Fix includes and play with parameters

Some parameter changes to get this to work well in my environment. This
is currently pretty parameter sensitive to the space. I suspect
something can be done about this.

Also changed sensor intrinsics. This probably needs to go in the
parameter file. Added a circular buffer to try and experiment with
better sync between color and depth frames (currently the use of this is
commented out though it is allocated)
Fix bug with directory creation

Fix an annoying bug where the program will crash if you don't have the
"Scans" folder created. This fix is hackish but at least it doesn't
crash any more.