Provide canonical block allocation updates in dynamic scene context.

[Algomorph]

This is the initial naive implementation of voxel hash block allocations in the context of deforming/dynamic surfaces.

The allocations can be triggered by:

1. Projecting the centers of unactivated voxel hash blocks that neighbor activated ones using nearby nodes to t-1.
2. Using the down-sampled target (live) point cloud to check whether these blocks need activation (similar to the original Touch function).

• Downsample image & adjust intrinsics

• Find blocks neighboring to activated blocks, call them activation candidate blocks

• Compile tensor with corners of each candidate block

• Forward-warp [corners of] activation candidate blocks using extrinsics+nodes+rotations+translations

• Find axis-aligned bounding boxes for projected activation candidate blocks

• Find mask of those bounding boxes that align with the surface in the [next] depth image (or down-sampled version thereof)

• Use mask to compile blocks to be activated, pass blocks to the integration script

[Algomorph]

Implementation finished in b875625