2013.4.11
2013.4.15
2013.4.16
2013.4.16
2013.4.17

1. Key parameters to run
a) As running 'TEST_STEP1' in test1.cpp, you could set the 'extRatio' to decide how much the input will be extended;
b) And whether to comment '#define USE_C1' in 'destin.c' to decide whether use my modification;
c) If commenting 'USE_C1', even you use 'extRatio', it only use the first 512*512 values as the input;

2. Unsolved problem:
a) If using 'USE_C1', even 'extRatio=1', the identification is not smart now... I'm frustrated with this for now...
b) Hope I could solve this soon!!!
2013.47

1. Exciting improvements:
a) I suddenly figured out what Ted really suggested...
b) Although I added so many parameters and functions, they are not used for further!!!
c) The important improvement just exists in 'InitDestin_c2' in 'util.c', it means what I should
take care is just the 'ns' because we extend the input, so 'ns' should check whether it's layer
0 or not. If it's layer 0, just use special 'ns' value and invoke the 'original' functions, it
will work as original.
d) Although my work comes back to the original point, I found it's interesting to read the whole
codes again and again. It really helps me to understand more on programing on DeSTIN!!!
2013.4.17

a) Sorry I missed one thing: I still use the 'GetObservation_c1' (so still 'FormulateBelief_c1' and 'doDestin_c1'),
the only change is check whether layer is 0 or not and append more values to 'observation'
2013.4.17

a) Use 'CalcCentroidMovement_c1'; In this function, I removed the check because nc==0, so not necessary to put them;
2013.4.26

1. Generation of depth
a) In folder 'czt_test', I added 'StereoCamera' and 'StereoVision';
b) There are 2 methods to show recified images and depth image: the 1st one is to use 'VideoSource' which exists originally in DeSTIN, meanwhile I added the new 'getOutput_c1()' to get the 'originalFrame' (maybe I should try to get 'flippedFrame'?); the 2nd one is to use 'StereoCamera';
c) Whatever, the codes could generate depth somehow; but there is an important 'bug'!!! The 'StereoVision' could only be set to (640, 480). If set to other values like 512*512, the cameras will only get 352*288 pixels. It's really frustrating. And still not solved!!!
Clean up repository using .gitignore
'git add .', some files for depth generation and visualizer codes