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

@@ -78,11 +78,13 @@ __global__ void correspondence_energy_vector_kernel(
             (bestpoint.y - world1.y),
             (bestpoint.z - world1.z),
             mincost);
-        //eout(x,y) = (1.0f - mincost) * 7.0f; //confidence * 5.0f;
-        eout(x,y) = confidence * 7.0f;
+		eout(x,y) = max(eout(x,y), (1.0f - mincost) * 7.0f); //confidence * 5.0f;
+
+		// FIXME: This needs to be summed across all frames
+        //eout(x,y) = max(eout(x, y), confidence * 7.0f);
     } else if (mincost >= 1.0f && lane == 0) {
-        vout(x,y) = make_float4(0.0f);
-        eout(x,y) = 0.0f;
+        //vout(x,y) = make_float4(0.0f);
+        //eout(x,y) = 0.0f;
     }
 }