Merge pull request #2698 from DumDereDum:new_HashTSDF_implementation

New HashTSDF implementation

* create new variables

* rewrite reset()

* first valid version of new HasHTSDF

* some warning fixes

* create lambda raycast

* reduce time raycast

* minor fix

* minor fix volDims

* changed _atVolumeUnit, reduce memory consumption

* delete older inmplemetation of atVolumeUnit

* changes _at

* AAA, I want to cry!

* it works!

* it works twice o_o

* minor fix

* new adding to volumes

* delete volDims at strust VolumeUnit

* new names of vars

* rename one var

* minor fix

* new resize volumes

* rename volUnitsMatrix

* minor fix in at function

* add tsdf_functions.hpp

* minor fix

* remove two args at _at function signature

* solved the link problem with tsdf_functions

* build fix

* build fix 1

* build fix 2

* build fix 3

* build fix 4

* replace integrateVolumeUnit to tsdf_functions and fix 2 warnings

* docs fix

* remove extra args at atVolumeUnit signature

* change frame params checking

* move volStrides to CPU class

* inline convertion functions in tsdf_functions

* minor fix

* add SIMD version of integrateVolumeUnit

* fix something :)

* docs fix

* warning fix

* add degub asserts

* replace vars initialization with reset()

* remove volDims var

* new resize buffer

* minor vars name fix

* docs fix

* warning fix

* minor fix

* minor fix 1

* remove dbg asserts

Co-authored-by: arsaratovtsev <[email protected]>

Author: DumDereDum