DynamicFusion Implementation

* Add new nodes from points

* Addition of new node in the field

* Warp nodes demo

* Add newline before {

* Remove 3rd party flann dependency

* Regularisation Heirarchy

* Correct node radius

* Change default growth rate

* New node position = centroid of the neighbourhood

* Enlarge nodes while paused

* Dynafu TSDF

* TSDF demo

* Avoid double calc and adjust initial tsdf weight

* Fix bug that caused some voxels to disappear

* getNodePos helper

* Remove USE_INTRINSIC check

* Correct RT avg calculation and remove redundant knn calc

* Slight perf improvements

* Use LinearIndex

* Debug calculations

* set all nodes' RT

* Various bug fixes

* Separate camera and warpfield

* Add dynafu documentation

* Adhere to coding style

* Add dynafu unit test

* update demo

* Merge pull request #2133 from savuor:kinfu_truncate

KinectFusion: several updates (#2133)

* truncateThreshold added

* demo updated for RealSense

* first Kinect2, then RealSense

* more distance-based parameters

* Remove trailing whitespaces

* Replace bool vector with array

* create findNeighbours in WarpField

* Maintain nodesPos matrix in WarpField

* Fix warnings on Windows build

* Remove cameraPose from WarpField

* Use AutoBuffer

* Marching Cubes

* Fix MC

* Split mesh vertices & edges

* Change Mat types in MC

* OpenGL rendering

* Check for HAVE_OPENGL

* Error handling in case HAVE_OPENGL is not defined

* Replace Mat_ with std::vector inside marchCubes

* Parallelise marching cubes

* Fix warpfield and estimate depth inside DynaFuImpl::updateT()

* Linearise depth and use points/normals from MC

* Don't test dynafu without OpenGL support

* Analytical calculation of Jacobian matrices

* Add details about rotation and differentiate graph terms in J_r

* Use derivative of T^-1 from the tutorial

* Remove L2 norm from reg term

* Use chain rule to differentiate data term

* Markdown

* Fix markdown

* Replace MD file by HTML

* Change the data term expression

* Calculate J_d using vector identities

* Rasterize vertex and normals

* Apply warpfield before rendering

* Add CV_UNUSED for normImage to fix warning

* Render float image instead of uint8

* Implement ICP data term and other changes:
1. add option to applyWarp to normals
2. add option to `fetchPointNormals` to return points in voxel coordinates
3. Fix: Use voxel coordinates to update WarpField

* Fix non-OpenGL build

* Intialise newly discovered node transforms with DQB

* Fix data term

* Change data term normal and add kinfu-like distance/angle checks

* Implement regularisation

* Fix warnings

* Credit authors of DQB and table for MC

* cast size_t to int to supress warning

* Correct regularisation and add normal equation set up

* Delete html

* Dynafu unit test