Only use leg apriori likelihoods when have <2 hits.
Decreased DRIFTVAR, MAXPOSITIONVAR

Makes continuity when obstructed better
Modified BGINITFRAMES handling so that looping a recording works
Added debug around temporary frame debug
Clear snapshots after writing .mat file (in case we're looping the input)
Added missing initializers to Leg()
Store and dump predictedPosition

Useful for matlab analyses
Added USEPERSONLIKE global const

To determine whether the person-based likelihood should be computed.
(in lieu of ripping that code out again)
Increase scan resolution to 1/3 degree
Corrected divergence calculations
Plot each leg in a different color
Expanded number of plots possible with diagnostic()
Added predictedLegs to matlab
Corrected divergence constants in frontend
Adjust DRIFTVAR, MAXPOSITIONVAR

Also removed unused INITIALHIDDENVAR
Decreased LEFTNESS time constant
Added computation of person.posvar
Use mean from likelihood map instead of MLE

to reduce noise.
Added background sum to a dbg message
Check if legs should be swapped after assigning second target to a person