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.
If it's used in other places in this module then it does not matter much. Once it's deprecation cycle is over the app will break anyways and somebody will need to go through the code and replace it.