 px =1056 error init =0.848796 error end=0.370162 +[21:41:24.965] After pose optimization, distance between two frames x:-0.569236 ,z=-0.115871,angle between two frames:5.219620 +[21:41:25.602] After Reprojection Map nPoint:2016 ,nCell:134 ,nMatches:55 ,distance between two frames x:0.000000 ,z=-0.000003,angle between two frames:0.000206 +[21:41:25.622] n deleted obs = 185 n obs with reprojection error less than 0.5 px =1324 error init =0.878680 error end=0.272770 +[21:41:25.622] After pose optimization, distance between two frames x:-0.645416 ,z=0.469006,angle between two frames:5.326567 +[21:41:26.260] After Reprojection Map nPoint:2032 ,nCell:160 ,nMatches:55 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.000002 +[21:41:26.266] n deleted obs = 452 n obs with reprojection error less than 0.5 px =1060 error init =0.908354 error end=0.398036 +[21:41:26.266] After pose optimization, distance between two frames x:-0.603122 ,z=-0.114853,angle between two frames:5.320567 +[21:41:26.917] After Reprojection Map nPoint:1952 ,nCell:134 ,nMatches:59 ,distance between two frames x:-0.000005 ,z=0.000041,angle between two frames:0.000046 +[21:41:26.920] n deleted obs = 1168 n obs with reprojection error less than 0.5 px =282 error init =0.907687 error end=0.907687 +[21:41:26.920] After pose optimization, distance between two frames x:-0.000005 ,z=0.000041,angle between two frames:0.000046 +[21:41:26.920] Update EKF and 3D points, distance between two frames x:-0.000005 ,z=0.000038,angle between two frames:0.001108 +[21:41:26.921] Choose frame as a key frame Scene Depth mean:-70638899170.609009 ,depth min:-19920169568657.671875 +[21:41:26.929] Image Alignment failed 0 +[21:41:27.541] After Reprojection Map nPoint:1932 ,nCell:66 ,nMatches:56 ,distance between two frames x:0.000001 ,z=-0.000016,angle between two frames:0.007224 +[21:41:27.544] n deleted obs = 1187 n obs with reprojection error less than 0.5 px =339 error init =0.875866 error end=0.875866 +[21:41:27.544] After pose optimization, distance between two frames x:0.000001 ,z=-0.000016,angle between two frames:0.007224 +[21:41:27.544] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000016,angle between two frames:0.008325 +[21:41:27.545] Choose frame as a key frame Scene Depth mean:38.618658 ,depth min:0.786777 +[21:41:27.554] Image Alignment failed 0 +[21:41:28.183] After Reprojection Map nPoint:1944 ,nCell:78 ,nMatches:62 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.006899 +[21:41:28.191] n deleted obs = 410 n obs with reprojection error less than 0.5 px =1141 error init =0.863752 error end=0.375839 +[21:41:28.191] After pose optimization, distance between two frames x:-0.589129 ,z=-0.073561,angle between two frames:5.283517 +[21:41:28.199] Image Alignment failed 0 +[21:41:28.834] After Reprojection Map nPoint:2125 ,nCell:148 ,nMatches:60 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000149 +[21:41:28.837] n deleted obs = 1309 n obs with reprojection error less than 0.5 px =305 error init =0.897969 error end=0.897969 +[21:41:28.837] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000149 +[21:41:28.837] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.001273 +[21:41:28.838] Choose frame as a key frame Scene Depth mean:9.678327 ,depth min:0.773202 +[21:41:28.847] Image Alignment failed 0 +[21:41:29.474] After Reprojection Map nPoint:2071 ,nCell:72 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007185 +[21:41:29.477] n deleted obs = 1329 n obs with reprojection error less than 0.5 px =331 error init =0.906842 error end=0.906842 +[21:41:29.477] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007185 +[21:41:29.477] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.008314 +[21:41:29.478] Choose frame as a key frame Scene Depth mean:8.481718 ,depth min:0.781137 +[21:41:30.142] After Reprojection Map nPoint:2111 ,nCell:68 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007067 +[21:41:30.145] n deleted obs = 1337 n obs with reprojection error less than 0.5 px =362 error init =0.907491 error end=0.907491 +[21:41:30.145] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007067 +[21:41:30.145] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=-0.000001,angle between two frames:0.008244 +[21:41:30.147] Choose frame as a key frame Scene Depth mean:9.103130 ,depth min:0.581700 +[21:41:30.821] After Reprojection Map nPoint:2214 ,nCell:70 ,nMatches:59 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007367 +[21:41:30.826] n deleted obs = 823 n obs with reprojection error less than 0.5 px =973 error init =0.880756 error end=0.528005 +[21:41:30.826] After pose optimization, distance between two frames x:-0.815257 ,z=-0.143869,angle between two frames:5.280301 +[21:41:31.297] After Reprojection Map nPoint:2096 ,nCell:90 ,nMatches:55 ,distance between two frames x:-0.000000 ,z=-0.000005,angle between two frames:0.000159 +[21:41:31.326] n deleted obs = 297 n obs with reprojection error less than 0.5 px =1349 error init =0.926167 error end=0.342871 +[21:41:31.326] After pose optimization, distance between two frames x:-0.454624 ,z=0.084702,angle between two frames:5.376281 +[21:41:31.662] After Reprojection Map nPoint:2056 ,nCell:161 ,nMatches:58 ,distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000146 +[21:41:31.664] n deleted obs = 1222 n obs with reprojection error less than 0.5 px =338 error init =0.902964 error end=0.902964 +[21:41:31.664] After pose optimization, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000146 +[21:41:31.664] Update EKF and 3D points, distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000750 +[21:41:31.665] Choose frame as a key frame Scene Depth mean:5.031438 ,depth min:0.751021 +[21:41:32.006] After Reprojection Map nPoint:2149 ,nCell:66 ,nMatches:56 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.003824 +[21:41:32.008] n deleted obs = 1397 n obs with reprojection error less than 0.5 px =348 error init =0.918483 error end=0.918483 +[21:41:32.008] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.003824 +[21:41:32.008] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.004424 +[21:41:32.009] Choose frame as a key frame Scene Depth mean:4.083862 ,depth min:0.609910 +[21:41:32.425] After Reprojection Map nPoint:2306 ,nCell:71 ,nMatches:59 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.003812 +[21:41:32.437] n deleted obs = 402 n obs with reprojection error less than 0.5 px =1479 error init =0.889628 error end=0.346667 +[21:41:32.438] After pose optimization, distance between two frames x:-0.581516 ,z=0.068044,angle between two frames:5.358939 +[21:41:33.099] After Reprojection Map nPoint:2237 ,nCell:133 ,nMatches:55 ,distance between two frames x:0.000000 ,z=-0.000004,angle between two frames:0.000004 +[21:41:33.144] n deleted obs = 269 n obs with reprojection error less than 0.5 px =1466 error init =0.899302 error end=0.320061 +[21:41:33.145] After pose optimization, distance between two frames x:-0.516303 ,z=0.168464,angle between two frames:5.352644 +[21:41:33.796] After Reprojection Map nPoint:2197 ,nCell:154 ,nMatches:57 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000257 +[21:41:33.799] n deleted obs = 1326 n obs with reprojection error less than 0.5 px =356 error init =0.892067 error end=0.892067 +[21:41:33.799] After pose optimization, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000257 +[21:41:33.799] Update EKF and 3D points, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.001410 +[21:41:33.801] Choose frame as a key frame Scene Depth mean:6.154728 ,depth min:0.764194 +[21:41:34.481] After Reprojection Map nPoint:2179 ,nCell:75 ,nMatches:56 ,distance between two frames x:-0.000002 ,z=-0.000000,angle between two frames:0.007515 +[21:41:34.484] n deleted obs = 1374 n obs with reprojection error less than 0.5 px =410 error init =0.887957 error end=0.887957 +[21:41:34.484] After pose optimization, distance between two frames x:-0.000002 ,z=-0.000000,angle between two frames:0.007515 +[21:41:34.484] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=-0.000001,angle between two frames:0.008707 +[21:41:34.486] Choose frame as a key frame Scene Depth mean:1938682731828.995361 ,depth min:-85199097961138.281250 +[21:41:35.177] After Reprojection Map nPoint:2215 ,nCell:75 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007613 +[21:41:35.180] n deleted obs = 1469 n obs with reprojection error less than 0.5 px =350 error init =0.922006 error end=0.922006 +[21:41:35.180] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007613 +[21:41:35.180] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.008827 +[21:41:35.182] Choose frame as a key frame Scene Depth mean:-36863263255.107124 ,depth min:-12902142141445.443359 +[21:41:35.866] After Reprojection Map nPoint:2259 ,nCell:78 ,nMatches:54 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007592 +[21:41:35.869] n deleted obs = 1432 n obs with reprojection error less than 0.5 px =412 error init =0.891510 error end=0.891510 +[21:41:35.869] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007592 +[21:41:35.869] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.008808 +[21:41:35.871] Choose frame as a key frame Scene Depth mean:12.120293 ,depth min:0.651915 +[21:41:36.570] After Reprojection Map nPoint:2308 ,nCell:78 ,nMatches:60 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007604 +[21:41:36.574] n deleted obs = 1462 n obs with reprojection error less than 0.5 px =419 error init =0.893214 error end=0.893214 +[21:41:36.574] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007604 +[21:41:36.574] Update EKF and 3D points, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.008840 +[21:41:36.576] Choose frame as a key frame Scene Depth mean:1899193883048.694092 ,depth min:0.763503 +[21:41:37.272] After Reprojection Map nPoint:2209 ,nCell:68 ,nMatches:54 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007977 +[21:41:37.275] n deleted obs = 1396 n obs with reprojection error less than 0.5 px =382 error init =0.897614 error end=0.897614 +[21:41:37.275] After pose optimization, distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007977 +[21:41:37.275] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=-0.000002,angle between two frames:0.009199 +[21:41:37.277] Choose frame as a key frame Scene Depth mean:448076570429.092712 ,depth min:0.664262 +[21:41:37.987] After Reprojection Map nPoint:2292 ,nCell:66 ,nMatches:52 ,distance between two frames x:-0.000002 ,z=-0.000003,angle between two frames:0.007753 +[21:41:37.991] n deleted obs = 1440 n obs with reprojection error less than 0.5 px =421 error init =0.913098 error end=0.913098 +[21:41:37.991] After pose optimization, distance between two frames x:-0.000002 ,z=-0.000003,angle between two frames:0.007753 +[21:41:37.991] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=-0.000003,angle between two frames:0.009013 +[21:41:37.993] Choose frame as a key frame Scene Depth mean:5.933454 ,depth min:0.706346 +[21:41:38.703] After Reprojection Map nPoint:2398 ,nCell:78 ,nMatches:57 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007883 +[21:41:38.717] n deleted obs = 442 n obs with reprojection error less than 0.5 px =1519 error init =0.898385 error end=0.376736 +[21:41:38.717] After pose optimization, distance between two frames x:-0.389619 ,z=0.048515,angle between two frames:5.558366 +[21:41:39.410] After Reprojection Map nPoint:2402 ,nCell:153 ,nMatches:57 ,distance between two frames x:0.000002 ,z=-0.000005,angle between two frames:0.000245 +[21:41:39.418] n deleted obs = 277 n obs with reprojection error less than 0.5 px =1574 error init =0.895651 error end=0.291820 +[21:41:39.418] After pose optimization, distance between two frames x:15.398818 ,z=108.704350,angle between two frames:4.807853 +[21:41:40.108] After Reprojection Map nPoint:2378 ,nCell:150 ,nMatches:62 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000160 +[21:41:40.113] n deleted obs = 153 n obs with reprojection error less than 0.5 px =1698 error init =0.907611 error end=0.224357 +[21:41:40.113] After pose optimization, distance between two frames x:-0.463999 ,z=1.780131,angle between two frames:2.465709 +[21:41:40.820] After Reprojection Map nPoint:2542 ,nCell:172 ,nMatches:60 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000156 +[21:41:40.823] n deleted obs = 1540 n obs with reprojection error less than 0.5 px =440 error init =0.911740 error end=0.911740 +[21:41:40.823] After pose optimization, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000156 +[21:41:40.823] Update EKF and 3D points, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.001395 +[21:41:40.825] Choose frame as a key frame Scene Depth mean:127768.866135 ,depth min:0.696445 +[21:41:41.548] After Reprojection Map nPoint:2358 ,nCell:72 ,nMatches:58 ,distance between two frames x:-0.000001 ,z=-0.000001,angle between two frames:0.007754 +[21:41:41.556] n deleted obs = 439 n obs with reprojection error less than 0.5 px =1496 error init =0.912032 error end=0.380881 +[21:41:41.556] After pose optimization, distance between two frames x:-0.378412 ,z=0.077856,angle between two frames:5.611352 +[21:41:42.259] After Reprojection Map nPoint:2522 ,nCell:129 ,nMatches:53 ,distance between two frames x:0.000001 ,z=-0.000004,angle between two frames:0.000156 +[21:41:42.264] n deleted obs = 1326 n obs with reprojection error less than 0.5 px =650 error init =0.911538 error end=0.727767 +[21:41:42.264] After pose optimization, distance between two frames x:-0.921494 ,z=0.025393,angle between two frames:4.830006 +[21:41:42.981] After Reprojection Map nPoint:2582 ,nCell:87 ,nMatches:60 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000149 +[21:41:42.984] n deleted obs = 1568 n obs with reprojection error less than 0.5 px =518 error init =0.895511 error end=0.895511 +[21:41:42.984] After pose optimization, distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000149 +[21:41:42.984] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000002,angle