correct the mistakes in pcl::visualization::renderView

The original code use both "composite_projection_transform" and "view_transform", but in fact just using "composite_projection_transform" is enough. Or use "view_transform" and "project_transform", that's the same as using "composite_projection_transform" .

Furthermore,  either "composite_projection_transform" or "project_transform" has been concatenated with  "-y, -z" transformation internally,  we needn't explicitly apply these transformation. 
All the code until the end of the block can be replaced with:

```cpp
pt.getVector3fMap () = world_coords.head<3> () / world_coords[3];
```