Do ilw align and remove debug outputs

applications/reconstruct/src/ilw/ilw.cpp

@@ -84,7 +84,7 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
         for (size_t j=0; j<fs.frames.size(); ++j) {
             if (i == j) continue;
 
-            LOG(INFO) << "Running phase1";
+            //LOG(INFO) << "Running phase1";
 
             auto &f1 = fs.frames[i];
             auto &f2 = fs.frames[j];
@@ -111,7 +111,7 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
                 LOG(ERROR) << "Exception in correspondence: " << e.what();
             }
 
-            LOG(INFO) << "Correspondences done... " << i;
+            //LOG(INFO) << "Correspondences done... " << i;
         }
     }
 

applications/reconstruct/src/ilw/ilw.cu

@@ -77,7 +77,7 @@ void ftl::cuda::correspondence_energy_vector(
     const dim3 gridSize((p1.width() + 2 - 1)/2, (p1.height() + T_PER_BLOCK - 1)/T_PER_BLOCK);
     const dim3 blockSize(2*WARP_SIZE, T_PER_BLOCK);
 
-    printf("COR SIZE %d,%d\n", p1.width(), p1.height());
+    //printf("COR SIZE %d,%d\n", p1.width(), p1.height());
 
     correspondence_energy_vector_kernel<<<gridSize, blockSize, 0, stream>>>(
         p1, p2, c1, c2, vout, eout, pose2, cam2

applications/reconstruct/src/main.cpp

@@ -146,7 +146,7 @@ static void run(ftl::Configurable *root) {
 
 			// Send all frames to GPU, block until done?
 			scene_A.upload(Channel::Colour + Channel::Depth);  // TODO: (Nick) Add scene stream.
-			//align->process(scene_A);
+			align->process(scene_A);
 
 			// TODO: To use second GPU, could do a download, swap, device change,
 			// then upload to other device. Or some direct device-2-device copy.