between two frames:0.001418 +[21:41:42.987] Choose frame as a key frame Scene Depth mean:6.037627 ,depth min:0.668119 +[21:41:43.712] After Reprojection Map nPoint:2348 ,nCell:60 ,nMatches:51 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.008088 +[21:41:43.717] n deleted obs = 1202 n obs with reprojection error less than 0.5 px =710 error init =0.903428 error end=0.666197 +[21:41:43.717] After pose optimization, distance between two frames x:-0.856093 ,z=0.097406,angle between two frames:4.913652 +[21:41:44.424] After Reprojection Map nPoint:2325 ,nCell:75 ,nMatches:59 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000168 +[21:41:44.429] n deleted obs = 1403 n obs with reprojection error less than 0.5 px =478 error init =0.893034 error end=0.762342 +[21:41:44.429] After pose optimization, distance between two frames x:246.810757 ,z=-272.865978,angle between two frames:0.811282 +[21:41:45.005] After Reprojection Map nPoint:2428 ,nCell:74 ,nMatches:55 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000161 +[21:41:45.007] n deleted obs = 1146 n obs with reprojection error less than 0.5 px =810 error init =0.908585 error end=0.591199 +[21:41:45.007] After pose optimization, distance between two frames x:-0.737875 ,z=0.121524,angle between two frames:5.045061 +[21:41:45.353] After Reprojection Map nPoint:2315 ,nCell:78 ,nMatches:56 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.000181 +[21:41:45.356] n deleted obs = 580 n obs with reprojection error less than 0.5 px =1293 error init =0.896581 error end=0.390122 +[21:41:45.356] After pose optimization, distance between two frames x:-1.896939 ,z=1.691300,angle between two frames:3.090912 +[21:41:45.707] After Reprojection Map nPoint:2384 ,nCell:119 ,nMatches:54 ,distance between two frames x:-0.000000 ,z=0.000003,angle between two frames:0.000159 +[21:41:45.709] n deleted obs = 522 n obs with reprojection error less than 0.5 px =1334 error init =0.862548 error end=0.370957 +[21:41:45.709] After pose optimization, distance between two frames x:-1.402600 ,z=1.553258,angle between two frames:3.457011 +[21:41:46.093] After Reprojection Map nPoint:2331 ,nCell:113 ,nMatches:53 ,distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000178 +[21:41:46.096] n deleted obs = 1393 n obs with reprojection error less than 0.5 px =444 error init =0.892481 error end=0.892481 +[21:41:46.096] After pose optimization, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000178 +[21:41:46.096] Update EKF and 3D points, distance between two frames x:0.000001 ,z=-0.000003,angle between two frames:0.000866 +[21:41:46.098] Choose frame as a key frame Scene Depth mean:6.637041 ,depth min:0.689559 +[21:41:46.839] After Reprojection Map nPoint:2453 ,nCell:69 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.004356 +[21:41:46.845] n deleted obs = 617 n obs with reprojection error less than 0.5 px =1387 error init =0.893860 error end=0.385089 +[21:41:46.845] After pose optimization, distance between two frames x:-1.516488 ,z=1.596616,angle between two frames:3.378871 +[21:41:47.562] After Reprojection Map nPoint:2501 ,nCell:119 ,nMatches:57 ,distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000149 +[21:41:47.565] n deleted obs = 1441 n obs with reprojection error less than 0.5 px =515 error init =0.872514 error end=0.872514 +[21:41:47.565] After pose optimization, distance between two frames x:0.000001 ,z=-0.000000,angle between two frames:0.000149 +[21:41:47.565] Update EKF and 3D points, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.001410 +[21:41:47.568] Choose frame as a key frame Scene Depth mean:38.569707 ,depth min:0.311259 +[21:41:48.322] After Reprojection Map nPoint:2493 ,nCell:66 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=-0.000002,angle between two frames:0.008212 +[21:41:48.329] n deleted obs = 983 n obs with reprojection error less than 0.5 px =1072 error init =0.895099 error end=0.503763 +[21:41:48.329] After pose optimization, distance between two frames x:-0.551720 ,z=0.095651,angle between two frames:5.189373 +[21:41:49.062] After Reprojection Map nPoint:2426 ,nCell:88 ,nMatches:52 ,distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000145 +[21:41:49.067] n deleted obs = 1512 n obs with reprojection error less than 0.5 px =425 error init =0.904320 error end=0.904320 +[21:41:49.067] After pose optimization, distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.000145 +[21:41:49.067] Update EKF and 3D points, distance between two frames x:-0.000002 ,z=0.000004,angle between two frames:0.001445 +[21:41:49.070] Choose frame as a key frame Scene Depth mean:225651080503.039490 ,depth min:0.341324 +[21:41:49.833] After Reprojection Map nPoint:2478 ,nCell:72 ,nMatches:60 ,distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.008282 +[21:41:49.837] n deleted obs = 1493 n obs with reprojection error less than 0.5 px =521 error init =0.853160 error end=0.853160 +[21:41:49.837] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000003,angle between two frames:0.008282 +[21:41:49.837] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000004,angle between two frames:0.009631 +[21:41:49.839] Choose frame as a key frame Scene Depth mean:9.558948 ,depth min:0.350536 +[21:41:50.605] After Reprojection Map nPoint:2477 ,nCell:80 ,nMatches:54 ,distance between two frames x:0.000000 ,z=-0.000002,angle between two frames:0.008580 +[21:41:50.611] n deleted obs = 211 n obs with reprojection error less than 0.5 px =1799 error init =0.833002 error end=0.270344 +[21:41:50.611] After pose optimization, distance between two frames x:-0.911904 ,z=0.737585,angle between two frames:3.079831 +[21:41:51.352] After Reprojection Map nPoint:2576 ,nCell:166 ,nMatches:54 ,distance between two frames x:0.000002 ,z=-0.000004,angle between two frames:0.000157 +[21:41:51.357] n deleted obs = 395 n obs with reprojection error less than 0.5 px =1598 error init =0.835020 error end=0.348241 +[21:41:51.357] After pose optimization, distance between two frames x:-1.079124 ,z=0.699806,angle between two frames:3.422673 +[21:41:52.117] After Reprojection Map nPoint:2650 ,nCell:138 ,nMatches:55 ,distance between two frames x:-0.000001 ,z=0.000004,angle between two frames:0.000148 +[21:41:52.122] n deleted obs = 475 n obs with reprojection error less than 0.5 px =1624 error init =0.857708 error end=0.349604 +[21:41:52.122] After pose optimization, distance between two frames x:-0.614108 ,z=1.308429,angle between two frames:4.166373 +[21:41:52.879] After Reprojection Map nPoint:2612 ,nCell:131 ,nMatches:60 ,distance between two frames x:-0.000002 ,z=0.000002,angle between two frames:0.000145 +[21:41:52.883] n deleted obs = 220 n obs with reprojection error less than 0.5 px =1843 error init =0.853010 error end=0.242220 +[21:41:52.883] After pose optimization, distance between two frames x:-0.698276 ,z=1.233148,angle between two frames:2.779929 +[21:41:53.258] After Reprojection Map nPoint:2651 ,nCell:178 ,nMatches:63 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000147 +[21:41:53.259] n deleted obs = 1470 n obs with reprojection error less than 0.5 px =580 error init =0.811286 error end=0.811286 +[21:41:53.259] After pose optimization, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000147 +[21:41:53.259] Update EKF and 3D points, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000818 +[21:41:53.261] Choose frame as a key frame Scene Depth mean:2647189432552.672363 ,depth min:0.454940 +[21:41:53.654] After Reprojection Map nPoint:2716 ,nCell:85 ,nMatches:61 ,distance between two frames x:0.000005 ,z=-0.000000,angle between two frames:0.000000 +[21:41:53.657] n deleted obs = 498 n obs with reprojection error less than 0.5 px =1691 error init =0.795592 error end=0.327015 +[21:41:53.657] After pose optimization, distance between two frames x:-17.469855 ,z=77.190473,angle between two frames:2.568100 +[21:41:54.026] After Reprojection Map nPoint:2531 ,nCell:128 ,nMatches:55 ,distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000001 +[21:41:54.028] n deleted obs = 1433 n obs with reprojection error less than 0.5 px =529 error init =0.818759 error end=0.818759 +[21:41:54.028] After pose optimization, distance between two frames x:0.000001 ,z=-0.000001,angle between two frames:0.000001 +[21:41:54.028] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000663 +[21:41:54.029] Choose frame as a key frame Scene Depth mean:30.746871 ,depth min:0.473523 +[21:41:54.801] After Reprojection Map nPoint:2393 ,nCell:65 ,nMatches:54 ,distance between two frames x:0.000005 ,z=0.000003,angle between two frames:0.004187 +[21:41:54.835] n deleted obs = 262 n obs with reprojection error less than 0.5 px =1654 error init =0.797007 error end=0.283814 +[21:41:54.835] After pose optimization, distance between two frames x:-0.461236 ,z=1.213910,angle between two frames:5.841019 +[21:41:55.605] After Reprojection Map nPoint:2632 ,nCell:166 ,nMatches:58 ,distance between two frames x:0.000003 ,z=-0.000001,angle between two frames:0.000206 +[21:41:55.608] n deleted obs = 1477 n obs with reprojection error less than 0.5 px =562 error init =0.794900 error end=0.794900 +[21:41:55.608] After pose optimization, distance between two frames x:0.000003 ,z=-0.000001,angle between two frames:0.000206 +[21:41:55.608] Update EKF and 3D points, distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.001559 +[21:41:55.611] Choose frame as a key frame Scene Depth mean:10.649703 ,depth min:0.507424 +[21:41:56.409] After Reprojection Map nPoint:2585 ,nCell:83 ,nMatches:58 ,distance between two frames x:0.000004 ,z=-0.000002,angle between two frames:0.008604 +[21:41:56.413] n deleted obs = 1520 n obs with reprojection error less than 0.5 px =565 error init =0.791154 error end=0.791154 +[21:41:56.413] After pose optimization, distance between two frames x:0.000004 ,z=-0.000002,angle between two frames:0.008604 +[21:41:56.413] Update EKF and 3D points, distance between two frames x:0.000004 ,z=-0.000002,angle between two frames:0.010015 +[21:41:56.416] Choose frame as a key frame Scene Depth mean:18461598.444285 ,depth min:0.554871 +[21:41:57.214] After Reprojection Map nPoint:2560 ,nCell:74 ,nMatches:58 ,distance between two frames x:0.000003 ,z=0.000002,angle between two frames:0.008810 +[21:41:57.219] n deleted obs = 448 n obs with reprojection error less than 0.5 px =1610 error init =0.799963 error end=0.349481 +[21:41:57.219] After pose optimization, distance between two frames x:-1.006257 ,z=1.067725,angle between two frames:3.700209 +[21:41:58.017] After Reprojection Map nPoint:2630 ,nCell:79 ,nMatches:58 ,distance between two frames x:0.000002 ,z=0.000009,angle between two frames:0.000001 +[21:41:58.021] n deleted obs = 415 n obs with reprojection error less than 0.5 px =1596 error init =0.769231 error end=0.342635 +[21:41:58.021] After pose optimization, distance between two frames x:-0.403210 ,z=0.786977,angle between two frames:4.424322 +[21:41:58.784] After Reprojection Map nPoint:2494 ,nCell:154 ,nMatches:58 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.000151 +[21:41:58.788] n deleted obs = 634 n obs with reprojection error less than 0.5 px =1284 error init =0.756280 error end=0.397791 +[21:41:58.788] After pose optimization, distance between two frames x:-0.405186 ,z=0.412863,angle between two frames:5.305706 +[21:41:59.548] After Reprojection Map nPoint:2449 ,nCell:108 ,nMatches:50 ,distance between two frames x:0.000002 ,z=-0.000002,angle between two frames:0.000151 +[21:41:59.553] n deleted obs = 202 n obs with reprojection error less than 0.5 px =1693 error init =0.768233 error end=0.246718 +[21:41:59.553] After pose optimization, distance between two frames x:-0.168500 ,z=1.706765,angle between two frames:3.612293 +[21:42:00.325] After Reprojection Map nPoint:2554 ,nCell:158 ,nMatches:53 ,distance between two frames x:-0.000001 ,z=0.000000,angle between two frames:0.000001 +[21:42:00.330] n deleted obs = 693 n obs with reprojection error less than 0.5 px =1265 error init =0.755846 error end=0.404874 +[21:42:00.330] After pose optimization, distance between two frames x:-0.433031 ,z=0.512055,angle between two frames:5.235744 +[21:42:01.114] After Reprojection Map nPoint:2623 ,nCell:137 ,nMatches:60 ,distance between two frames x:-0.000000 ,z=-0.000000,angle between two frames:0.000221 +[21:42:01.118] n deleted obs = 352 n obs with reprojection error less than 0.5 px =1668 error init =0.718153 error end=0.333090 +[21:42:01.118] After pose optimization, distance between two frames x:1.387182 ,z=3.076797,angle between two frames:3.511014 +[21:42:01.901] After Reprojection Map nPoint:2586 ,nCell:158 ,nMatches:57 ,distance between two frames x:0.000003 ,z=-0.000003,angle between two frames:0.000158 +[21:42:01.907] n deleted obs = 725 n obs with reprojection error less than 0.5 px =1251 error init =0.712927 error end=0.400764 +[21:42:01.907] After pose optimization, distance between two frames x:-0.505275 ,z=0.732368,angle between two frames:4.965972 +[21:42:02.696] After Reprojection Map nPoint:2543 ,nCell:102 ,nMatches:52 ,distance between two frames x:0.000003 ,z=-0.000003,angle between two frames:0.000001 +[21:42:02.700] n deleted obs = 480 n obs with reprojection error less than 0.5 px =1497 error init =0.704348 error end=0.371572 +[21:42:02.700] After pose optimization, distance between two frames x:-0.327297 ,z=0.493433,angle between two frames:5.403972 +[21:42:03.328] After Reprojection Map nPoint:2609 ,nCell:133 ,nMatches:60 ,distance between two frames x:0.000002 ,z=-0.000003,angle between two frames:0.000165 +[21:42:03.330] n deleted obs = 628 n obs with reprojection error less than 0.5 px =1394 error init =0.680688 error end=0.377308 +[21:42:03.330] After pose optimization, distance between two frames x:-0.409215 ,z=0.721185,angle between two frames:5.100225 +[21:42:03.722] After Reprojection Map nPoint:2609 ,nCell:121 ,nMatches:56 ,distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000151 +[21:42:03.724] n