Implements #133 point alignment

Further work to be done:

• switch to depth ray cast correspondences
• use normals etc in correspondences

components/renderers/cpp/src/points.cu

@@ -17,7 +17,7 @@ __global__ void point_cloud_kernel(ftl::cuda::TextureObject<float4> output, ftl:
 			// Is there a discontinuity nearby?
 			for (int u=-RADIUS; u<=RADIUS; ++u) {
 				for (int v=-RADIUS; v<=RADIUS; ++v) {
-					if (fabs(depth.tex2D((int)x+u, (int)y+v) - d) > 0.04f) return;
+					if (fabs(depth.tex2D((int)x+u, (int)y+v) - d) > 0.1f) return;
 				}
 			}
 
@@ -30,7 +30,7 @@ void ftl::cuda::point_cloud(ftl::cuda::TextureObject<float4> &output, ftl::cuda:
 	const dim3 gridSize((params.width + T_PER_BLOCK - 1)/T_PER_BLOCK, (params.height + T_PER_BLOCK - 1)/T_PER_BLOCK);
 	const dim3 blockSize(T_PER_BLOCK, T_PER_BLOCK);
 
-	point_cloud_kernel<2><<<gridSize, blockSize, 0, stream>>>(output, depth, params, pose);
+	point_cloud_kernel<3><<<gridSize, blockSize, 0, stream>>>(output, depth, params, pose);
 	cudaSafeCall( cudaGetLastError() );
 
 #ifdef _DEBUG