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

[Algomorph]

• [x] Penalty loss functions
• [x] Point-to-plane distances for mesh + point cloud
• [x] Graph --> CPU+CUDA C++ WarpField implementation + test (#17)
• [x] Integrate CUDA+CPU C++ K-D Tree into WarpField #29
• [x] Minor redesign of Warpable Voxel Grid (to be acted on by WarpField, somehow?)
• [x] Data Term Residuals Skeleton
• [x] Data term residuals -- normals estimation (CPU/CUDA)
• [x] Data term residuals -- normal projection using rendering
• [x] Data term -- Jacobian computation
• [x] ~Rigid ICP for extrinsic matrix estimation~ Outsourced to #46
• [x] Warping mesh with extrinsic matrix
• [x] Render-based Data Term Residuals
• [x] Data Term Energy
• [x] Hierarchical Graph Data Structure
• [x] Hierarchical Graph Resampling via Knn / K-D Tree #32
• [x] ~Node updates~ Outsourced to 48
• [x] Regularization Term Residuals
• [x] Regularization Term Energy
• [x] Apply linear solver + conditioning number check (?)
• [x] ~Test on 2 frames~ -- will handled as separate issue

[Algomorph]

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