Factor out camera motion using regular (rigid) ICP + color

[Algomorph]

This can be done using the provided Open3D slam pipeline.

• Rearrange ops to make rendered warped mesh always available before non-rigid alignment, mesh warping mandatory at every frame
• Call to rigid ICP+color odometry function from Open3D
• Modify warping routine to employ extrinsic matrix
• Employ proper extrinsic in non-rigid alignment
• Employ proper extrinsic in integration