code structure: 0. basic data structures, and operations. 1. file io. 2. preprocessing. todo: muti-features 3. matched points. 4. initialization. todo: to be more robust. 5. optimization. todo: deform the depth. 6. warper. todo: the border of faces of skybox is empty. 7. stitching. todo: multi-band. 8. novel view content generation. todo: generate back layer rgbd content. 9. 3d viewer for the Panorama-type RGBD images. todo: standalone viewer toolkits.