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

@@ -16,6 +16,7 @@ using cv::cuda::GpuMat;
 ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
     enabled_ = value("ilw_align", true);
     iterations_ = value("iterations", 1);
+    motion_rate_ = value("motion_rate", 0.4f);
 
     on("ilw_align", [this](const ftl::config::Event &e) {
         enabled_ = value("ilw_align", true);
@@ -25,6 +26,10 @@ ILW::ILW(nlohmann::json &config) : ftl::Configurable(config) {
         iterations_ = value("iterations", 1);
     });
 
+    on("motion_rate", [this](const ftl::config::Event &e) {
+        motion_rate_ = value("motion_rate", 0.4f);
+    });
+
     flags_ = 0;
     if (value("ignore_bad", false)) flags_ |= ftl::cuda::kILWFlag_IgnoreBad;
     if (value("restrict_z", true)) flags_ |= ftl::cuda::kILWFlag_RestrictZ;
@@ -58,7 +63,7 @@ bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
         }
         _phase1(fs, win, stream);
         //for (int j=0; j<3; ++j) {
-            _phase2(fs, 0.4f, stream);
+            _phase2(fs, motion_rate_, stream);
         //}
 
 		// TODO: Break if no time left