deleted obs = 974 n obs with reprojection error less than 0.5 px =1038 error init =0.659135 error end=0.659135 +[21:42:03.724] After pose optimization, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000151 +[21:42:03.724] Update EKF and 3D points, distance between two frames x:0.000000 ,z=-0.000001,angle between two frames:0.000847 +[21:42:03.726] Choose frame as a key frame Scene Depth mean:6.987041 ,depth min:0.485631 +[21:42:04.126] After Reprojection Map nPoint:2595 ,nCell:112 ,nMatches:61 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.004399 +[21:42:04.128] n deleted obs = 998 n obs with reprojection error less than 0.5 px =1033 error init =0.669358 error end=0.669358 +[21:42:04.128] After pose optimization, distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.004399 +[21:42:04.128] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.005112 +[21:42:04.130] Choose frame as a key frame Scene Depth mean:4692981418.733035 ,depth min:0.695516 +[21:42:04.536] Odometry x=0.534574, y=1.757416, theta=3.105043 +[21:42:04.639] Odometry x=0.420215, y=-1.368843, theta=3.108146 +[21:42:04.741] Odometry x=0.419958, y=-1.376476, theta=3.111145 +[21:42:04.748] After Reprojection Map nPoint:2510 ,nCell:97 ,nMatches:55 ,distance between two frames x:0.000002 ,z=-0.000001,angle between two frames:0.004499 +[21:42:04.753] n deleted obs = 361 n obs with reprojection error less than 0.5 px =1566 error init =0.660849 error end=0.349940 +[21:42:04.753] After pose optimization, distance between two frames x:-0.155144 ,z=0.261396,angle between two frames:5.858039 +[21:42:04.839] Odometry x=0.419745, y=-1.384139, theta=3.113858 +[21:42:04.938] Odometry x=0.419491, y=-1.392952, theta=3.137281 +[21:42:05.045] Odometry x=0.419453, y=-1.400631, theta=-3.121855 +[21:42:05.135] Odometry x=0.419597, y=-1.408337, theta=-3.102784 +[21:42:05.189] After Reprojection Map nPoint:734 ,nCell:144 ,nMatches:56 ,distance between two frames x:-0.000013 ,z=-0.000001,angle between two frames:0.000125 +[21:42:05.191] n deleted obs = 117 n obs with reprojection error less than 0.5 px =432 error init =0.353856 error end=0.318088 +[21:42:05.191] After pose optimization, distance between two frames x:-0.584487 ,z=0.184485,angle between two frames:0.209019 +[21:42:05.237] Odometry x=0.419891, y=-1.416004, theta=-3.097844 +[21:42:05.338] Odometry x=0.420212, y=-1.423471, theta=-3.093814 +[21:42:05.436] Odometry x=0.420567, y=-1.430956, theta=-3.084253 +[21:42:05.534] Odometry x=0.420995, y=-1.438655, theta=-3.073130 +[21:42:05.567] After Reprojection Map nPoint:398 ,nCell:116 ,nMatches:51 ,distance between two frames x:0.000052 ,z=0.000013,angle between two frames:0.000312 +[21:42:05.567] n deleted obs = 64 n obs with reprojection error less than 0.5 px =245 error init =0.345454 error end=0.310247 +[21:42:05.567] After pose optimization, distance between two frames x:-0.316438 ,z=-0.305980,angle between two frames:6.129583 +[21:42:05.634] Odometry x=0.421477, y=-1.446048, theta=-3.072243 +[21:42:05.738] Odometry x=0.422017, y=-1.453802, theta=-3.065182 +[21:42:05.831] Odometry x=0.422564, y=-1.460987, theta=-3.055513 +[21:42:05.932] Odometry x=0.423231, y=-1.468911, theta=-3.049966 +[21:42:05.936] After Reprojection Map nPoint:385 ,nCell:121 ,nMatches:54 ,distance between two frames x:-0.000003 ,z=-0.000000,angle between two frames:0.000348 +[21:42:05.937] n deleted obs = 72 n obs with reprojection error less than 0.5 px =227 error init =0.346423 error end=0.326603 +[21:42:05.937] After pose optimization, distance between two frames x:-0.613342 ,z=-0.204171,angle between two frames:6.009539 +[21:42:06.037] Odometry x=0.423909, y=-1.476345, theta=-3.055124 +[21:42:06.133] Odometry x=0.424583, y=-1.484116, theta=-3.056413 +[21:42:06.238] Odometry x=0.425259, y=-1.491937, theta=-3.055417 +[21:42:06.295] After Reprojection Map nPoint:340 ,nCell:85 ,nMatches:41 ,distance between two frames x:0.000673 ,z=-0.007421,angle between two frames:0.000865 +[21:42:06.295] n deleted obs = 56 n obs with reprojection error less than 0.5 px =200 error init =0.311293 error end=0.311293 +[21:42:06.295] After pose optimization, distance between two frames x:0.000673 ,z=-0.007421,angle between two frames:0.000865 +[21:42:06.295] Update EKF and 3D points, distance between two frames x:0.000793 ,z=-0.008807,angle between two frames:0.366209 +[21:42:06.296] Choose frame as a key frame Scene Depth mean:-0.384949 ,depth min:-25.174327 +[21:42:06.338] Odometry x=0.424788, y=-1.486274, theta=-0.426611 +[21:42:06.435] Odometry x=0.427811, y=-1.479647, theta=-0.438248 +[21:42:06.531] Odometry x=0.431020, y=-1.472776, theta=-0.445212 +[21:42:06.580] After Reprojection Map nPoint:86 ,nCell:65 ,nMatches:12 ,distance between two frames x:0.000760 ,z=-0.008554,angle between two frames:2.258037 +[21:42:06.580] n deleted obs = 20 n obs with reprojection error less than 0.5 px =10 error init =0.664786 error end=0.664388 +[21:42:06.580] After pose optimization, distance between two frames x:0.021818 ,z=-0.008357,angle between two frames:2.267476 +[21:42:06.633] Odometry x=0.434279, y=-1.465951, theta=-0.454694 +[21:42:06.737] Odometry x=0.437671, y=-1.459009, theta=-0.444723 +[21:42:06.836] Odometry x=0.441235, y=-1.451559, theta=-0.428675 +[21:42:06.850] After Reprojection Map nPoint:18 ,nCell:15 ,nMatches:12 ,distance between two frames x:0.000161 ,z=-0.000087,angle between two frames:0.000050 +[21:42:06.850] n deleted obs = 10 n obs with reprojection error less than 0.5 px =15 error init =0.464630 error end=0.464630 +[21:42:06.850] After pose optimization, distance between two frames x:0.000161 ,z=-0.000087,angle between two frames:0.000050 +[21:42:06.850] Update EKF and 3D points, distance between two frames x:0.000735 ,z=0.001144,angle between two frames:0.001226 +[21:42:06.939] Odometry x=0.438562, y=-1.457206, theta=-0.439829 +[21:42:07.032] Odometry x=0.441798, y=-1.450337, theta=-0.429573 +[21:42:07.135] Odometry x=0.444962, y=-1.443447, theta=-0.417041 +[21:42:07.137] After Reprojection Map nPoint:10 ,nCell:9 ,nMatches:8 ,distance between two frames x:0.003549 ,z=0.007600,angle between two frames:0.007278 +[21:42:07.233] Odometry x=0.448307, y=-1.436076, theta=-0.410009 +[21:42:07.333] Odometry x=0.451417, y=-1.428942, theta=-0.402971 +[21:42:07.434] After Reprojection Map nPoint:7 ,nCell:7 ,nMatches:0 ,distance between two frames x:0.001394 ,z=0.007944,angle between two frames:0.001252 +[21:42:07.438] Odometry x=0.454319, y=-1.422153, theta=-0.390140 +[21:42:07.439] Image Alignment failed 0 +[21:42:07.539] Odometry x=0.457377, y=-1.414726, theta=-0.382749 +[21:42:07.621] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:42:07.629] Image Alignment failed 0 +[21:42:07.634] Odometry x=0.460262, y=-1.407611, theta=-0.379715 +[21:42:07.738] Odometry x=0.462964, y=-1.400882, theta=-0.383681 +[21:42:07.813] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000008 ,z=-0.000003,angle between two frames:0.000225 +[21:42:07.823] Image Alignment failed 0 +[21:42:07.838] Odometry x=0.465983, y=-1.393401, theta=-0.390798 +[21:42:07.934] Odometry x=0.468787, y=-1.386632, theta=-0.398174 +[21:42:08.018] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000373 +[21:42:08.027] Image Alignment failed 0 +[21:42:08.040] Odometry x=0.471888, y=-1.379445, theta=-0.402497 +[21:42:08.141] Odometry x=0.475075, y=-1.371975, theta=-0.410519 +[21:42:08.224] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=0.000007,angle between two frames:0.000154 +[21:42:08.233] Image Alignment failed 0 +[21:42:08.234] Odometry x=0.478134, y=-1.364939, theta=-0.415990 +[21:42:08.335] Odometry x=0.481137, y=-1.358217, theta=-0.401128 +[21:42:08.433] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.000087 +[21:42:08.440] Odometry x=0.484034, y=-1.351524, theta=-0.387316 +[21:42:08.441] Image Alignment failed 0 +[21:42:08.538] Odometry x=0.487203, y=-1.343816, theta=-0.375338 +[21:42:08.636] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000009 ,z=0.000004,angle between two frames:0.000593 +[21:42:08.636] Odometry x=0.490063, y=-1.336603, theta=-0.366461 +[21:42:08.643] Image Alignment failed 0 +[21:42:08.740] Odometry x=0.492825, y=-1.329448, theta=-0.361263 +[21:42:08.828] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.002737 ,z=0.007123,angle between two frames:0.001650 +[21:42:08.835] Odometry x=0.495626, y=-1.322149, theta=-0.346633 +[21:42:08.837] Image Alignment failed 0 +[21:42:08.938] Odometry x=0.498109, y=-1.315258, theta=-0.340979 +[21:42:09.034] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000003,angle between two frames:0.000029 +[21:42:09.041] Odometry x=0.500803, y=-1.307664, theta=-0.347486 +[21:42:09.043] Image Alignment failed 0 +[21:42:09.135] Odometry x=0.503415, y=-1.300479, theta=-0.351315 +[21:42:09.234] Odometry x=0.505972, y=-1.293667, theta=-0.353096 +[21:42:09.237] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=-0.000000,angle between two frames:0.000473 +[21:42:09.245] Image Alignment failed 0 +[21:42:09.336] Odometry x=0.508613, y=-1.286464, theta=-0.350957 +[21:42:09.440] Odometry x=0.511425, y=-1.279199, theta=-0.354678 +[21:42:09.441] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.002645 ,z=0.007170,angle between two frames:0.000687 +[21:42:09.450] Image Alignment failed 0 +[21:42:09.538] Odometry x=0.514204, y=-1.271682, theta=-0.359222 +[21:42:09.636] Odometry x=0.516903, y=-1.264482, theta=-0.366255 +[21:42:09.645] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.002783 ,z=0.007521,angle between two frames:0.001307 +[21:42:09.654] Image Alignment failed 0 +[21:42:09.734] Odometry x=0.519651, y=-1.257320, theta=-0.373037 +[21:42:09.832] Odometry x=0.522322, y=-1.250537, theta=-0.360519 +[21:42:09.847] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=0.000008,angle between two frames:0.000497 +[21:42:09.856] Image Alignment failed 0 +[21:42:09.936] Odometry x=0.525042, y=-1.243359, theta=-0.347296 +[21:42:10.039] Odometry x=0.527704, y=-1.236165, theta=-0.336183 +[21:42:10.050] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=0.000009,angle between two frames:0.001185 +[21:42:10.059] Image Alignment failed 0 +[21:42:10.133] Odometry x=0.530414, y=-1.228477, theta=-0.330431 +[21:42:10.236] Odometry x=0.532790, y=-1.221678, theta=-0.322048 +[21:42:10.255] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=-0.000002,angle between two frames:0.000015 +[21:42:10.264] Image Alignment failed 0 +[21:42:10.334] Odometry x=0.535211, y=-1.214428, theta=-0.312475 +[21:42:10.432] Odometry x=0.537593, y=-1.207039, theta=-0.309010 +[21:42:10.457] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000002 ,z=0.000002,angle between two frames:0.000995 +[21:42:10.465] Image Alignment failed 0 +[21:42:10.539] Odometry x=0.540002, y=-1.199693, theta=-0.302565 +[21:42:10.635] Odometry x=0.542327, y=-1.192323, theta=-0.294687 +[21:42:10.659] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000036 ,z=-0.000003,angle between two frames:0.002395 +[21:42:10.668] Image Alignment failed 0 +[21:42:10.734] Odometry x=0.544428, y=-1.185394, theta=-0.298897 +[21:42:10.839] Odometry x=0.546755, y=-1.177861, theta=-0.298606 +[21:42:10.865] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=-0.000001,angle between two frames:0.000991 +[21:42:10.874] Image Alignment failed 0 +[21:42:10.934] Odometry x=0.549088, y=-1.170289, theta=-0.297456 +[21:42:11.035] Odometry x=0.551168, y=-1.163502, theta=-0.295041 +[21:42:11.072] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000002 +[21:42:11.082] Image Alignment failed 0 +[21:42:11.137] Odometry x=0.553566, y=-1.155600, theta=-0.304049 +[21:42:11.235] Odometry x=0.555624, y=-1.149206, theta=-0.301445 +[21:42:11.276] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000007 ,z=0.000024,angle between two frames:0.000480 +[21:42:11.284] Image Alignment failed 0 +[21:42:11.336] Odometry x=0.558240, y=-1.140729, theta=-0.304106 +[21:42:11.436] Odometry x=0.560486, y=-1.133537, theta=-0.309469 +[21:42:11.480] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000006,angle between two frames:0.000153 +[21:42:11.488] Image Alignment failed 0 +[21:42:11.534] Odometry x=0.562745, y=-1.126551, theta=-0.302894 +[21:42:11.632] Odometry x=0.565049, y=-1.119183, theta=-0.314063 +[21:42:11.686] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000006,angle between two frames:0.000380 +[21:42:11.693] Image Alignment failed 0 +[21:42:11.732] Odometry x=0.567488, y=-1.111769, theta=-0.302475 +[21:42:11.835] Odometry x=0.569822, y=-1.104326, theta=-0.290138 +[21:42:11.878] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000943 +[21:42:11.887] Image Alignment failed 0 +[21:42:11.934] Odometry x=0.572032, y=-1.097014, theta=-0.284238 +[21:42:12.038] Odometry x=0.574177, y=-1.089633, theta=-0.273664 +[21:42:12.086] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=-0.000005,angle between two frames:0.000882 +[21:42:12.094] Image Alignment failed 0 +[21:42:12.137] Odometry x=0.576375, y=-1.081853, theta=-0.259589 +[21:42:12.240] Odometry x=0.578338, y=-1.074469, theta=-0.249934 +[21:42:12.290] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=0.000004,angle between two frames:0.000373 +[21:42:12.300] Image Alignment failed 0 +[21:42:12.335] Odometry x=0.580189, y=-1.067195, theta=-0.251282 +[21:42:12.438] Odometry x=0.582034, y=-1.060034, theta=-0.248682 +[21:42:12.495] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000006 ,z=0.000001,angle between two frames:0.000243 +[21:42:12.502] Image Alignment failed 0 +[21:42:12.540] Odometry x=0.584054, y=-1.052250, theta=-0.239326 +[21:42:12.643] Odometry x=0.585885, y=-1.044750, theta=-0.238249 +[21:42:12.686] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=-0.000003,angle between two frames:0.001345 +[21:42:12.695] Image Alignment failed 0 +[21:42:12.736] Odometry x=0.587787, y=-1.036964, theta=-0.238554 +[21:42:12.834] Odometry x=0.589420, y=-1.030202, theta=-0.236831 +[21:42:12.888] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000174 +[21:42:12.895] Image Alignment failed 0 +[21:42:12.941] Odometry x=0.591239, y=-1.022736, theta=-0.232969 +[21:42:13.033] Odometry x=0.593122, y=-1.014923, theta=-0.237340 +[21:42:13.078] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000309 +[21:42:13.087] Image Alignment failed 0 +[21:42:13.136] Odometry x=0.594840, y=-1.007785, theta=-0.231351 +[21:42:13.239] Odometry x=0.596632, y=-1.000213, theta=-0.224159 +[21:42:13.282] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000006,angle between two frames:0.000932 +[21:42:13.291] Image Alignment failed 0 +[21:42:13.338] Odometry x=0.598355, y=-0.992706, theta=-0.225657 +[21:42:13.436] Odometry x=0.600074, y=-0.985182, theta=-0.235362 +[21:42:13.491] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000515 +[21:42:13.500] Image Alignment failed 0 +[21:42:13.536] Odometry x=0.601980, y=-0.977266, theta=-0.234651 +[21:42:13.640] Odometry x=0.603739, y=-0.970238, theta=-0.236640 +[21:42:13.693] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000001 ,z=0.000016,angle between two frames:0.000850 +[21:42:13.702] Image Alignment failed 0 +[21:42:13.740] Odometry x=0.605642, y=-0.962352, theta=-0.235442 +[21:42:13.837] Odometry x=0.607584, y=-0.954887, theta=-0.222459 +[21:42:13.896] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000659 +[21:42:13.905] Image Alignment failed 0 +[21:42:13.936] Odometry x=0.609239, y=-0.947554, theta=-0.228387 +[21:42:14.039] Odometry x=0.610946, y=-0.940296, theta=-0.221513 +[21:42:14.099] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=0.000002,angle between two frames:0.000785 +[21:42:14.108] Image Alignment failed 0 +[21:42:14.136] Odometry x=0.612704, y=-0.932663, theta=-0.213672 +[21:42:14.236] Odometry x=0.614341, y=-0.925091, theta=-0.218969 +[21:42:14.301] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000009 ,z=0.000005,angle between two frames:0.000843 +[21:42:14.309] Image Alignment failed 0 +[21:42:14.335] Odometry x=0.615961, y=-0.917938, theta=-0.222001 +[21:42:14.436] Odometry x=0.617668, y=-0.910478, theta=-0.222053 +[21:42:14.501] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=-0.000006,angle between two frames:0.000009 +[21:42:14.509] Image Alignment failed 0 +[21:42:14.535] Odometry x=0.619367, y=-0.902975, theta=-0.224079 +[21:42:14.636] Odometry x=0.621107, y=-0.895425, theta=-0.242038 +[21:42:14.704] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000002 ,z=-0.000000,angle between two frames:0.000086 +[21:42:14.713] Image Alignment failed 0 +[21:42:14.742] Odometry x=0.622907, y=-0.887872, theta=-0.242800 +[21:42:14.835] Odometry x=0.625092, y=-0.880109, theta=-0.219755 +[21:42:14.910] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:42:14.919] Image Alignment failed 0 +[21:42:14.934] Odometry x=0.626681, y=-0.873738, theta=-0.144035 +[21:42:15.037] Odometry x=0.627702, y=-0.867072, theta=-0.143419 +[21:42:15.114] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000109 ,z=-0.000221,angle between two frames:0.002281 +[21:42:15.123] Image Alignment failed 0 +[21:42:15.136] Odometry x=0.628792, y=-0.859863, theta=-0.147488 +[21:42:15.235] Odometry x=0.629957, y=-0.851928, theta=-0.145929 +[21:42:15.318] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000050 ,z=-0.000072,angle between two frames:0.003232 +[21:42:15.327] Image Alignment failed 0 +[21:42:15.339] Odometry x=0.631035, y=-0.844298, theta=-0.156654 +[21:42:15.436] Odometry x=0.632180, y=-0.836877, theta=-0.172803 +[21:42:15.520] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000006 ,z=0.000039,angle between two frames:0.000241 +[21:42:15.529] Image Alignment failed 0 +[21:42:15.531] Odometry x=0.633477, y=-0.829564, theta=-0.171369 +[21:42:15.636] Odometry x=0.634769, y=-0.822266, theta=-0.164000 +[21:42:15.723] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000026 ,z=0.000029,angle between two frames:0.002844 +[21:42:15.731] Image Alignment failed 0 +[21:42:15.731] Odometry x=0.636031, y=-0.814194, theta=-0.148065 +[21:42:15.834] Odometry x=0.637216, y=-0.806567, theta=-0.137637 +[21:42:15.931] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000003 ,z=0.000016,angle between two frames:0.001844 +[21:42:15.931] Odometry x=0.638475, y=-0.798857, theta=-0.142183 +[21:42:15.938] Image Alignment failed 0 +[21:42:16.034] Odometry x=0.639566, y=-0.791249, theta=-0.140194 +[21:42:16.125] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.001083 ,z=0.007543,angle between two frames:0.001514 +[21:42:16.133] Odometry x=0.640827, y=-0.783464, theta=-0.142478 +[21:42:16.134] Image Alignment failed 0 +[21:42:16.232] Odometry x=0.641858, y=-0.775972, theta=-0.123209 +[21:42:16.326] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000041 ,z=0.000022,angle between two frames:0.000467 +[21:42:16.334] Image Alignment failed 0 +[21:42:16.337] Odometry x=0.642813, y=-0.768388, theta=-0.121090 +[21:42:16.436] Odometry x=0.643762, y=-0.760423, theta=-0.119930 +[21:42:16.525] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000004 ,z=0.000000,angle between two frames:0.000630 +[21:42:16.534] Image Alignment failed 0 +[21:42:16.535] Odometry x=0.644746, y=-0.752737, theta=-0.114758 +[21:42:16.636] Odometry x=0.645917, y=-0.744900, theta=-0.094302 +[21:42:16.730] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000001 ,z=-0.000002,angle between two frames:0.001335 +[21:42:16.737] Odometry x=0.646579, y=-0.737424, theta=-0.098703 +[21:42:16.739] Image Alignment failed 0 +[21:42:16.842] Odometry x=0.647357, y=-0.729878, theta=-0.111109 +[21:42:16.937] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:-0.000000 ,z=0.000010,angle between two frames:0.001265 +[21:42:16.937] Odometry x=0.648265, y=-0.721551, theta=-0.112712 +[21:42:16.945] Image Alignment failed 0 +[21:42:17.036] Odometry x=0.649106, y=-0.714454, theta=-0.123527 +[21:42:17.137] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000813 ,z=0.007144,angle between two frames:0.001258 +[21:42:17.142] Odometry x=0.650199, y=-0.706571, theta=-0.134292 +[21:42:17.147] Image Alignment failed 0 +[21:42:17.235] Odometry x=0.651372, y=-0.698688, theta=-0.131625 +[21:42:17.337] Odometry x=0.652390, y=-0.691460, theta=-0.096083 +[21:42:17.342] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:42:17.350] Image Alignment failed 0 +[21:42:17.440] Odometry x=0.653153, y=-0.683858, theta=-0.093321 +[21:42:17.537] Odometry x=0.653868, y=-0.675841, theta=-0.101429 +[21:42:17.546] After Reprojection Map nPoint:0 ,nCell:0 ,nMatches:0 ,distance between two frames x:0.000716 ,z=0.007516,angle between two frames:0.002197 +[21:42:17.553] Image Alignment failed 0 +[21:42:17.637] Odometry x=0.654647, y=-0.668259, theta=-0.101757 +[21:42:17.737] Odometry x=0.655682, y=-0.660652, theta=-0.077931 +[21:42:17.837] Odometry x=0.656455, y=-0.652978, theta=-0.078917 +[21:42:17.851] After Reprojection Map nPoint:84 ,nCell:40 ,nMatches:31 ,distance between two frames x:0.000007 ,z=0.000098,angle between two frames:0.003385 +[21:42:17.851] n deleted obs = 59 n obs with reprojection error less than 0.5 px =34 error init =3.635057 error end=0.695559 +[21:42:17.851] After pose optimization, distance between two frames x:9.574327 ,z=12.768722,angle between two frames:0.663673 +[21:42:17.936] Odometry x=0.657002, y=-0.645239, theta=-0.070932 +[21:42:18.041] Odometry x=0.657621, y=-0.637559, theta=-0.058818 +[21:42:18.134] Odometry x=0.658218, y=-0.629603, theta=-0.047932 +[21:42:18.139] After Reprojection Map nPoint:141 ,nCell:44 ,nMatches:32 ,distance between two frames x:0.001985 ,z=0.000077,angle between two frames:0.000800 +[21:42:18.139] n deleted obs = 131 n obs with reprojection error less than 0.5 px =5 error init =2.154275 error end=2.154275 +[21:42:18.139] After pose optimization, distance between two frames x:0.001985 ,z=0.000077,angle between two frames:0.000800 +[21:42:18.238] Odometry x=0.658597, y=-0.622107, theta=-0.046542 +[21:42:18.337] Odometry x=0.659148, y=-0.614458, theta=-0.072193 +[21:42:18.391] After Reprojection Map nPoint:201 ,nCell:42 ,nMatches:41 ,distance between two frames x:-0.000267 ,z=0.007278,angle between two frames:0.000135 +[21:42:18.392] n deleted obs = 196 n obs with reprojection error less than 0.5 px =9 error init =1.852639 error end=1.852639 +[21:42:18.392] After pose optimization, distance between two frames x:-0.000267 ,z=0.007278,angle between two frames:0.000135 +[21:42:18.433] Odometry x=0.659733, y=-0.606752, theta=-0.070980 +[21:42:18.539] Odometry x=0.660281, y=-0.599408, theta=-0.077950 +[21:42:18.635] Odometry x=0.660895, y=-0.591312, theta=-0.082296 +[21:42:18.661] After Reprojection Map nPoint:293 ,nCell:40 ,nMatches:38 ,distance between two frames x:0.000762 ,z=0.000366,angle between two frames:0.000316 +[21:42:18.662] n deleted obs = 257 n obs with reprojection error less than 0.5 px =15 error init =1.728824 error end=1.728824 +[21:42:18.662] After pose optimization, distance between two frames x:0.000762 ,z=0.000366,angle between two frames:0.000316 +[21:42:18.662] Update EKF and 3D points, distance between two frames x:0.000833 ,z=0.001689,angle between two frames:0.000975 +[21:42:18.737] Odometry x=0.660953, y=-0.596903, theta=-0.084609 +[21:42:18.833] Odometry x=0.661536, y=-0.589353, theta=-0.095725 +[21:42:18.933] After Reprojection Map nPoint:312 ,nCell:42 ,nMatches:39 ,distance between two frames x:-0.000015 ,z=0.000010,angle between two frames:0.000001 +[21:42:18.933] n deleted obs = 253 n obs with reprojection error less than 0.5 px =35 error init =1.510006 error end=1.510006 +[21:42:18.933] After pose optimization, distance between two frames x:-0.000015 ,z=0.000010,angle between two frames:0.000001 +[21:42:18.933] Update EKF and 3D points, distance between two frames x:0.000086 ,z=0.001367,angle between two frames:0.002018 +[21:42:18.933] Choose frame as a key frame Scene Depth mean:1.174886 ,depth min:-1.375539 +[21:42:18.939] Odometry x=0.661209, y=-0.595420, theta=-0.084568 +[21:42:19.034] Odometry x=0.661864, y=-0.587465, theta=-0.103998 +[21:42:19.138] Odometry x=0.662436, y=-0.580357, theta=-0.118602 +[21:42:19.204] After Reprojection Map nPoint:477 ,nCell:45 ,nMatches:42 ,distance between two frames x:0.000781 ,z=0.008636,angle between two frames:0.013022 +[21:42:19.204] n deleted obs = 399 n obs with reprojection error less than 0.5 px =28 error init =1.543366 error end=1.543366 +[21:42:19.204] After pose optimization, distance between two frames x:0.000781 ,z=0.008636,angle between two frames:0.013022 +[21:42:19.204] Update EKF and 3D points, distance between two frames x:0.000907 ,z=0.009984,angle between two frames:0.014763 +[21:42:19.235] Odometry x=0.662309, y=-0.585384, theta=-0.099085 +[21:42:19.343] Odometry x=0.663281, y=-0.578209, theta=-0.050161 +[21:42:19.434] Odometry x=0.664002, y=-0.569891, theta=-0.026800 +[21:42:19.490] After Reprojection Map nPoint:537 ,nCell:40 ,nMatches:38 ,distance between two frames x:0.000755 ,z=0.008301,angle between two frames:0.011384 +[21:42:19.490] n deleted obs = 48 n obs with reprojection error less than 0.5 px =416 error init =1.395622 error end=0.280555 +[21:42:19.490] After pose optimization, distance between two frames x:9.326774 ,z=-93.653444,angle between two frames:1.978159 +[21:42:19.536] Odometry x=0.663987, y=-0.562814, theta=0.017420 +[21:42:19.633] Odometry x=0.663796, y=-0.554850, theta=0.039290 +[21:42:19.734] Odometry x=0.663674, y=-0.547260, theta=0.032869 +[21:42:19.756] After Reprojection Map nPoint:312 ,nCell:91 ,nMatches:35 ,distance between two frames x:0.000086 ,z=0.000069,angle between two frames:0.001506 +[21:42:19.756] n deleted obs = 188 n obs with reprojection error less than 0.5 px =46 error init =1.413419 error end=1.012483 +[21:42:19.756] After pose optimization, distance between two frames x:-0.126976 ,z=0.034304,angle between two frames:0.029003 +[21:42:19.839] Odometry x=0.663451, y=-0.539281, theta=0.014465 +[21:42:19.940] Odometry x=0.663379, y=-0.530964, theta=0.024171 +[21:42:20.008] After Reprojection Map nPoint:323 ,nCell:44 ,nMatches:39 ,distance between two frames x:0.000024 ,z=-0.000051,angle between two frames:0.000002 +[21:42:20.008] n deleted obs = 171 n obs with reprojection error less than 0.5 px =127 error init =1.460724 error end=0.523593 +[21:42:20.008] After pose optimization, distance between two frames x:-405.350166 ,z=678.617293,angle between two frames:0.046798 +[21:42:20.032] Odometry x=0.663097, y=-0.523295, theta=0.026212 +[21:42:20.136] Odometry x=0.662918, y=-0.515890, theta=0.024807 +[21:42:20.240] Odometry x=0.662725, y=-0.508287, theta=0.037343 +[21:42:20.279] After Reprojection Map nPoint:373 ,nCell:61 ,nMatches:41 ,distance between two frames x:0.000040 ,z=0.000001,angle between two frames:0.000007 +[21:42:20.279] n deleted obs = 293 n obs with reprojection error less than 0.5 px =24 error init =1.427633 error end=1.427633 +[21:42:20.279] After pose optimization, distance between two frames x:0.000040 ,z=0.000001,angle between two frames:0.000007 +[21:42:20.279] Update EKF and 3D points, distance between two frames x:0.000004 ,z=0.001331,angle between two frames:0.000452 +[21:42:20.340] Odometry x=0.662899, y=-0.513656, theta=0.027968 +[21:42:20.442] Odometry x=0.662914, y=-0.506170, theta=0.022645 +[21:42:20.541] Odometry x=0.662694, y=-0.497955, theta=0.018663 +[21:42:20.551] After Reprojection Map nPoint:412 ,nCell:46 ,nMatches:43 ,distance between two frames x:-0.000264 ,z=0.008260,angle between two frames:0.002907 +[21:42:20.551] n deleted obs = 340 n obs with reprojection error less than 0.5 px =37 error init =1.422761 error end=1.422761 +[21:42:20.551] After pose optimization, distance between two frames x:-0.000264 ,z=0.008260,angle between two frames:0.002907 +[21:42:20.551] Update EKF and 3D points, distance between two frames x:-0.000281 ,z=0.009609,angle between two frames:0.001985 +[21:42:20.551] Choose frame as a key frame Scene Depth mean:-0.835317 ,depth min:-10.205198 +[21:42:20.638] Odometry x=0.662805, y=-0.503963, theta=0.026337 +[21:42:20.733] Odometry x=0.662914, y=-0.496532, theta=0.029091 +[21:42:20.832] After Reprojection Map nPoint:519 ,nCell:43 ,nMatches:39 ,distance between two frames x:0.000098 ,z=0.000015,angle between two frames:0.000011 +[21:42:20.833] n deleted obs = 426 n obs with reprojection error less than 0.5 px =47 error init =1.440686 error end=1.440686 +[21:42:20.833] After pose optimization, distance between two frames x:0.000098 ,z=0.000015,angle between two frames:0.000011 +[21:42:20.833] Update EKF and 3D points, distance between two frames x:0.000089 ,z=0.001383,angle between two frames:0.000400 +[21:42:20.833] Choose frame as a key frame Scene Depth mean:-0.516510 ,depth min:-7.077174 +[21:42:20.837] Odometry x=0.662904, y=-0.510972, theta=0.030721 +[21:42:20.935] Odometry x=0.662954, y=-0.500969, theta=0.034595 +[21:42:21.033] Odometry x=0.662645, y=-0.493352, theta=0.039967 +[21:42:21.122] After Reprojection Map nPoint:728 ,nCell:55 ,nMatches:48 ,distance between two frames x:0.000301 ,z=0.000260,angle between two frames:0.000022 +[21:42:21.122] n deleted obs = 588 n obs with reprojection error less than 0.5 px =65 error init =1.438061 error end=1.438061 +[21:42:21.122] After pose optimization, distance between two frames x:0.000301 ,z=0.000260,angle between two frames:0.000022 +[21:42:21.122] Update EKF and 3D points, distance between two frames x:0.000259 ,z=0.001724,angle between two frames:0.000626 +[21:42:21.123] Choose frame as a key frame Scene Depth mean:-0.131054 ,depth min:-7.072085 +[21:42:21.131] Odometry x=0.662904, y=-0.500201, theta=0.035426 +[21:42:21.236] Odometry x=0.662684, y=-0.492771, theta=0.021484 +[21:42:21.331] Odometry x=0.662618, y=-0.485034, theta=0.018868 +[21:42:21.393] After Reprojection Map nPoint:709 ,nCell:47 ,nMatches:41 ,distance between two frames x:-0.000242 ,z=0.009144,angle between two frames:0.004078 +[21:42:21.394] n deleted obs = 535 n obs with reprojection error less than 0.5 px =66 error init =1.351867 error end=1.351867 +[21:42:21.394] After pose optimization, distance between two frames x:-0.000242 ,z=0.009144,angle between two frames:0.004078 +[21:42:21.394] Update EKF and 3D points, distance between two frames x:-0.000264 ,z=0.010461,angle between two frames:0.003525 +[21:42:21.394] Choose frame as a key frame Scene Depth mean:-0.596756 ,depth min:-23.779283 +[21:42:21.434] Odometry x=0.662885, y=-0.490592, theta=0.041183 +[21:42:21.540] Odometry x=0.662849, y=-0.482843, theta=0.057476 +[21:42:21.635] Odometry x=0.662409, y=-0.474789, theta=0.085937 +[21:42:21.740] Odometry x=0.661824, y=-0.467405, theta=0.115221 +[21:42:21.785] After Reprojection Map nPoint:781 ,nCell:39 ,nMatches:34 ,distance between two frames x:0.000121 ,z=-0.000002,angle between two frames:0.000004 +[21:42:21.787] n deleted obs = 576 n obs with reprojection error less than 0.5 px =90 error init =1.310104 error end=1.310104 +[21:42:21.787] After pose optimization, distance between two frames x:0.000121 ,z=-0.000002,angle between two frames:0.000004 +[21:42:21.787] Update EKF and 3D points, distance between two frames x:0.000005 ,z=0.002293,angle between two frames:0.004471 +[21:42:21.787] Choose frame as a key frame Scene Depth mean:1.429726 ,depth min:-7.016145 +[21:42:21.839] Odometry x=0.662197, y=-0.482189, theta=0.070267 +[21:42:21.942] Odometry x=0.661707, y=-0.474399, theta=0.056481 +[21:42:22.033] Odometry x=0.661355, y=-0.466462, theta=0.048562 +[21:42:22.134] Odometry x=0.661041, y=-0.459360, theta=0.022693 +[21:42:22.225] After Reprojection Map nPoint:895 ,nCell:53 ,nMatches:47 ,distance between two frames x:-0.000620 ,z=0.014159,angle between two frames:0.028643 +[21:42:22.226] n deleted obs = 669 n obs with reprojection error less than 0.5 px =81 error init =1.481844 error end=1.481844 +[21:42:22.226] After pose optimization, distance between two frames x:-0.000620 ,z=0.014159,angle between two frames:0.028643 +[21:42:22.226] Update EKF and 3D points, distance between two frames x:-0.000705 ,z=0.015934,angle between two frames:0.025419 +[21:42:22.227] Choose frame as a key frame Scene Depth mean:0.316791 ,depth min:-5.287181 +[21:42:22.235] Odometry x=0.661665, y=-0.469585, theta=0.045336 +[21:42:22.333] Odometry x=0.661157, y=-0.461767, theta=0.069675 +[21:42:22.436] Odometry x=0.660793, y=-0.454175, theta=0.094656 +[21:42:22.539] Odometry x=0.660146, y=-0.446528, theta=0.108180 +[21:42:22.636] Odometry x=0.659161, y=-0.438667, theta=0.132196 +[21:42:22.686] After Reprojection Map nPoint:1073 ,nCell:54 ,nMatches:46 ,distance between two frames x:-0.000391 ,z=0.011013,angle between two frames:0.019418 +[21:42:22.687] n deleted obs = 826 n obs with reprojection error less than 0.5 px =92 error init =1.418139 error end=1.418139 +[21:42:22.687] After pose optimization, distance between two frames x:-0.000391 ,z=0.011013,angle between two frames:0.019418 +[21:42:22.687] Update EKF and 3D points, distance between two frames x:-0.000606 ,z=0.013256,angle between two frames:0.014647 +[21:42:22.688] Choose frame as a key frame Scene Depth mean:0.721701 ,depth min:-2.878889 +[21:42:22.738] Odometry x=0.660231, y=-0.453445, theta=0.082568 +[21:42:22.836] Odometry x=0.659511, y=-0.445731, theta=0.051435 +[21:42:22.939] Odometry x=0.659157, y=-0.438128, theta=0.052495 +[21:42:23.036] Odometry x=0.658817, y=-0.430111, theta=0.060874 +[21:42:23.124] After Reprojection Map nPoint:913 ,nCell:49 ,nMatches:46 ,distance between two frames x:-0.000987 ,z=0.013983,angle between two frames:0.029121 +[21:42:23.125] n deleted obs = 683 n obs with reprojection error less than 0.5 px =105 error init =1.455403 error end=1.455403 +[21:42:23.125] After pose optimization, distance between two frames x:-0.000987 ,z=0.013983,angle between two frames:0.029121 +[21:42:23.125] Update EKF and 3D points, distance between two frames x:-0.001112 ,z=0.015772,angle between two frames:0.028387 +[21:42:23.126] Choose frame as a key frame Scene Depth mean:100474809.134329 ,depth min:-3.789199 +[21:42:23.134] Image Alignment failed 0 +[21:42:23.139] Odometry x=0.659664, y=-0.440516, theta=0.075342 +[21:42:23.238] Odometry x=0.659174, y=-0.432946, theta=0.063056 +[21:42:23.557] After Reprojection Map nPoint:1188 ,nCell:51 ,nMatches:48 ,distance between two frames x:-0.000800 ,z=0.011014,angle between two frames:0.004153 +[21:42:23.597] n deleted obs = 265 n obs with reprojection error less than 0.5 px =776 error init =2.784599 error end=0.383091 +[21:42:23.597] After pose optimization, distance between two frames x:38.758574 ,z=101.177372,angle between two frames:2.921516 +[21:42:23.605] Image Alignment failed 0 +[21:42:24.028] After Reprojection Map nPoint:1214 ,nCell:110 ,nMatches:47 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:42:24.038] n deleted obs = 14 n obs with reprojection error less than 0.5 px =961 error init =1.338856 error end=0.127215 +[21:42:24.038] After pose optimization, distance between two frames x:-0.988475 ,z=0.790271,angle between two frames:0.418375 +[21:42:24.046] Image Alignment failed 0 +[21:42:24.458] After Reprojection Map nPoint:1168 ,nCell:152 ,nMatches:48 ,distance between two frames x:-0.000018 ,z=-0.000001,angle between two frames:0.000003 +[21:42:24.459] n deleted obs = 825 n obs with reprojection error less than 0.5 px =90 error init =1.387835 error end=1.387835 +[21:42:24.459] After pose optimization, distance between two frames x:-0.000018 ,z=-0.000001,angle between two frames:0.000003 +[21:42:24.459] Update EKF and 3D points, distance between two frames x:-0.000016 ,z=-0.000049,angle between two frames:0.001712 +[21:42:24.460] Choose frame as a key frame Scene Depth mean:0.559612 ,depth min:-5.224743 +[21:42:24.469] Image Alignment failed 0 +[21:42:24.904] After Reprojection Map nPoint:1324 ,nCell:60 ,nMatches:56 ,distance between two frames x:0.000012 ,z=-0.000296,angle between two frames:0.010637 +[21:42:24.906] n deleted obs = 1068 n obs with reprojection error less than 0.5 px =94 error init =1.512153 error end=1.512153 +[21:42:24.906] After pose optimization, distance between two frames x:0.000012 ,z=-0.000296,angle between two frames:0.010637 +[21:42:24.906] Update EKF and 3D points, distance between two frames x:0.000012 ,z=-0.000296,angle between two frames:0.011419 +[21:42:24.906] Choose frame as a key frame Scene Depth mean:1.268853 ,depth min:-7.182613 +[21:42:24.915] Image Alignment failed 0 +[21:42:25.367] After Reprojection Map nPoint:1465 ,nCell:60 ,nMatches:59 ,distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.004934 +[21:42:25.369] n deleted obs = 1210 n obs with reprojection error less than 0.5 px =101 error init =1.644727 error end=1.644727 +[21:42:25.369] After pose optimization, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.004934 +[21:42:25.369] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.005749 +[21:42:25.370] Choose frame as a key frame Scene Depth mean:0.476775 ,depth min:-7.208139 +[21:42:25.378] Image Alignment failed 0 +[21:42:25.813] After Reprojection Map nPoint:1489 ,nCell:60 ,nMatches:57 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005280 +[21:42:25.815] n deleted obs = 1253 n obs with reprojection error less than 0.5 px =94 error init =1.734630 error end=1.734630 +[21:42:25.815] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005280 +[21:42:25.815] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.006053 +[21:42:25.815] Choose frame as a key frame Scene Depth mean:1.296084 ,depth min:-7.234753 +[21:42:25.825] Image Alignment failed 0 +[21:42:26.281] After Reprojection Map nPoint:1724 ,nCell:65 ,nMatches:62 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.004875 +[21:42:26.283] n deleted obs = 1469 n obs with reprojection error less than 0.5 px =115 error init =1.659898 error end=1.659898 +[21:42:26.283] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.004875 +[21:42:26.283] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005702 +[21:42:26.284] Choose frame as a key frame Scene Depth mean:1.521650 ,depth min:-7.259576 +[21:42:26.297] Image Alignment failed 0 +[21:42:26.780] After Reprojection Map nPoint:1770 ,nCell:60 ,nMatches:59 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005363 +[21:42:26.783] n deleted obs = 1534 n obs with reprojection error less than 0.5 px =99 error init =1.737937 error end=1.737937 +[21:42:26.783] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005363 +[21:42:26.783] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.006245 +[21:42:26.783] Choose frame as a key frame Scene Depth mean:1.127702 ,depth min:-22.547202 +[21:42:26.792] Image Alignment failed 0 +[21:42:27.269] After Reprojection Map nPoint:1885 ,nCell:62 ,nMatches:61 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005673 +[21:42:27.272] n deleted obs = 1653 n obs with reprojection error less than 0.5 px =100 error init =2.050431 error end=2.050431 +[21:42:27.272] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005673 +[21:42:27.272] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.006523 +[21:42:27.273] Choose frame as a key frame Scene Depth mean:1.307165 ,depth min:-5.322514 +[21:42:27.282] Image Alignment failed 0 +[21:42:27.760] After Reprojection Map nPoint:1925 ,nCell:64 ,nMatches:62 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005497 +[21:42:27.764] n deleted obs = 1663 n obs with reprojection error less than 0.5 px =133 error init =1.982775 error end=1.982775 +[21:42:27.764] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005497 +[21:42:27.764] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.006356 +[21:42:27.765] Choose frame as a key frame Scene Depth mean:9763.336213 ,depth min:-1.912769 +[21:42:27.773] Image Alignment failed 0 +[21:42:28.259] After Reprojection Map nPoint:2116 ,nCell:58 ,nMatches:56 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005390 +[21:42:28.264] n deleted obs = 1885 n obs with reprojection error less than 0.5 px =104 error init =2.320539 error end=2.320539 +[21:42:28.264] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005390 +[21:42:28.264] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.006281 +[21:42:28.265] Choose frame as a key frame Scene Depth mean:1.616109 ,depth min:-1.026587 +[21:42:28.274] Image Alignment failed 0 +[21:42:28.780] After Reprojection Map nPoint:2148 ,nCell:62 ,nMatches:61 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005597 +[21:42:28.783] n deleted obs = 1921 n obs with reprojection error less than 0.5 px =121 error init =3.366796 error end=3.366796 +[21:42:28.783] After pose optimization, distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005597 +[21:42:28.783] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000005,angle between two frames:0.006518 +[21:42:28.784] Choose frame as a key frame Scene Depth mean:1.540932 ,depth min:-1.042745 +[21:42:28.794] Image Alignment failed 0 +[21:42:29.325] After Reprojection Map nPoint:2327 ,nCell:54 ,nMatches:53 ,distance between two frames x:-0.000000 ,z=0.000004,angle between two frames:0.005781 +[21:42:29.335] n deleted obs = 615 n obs with reprojection error less than 0.5 px =1583 error init =3.085311 error end=0.395076 +[21:42:29.335] After pose optimization, distance between two frames x:-295.202915 ,z=-2480.857688,angle between two frames:2.639195 +[21:42:29.342] Image Alignment failed 0 +[21:42:29.871] After Reprojection Map nPoint:2296 ,nCell:126 ,nMatches:61 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000153 +[21:42:29.876] n deleted obs = 1542 n obs with reprojection error less than 0.5 px =541 error init =3.229637 error end=0.818078 +[21:42:29.876] After pose optimization, distance between two frames x:-307.068410 ,z=435.172335,angle between two frames:0.783525 +[21:42:29.884] Image Alignment failed 0 +[21:42:30.405] After Reprojection Map nPoint:2283 ,nCell:66 ,nMatches:58 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000149 +[21:42:30.412] n deleted obs = 641 n obs with reprojection error less than 0.5 px =1481 error init =5.045260 error end=0.386660 +[21:42:30.412] After