Handle special case of OrientedBeam query (#251)
Handle special case of OrientedBeam query (#251)

When the orientation of the beam is aligned with a basis vector, the cross product becomes zero, and normalization produces NaNs. This taints the intersection computation and gives incorrect results (no points).
cartographer-project/point_cloud_viewer,cartographer-project/point_cloud_viewer,googlecartographer/point_cloud_viewer,cartographer-project/point_cloud_viewer,googlecartographer/point_cloud_viewer,cartographer-project/point_cloud_viewer,cartographer-project/point_cloud_viewer,googlecartographer/point_cloud_viewer,googlecartographer/point_cloud_viewer,googlecartographer/point_cloud_viewer