`PCL` points may be viewed as `Eigen` vectors, so this could be written in more concise way (IMHO):

```cpp
const Eigen::Vector3f& p1 = point1.getVector3fMap ();
const Eigen::Vector3f& p2 = point2.getVector3fMap ();
a = sqrt (p1.squaredNorm ());
b = sqrt ((p1 - p2).squaredNorm ());
c = sqrt (p2.squaredNorm ());
```