Enable integration of unstructured 3D data

[schornakj]

This would allow the use of sensors like LIDARs and laser profilometers.

I think the only required assumption would be that there is clear line-of-sight between the sensor origin and each point in the cloud. On the other hand, I'm also not sure how moving away from always having an X-px by Y-px image would affect the CUDA potion of this package.