pose optimization, distance between two frames x:-352481.241406 ,z=-1784548.855099,angle between two frames:1.635651 +[21:42:30.420] Image Alignment failed 0 +[21:42:30.954] After Reprojection Map nPoint:2345 ,nCell:119 ,nMatches:57 ,distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000211 +[21:42:30.958] n deleted obs = 2021 n obs with reprojection error less than 0.5 px =101 error init =3.601631 error end=3.601631 +[21:42:30.958] After pose optimization, distance between two frames x:-0.000000 ,z=0.000000,angle between two frames:0.000211 +[21:42:30.958] Update EKF and 3D points, distance between two frames x:-0.000000 ,z=0.000001,angle between two frames:0.001202 +[21:42:30.958] Choose frame as a key frame Scene Depth mean:1.393885 ,depth min:-19.747357 +[21:42:30.966] Image Alignment failed 0 +[21:42:31.519] After Reprojection Map nPoint:2366 ,nCell:60 ,nMatches:58 ,distance between two frames x:-0.000001 ,z=0.000005,angle between two frames:0.006212 +[21:42:31.524] n deleted obs = 2287 n obs with reprojection error less than 0.5 px =3 error init =2.597750 error end=2.404855 +[21:42:31.524] After pose optimization, distance between two frames x:-301.363096 ,z=-98.078096,angle between two frames:1.312148 +[21:42:32.101] After Reprojection Map nPoint:2414 ,nCell:59 ,nMatches:56 ,distance between two frames x:0.002662 ,z=-0.000792,angle between two frames:0.003505 +[21:42:32.106] n deleted obs = 2218 n obs with reprojection error less than 0.5 px =115 error init =2.586405 error end=2.586405 +[21:42:32.106] After pose optimization, distance between two frames x:0.002662 ,z=-0.000792,angle between two frames:0.003505 +[21:42:32.106] Update EKF and 3D points, distance between two frames x:0.002507 ,z=-0.000746,angle between two frames:0.004346 +[21:42:32.107] Choose frame as a key frame Scene Depth mean:1.053581 ,depth min:-1.032562 +[21:42:32.115] Image Alignment failed 0 +[21:42:32.152] Odometry x=0.660726, y=-0.425961, theta=0.184972 +[21:42:32.250] Odometry x=0.785613, y=-1.095638, theta=0.189254 +[21:42:32.349] Odometry x=0.786985, y=-1.102810, theta=0.192268 +[21:42:32.449] Odometry x=0.788547, y=-1.110699, theta=0.198911 +[21:42:32.546] Odometry x=0.789929, y=-1.119178, theta=0.208398 +[21:42:32.647] Odometry x=0.791436, y=-1.126320, theta=0.220138 +[21:42:32.698] After Reprojection Map nPoint:2422 ,nCell:57 ,nMatches:56 ,distance between two frames x:-0.000959 ,z=0.000290,angle between two frames:0.005290 +[21:42:32.709] n deleted obs = 911 n obs with reprojection error less than 0.5 px =1423 error init =2.795992 error end=0.494639 +[21:42:32.709] After pose optimization, distance between two frames x:369.524364 ,z=-2988.535254,angle between two frames:2.991100 +[21:42:32.716] Image Alignment failed 0 +[21:42:32.749] Odometry x=0.793013, y=-1.133562, theta=0.212002 +[21:42:32.851] Odometry x=0.794548, y=-1.140881, theta=0.233776 +[21:42:32.946] Odometry x=0.796469, y=-1.148787, theta=0.228599 +[21:42:33.048] Odometry x=0.797990, y=-1.155324, theta=0.239831 +[21:42:33.146] Odometry x=0.799798, y=-1.162980, theta=0.267993 +[21:42:33.170] After Reprojection Map nPoint:1231 ,nCell:99 ,nMatches:50 ,distance between two frames x:-0.000008 ,z=0.000036,angle between two frames:0.000483 +[21:42:33.175] n deleted obs = 935 n obs with reprojection error less than 0.5 px =197 error init =3.881523 error end=1.078732 +[21:42:33.175] After pose optimization, distance between two frames x:62.728525 ,z=44.063713,angle between two frames:3.343872 +[21:42:33.183] Image Alignment failed 0 +[21:42:33.254] Odometry x=0.801887, y=-1.170323, theta=0.272381 +[21:42:33.356] Odometry x=0.804059, y=-1.177416, theta=0.255665 +[21:42:33.445] Odometry x=0.806186, y=-1.185695, theta=0.262318 +[21:42:33.546] Odometry x=0.807931, y=-1.191933, theta=0.233040 +[21:42:33.639] After Reprojection Map nPoint:1223 ,nCell:58 ,nMatches:50 ,distance between two frames x:0.000012 ,z=0.000006,angle between two frames:0.000381 +[21:42:33.650] Odometry x=0.809542, y=-1.198361, theta=0.228183 +[21:42:33.683] n deleted obs = 996 n obs with reprojection error less than 0.5 px =175 error init =3.416799 error end=1.116518 +[21:42:33.683] After pose optimization, distance between two frames x:48.123249 ,z=34.329927,angle between two frames:1.841891 +[21:42:33.691] Image Alignment failed 0 +[21:42:33.744] Odometry x=0.811652, y=-1.206846, theta=0.211657 +[21:42:33.850] Odometry x=0.813008, y=-1.213840, theta=0.198315 +[21:42:33.951] Odometry x=0.814187, y=-1.220176, theta=0.193704 +[21:42:34.058] Odometry x=0.815856, y=-1.228198, theta=0.186957 +[21:42:34.143] After Reprojection Map nPoint:1106 ,nCell:50 ,nMatches:44 ,distance between two frames x:-0.000006 ,z=-0.000001,angle between two frames:0.000929 +[21:42:34.145] n deleted obs = 1039 n obs with reprojection error less than 0.5 px =15 error init =2.901816 error end=2.901816 +[21:42:34.145] After pose optimization, distance between two frames x:-0.000006 ,z=-0.000001,angle between two frames:0.000929 +[21:42:34.145] Update EKF and 3D points, distance between two frames x:0.000333 ,z=-0.001656,angle between two frames:0.003101 +[21:42:34.151] Odometry x=0.814004, y=-1.218840, theta=0.209802 +[21:42:34.153] Image Alignment failed 0 +[21:42:34.249] Odometry x=0.815434, y=-1.225934, theta=0.231695 +[21:42:34.345] Odometry x=0.817136, y=-1.232954, theta=0.246768 +[21:42:34.446] Odometry x=0.818846, y=-1.239965, theta=0.276799 +[21:42:34.552] Odometry x=0.821041, y=-1.247523, theta=0.287306 +[21:42:34.614] After Reprojection Map nPoint:1091 ,nCell:46 ,nMatches:46 ,distance between two frames x:0.002113 ,z=-0.010203,angle between two frames:0.013321 +[21:42:34.616] n deleted obs = 1059 n obs with reprojection error less than 0.5 px =4 error init =2.970916 error end=2.970916 +[21:42:34.616] After pose optimization, distance between two frames x:0.002113 ,z=-0.010203,angle between two frames:0.013321 +[21:42:34.651] Odometry x=0.823275, y=-1.255301, theta=0.304898 +[21:42:34.756] Odometry x=0.825527, y=-1.262530, theta=0.316997 +[21:42:34.858] Odometry x=0.828090, y=-1.270106, theta=0.326915 +[21:42:34.950] Odometry x=0.830463, y=-1.276950, theta=0.329803 +[21:42:35.047] Odometry x=0.832838, y=-1.283684, theta=0.323760 +[21:42:35.070] After Reprojection Map nPoint:1106 ,nCell:46 ,nMatches:44 ,distance between two frames x:-0.000290 ,z=0.000214,angle between two frames:0.000019 +[21:42:35.110] n deleted obs = 894 n obs with reprojection error less than 0.5 px =175 error init =2.607717 error end=1.200468 +[21:42:35.110] After pose optimization, distance between two frames x:22.742018 ,z=16.119731,angle between two frames:3.404247 +[21:42:35.117] Image Alignment failed 0 +[21:42:35.147] Odometry x=0.835165, y=-1.290476, theta=0.312052 +[21:42:35.245] Odometry x=0.837482, y=-1.297687, theta=0.302780 +[21:42:35.359] Odometry x=0.839781, y=-1.304633, theta=0.300442 +[21:42:35.446] Odometry x=0.842310, y=-1.312854, theta=0.318265 +[21:42:35.554] After Reprojection Map nPoint:1069 ,nCell:64 ,nMatches:46 ,distance between two frames x:0.000010 ,z=-0.000012,angle between two frames:0.000234 +[21:42:35.555] Odometry x=0.844410, y=-1.318874, theta=0.313338 +[21:42:35.556] n deleted obs = 1002 n obs with reprojection error less than 0.5 px =8 error init =2.556699 error end=2.556699 +[21:42:35.556] After pose optimization, distance between two frames x:0.000010 ,z=-0.000012,angle between two frames:0.000234 +[21:42:35.644] Odometry x=0.847137, y=-1.327118, theta=0.329306 +[21:42:35.744] Odometry x=0.849358, y=-1.333665, theta=0.337169 +[21:42:35.852] Odometry x=0.851573, y=-1.339818, theta=0.348982 +[21:42:35.951] Odometry x=0.854707, y=-1.348478, theta=0.364110 +[21:42:36.005] After Reprojection Map nPoint:1009 ,nCell:42 ,nMatches:42 ,distance between two frames x:-0.000473 ,z=0.000065,angle between two frames:0.000029 +[21:42:36.006] n deleted obs = 970 n obs with reprojection error less than 0.5 px =14 error init =2.275881 error end=2.275881 +[21:42:36.006] After pose optimization, distance between two frames x:-0.000473 ,z=0.000065,angle between two frames:0.000029 +[21:42:36.006] Update EKF and 3D points, distance between two frames x:0.000293 ,z=-0.002038,angle between two frames:0.003154 +[21:42:36.014] Image Alignment failed 0 +[21:42:36.053] Odometry x=0.849579, y=-1.333820, theta=0.342095 +[21:42:36.156] Odometry x=0.852161, y=-1.340964, theta=0.320862 +[21:42:36.244] Odometry x=0.854765, y=-1.348058, theta=0.314236 +[21:42:36.353] Odometry x=0.857083, y=-1.355067, theta=0.323129 +[21:42:36.445] Odometry x=0.859744, y=-1.362930, theta=0.315207 +[21:42:36.448] After Reprojection Map nPoint:1001 ,nCell:47 ,nMatches:44 ,distance between two frames x:0.004722 ,z=-0.012976,angle between two frames:0.020394 +[21:42:36.452] n deleted obs = 211 n obs with reprojection error less than 0.5 px =755 error init =2.213287 error end=0.342986 +[21:42:36.452] After pose optimization, distance between two frames x:48.940707 ,z=331.608580,angle between two frames:1.218461 +[21:42:36.460] Image Alignment failed 0 +[21:42:36.557] Odometry x=0.862087, y=-1.369556, theta=0.297614 +[21:42:36.652] Odometry x=0.864446, y=-1.377566, theta=0.295174 +[21:42:36.750] Odometry x=0.866517, y=-1.384610, theta=0.297666 +[21:42:36.850] Odometry x=0.868500, y=-1.391623, theta=0.302360 +[21:42:36.863] After Reprojection Map nPoint:903 ,nCell:112 ,nMatches:37 ,distance between two frames x:0.000015 ,z=0.000085,angle between two frames:0.000870 +[21:42:36.864] n deleted obs = 782 n obs with reprojection error less than 0.5 px =11 error init =2.171074 error end=2.171074 +[21:42:36.864] After pose optimization, distance between two frames x:0.000015 ,z=0.000085,angle between two frames:0.000870 +[21:42:36.864] Update EKF and 3D points, distance between two frames x:0.000521 ,z=-0.001618,angle between two frames:0.001438 +[21:42:36.872] Image Alignment failed 0 +[21:42:36.948] Odometry x=0.865641, y=-1.381895, theta=0.313836 +[21:42:37.045] Odometry x=0.867996, y=-1.388717, theta=0.315997 +[21:42:37.153] Odometry x=0.870391, y=-1.395800, theta=0.302423 +[21:42:37.246] Odometry x=0.872823, y=-1.403529, theta=0.291129 +[21:42:37.291] After Reprojection Map nPoint:971 ,nCell:48 ,nMatches:45 ,distance between two frames x:0.003130 ,z=-0.010524,angle between two frames:0.003545 +[21:42:37.292] n deleted obs = 934 n obs with reprojection error less than 0.5 px =13 error init =2.173021 error end=2.173021 +[21:42:37.292] After pose optimization, distance between two frames x:0.003130 ,z=-0.010524,angle between two frames:0.003545 +[21:42:37.292] Update EKF and 3D points, distance between two frames x:0.003666 ,z=-0.012176,angle between two frames:0.004041 +[21:42:37.348] Odometry x=0.869526, y=-1.393712, theta=0.321613 +[21:42:37.451] Odometry x=0.871944, y=-1.401162, theta=0.350271 +[21:42:37.550] Odometry x=0.874332, y=-1.408100, theta=0.363624 +[21:42:37.646] Odometry x=0.877186, y=-1.415311, theta=0.363624 +[21:42:37.734] After Reprojection Map nPoint:960 ,nCell:47 ,nMatches:42 ,distance between two frames x:-0.000015 ,z=0.000034,angle between two frames:0.000001 +[21:42:37.736] n deleted obs = 914 n obs with reprojection error less than 0.5 px =11 error init =2.246016 error end=2.246016 +[21:42:37.736] After pose optimization, distance between two frames x:-0.000015 ,z=0.000034,angle between two frames:0.000001 +[21:42:37.736] Update EKF and 3D points, distance between two frames x:0.000766 ,z=-0.002197,angle between two frames:0.003637 +[21:42:37.748] Odometry x=0.871811, y=-1.399568, theta=0.336258 +[21:42:37.844] Odometry x=0.874139, y=-1.406405, theta=0.337311 +[21:42:37.947] Odometry x=0.876612, y=-1.413399, theta=0.321949 +[21:42:38.049] Odometry x=0.879086, y=-1.420647, theta=0.328189 +[21:42:38.152] Odometry x=0.881646, y=-1.427854, theta=0.324573 +[21:42:38.170] After Reprojection Map nPoint:922 ,nCell:41 ,nMatches:37 ,distance between two frames x:0.005574 ,z=-0.014167,angle between two frames:0.023052 +[21:42:38.172] n deleted obs = 878 n obs with reprojection error less than 0.5 px =10 error init =2.158797 error end=2.158797 +[21:42:38.172] After pose optimization, distance between two frames x:0.005574 ,z=-0.014167,angle between two frames:0.023052 +[21:42:38.172] Update EKF and 3D points, distance between two frames x:0.006248 ,z=-0.016217,angle between two frames:0.022360 +[21:42:38.244] Odometry x=0.877352, y=-1.414435, theta=0.335756 +[21:42:38.356] Odometry x=0.879621, y=-1.421038, theta=0.330994 +[21:42:38.445] Odometry x=0.882573, y=-1.429597, theta=0.334624 +[21:42:38.559] Odometry x=0.884514, y=-1.435038, theta=0.337545 +[21:42:38.613] After Reprojection Map nPoint:933 ,nCell:42 ,nMatches:40 ,distance between two frames x:0.004949 ,z=-0.012622,angle between two frames:0.004609 +[21:42:38.615] n deleted obs = 905 n obs with reprojection error less than 0.5 px =9 error init =2.105586 error end=2.105586 +[21:42:38.615] After pose optimization, distance between two frames x:0.004949 ,z=-0.012622,angle between two frames:0.004609 +[21:42:38.658] Odometry x=0.887928, y=-1.443396, theta=0.335665 +[21:42:38.760] Odometry x=0.890332, y=-1.450374, theta=0.331154 +[21:42:38.843] Odometry x=0.892769, y=-1.457702, theta=0.341492 +[21:42:38.952] Odometry x=0.894795, y=-1.462955, theta=0.341937 +[21:42:39.036] After Reprojection Map nPoint:840 ,nCell:55 ,nMatches:46 ,distance between two frames x:0.000923 ,z=-0.000640,angle between two frames:0.000122 +[21:42:39.038] n deleted obs = 819 n obs with reprojection error less than 0.5 px =13 error init =2.072302 error end=2.072302 +[21:42:39.038] After pose optimization, distance between two frames x:0.000923 ,z=-0.000640,angle between two frames:0.000122 +[21:42:39.038] Update EKF and 3D points, distance between two frames x:0.001468 ,z=-0.002191,angle between two frames:0.000354 +[21:42:39.049] Odometry x=0.892297, y=-1.455350, theta=0.335812 +[21:42:39.149] Odometry x=0.894887, y=-1.462570, theta=0.332079 +[21:42:39.248] Odometry x=0.897278, y=-1.469665, theta=0.343407 +[21:42:39.355] Odometry x=0.899812, y=-1.476556, theta=0.345893 +[21:42:39.447] Odometry x=0.902721, y=-1.484313, theta=0.356398 +[21:42:39.475] After Reprojection Map nPoint:777 ,nCell:41 ,nMatches:37 ,distance between two frames x:0.006309 ,z=-0.011157,angle between two frames:0.002459 +[21:42:39.476] n deleted obs = 756 n obs with reprojection error less than 0.5 px =15 error init =1.908544 error end=1.908544 +[21:42:39.476] After pose optimization, distance between two frames x:0.006309 ,z=-0.011157,angle between two frames:0.002459 +[21:42:39.476] Update EKF and 3D points, distance between two frames x:0.006885 ,z=-0.013137,angle between two frames:0.001689 +[21:42:39.550] Odometry x=0.899343, y=-1.471075, theta=0.352249 +[21:42:39.651] Odometry x=0.901761, y=-1.478297, theta=0.389225 +[21:42:39.748] Odometry x=0.904735, y=-1.485519, theta=0.386937 +[21:42:39.850] Odometry x=0.907496, y=-1.492307, theta=0.383759 +[21:42:39.908] After Reprojection Map nPoint:852 ,nCell:46 ,nMatches:45 ,distance between two frames x:0.003600 ,z=-0.012219,angle between two frames:0.004473 +[21:42:39.909] n deleted obs = 833 n obs with reprojection error less than 0.5 px =8 error init =1.993516 error end=1.993516 +[21:42:39.909] After pose optimization, distance between two frames x:0.003600 ,z=-0.012219,angle between two frames:0.004473 +[21:42:39.948] Odometry x=0.910357, y=-1.499503, theta=0.389409 +[21:42:40.051] Odometry x=0.913311, y=-1.506595, theta=0.395541 +[21:42:40.150] Odometry x=0.916316, y=-1.513661, theta=0.391806 +[21:42:40.251] Odometry x=0.919179, y=-1.520353, theta=0.392732 +[21:42:40.318] After Reprojection Map nPoint:721 ,nCell:43 ,nMatches:41 ,distance between two frames x:0.000085 ,z=-0.000021,angle between two frames:0.000668 +[21:42:40.319] n deleted obs = 688 n obs with reprojection error less than 0.5 px =30 error init =1.834408 error end=1.834408 +[21:42:40.319] After pose optimization, distance between two frames x:0.000085 ,z=-0.000021,angle between two frames:0.000668 +[21:42:40.319] Update EKF and 3D points, distance between two frames x:0.000763 ,z=-0.001647,angle between two frames:0.001277 +[21:42:40.320] Choose frame as a key frame Scene Depth mean:-0.677452 ,depth min:-4.097200 +[21:42:40.348] Odometry x=0.915318, y=-1.511116, theta=0.381789 +[21:42:40.450] Odometry x=0.918083, y=-1.517912, theta=0.387334 +[21:42:40.547] Odometry x=0.921107, y=-1.525025, theta=0.379420 +[21:42:40.645] Odometry x=0.924048, y=-1.531998, theta=0.368975 +[21:42:40.719] After Reprojection Map nPoint:673 ,nCell:41 ,nMatches:40 ,distance between two frames x:0.004157 ,z=-0.010022,angle between two frames:0.003531 +[21:42:40.720] n deleted obs = 647 n obs with reprojection error less than 0.5 px =30 error init =1.741183 error end=1.741183 +[21:42:40.720] After pose optimization, distance between two frames x:0.004157 ,z=-0.010022,angle between two frames:0.003531 +[21:42:40.720] Update EKF and 3D points, distance between two frames x:0.004828 ,z=-0.011633,angle between two frames:0.003750 +[21:42:40.720] Choose frame as a key frame Scene Depth mean:-1.059198 ,depth min:-12.264900 +[21:42:40.758] Odometry x=0.920084, y=-1.522707, theta=0.392437 +[21:42:40.852] Odometry x=0.923471, y=-1.530617, theta=0.410748 +[21:42:40.961] Odometry x=0.926563, y=-1.537029, theta=0.445072 +[21:42:41.048] Odometry x=0.930598, y=-1.544294, theta=0.452131 +[21:42:41.098] After Reprojection Map nPoint:562 ,nCell:47 ,nMatches:43 ,distance between two frames x:0.004724 ,z=-0.009917,angle between two frames:0.002296 +[21:42:41.099] n deleted obs = 539 n obs with reprojection error less than 0.5 px =29 error init =1.602065 error end=1.602065 +[21:42:41.099] After pose optimization, distance between two frames x:0.004724 ,z=-0.009917,angle between two frames:0.002296 +[21:42:41.099] Update EKF and 3D points, distance between two frames x:0.005484 ,z=-0.011538,angle between two frames:0.006273 +[21:42:41.148] Odometry x=0.926095, y=-1.534393, theta=0.415916 +[21:42:41.246] Odometry x=0.929254, y=-1.540944, theta=0.424382 +[21:42:41.359] Odometry x=0.932565, y=-1.547917, theta=0.431124 +[21:42:41.450] Odometry x=0.936208, y=-1.555209, theta=0.427329 +[21:42:41.462] After Reprojection Map nPoint:539 ,nCell:35 ,nMatches:35 ,distance between two frames x:0.004705 ,z=-0.010010,angle between two frames:0.024452 +[21:42:41.462] n deleted obs = 513 n obs with reprojection error less than 0.5 px =27 error init =1.741855 error end=1.741855 +[21:42:41.462] After pose optimization, distance between two frames x:0.004705 ,z=-0.010010,angle between two frames:0.024452 +[21:42:41.462] Update EKF and 3D points, distance between two frames x:0.005457 ,z=-0.011597,angle between two frames:0.025878 +[21:42:41.549] Odometry x=0.931546, y=-1.545899, theta=0.466899 +[21:42:41.668] Odometry x=0.935535, y=-1.553560, theta=0.412388 +[21:42:41.751] Odometry x=0.939902, y=-1.562254, theta=0.409572 +[21:42:41.829] After Reprojection Map nPoint:480 ,nCell:36 ,nMatches:36 ,distance between two frames x:0.004849 ,z=-0.009826,angle between two frames:0.010674 +[21:42:41.830] n deleted obs = 433 n obs with reprojection error less than 0.5 px =47 error init =1.463924 error end=1.463924 +[21:42:41.830] After pose optimization, distance between two frames x:0.004849 ,z=-0.009826,angle between two frames:0.010674 +[21:42:41.830] Update EKF and 3D points, distance between two frames x:0.005436 ,z=-0.011118,angle between two frames:0.010360 +[21:42:41.830] Choose frame as a key frame Scene Depth mean:-0.088948 ,depth min:-22.390491 +[21:42:41.849] Odometry x=0.935920, y=-1.555185, theta=0.416661 +[21:42:41.952] Odometry x=0.939374, y=-1.562142, theta=0.399780 +[21:42:42.048] Odometry x=0.942330, y=-1.569121, theta=0.404473 +[21:42:42.146] Odometry x=0.945304, y=-1.575933, theta=0.395625 +[21:42:42.249] Odometry x=0.948299, y=-1.582967, theta=0.386307 +[21:42:42.279] After Reprojection Map nPoint:455 ,nCell:29 ,nMatches:28 ,distance between two frames x:0.007044 ,z=-0.015280,angle between two frames:0.021291 +[21:42:42.280] n deleted obs = 415 n obs with reprojection error less than 0.5 px =38 error init =1.532399 error end=1.532399 +[21:42:42.280] After pose optimization, distance between two frames x:0.007044 ,z=-0.015280,angle between two frames:0.021291 +[21:42:42.280] Update EKF and 3D points, distance between two frames x:0.007743 ,z=-0.016914,angle between two frames:0.022557 +[21:42:42.280] Choose frame as a key frame Scene Depth mean:-0.636106 ,depth min:-3.234027 +[21:42:42.353] Odometry x=0.944390, y=-1.574043, theta=0.398357 +[21:42:42.452] Odometry x=0.947363, y=-1.580995, theta=0.401311 +[21:42:42.545] Odometry x=0.950305, y=-1.587942, theta=0.403228 +[21:42:42.649] After Reprojection Map nPoint:624 ,nCell:50 ,nMatches:45 ,distance between two frames x:0.004289 ,z=-0.010077,angle between two frames:0.007878 +[21:42:42.650] n deleted obs = 595 n obs with reprojection error less than 0.5 px =32 error init =1.767517 error end=1.767517 +[21:42:42.650] After pose optimization, distance between two frames x:0.004289 ,z=-0.010077,angle between two frames:0.007878 +[21:42:42.650] Update EKF and 3D points, distance between two frames x:0.004804 ,z=-0.011278,angle between two frames:0.007432 +[21:42:42.650] Choose frame as a key frame Scene Depth mean:-0.235309 ,depth min:-3.950861 +[21:42:42.653] Odometry x=0.944874, y=-1.575231, theta=0.396237 +[21:42:42.746] Odometry x=0.948802, y=-1.584509, theta=0.393409 +[21:42:42.854] Odometry x=0.951678, y=-1.591145, theta=0.389414 +[21:42:42.950] Odometry x=0.954881, y=-1.598887, theta=0.387003 +[21:42:43.021] After Reprojection Map nPoint:628 ,nCell:48 ,nMatches:46 ,distance between two frames x:-0.000027 ,z=0.000012,angle between two frames:0.000001 +[21:42:43.023] n deleted obs = 584 n obs with reprojection error less than 0.5 px =53 error init =1.624112 error end=1.624112 +[21:42:43.023] After pose optimization, distance between two frames x:-0.000027 ,z=0.000012,angle between two frames:0.000001 +[21:42:43.023] Update EKF and 3D points, distance between two frames x:0.000708 ,z=-0.001736,angle between two frames:0.000487 +[21:42:43.023] Choose frame as a key frame Scene Depth mean:-0.616910 ,depth min:-13.612706 +[21:42:43.031] Image Alignment failed 0 +[21:42:43.046] Odometry x=0.950123, y=-1.587758, theta=0.390793 +[21:42:43.149] Odometry x=0.952923, y=-1.594442, theta=0.389209 +[21:42:43.249] Odometry x=0.955788, y=-1.601469, theta=0.413698 +[21:42:43.349] Odometry x=0.958871, y=-1.608460, theta=0.418371 +[21:42:43.364] After Reprojection Map nPoint:438 ,nCell:35 ,nMatches:35 ,distance between two frames x:0.004544 ,z=-0.010803,angle between two frames:0.003403 +[21:42:43.365] n deleted obs = 390 n obs with reprojection error less than 0.5 px =54 error init =1.458917 error end=1.458917 +[21:42:43.365] After pose optimization, distance between two frames x:0.004544 ,z=-0.010803,angle between two frames:0.003403 +[21:42:43.365] Update EKF and 3D points, distance between two frames x:0.005234 ,z=-0.012414,angle between two frames:0.001689 +[21:42:43.365] Choose frame as a key frame Scene Depth mean:0.652430 ,depth min:-3.503374 +[21:42:43.373] Image Alignment failed 0 +[21:42:43.451] Odometry x=0.955122, y=-1.599308, theta=0.421665 +[21:42:43.551] Odometry x=0.958160, y=-1.606253, theta=0.430256 +[21:42:43.648] Odometry x=0.961334, y=-1.613200, theta=0.426483 +[21:42:43.686] After Reprojection Map nPoint:426 ,nCell:48 ,nMatches:44 ,distance between two frames x:0.004259 ,z=-0.009956,angle between two frames:0.011225 +[21:42:43.687] n deleted obs = 390 n obs with reprojection error less than 0.5 px =45 error init =1.514400 error end=1.514400 +[21:42:43.687] After pose optimization, distance between two frames x:0.004259 ,z=-0.009956,angle between two frames:0.011225 +[21:42:43.687] Update EKF and 3D points, distance between two frames x:0.004805 ,z=-0.011159,angle between two frames:0.012290 +[21:42:43.687] Choose frame as a key frame Scene Depth mean:-0.432195 ,depth min:-10.071962 +[21:42:43.696] Image Alignment failed 0 +[21:42:43.751] Odometry x=0.959043, y=-1.607901, theta=0.419189 +[21:42:43.857] Odometry x=0.962189, y=-1.614852, theta=0.415837 +[21:42:43.949] Odometry x=0.965577, y=-1.622475, theta=0.408973 +[21:42:44.018] After Reprojection Map nPoint:462 ,nCell:62 ,nMatches:52 ,distance between two frames x:0.003458 ,z=-0.007395,angle between two frames:0.006429 +[21:42:44.019] n deleted obs = 450 n obs with reprojection error less than 0.5 px =32 error init =1.555600 error end=1.555600 +[21:42:44.019] After pose optimization, distance between two frames x:0.003458 ,z=-0.007395,angle between two frames:0.006429 +[21:42:44.019] Update EKF and 3D points, distance between two frames x:0.003996 ,z=-0.008608,angle between two frames:0.006552 +[21:42:44.020] Choose frame as a key frame Scene Depth mean:0.705674 ,depth min:-1.822492 +[21:42:44.051] Odometry x=0.962957, y=-1.616641, theta=0.411974 +[21:42:44.150] Odometry x=0.965999, y=-1.623604, theta=0.423056 +[21:42:44.254] Odometry x=0.969080, y=-1.630436, theta=0.419012 +[21:42:44.348] Odometry x=0.972278, y=-1.637606, theta=0.414526 +[21:42:44.350] After Reprojection Map nPoint:509 ,nCell:47 ,nMatches:44 ,distance between two frames x:0.003304 ,z=-0.007479,angle between two frames:0.000579 +[21:42:44.351] n deleted obs = 472 n obs with reprojection error less than 0.5 px =49 error init =1.504121 error end=1.504121 +[21:42:44.351] After pose optimization, distance between two frames x:0.003304 ,z=-0.007479,angle between two frames:0.000579 +[21:42:44.351] Update EKF and 3D points, distance between two frames x:0.004322 ,z=-0.009777,angle between two frames:0.000639 +[21:42:44.352] Choose frame as a key frame Scene Depth mean:0.029828 ,depth min:-1.550624 +[21:42:44.455] Odometry x=0.970218, y=-1.633077, theta=0.403838 +[21:42:44.559] Odometry x=0.973452, y=-1.640702, theta=0.398209 +[21:42:44.661] Odometry x=0.976480, y=-1.647832, theta=0.395235 +[21:42:44.688] After Reprojection Map nPoint:501 ,nCell:47 ,nMatches:42 ,distance between two frames x:0.006500 ,z=-0.014099,angle between two frames:0.000433 +[21:42:44.689] n deleted obs = 441 n obs with reprojection error less than 0.5 px =69 error init =1.365673 error end=1.365673 +[21:42:44.689] After pose optimization, distance between two frames x:0.006500 ,z=-0.014099,angle between two frames:0.000433 +[21:42:44.689] Update EKF and 3D points, distance between two frames x:0.007031 ,z=-0.015392,angle between two frames:0.001180 +[21:42:44.689] Choose frame as a key frame Scene Depth mean:-0.581685 ,depth min:-2.260149 +[21:42:44.699] Image Alignment failed 0 +[21:42:44.761] Odometry x=0.974245, y=-1.642306, theta=0.420024 +[21:42:44.860] Odometry x=0.977387, y=-1.649278, theta=0.432170 +[21:42:44.954] Odometry x=0.980456, y=-1.655903, theta=0.442103 +[21:42:45.000] After Reprojection Map nPoint:437 ,nCell:42 ,nMatches:40 ,distance between two frames x:0.003271 ,z=-0.007999,angle between two frames:0.002771 +[21:42:45.000] n deleted obs = 375 n obs with reprojection error less than 0.5 px =55 error init =1.463494 error end=1.463494 +[21:42:45.000] After pose optimization, distance between two frames x:0.003271 ,z=-0.007999,angle between two frames:0.002771 +[21:42:45.000] Update EKF and 3D points, distance between two frames x:0.003815 ,z=-0.009167,angle between two frames:0.000525 +[21:42:45.001] Choose frame as a key frame Scene Depth mean:-0.748070 ,depth min:-6.099654 +[21:42:45.058] Odometry x=0.978146, y=-1.650689, theta=0.433461 +[21:42:45.154] Odometry x=0.981411, y=-1.657728, theta=0.439658 +[21:42:45.261] Odometry x=0.984727, y=-1.664670, theta=0.431937 +[21:42:45.324] After Reprojection Map nPoint:473 ,nCell:62 ,nMatches:51 ,distance between two frames x:0.003454 ,z=-0.007068,angle between two frames:0.014105 +[21:42:45.325] n deleted obs = 410 n obs with reprojection error less than 0.5 px =63 error init =1.378784 error end=1.378784 +[21:42:45.325] After pose