Initial fixes to CMakeLists.txt

Moves project definition to make it easier to find Boost. Also Changes
removes static paths and uses several variables
Final CMake fix

Removed final hardcoded paths and fixed CUDA header path
Remove OpenNI stuff and bugfix

Remove OpenNI. Change one initialization call to match PCL trunk.
Set default intrinsics

Set default intrinsics to values that will work well with the new
kinect.
Merge pull request #2 from abryden/master

CMake fixes for hardcoded paths and more