A LineMOD trainer node for ROS

This nominally runs using OpenNI data. It's going to get changed and
broken into training and detection nodes probably
Removed unused classes and callback
Detection only node. Still needs outputs
Created NamedPoint message
Made the template file a param
Added disparity callback, removed unnecessary filename declaration
Actually build NamedPoint message
Added publishing of image space NamedPoint with similarity threshold
Added depth extraction from disparity image
Added library that defines new InnerColorGradient modality

This still needs to be tested, but it all builds and appears to import
correctly in the trainer
Detector listens to CameraInfo for projection matrix
Fixed topic naming dumbness
Manipulator linemod launch file and config file
Removed imshow call
Config files for three samples
Combined manipulator samples linemod config file

This is for the red puck, orange pipe, and pre-cached sample
New samples param file
Updates to trainer

Now hooks up to new modalities and uses a color mask for no-depth
training.
Added camera info flow in launch file
Added machine tag to launch