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.cu

@@ -64,16 +64,19 @@ __global__ void correspondence_energy_vector_kernel(
         const uchar4 colour2 = c2.tex2D(screen2.x+u, screen2.y+v);
 		if (world2.x == MINF) continue;
 
-		++count;
-
         // Determine degree of correspondence
-        float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, 0.04f);
-        cost *= 1.0f - ftl::cuda::colourWeighting(colour1, colour2, 50.0f);
+		float cost = 1.0f - ftl::cuda::spatialWeighting(world1, world2, 0.04f);
+		// Point is too far away to even count
+		if (cost == 1.0f) continue;
+
+		// Mix ratio of colour and distance costs
+        cost = 0.75f * (1.0f - ftl::cuda::colourWeighting(colour1, colour2, 50.0f)) + 0.25 * cost;
         //cost /= 2.0f;
 
+		++count;
+		avgcost += cost;
         if (cost < bestcost) {
             bestpoint = world2;
-            avgcost += cost;
             bestcost = cost;
         }
     }
@@ -91,9 +94,11 @@ __global__ void correspondence_energy_vector_kernel(
             (bestpoint.z - world1.z),
 			mincost);
 			
-		//eout(x,y) = max(eout(x,y), length(bestpoint-world1) * 10.0f);
+		//eout(x,y) = max(eout(x,y), (length(bestpoint-world1) / 0.04f) * 7.0f);
 		//eout(x,y) = max(eout(x,y), (1.0f - mincost) * 7.0f);
-        eout(x,y) = max(eout(x, y), confidence * 7.0f);
+		//eout(x,y) = max(eout(x, y), (1.0f - mincost) * confidence * (length(bestpoint-world1) / 0.04f) * 12.0f);
+		//eout(x,y) = max(eout(x, y), (1.0f - mincost) * confidence * 12.0f);
+		eout(x,y) = max(eout(x, y), confidence * 12.0f);
     } else if (mincost >= 1.0f && lane == 0) {
         //vout(x,y) = make_float4(0.0f);
         //eout(x,y) = 0.0f;