[WIP] Upgrade tensor-based RGB-D Reconstruction System

[theNded]

New modules

• --fragment_registration: point cloud odometry and global registration with tensor ICP and correspondences from feature matching
• --fusion: final reconstruction after joint optimization

Improvements

• pose graph wrapper's visualization module

TODO (minor)

• Policies for point cloud loop closure detection: [exhaustive, windowed, random]
• RGB-D loop closure from features (temporarily cv2's ORB feature)
• Multi-scale ICP and refined pose graph optimization
• CPU/CUDA/Legacy switcher

Future work

• Fast global registration with CUDA
• Mean reduction for voxel downsample
• GUI (look into COLMAP)
• Interface for learned loop closure detection (external learned image/point cloud descriptors)

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