(12/11/13) - worked to get the ICP working consistently for all Point clouds being registered. Computed the Transformation Matrix and extracted the Translation vector and Rotation Matrix from the Tranformation. I then extracted the angle of rotation and the axis of rotation from the rotation matrix. I normalized the rotation matrix to acheive this. There is a consistency betweeen the angles when the Point clouds at different angles are registered through the ICP (~1.19 rad), but this angle corresponds to about 68 degrees. I need to figure out why that is...