Implements #133 point alignment

Further work to be done:

• switch to depth ray cast correspondences
• use normals etc in correspondences

applications/reconstruct/src/ilw/ilw.cpp

@@ -14,7 +14,11 @@ using ftl::rgbd::Format;
 using cv::cuda::GpuMat;
 
 ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
+    enabled_ = value("ilw_align", true);
 
+    on("ilw_align", [this](const ftl::config::Event &e) {
+        enabled_ = value("ilw_align", true);
+    });
 }
 
 ILW::~ILW() {
@@ -22,6 +26,8 @@ ILW::~ILW() {
 }
 
 bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
+    if (!enabled_) return false;
+
     _phase0(fs, stream);
 
     //for (int i=0; i<2; ++i) {