32bit Eigen fixes with kinect testing

This diff should enable ar_track_alvar to now work on 32bit machines with, or without a Kinect, (assuming you can fiddle enough with the Kinect itself to get it to publish properly).
This PR finishes the earlier attempt in #17, to fix the 32bit alignment issue, mostly due to Eigen.

Most of the errors had to do with STL containers containing Eigen objects, with one instance of changing a boost::make_shared<ARCloud> call to  ARCloud::Ptr.

See the commit messages and these sites for more details:
* http://eigen.tuxfamily.org/dox-devel/group__TopicStlContainers.html
* (Cause 2:) http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html

Testing:
All 4 executables (indiv / bundle, with / without kinect) were tested on a 32bit Ubuntu 12.04 system in Groovy, using the openni_launch packaged for the Kinect testing, and the Baxter hand camera for the noKinect testing.