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.
Definitely, I'd rather learn the right thing to do than have you fix it for me, thanks. :) Hopefully it's all fixed up now.