PointCloudLibrary/pcl — pull request #391 by yangyanli (2013-12-02 22:34:59+00:00)
Title: Fix degenerated rotation axis bug when normal is parallel to x axis.

When normal is parallel to X axis, xxx_normal.cross (Eigen::Vector3f::UnitX ()).normalized () is degenerated, which will cause NaN values in the computed transformation and hang the clustering process.