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Add TSDF / ESDF / Occupancy / Decay APIs and a fast marching-cubes variant (on upstream memory-resource seams) - #733

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Add TSDF / ESDF / Occupancy / Decay APIs and a fast marching-cubes variant (on upstream memory-resource seams)#733
swahtz wants to merge 9 commits into
openvdb:mainfrom
swahtz:feat/tsdf-esdf-torch-resource

fix: make ESDF merge and inject view-aware

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