TODOs

[AustinDeric]

• [x] Directory for generated meshes is hardcoded; change to be a ROS parameter.
• [x] Serialized TSDF volume is very inefficient, since it's a dense representation of a sparse volume.
• [x] Change serialization to make better use of space (requires work on the kinfu side too).
• [ ] Mesh normals are always inverted. Can be easily fixed manually in MeshLab but that's contrary to the spirit of things! Programmatically set normal directions when writing .obj.
• [ ] Currently uses OpenVBD's standard meshing algorithm. Adaptive meshing could be more efficient.