message: Fix plane normals (I hope).
diff: @@ -11,7 +11,7 @@ void Plane::setFromPoints(const Eigen::Vector3d& p1, const Eigen::Vector3d& p2,
  Eigen::Vector3d cross = p1p2.cross(p1p3);
  normal_ = cross.normalized();
  - distance_ = -cross.dot(p1);
  + distance_ = normal_.dot(p1);
  }
  void Plane::setFromDistanceNormal(const Eigen::Vector3d& normal,
  @@ -102,7 +102,7 @@ void CameraModel::setBodyPose(const Transformation& body_pose) {
  }
  void CameraModel::calculateBoundingPlanes() {
  - if (initialized_) {
  + if (!initialized_) {
  return;
  }
  @@ -121,37 +121,41 @@ void CameraModel::calculateBoundingPlanes() {
  // Near plane.
  bounding_planes_[0].setFromPoints(
  - transformed_corners[0], transformed_corners[1], transformed_corners[2]);
  - std::cout << "Near plane: Normal: " << bounding_planes_[0].normal()
  + transformed_corners[0], transformed_corners[2], transformed_corners[1]);
  + std::cout << "Near plane: Normal: "
  + << bounding_planes_[0].normal().transpose()
  << " distance: " << bounding_planes_[0].distance() << std::endl;
  // Far plane.
  bounding_planes_[1].setFromPoints(
  transformed_corners[4], transformed_corners[5], transformed_corners[6]);
  - std::cout << "Far plane: Normal: " << bounding_planes_[1].normal()
  + std::cout << "Far plane: Normal: " << bounding_planes_[1].normal().transpose()
  << " distance: " << bounding_planes_[1].distance() << std::endl;
  // Left.
  bounding_planes_[2].setFromPoints(
  - transformed_corners[3], transformed_corners[2], transformed_corners[6]);
  - std::cout << "Left plane: Normal: " << bounding_planes_[2].normal()
  + transformed_corners[3], transformed_corners[6], transformed_corners[2]);
  + std::cout << "Left plane: Normal: "
  + << bounding_planes_[2].normal().transpose()
  << " distance: " << bounding_planes_[2].distance() << std::endl;
  // Right.
  bounding_planes_[3].setFromPoints(
  - transformed_corners[0], transformed_corners[4], transformed_corners[5]);
  - std::cout << "Right plane: Normal: " << bounding_planes_[3].normal()
  + transformed_corners[0], transformed_corners[5], transformed_corners[4]);
  + std::cout << "Right plane: Normal: "
  + << bounding_planes_[3].normal().transpose()
  << " distance: " << bounding_planes_[3].distance() << std::endl;
  // Top.
  bounding_planes_[4].setFromPoints(
  - transformed_corners[3], transformed_corners[7], transformed_corners[4]);
  - std::cout << "Top plane: Normal: " << bounding_planes_[4].normal()
  + transformed_corners[3], transformed_corners[4], transformed_corners[7]);
  + std::cout << "Top plane: Normal: " << bounding_planes_[4].normal().transpose()
  << " distance: " << bounding_planes_[4].distance() << std::endl;
  // Bottom.
  bounding_planes_[5].setFromPoints(
  transformed_corners[2], transformed_corners[6], transformed_corners[5]);
  - std::cout << "Bottom plane: Normal: " << bounding_planes_[5].normal()
  + std::cout << "Bottom plane: Normal: "
  + << bounding_planes_[5].normal().transpose()
  << " distance: " << bounding_planes_[5].distance() << std::endl;
  // Calculate AABB.
  