Including GRSD a global radius-based surface descriptor

GRSD is developed by Zoltan-Marton, this was a old patch as part of his branch being included into the trunk
Adding test files for RSD and GRSD.

style guide issues resolved
Add obj2pcd tool
Corrected placement of typedefs used by macros, and brought them to use in all macros
Merge pull request #815 from andersgb1/point_types_fix

Avoid the use of undefined typedefs
Merge pull request #816 from VictorLamoine/master

Add obj2pcd tool
Error when compiling for VTK 6
Merge pull request #817 from fran6co/patch-8

Error when compiling for VTK 6
Merge pull request #790 from desinghkar/grsd_request

Including GRSD a global radius-based surface descriptor
fixed a bug of the Ptr typdef in search::KdTree
Merge pull request #820 from prclibo/master

fixed a bug of the Ptr typdef in search::KdTree
Move default argument values from definition to declaration
Merge pull request #821 from taketwo/fix-grsd

Move default argument values from definition to declaration
Fix a typo in test_rsd_estimation.cpp
Merge pull request #822 from taketwo/fix-grsd

Fix a typo in test_rsd_estimation.cpp
Move io_exception.h/cpp out of IMAGE_INCLUDES/SOURCES lists