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Please note that what you are using there is basically a 2D-feature based recognition algorithm. The depth information from the Kinect is just used for filtering out implausibly detected object poses. So you will get best results with a well-textured object. A good first test is to use the video game package that usually comes with a Kinect.

With that said, I really wonder about the problem with the depth registration here. It really should not make a difference for receiving a point cloud. Can you check with RViz if there is a point cloud published when you have depth registration enabled?

If you did not see them already, maybe also take a look at these hints.