Fixes #791.

As per the description in #791, d == distance_normalization in some
cases, which produces a bad access in the octants/quadrants vector.

By using the floor function, we guarantee that the result will fall
between 0 and 12 inclusive, but never reach 13. The subtraction by an
integer makes the static_cast unnecessary.
Merge pull request #792 from mohawkjohn/issue_791

Fixes #791 (bad access in the quadrants vector)
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.

GRSD is developed by Zoltan-Marton, this was a old patch as part of his branch being included into the trunk

Updating the grsd.hpp to point to global location of the header files

Updates with respect to style guide and contributors guide

Fixed the errors due to PCL_ONLY_POINT_TYPES that gave travis build errors - by adding the clause in the grsd.cpp. Also made sure the licence text is proper after assurance from the author for giving the permissions to Open Perception

Fixed the errors due to PCL_ONLY_POINT_TYPES that gave travis build errors - by adding the clause in the grsd.cpp. Also made sure the licence text is proper after assurance from the author for giving the permissions to Open Perception