code: def point_plane_distance(points,
                           plane_normal,
                           plane_origin=[0.0, 0.0, 0.0]):
      
      points = np.asanyarray(points, dtype=np.float64)
      w = points - plane_origin
      distances = np.dot(plane_normal, w.T) / np.linalg.norm(plane_normal)
      return distances
docs: The minimum perpendicular distance of a point to a plane.
  
      Parameters
      -----------
      points:       (n, 3) float, points in space
      plane_normal: (3,) float, normal vector
      plane_origin: (3,) float, plane origin in space
  
      Returns
      ------------
      distances:     (n,) float, distance from point to plane