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

@@ -84,7 +84,7 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
         for (size_t j=0; j<fs.frames.size(); ++j) {
             if (i == j) continue;
 
-            LOG(INFO) << "Running phase1";
+            //LOG(INFO) << "Running phase1";
 
             auto &f1 = fs.frames[i];
             auto &f2 = fs.frames[j];
@@ -111,7 +111,7 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
                 LOG(ERROR) << "Exception in correspondence: " << e.what();
             }
 
-            LOG(INFO) << "Correspondences done... " << i;
+            //LOG(INFO) << "Correspondences done... " << i;
         }
     }