Revert "Revert "Eigen vector projection.. problematic idea !!""

This reverts commit 4215b788aa9874184d0d7e3d624c107bd72ad4c5.
Revert "Revert "Borken Flann issues""

This reverts commit e9711832a3bf85a37981bab64e6dda9d66c614e0.
Revert "Revert "Broken, Reason unknown""

This reverts commit b91777bb1d95270c54478ac135ce546d6fbf2af2.
Revert "Revert "Revert "Broken, Reason unknown"""

This reverts commit 0d37f79057190b05d438bfc3650bec75a82ef49d.
Revert "Revert "Broken, Reason unknown""

This reverts commit 3340922332364aa4d5adc7c156b6ea02ddf0a4b9.
Revert "Broken, Reason unknown"

This reverts commit ac1c35e2cea1825150cddf3dd082d9727da2e64b.
Revert "Borken Flann issues"

This reverts commit 14f45e60147c47aa60de717a822fdec78896d4f8.