Fixes #791.
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.

DaikiMaekawa/pcl,lydhr/pcl,krips89/pcl_newfeatures,locnx1984/pcl,simonleonard/pcl,nikste/pcl,zhangxaochen/pcl,KevenRing/vlp,fanxiaochen/mypcltest,KevenRing/pcl,damienjadeduff/pcl,sbec/pcl,RufaelDev/pcc-mp3dg,lebronzhang/pcl,closerbibi/pcl,KevenRing/pcl,raydtang/pcl,3dtof/pcl,shangwuhencc/pcl,3dtof/pcl,mschoeler/pcl,shangwuhencc/pcl,KevenRing/pcl,zhangxaochen/pcl,pkuhto/pcl,shivmalhotra/pcl,ResByte/pcl,locnx1984/pcl,mschoeler/pcl,cascheberg/pcl,mikhail-matrosov/pcl,wgapl/pcl,msalvato/pcl_kinfu_highres,wgapl/pcl,zavataafnan/pcl-truck,fanxiaochen/mypcltest,raydtang/pcl,RufaelDev/pcc-mp3dg,mschoeler/pcl,lebronzhang/pcl,kanster/pcl,MMiknis/pcl,chenxingzhe/pcl,pkuhto/pcl,fskuka/pcl,the-glu/pcl,sbec/pcl,zavataafnan/pcl-truck,jakobwilm/pcl,cascheberg/pcl,ipa-rmb/pcl,closerbibi/pcl,damienjadeduff/pcl,lydhr/pcl,krips89/pcl_newfeatures,chatchavan/pcl,cascheberg/pcl,ResByte/pcl,stfuchs/pcl,LZRS/pcl,fskuka/pcl,jakobwilm/pcl,nikste/pcl,raydtang/pcl,shangwuhencc/pcl,ipa-rmb/pcl,ipa-rmb/pcl,drmateo/pcl,locnx1984/pcl,mikhail-matrosov/pcl,wgapl/pcl,v4hn/pcl,nikste/pcl,chatchavan/pcl,drmateo/pcl,starius/pcl,lydhr/pcl,lydhr/pcl,soulsheng/pcl,msalvato/pcl_kinfu_highres,locnx1984/pcl,shivmalhotra/pcl,krips89/pcl_newfeatures,stefanbuettner/pcl,zhangxaochen/pcl,3dtof/pcl,KevenRing/pcl,kanster/pcl,chatchavan/pcl,damienjadeduff/pcl,Tabjones/pcl,wgapl/pcl,ipa-rmb/pcl,chatchavan/pcl,chenxingzhe/pcl,mschoeler/pcl,shivmalhotra/pcl,raydtang/pcl,zavataafnan/pcl-truck,mikhail-matrosov/pcl,ipa-rmb/pcl,closerbibi/pcl,fskuka/pcl,krips89/pcl_newfeatures,pkuhto/pcl,3dtof/pcl,LZRS/pcl,3dtof/pcl,shangwuhencc/pcl,shivmalhotra/pcl,lydhr/pcl,sbec/pcl,drmateo/pcl,shyamalschandra/pcl,mschoeler/pcl,KevenRing/vlp,soulsheng/pcl,v4hn/pcl,soulsheng/pcl,drmateo/pcl,LZRS/pcl,fskuka/pcl,msalvato/pcl_kinfu_highres,v4hn/pcl,shyamalschandra/pcl,chenxingzhe/pcl,damienjadeduff/pcl,msalvato/pcl_kinfu_highres,Tabjones/pcl,jakobwilm/pcl,LZRS/pcl,jakobwilm/pcl,damienjadeduff/pcl,fanxiaochen/mypcltest,KevenRing/vlp,lebronzhang/pcl,zavataafnan/pcl-truck,lebronzhang/pcl,stefanbuettner/pcl,shyamalschandra/pcl,ResByte/pcl,wgapl/pcl,msalvato/pcl_kinfu_highres,krips89/pcl_newfeatures,DaikiMaekawa/pcl,the-glu/pcl,zavataafnan/pcl-truck,Tabjones/pcl,lebronzhang/pcl,zhangxaochen/pcl,KevenRing/vlp,shangwuhencc/pcl,sbec/pcl,drmateo/pcl,ResByte/pcl,shyamalschandra/pcl,kanster/pcl,cascheberg/pcl,shyamalschandra/pcl,MMiknis/pcl,v4hn/pcl,the-glu/pcl,DaikiMaekawa/pcl,stfuchs/pcl,stefanbuettner/pcl,DaikiMaekawa/pcl,v4hn/pcl,simonleonard/pcl,simonleonard/pcl,soulsheng/pcl,starius/pcl,chenxingzhe/pcl,stefanbuettner/pcl,locnx1984/pcl,fskuka/pcl,starius/pcl,stfuchs/pcl,stfuchs/pcl,ResByte/pcl,MMiknis/pcl,sbec/pcl,the-glu/pcl,KevenRing/vlp,pkuhto/pcl,starius/pcl,kanster/pcl,MMiknis/pcl,DaikiMaekawa/pcl,soulsheng/pcl,KevenRing/pcl,stefanbuettner/pcl,nikste/pcl,RufaelDev/pcc-mp3dg,kanster/pcl,Tabjones/pcl,simonleonard/pcl,simonleonard/pcl,raydtang/pcl,mikhail-matrosov/pcl,nikste/pcl,pkuhto/pcl,LZRS/pcl,jakobwilm/pcl,fanxiaochen/mypcltest,shivmalhotra/pcl,zhangxaochen/pcl,the-glu/pcl,chenxingzhe/pcl,MMiknis/pcl,cascheberg/pcl,RufaelDev/pcc-mp3dg,starius/pcl,Tabjones/pcl,RufaelDev/pcc-mp3dg,mikhail-matrosov/pcl,closerbibi/pcl,closerbibi/pcl,stfuchs/pcl,fanxiaochen/mypcltest