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Implements #133 point alignment

Merged Nicolas Pope requested to merge feature/133/ilw into master
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@@ -136,6 +136,9 @@ static void run(ftl::Configurable *root) {
@@ -136,6 +136,9 @@ static void run(ftl::Configurable *root) {
ftl::rgbd::Group group;
ftl::rgbd::Group group;
ftl::ILW *align = ftl::create<ftl::ILW>(root, "merge");
ftl::ILW *align = ftl::create<ftl::ILW>(root, "merge");
 
int o = root->value("origin_pose", 0) % sources.size();
 
virt->setPose(sources[o]->getPose());
 
// Generate virtual camera render when requested by streamer
// Generate virtual camera render when requested by streamer
virt->onRender([splat,virt,&scene_B,align](ftl::rgbd::Frame &out) {
virt->onRender([splat,virt,&scene_B,align](ftl::rgbd::Frame &out) {
virt->setTimestamp(scene_B.timestamp);
virt->setTimestamp(scene_B.timestamp);
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