New PIESNO example and small corrections

The PIESNO method was merged in Dipy without an example. Here is an example for the Dipy Gallery. 

At the same time, the PIESNO method was corrected by @samuelstjean to better match the Koay et al 2009 paper. Other examples have also been uniformized. 
It seems to me that the mode might fail in some cases, depending on the tolerance of the mode calculation. Is this what Koay et al. did? How about the median, for robustness?