iCloud does not contain your iTunes media, other than purchased apps and music, which can be redownloaded if necessary (see http://www.apple.com/icloud/setup/mac.html). Transferring media not purchased from the iTunes or App stores to your iTunes library is not supported with iTunes. You have to use 3rd party software such as PhoneView (mac) or Touch Copy (pc or mac) to accomplish this.
These two articles will explain how to re-establish syncing with iTunes and transfer as much data from your iPad to your iTunes library as possible. (The first was written for the iPhone, but it works the same way for the iPad.)