Ongoing #133 improvements

applications/reconstruct/src/ilw/ilw.cpp

@@ -27,7 +27,7 @@ bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
     //for (int i=0; i<2; ++i) {
         _phase1(fs, stream);
         //for (int j=0; j<3; ++j) {
-            _phase2(fs, 0.1f, stream);
+            _phase2(fs, 0.5f, stream);
         //}
 
 		// TODO: Break if no time left
@@ -125,10 +125,13 @@ bool ILW::_phase2(ftl::rgbd::FrameSet &fs, float rate, cudaStream_t stream) {
 	// strongly disagreeing vectors should cancel out
 	// A weak vector is overriden by a stronger one.
 
-    for (auto &f : fs.frames) {
+    for (size_t i=0; i<fs.frames.size(); ++i) {
+        auto &f = fs.frames[i];
+
         ftl::cuda::move_points(
              f.getTexture<float4>(Channel::Points),
              f.getTexture<float4>(Channel::EnergyVector),
+             fs.sources[i]->parameters(),
              rate,
              stream
         );