PCLVisualizer: Create CoordinateActorMap in all constructors.

The missing initialization causes a segmentation fault in
PCLVisualizer::addCoordinateSystem, e.g. when calling pcl_viewer with the
"-ax" parameter.
pcd_viewer: Do not set debug flag to false when parsing arguments.

This produces a better error message and avoids a segfault when too few
elements are given on the command line.
Merge pull request #800 from j-oberlaender/master

PCLVisualizer: Create CoordinateActorMap in all constructors (fixes #679)