optimization, distance between two frames x:0.003454 ,z=-0.007068,angle between two frames:0.014105 +[21:42:45.325] Update EKF and 3D points, distance between two frames x:0.004029 ,z=-0.008315,angle between two frames:0.014213 +[21:42:45.325] Choose frame as a key frame Scene Depth mean:-0.614541 ,depth min:-5.931651 +[21:42:45.334] Image Alignment failed 0 +[21:42:45.352] Odometry x=0.982349, y=-1.659503, theta=0.425118 +[21:42:45.462] Odometry x=0.985113, y=-1.665674, theta=0.431609 +[21:42:45.559] Odometry x=0.988697, y=-1.673314, theta=0.438903 +[21:42:45.623] After Reprojection Map nPoint:345 ,nCell:42 ,nMatches:36 ,distance between two frames x:0.003550 ,z=-0.007710,angle between two frames:0.000471 +[21:42:45.623] n deleted obs = 274 n obs with reprojection error less than 0.5 px =64 error init =1.266006 error end=1.266006 +[21:42:45.623] After pose optimization, distance between two frames x:0.003550 ,z=-0.007710,angle between two frames:0.000471 +[21:42:45.623] Update EKF and 3D points, distance between two frames x:0.004108 ,z=-0.008920,angle between two frames:0.001713 +[21:42:45.624] Choose frame as a key frame Scene Depth mean:-0.944994 ,depth min:-3.816258 +[21:42:45.633] Image Alignment failed 0 +[21:42:45.662] Odometry x=0.986408, y=-1.668184, theta=0.435968 +[21:42:45.762] Odometry x=0.989615, y=-1.675121, theta=0.440318 +[21:42:45.860] Odometry x=0.992895, y=-1.682066, theta=0.441879 +[21:42:45.912] After Reprojection Map nPoint:145 ,nCell:29 ,nMatches:24 ,distance between two frames x:0.003447 ,z=-0.007476,angle between two frames:0.007680 +[21:42:45.913] n deleted obs = 100 n obs with reprojection error less than 0.5 px =44 error init =1.048906 error end=1.048906 +[21:42:45.913] After pose optimization, distance between two frames x:0.003447 ,z=-0.007476,angle between two frames:0.007680 +[21:42:45.913] Update EKF and 3D points, distance between two frames x:0.004006 ,z=-0.008664,angle between two frames:0.008279 +[21:42:45.913] Choose frame as a key frame Scene Depth mean:-1.413708 ,depth min:-10.953729 +[21:42:45.960] Odometry x=0.990388, y=-1.676717, theta=0.440013 +[21:42:46.053] Odometry x=0.993629, y=-1.683592, theta=0.437806 +[21:42:46.162] Odometry x=0.996716, y=-1.690191, theta=0.442815 +[21:42:46.262] Odometry x=1.000305, y=-1.697762, theta=0.445329 +[21:42:46.335] Image Alignment failed 0 +[21:42:46.360] Odometry x=1.003604, y=-1.704658, theta=0.447127 +[21:42:46.458] Odometry x=1.006824, y=-1.711133, theta=0.456029 +[21:42:46.556] Odometry x=1.010199, y=-1.718003, theta=0.459940 +[21:42:46.615] After Reprojection Map nPoint:141 ,nCell:32 ,nMatches:26 ,distance between two frames x:0.016691 ,z=-0.035277,angle between two frames:0.009600 +[21:42:46.615] n deleted obs = 102 n obs with reprojection error less than 0.5 px =44 error init =0.968870 error end=0.968870 +[21:42:46.615] After pose optimization, distance between two frames x:0.016691 ,z=-0.035277,angle between two frames:0.009600 +[21:42:46.615] Update EKF and 3D points, distance between two frames x:0.017264 ,z=-0.036434,angle between two frames:0.010459 +[21:42:46.615] Choose frame as a key frame Scene Depth mean:-1.362702 ,depth min:-15.563277 +[21:42:46.645] Odometry x=1.007726, y=-1.712978, theta=0.452846 +[21:42:46.751] Odometry x=1.010818, y=-1.719270, theta=0.453833 +[21:42:46.844] Odometry x=1.014269, y=-1.726322, theta=0.453446 +[21:42:46.891] After Reprojection Map nPoint:129 ,nCell:36 ,nMatches:25 ,distance between two frames x:0.003540 ,z=-0.007151,angle between two frames:0.005500 +[21:42:46.891] n deleted obs = 97 n obs with reprojection error less than 0.5 px =33 error init =1.137751 error end=1.137751 +[21:42:46.891] After pose optimization, distance between two frames x:0.003540 ,z=-0.007151,angle between two frames:0.005500 +[21:42:46.891] Update EKF and 3D points, distance between two frames x:0.004109 ,z=-0.008312,angle between two frames:0.005538 +[21:42:46.891] Choose frame as a key frame Scene Depth mean:-0.809029 ,depth min:-2.328900 +[21:42:46.944] Odometry x=1.011808, y=-1.721308, theta=0.454334 +[21:42:47.048] Odometry x=1.015099, y=-1.727982, theta=0.457523 +[21:42:47.153] Odometry x=1.018436, y=-1.734716, theta=0.458509 +[21:42:47.179] After Reprojection Map nPoint:166 ,nCell:39 ,nMatches:30 ,distance between two frames x:0.003924 ,z=-0.006969,angle between two frames:0.000570 +[21:42:47.180] n deleted obs = 124 n obs with reprojection error less than 0.5 px =50 error init =0.907499 error end=0.907499 +[21:42:47.180] After pose optimization, distance between two frames x:0.003924 ,z=-0.006969,angle between two frames:0.000570 +[21:42:47.180] Update EKF and 3D points, distance between two frames x:0.004500 ,z=-0.008196,angle between two frames:0.001018 +[21:42:47.180] Choose frame as a key frame Scene Depth mean:-0.499728 ,depth min:-3.370552 +[21:42:47.247] Odometry x=1.016381, y=-1.729876, theta=0.458478 +[21:42:47.349] Odometry x=1.019657, y=-1.736500, theta=0.462432 +[21:42:47.450] Odometry x=1.023046, y=-1.743276, theta=0.466890 +[21:42:47.465] After Reprojection Map nPoint:153 ,nCell:36 ,nMatches:27 ,distance between two frames x:0.003571 ,z=-0.007574,angle between two frames:0.002937 +[21:42:47.465] n deleted obs = 125 n obs with reprojection error less than 0.5 px =25 error init =1.115192 error end=1.115192 +[21:42:47.465] After pose optimization, distance between two frames x:0.003571 ,z=-0.007574,angle between two frames:0.002937 +[21:42:47.465] Update EKF and 3D points, distance between two frames x:0.004165 ,z=-0.008759,angle between two frames:0.003623 +[21:42:47.481] Image Alignment failed 0 +[21:42:47.549] Odometry x=1.020641, y=-1.738407, theta=0.464322 +[21:42:47.648] Odometry x=1.024019, y=-1.745119, theta=0.466655 +[21:42:47.750] Odometry x=1.027432, y=-1.751849, theta=0.475675 +[21:42:47.750] After Reprojection Map nPoint:200 ,nCell:51 ,nMatches:40 ,distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:42:47.751] n deleted obs = 175 n obs with reprojection error less than 0.5 px =30 error init =1.096947 error end=1.096947 +[21:42:47.751] After pose optimization, distance between two frames x:0.000000 ,z=0.000000,angle between two frames:0.000000 +[21:42:47.751] Update EKF and 3D points, distance between two frames x:0.001151 ,z=-0.002279,angle between two frames:0.001102 +[21:42:47.853] Odometry x=1.025219, y=-1.747408, theta=0.471712 +[21:42:48.032] After Reprojection Map nPoint:210 ,nCell:44 ,nMatches:38 ,distance between two frames x:0.007514 ,z=-0.013659,angle between two frames:0.007741 +[21:42:48.032] n deleted obs = 160 n obs with reprojection error less than 0.5 px =61 error init =1.015009 error end=1.015009 +[21:42:48.032] After pose optimization, distance between two frames x:0.007514 ,z=-0.013659,angle between two frames:0.007741 +[21:42:48.032] Update EKF and 3D points, distance between two frames x:0.007698 ,z=-0.014090,angle between two frames:0.008086 +[21:42:48.033] Choose frame as a key frame Scene Depth mean:-2.032145 ,depth min:-32.461603 +[21:42:48.318] After Reprojection Map nPoint:219 ,nCell:43 ,nMatches:33 ,distance between two frames x:-0.000006 ,z=0.000007,angle between two frames:0.000000 +[21:42:48.318] n deleted obs = 169 n obs with reprojection error less than 0.5 px =47 error init =1.176704 error end=1.176704 +[21:42:48.318] After pose optimization, distance between two frames x:-0.000006 ,z=0.000007,angle between two frames:0.000000 +[21:42:48.318] Update EKF and 3D points, distance between two frames x:0.000168 ,z=-0.000399,angle between two frames:0.000325 +[21:42:48.319] Choose frame as a key frame Scene Depth mean:-1.551692 ,depth min:-6.537568 diff --git a/GPU_version/vio/include/vio/ukf.h b/GPU_version/vio/include/vio/ukf.h index 2b13020..85e7b5b 100644 --- a/GPU_version/vio/include/vio/ukf.h +++ b/GPU_version/vio/include/vio/ukf.h @@ -13,10 +13,10 @@ class Base{ public: Base(const Eigen::Matrix &init) { - state_=init; + state_=Eigen::Vector4d(init.x(),init.y(),init.z(),0.0); cov_.setIdentity(); cov_*=0.0001; - state_h_=init; + state_h_=Eigen::Vector4d(init.x(),init.y(),init.z(),0.0); cov_h_.setIdentity(); cov_h_*=0.0001; }; @@ -30,16 +30,19 @@ public: } t_cmd=time; state_h_(2)=state_(2)+dt*dpitch; - state_h_(1)=state_(1)+2.0*dt*(dy*cos(state_(2))-dx*sin(state_(2))); + state_h_(1)=state_(1)+dt*(dy*cos(state_(2))-dx*sin(state_(2))); state_h_(0)=state_(0)+dt*(dx*cos(state_(2))+dy*sin(state_(2))); - Eigen::Matrix R; - R< G; - G<<1.0,0,dt*(-dx*sin(state_(2))+dy*cos(state_(2))), - 0,1.0,2.0*dt*(-dy*sin(state_(2))-dx*cos(state_(2))), - 0,0,1.0; + state_h_(3)=dpitch; + Eigen::Matrix R; + R< G; + G<<1.0,0,dt*(-dx*sin(state_(2))+dy*cos(state_(2))),0.0, + 0,1.0,dt*(-dy*sin(state_(2))-dx*cos(state_(2))),0.0, + 0,0,1.0,dt, + 0,0,0,1.0; cov_h_=G*cov_*G.transpose()+R; } void correct(double ddx, double ddy, double dpitch, double time){ @@ -49,58 +52,64 @@ public: return; } t_imu=time; - Eigen::Matrix H; - Eigen::Matrix Q; - Eigen::Matrix E; - Eigen::Matrix k; - H<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))), - 0,1.0,-2.0*pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))), - 0,0,1.0; - Q< H; + Eigen::Matrix Q; + Eigen::Matrix E; + Eigen::Matrix k; E(0)=state_(0)+pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2)))-state_h_(0); - E(1)=state_(1)+2.0*pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1); - E(2)=state_(2)+dt*dpitch-state_h_(2); + E(1)=state_(1)+pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2)))-state_h_(1); + E(2)=state_(2)+dt*state_(3)-state_h_(2); + E(3)=dpitch-state_h_(3); + H<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),0.0, + 0,1.0,-2.0*pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0.0, + 0,0,1.0,dt, + 0,0,0,1.0; + Q< R; - R< G; - G<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))), - 0,1.0,-2.0*pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))), - 0,0,1.0; + state_h_(3)=state_(3); + Eigen::Matrix R; + R< G; + G<<1.0,0,pow(dt,2)*(ddy*cos(state_(2))-ddx*sin(state_(2))),0, + 0,1.0,pow(dt,2)*(ddx*cos(state_(2))+ddy*sin(state_(2))),0, + 0,0,1.0,dt, + 0,0,0,1.0; cov_h_=G*cov_*G.transpose()+R; } void correct(double x, double z,double pitch){ - Eigen::Matrix H; + Eigen::Matrix H; Eigen::Matrix Q; Eigen::Matrix E; - Eigen::Matrix k; - H<<1.0,0,0, - 0,1.0,0, - 0,0,1.0; + Eigen::Matrix k; + H<<1.0,0,0,0, + 0,1.0,0,0, + 0,0,1.0,0; Q< cov_; - Eigen::Matrix state_; + Eigen::Matrix cov_; + Eigen::Matrix state_; private: double t_cmd=0.0; - Eigen::Matrix cov_h_; - Eigen::Matrix state_h_;//state{x,y,pitch( rotation aound z)} in world frame + Eigen::Matrix cov_h_; + Eigen::Matrix state_h_;//state{x,y,pitch( rotation around z),dyaw} in world frame double t_imu=0.0; }; @@ -125,16 +134,24 @@ public: boost::unique_lock lock(ekf_mut_); filter_->predict(x,y,theta,1e-9*time.toNSec()); }; - //Camera frame z back, x right, y down -> right hands (pitch counts from x)correct + //Camera frame z forward, x right, y down -> right hands (pitch counts from x)correct //Notice T_F_W is the position of the first frame with respect to the new frame while they are looking at one feature std::pair,vio::SE2_5> UpdateSvo(double x/*in camera frame*/,double z/*in camera frame*/,double pitch/*in camera frame*/) { boost::unique_lock lock(ekf_mut_); filter_->correct(x,z,-1.0*pitch); - return std::pair,vio::SE2_5>(filter_->cov_,vio::SE2_5(filter_->state_(0),filter_->state_(1),-1.0*(filter_->state_(2)))); + Eigen::Matrix cov; + cov<cov_(0,0),filter_->cov_(0,1),filter_->cov_(0,2), + filter_->cov_(1,0),filter_->cov_(1,1),filter_->cov_(1,2), + filter_->cov_(2,0),filter_->cov_(2,1),filter_->cov_(2,2); + return std::pair,vio::SE2_5>(cov,vio::SE2_5(filter_->state_(0),filter_->state_(1),-1.0*(filter_->state_(2)))); }; std::pair,vio::SE2_5> get_location(){ boost::unique_lock lock(ekf_mut_); - return std::pair,vio::SE2_5>(filter_->cov_,vio::SE2_5(filter_->state_(0),filter_->state_(1),-1.0*(filter_->state_(2)))); + Eigen::Matrix cov; + cov<cov_(0,0),filter_->cov_(0,1),filter_->cov_(0,2), + filter_->cov_(1,0),filter_->cov_(1,1),filter_->cov_(1,2), + filter_->cov_(2,0),filter_->cov_(2,1),filter_->cov_(2,2); + return std::pair,vio::SE2_5>(cov,vio::SE2_5(filter_->state_(0),filter_->state_(1),-1.0*(filter_->state_(2)))); } bool start_=false; private: diff --git a/GPU_version/vio/src/visualizer.cpp b/GPU_version/vio/src/visualizer.cpp index e2bc0f1..9ff8f2d 100644 --- a/GPU_version/vio/src/visualizer.cpp +++ b/GPU_version/vio/src/visualizer.cpp @@ -55,11 +55,11 @@ void Visualizer::publishMinimal( //Rviz frame z up, x right, y forward -> right hands (yaw counts from y) //Camera frame z front, x right, y down -> right hands (pitch counts from z) //IMU frame y front, x right, z up -> left hands (theta counts from y) - Quaterniond q(AngleAxisd(-odom.second.pitch()+M_PI_2, Vector3d::UnitZ())); + Quaterniond q(AngleAxisd(-1.0*(odom.second.pitch()-M_PI_2), Vector3d::UnitZ())); geometry_msgs::PoseWithCovarianceStampedPtr msg_pose_with_cov(new geometry_msgs::PoseWithCovarianceStamped); msg_pose_with_cov->header = header_msg; - msg_pose_with_cov->pose.pose.position.x = -1.0*odom.second.se2().translation()(0); - msg_pose_with_cov->pose.pose.position.y = -1.0*odom.second.se2().translation()(1); + msg_pose_with_cov->pose.pose.position.x = odom.second.se2().translation()(0); + msg_pose_with_cov->pose.pose.position.y = odom.second.se2().translation()(1); msg_pose_with_cov->pose.pose.position.z = 0.0; msg_pose_with_cov->pose.pose.orientation.x = q.x(); msg_pose_with_cov->pose.pose.orientation.y = q.y(); @@ -74,7 +74,7 @@ void Visualizer::publishMinimal( pub_pose_with_cov_.publish(msg_pose_with_cov); if(pub_frames_.getNumSubscribers() > 0 || pub_points_.getNumSubscribers() > 0){ publishPointMarker( - pub_points_, Eigen::Vector3d(-1.0*odom.second.se2().translation()(0),-1.0*odom.second.se2().translation()(1),0.0), "trajectory", + pub_points_, Eigen::Vector3d(odom.second.se2().translation()(0),odom.second.se2().translation()(1),0.0), "trajectory", ros::Time::now(), trace_id_, 0, 0.01, Vector3d(0.,0.,0.5)); } }