geometry.h

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#ifndef PCL_GEOMETRY_H_
#define PCL_GEOMETRY_H_

#if defined __GNUC__
#  pragma GCC system_header
#endif

#include <Eigen/Core>

namespace pcl
{
  namespace geometry
  {
    template <typename PointT> inline float 
    distance (const PointT& p1, const PointT& p2)
    {
      Eigen::Vector3f diff = p1 -p2;
      return (diff.norm ());
    }

    template<typename PointT> inline float 
    squaredDistance (const PointT& p1, const PointT& p2)
    {
      Eigen::Vector3f diff = p1 -p2;
      return (diff.squaredNorm ());
    }

    template<typename PointT, typename NormalT> inline void 
    project (const PointT& point, const PointT &plane_origin, 
             const NormalT& plane_normal, PointT& projected)
    {
      Eigen::Vector3f po = point - plane_origin;
      const Eigen::Vector3f normal = plane_normal.getVector3fMapConst ();
      float lambda = normal.dot(po);
      projected.getVector3fMap () = point.getVector3fMapConst () - (lambda * normal);
    }

    inline void 
    project (const Eigen::Vector3f& point, const Eigen::Vector3f &plane_origin, 
             const Eigen::Vector3f& plane_normal, Eigen::Vector3f& projected)
    {
      Eigen::Vector3f po = point - plane_origin;
      float lambda = plane_normal.dot(po);
      projected = point - (lambda * plane_normal);
    }
  }
}

#endif  //#ifndef PCL_GEOMETRY_H_