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

@@ -116,7 +116,7 @@ bool ILW::_phase0(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
 			
         auto &t = f.createTexture<float4>(Channel::Points, Format<float4>(f.get<GpuMat>(Channel::Colour).size()));
         auto pose = MatrixConversion::toCUDA(s->getPose().cast<float>()); //.inverse());
-        ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, stream);
+        ftl::cuda::point_cloud(t, f.createTexture<float>(Channel::Depth), s->parameters(), pose, 2, stream);
 
         // TODO: Create energy vector texture and clear it
         // Create energy and clear it