Initial commit of Kinect sensor, etc.

Something's up with our mappings of the data to points.
Modified kinect framework with AprilCal plumbed in.
Added a couple basic classes and have most of segmentation plumbed in, still missing code for ignoring the arm.
Calibration up and running.
Outline of tracking code in place, but not doing any actual tracking yet. No classification yet, either.
Minor typing changes, pushing so Rob can see Obj and PointClouds
Merge remote-tracking branch 'lhinkle/master'
Initial tracker and lcm types to support it.
Merge remote-tracking branch 'lhinkle/master'
Massive file dump of converted arm code.
All sorts of scary stuff is about to go down. I've added most of the classification stuff, am about to tackle ClassificationManager :-/
Merge branch 'master' of git://umbrella.eecs.umich.edu/home/rgoeddel/probcog
Oops.
Merge branch 'master' of git://umbrella.eecs.umich.edu/home/rgoeddel/probcog
New files, no exciting updates on ClassifierManager yet. :(
Very basic object persistence.

Only works in the absence of occlusion.
ClassificationManager added and updated.
Oops. Accidentally committed something that didn't compile. All better.
Merge branch 'master' of git://umbrella.eecs.umich.edu/home/rgoeddel/probcog
Config fixes.