Solve for the error message: identifier "device_ptr" is undefined

Win7 64bit, VS 2010, CUDA 5.5 RC
sensor_origin_ and sensor_orientation_ default to identity.
Revert "Revert "Merge pull request #92 from nfioraio/master""

This reverts commit 827a4695e59f3dc30b8f69e06af9e4c555437633.