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

@@ -27,7 +27,7 @@ bool ILW::process(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
     //for (int i=0; i<2; ++i) {
         _phase1(fs, stream);
         //for (int j=0; j<3; ++j) {
-        //    _phase2(fs);
+            _phase2(fs, 0.1f, stream);
         //}
 
 		// TODO: Break if no time left
@@ -118,12 +118,21 @@ bool ILW::_phase1(ftl::rgbd::FrameSet &fs, cudaStream_t stream) {
     return true;
 }
 
-bool ILW::_phase2(ftl::rgbd::FrameSet &fs) {
+bool ILW::_phase2(ftl::rgbd::FrameSet &fs, float rate, cudaStream_t stream) {
     // Run energies and motion kernel
 
 	// Smooth vectors across a window and iteratively
 	// strongly disagreeing vectors should cancel out
 	// A weak vector is overriden by a stronger one.
 
+    for (auto &f : fs.frames) {
+        ftl::cuda::move_points(
+             f.getTexture<float4>(Channel::Points),
+             f.getTexture<float4>(Channel::EnergyVector),
+             rate,
+             stream
+        );
+    }
+
     return true;
 }