Use Eigen::aligned_allocator to fix 32bit align

Attempts to fix 32bit alignment error in Eigen related code by
using the Eigen::aligned_allocator in all STL Containers with Eigen.

See these resources for more information than I understand:

* http://eigen.tuxfamily.org/dox-devel/group__TopicStlContainers.html

* (Cause 2:) http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html

Note: This is not a completely informed fix ... it just seemed to
finally fix the alignment error and make the program not crash
on 32-bit 12.04 with groovy (no kinect).
Fixing higher-level errors from last alignment fix

There were errors during a clean-build after the
Eigen alignment 32-bit fix from commit:
e4dd950476332ed6d51457ec78573fda33893b0a
in PR #17
Mostly the errors were from changes in the allocator
of types in function calls/members of lower-level
classes caused "no matching function" errors. This
commit is a first pass attempt to fix these build
errors from a clean build.

Further detail should be looked into for the impact
of these changes and the structure of the code.
Fixes for Kinect on 32bit (eigen align code)

Includes wrappers around STL containers in kinect related code,
originally skipped in first 32bit fix. Also one change from
a boost::make_shared<ARCloud> call that was causing assertions,
to using the ARCloud::Ptr style.
minor cleanup from eigen fixes
Merge pull request #25 from rethink-rlinsalata/32bit_fixes_kinect

32bit Eigen fixes with kinect testing