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

@@ -141,14 +141,20 @@ __global__ void move_points_kernel(
     const unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
     
     if (x < p.width() && y < p.height()) {
-        const float4 world = p(x,y);
-		float4 vec = ev.tex2D((int)x,(int)y);
-		float contrib = vec.w;
+		const float4 world = p(x,y);
+		if (world.x == MINF) return;
+
+		float4 vec = make_float4(0.0f, 0.0f, 0.0f, 0.0f); //ev.tex2D((int)x,(int)y);
+		float contrib = 0.0f;
 
 		// Calculate screen space distortion with neighbours
 		for (int v=-MOTION_RADIUS; v<=MOTION_RADIUS; ++v) {
 			for (int u=-MOTION_RADIUS; u<=MOTION_RADIUS; ++u) {
 				const float4 vecn = ev.tex2D((int)x+u,(int)y+v);
+				//const float3 pn = make_float3(p.tex2D((int)x+u,(int)y+v));
+				//if (pn.x == MINF) continue;
+
+				//const float s = ftl::cuda::spatialWeighting(pn, make_float3(world), 0.04f);
 				contrib += vecn.w;
 				vec += vecn.w * vecn;
 			}