[baxter_vision_example] Add sample of removing kiva points

[wkentaro]

need

• https://github.com/jsk-ros-pkg/jsk_recognition/pull/1343
• https://github.com/jsk-ros-pkg/jsk_recognition/pull/1344

usage

# open image_view and save mask image as baxter_vision_example/data/foreground.jpg
roslaunch baxter_vision_example record_kiva_mask_to_remove.launch
# open rviz and view /extract_indices/points to view result
roslaunch baxter_vision_example remove_kiva_points_by_mask.launch