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Implements #133 point alignment

Merged Nicolas Pope requested to merge feature/133/ilw into master
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@@ -96,7 +96,7 @@ __global__ void vis_normals_kernel(ftl::cuda::TextureObject<float4> norm,
if(x >= norm.width() || y >= norm.height()) return;
output(x,y) = 0.0f;
float3 ray = make_float3(0.0f, 0.0f, 1.0f); //pose * camera.screenToCam(x,y,1.0f);
float3 ray = pose.getFloat3x3() * camera.screenToCam(x,y,1.0f);
ray = ray / length(ray);
float3 n = make_float3(norm.tex2D((int)x,(int)y));
float l = length(n);
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