if(label_interesting_points[index].size() == 3)
        {
            auto it = label_interesting_points[index].begin();
            Plane p1 = planes[*it]; it++;
            Plane p2 = planes[*it]; it++;
            Plane p3 = planes[*it];

            cout << "p1 = " << p1._a << " " << p1._b << " " << p1._c << " " << p1._d << " " << endl;
            cout << "p2 = " << p2._a << " " << p2._b << " " << p2._c << " " << p2._d << " " << endl;
            cout << "p3 = " << p3._a << " " << p3._b << " " << p3._c << " " << p3._d << " " << endl;
            cout << "point = " << one_point->points[0] << endl;
            Eigen::Matrix3f A;
            Eigen::Vector3f b;
            A << p1._a, p1._b, p1._c,  p2._a, p2._b, p2._c,  p3._a, p3._b, p3._c;
            b << -p1._d, -p2._d, -p3._d;
            Vector3f x1 = A.colPivHouseholderQr().solve(b);
            one_point->points[0] = PointXYZ(x1[0], x1[1], x1[2]);
            iterate = 0;
        }
        else
            if(label_interesting_points[index].size() == 2)
            {
                auto it = label_interesting_points[index].begin();
                Plane p1 = planes[*it]; it++;
                Plane p2 = planes[*it]; it++;

                Eigen::Vector3f n1 = Vector3f(p1._a, p1._b, p1._c);
                Eigen::Vector3f n2 = Vector3f(p2._a, p2._b, p2._c);

                Eigen::Vector3f n3 = n1.cross(n2);
                Eigen::Vector3f v(one_point->points[0].x, one_point->points[0].y, one_point->points[0].z);

                double d = v.dot(n3);

            cout << "p1 = " << p1._a << " " << p1._b << " " << p1._c << " " << p1._d << " " << endl;
            cout << "p2 = " << p2._a << " " << p2._b << " " << p2._c << " " << p2._d << " " << endl;
            cout << "p3 = " << n3[0] << " " << n3[1] << " " << n3[2] << " " << -d << " " << endl;
            cout << "2point = " << one_point->points[0] << endl;

                Eigen::Matrix3f A;
                Eigen::Vector3f b;
                A << p1._a, p1._b, p1._c,  p2._a, p2._b, p2._c,  n3[0], n3[1], n3[2];
                b << -p1._d, -p2._d, d;
                Vector3f x1 = A.colPivHouseholderQr().solve(b);
                one_point->points[0] = PointXYZ(x1[0], x1[1], x1[2]);

                iterate = 0;
            }