[features] Stabilize ShapeContext3D azimuth orientation #6398
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…imuth blocks to dominant orientation)
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This PR fixes instability in ShapeContext3D caused by the random azimuth axis selection used during descriptor computation.
Instead of expanding the descriptor with multiple azimuth rotations (as proposed in the original paper), this change applies a deterministic azimuth normalization step after computePoint(). The azimuth block with the highest accumulated energy
is rotated to the first position.
This keeps the descriptor length unchanged (1980) and preserves compatibility with existing PCL feature pipelines while making the output stable across runs.
Fixes #6050