Bug fixes in executive

Now properly corrects goal with beacon detections
Camlogger pauses with resto of system
Merge remote-tracking branch 'zackal/pre_cached_linemod' into level1_alpha
Actually name pre_cached sample
3D point publishing now actually works
Fill header on img_point as well
Linemod trainer for stereo pairs
Calibrations for funtime manipulator pair
Add templateConvexHull function to detector, slightly modified

The normal version of this function looks at all modalities supported by
the detector. In the interest of excluding background, we just look
at the depth mode, which is more compact than the gradient.