Merge pull request #1583 from yomna-safaa:ppf-fix-seg-fault

* fixed bug when norm less than eps where float array elements were left uninitialized

* cast double to float in fixing ppf norm=0 segmantation fault

* set array values 3,4,5 for normals = 0 in case of norm<eps to fix ppf segmentation fault bug

modules/surface_matching/src/ppf_helpers.cpp

@@ -442,6 +442,12 @@ Mat samplePCByQuantization(Mat pc, Vec2f& xrange, Vec2f& yrange, Vec2f& zrange,
         pcData[4]=(float)(ny/norm);
         pcData[5]=(float)(nz/norm);
       }
+      else
+      {
+        pcData[3]=0.0f;
+        pcData[4]=0.0f;
+        pcData[5]=0.0f;
+      }
       //#pragma omp atomic
       c++;