GPU kinfu textures no longer supported on CUDA 12.0

Describe the bug

The GPU kinfu does not build with CUDA 12.0 because this version of CUDA dropped legacy texture references (specifically used in marching_cubes.cu).

Current Behavior

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(51): error: texture is not a template

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(52): error: texture is not a template

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(61): error: identifier "cudaBindTexture" is undefined

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(68): error: identifier "cudaUnbindTexture" is undefined

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(160): error: no instance of overloaded function "tex1Dfetch" matches the argument list
            argument types are: (<error-type>, int)

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(344): error: no instance of overloaded function "tex1Dfetch" matches the argument list
            argument types are: (<error-type>, int)

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(350): error: no instance of overloaded function "tex1Dfetch" matches the argument list
            argument types are: (<error-type>, int)

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(351): error: no instance of overloaded function "tex1Dfetch" matches the argument list
            argument types are: (<error-type>, int)

pcl/gpu/kinfu/src/cuda/marching_cubes.cu(352): error: no instance of overloaded function "tex1Dfetch" matches the argument list
            argument types are: (<error-type>, int)

9 errors detected in the compilation of "pcl/gpu/kinfu/src/cuda/marching_cubes.cu".

To Reproduce

docker run -it --rm nvidia/cuda:12.0.0-devel-ubuntu22.04
apt update && apt install -y git cmake libeigen3-dev libflann-dev libgl1-mesa-dev libboost-filesystem-dev libboost-date-time-dev libboost-iostreams-dev
git clone https://github.com/PointCloudLibrary/pcl.git
mkdir pcl/build && cd pcl/build
cmake -DBUILD_CUDA=ON -DBUILD_GPU=ON ..
make -j$(nproc)

Your Environment (please complete the following information):

• OS: Ubuntu 22.04
• Compiler: gcc 11.3.0
• PCL Version: HEAD
• CUDA version: 12.0

Possible Solution

Replace texture references with texture objects.

Start with pcl/gpu/kinfu/src/cuda/marching_cubes.cu and inspect the legacy texture references reported by the CUDA 12.0 compiler. Reproduce the failure in the provided nvidia/cuda:12.0.0-devel-ubuntu22.04 Docker environment using the listed CMake and make commands. Done means the GPU kinfu code builds successfully with CUDA 12.0.