Fixed registration mode and color integration when passing pcd files for pcl_kinfu_app

Previous to this fix when using registration mode with the -pcd flag in pcl_kinfu_app, the View3D from ray tracing window would be entirely black. Work largely ported from kinfu_large_scale.
Seems like it is. Currently both kinfu_app and kinfuLS_app rely on it in multiple places. Should that be listed as a separate bug?