Replace deprecated cuda texture binding API

[alexnavtt]

As of December 2022 with the release of CUDA 12.0, the texture binding API that was deprecated in CUDA 11.3 was removed entirely and so yak no longer compiled on systems with the most recent CUDA release. This change replaces the texture binding in yak with the more modern texture object API.

This should be non-breaking for previous CUDA releases since the texture object API was released in CUDA 5.0 which was already the minimum version for kinfu. I've tested the change using yak_ros2 on ros2 Galactic in Ubuntu 20.024 with some bag data and successfully reconstructed my target surface, so it all seems to work.