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.
I was referring to line 935 ;). Also: line 947, 956, 1315, 1416, 1319, 1320.. Sorry to be picky, but it's easier to guide you than cleaning up afterwards ;).