[ppf_registration] Incorrect calculation of Point Pair Feature

Describe the bug

The classes PPFRegistration and pcl::PPFEstimation use the function pcl::computePairFeatures while feature estimation and aligning , but it issues wrong angle data.

Context

For example with this snippet

PointNormalT p1(10, 10, 10, 0, 0, 10);
PointNormalT p2(50, 10, 10, 0, 10, 0);
float f1, f2, f3, f4;
pcl::computePairFeatures(
p1.getVector4fMap(),
p1.getNormalVector4fMap(),
p2.getVector4fMap(),
p2.getNormalVector4fMap(),
f1, f2, f3, f4);

Expected behavior

f1=pi/2, f2=pi/2, f3=pi/2 is expected.

Current Behavior

f1=0, f2=10, f3=0 is issued.

Your Environment (please complete the following information):

• OS: Windows 10
• Compiler: MSVC 19
• PCL Version 1.11

Possible Solution

Fix the calculation.

Start by tracing pcl::computePairFeatures, then inspect how PPFRegistration and pcl::PPFEstimation consume its four outputs. Reproduce the provided PointNormalT example and compare the calculated angles with the expected values. Done means the calculation produces the expected f1, f2, and f3 values without breaking the affected registration and feature-estimation paths.