rm useless vector
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@ -49,11 +49,6 @@ class Callback {
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float x, y, z, th, h, c;
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x = y = z = th = h = c = 0.;
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// we want to consider the whole PointCloud
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std::vector<int> indices;
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for (int i = 0; i < msg->points.size(); ++i)
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indices.push_back(i);
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// v = eg_1 ^ eg_2 is the plan normal
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Eigen::Vector3f v = eg.col(0).cross(eg.col(1));
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v.normalize(); // to have norm(v) == 1
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