Implement classic DynamicFusion t-minus-one-to-t scheme

[Algomorph]

• Penalty loss functions
• Point-to-plane distances for mesh + point cloud
• Graph --> CPU+CUDA C++ WarpField implementation + test (Replace old CPU-based code with in the optimized CUDA code for mesh warping into the pipeline #17)
• Integrate CUDA+CPU C++ K-D Tree into WarpField Integrate KdTreeIndex into GraphWarpFeild to index the node points #29
• Minor redesign of Warpable Voxel Grid (to be acted on by WarpField, somehow?)
• Data Term Residuals Skeleton
• Data term residuals -- normals estimation (CPU/CUDA)
• Data term residuals -- normal projection using rendering
• Data term -- Jacobian computation
• Rigid ICP for extrinsic matrix estimation Outsourced to Factor out camera motion using regular (rigid) ICP + color #46
• Warping mesh with extrinsic matrix
• Render-based Data Term Residuals
• Data Term Energy
• Hierarchical Graph Data Structure
• Hierarchical Graph Resampling via Knn / K-D Tree Grid-based Downsampling #32
• Node updates Outsourced to 48
• Regularization Term Residuals
• Regularization Term Energy
• Apply linear solver + conditioning number check (?)
• Test on 2 frames -- will handled as separate issue

[Algomorph]

Full math worked out for computing the data term Jacobian here.