function data=c2(db_file)
    % Compare the path 
    close all hidden
    % Read table of primary and secondary path
    conn=sqlite(db_file);
    state_data=fetch(conn,"SELECT * FROM state;");
    close(conn);
    % Read primary data
    P=table2array(state_data([state_data.pri_sec==1],1:4));
    Py=table2array(state_data([state_data.pri_sec==1],5:6));
    yaw1=Py(1);
    yaw2=Py(2);
    p_idx=P(1);
    sql="SELECT * FROM images WHERE  %d<= cnt_id AND cnt_id<%d ;";
    sql=sprintf(sql,P(2),P(3));
    conn=sqlite(db_file);
    res=fetch(conn,sql);
    close(conn);

    % Decode lat,lon of primary path (all S³ images)
    lalo_p=rowfun(@(x,y) [jsondecode(x),jsondecode(y)], res(:,["lat","lon"]),'OutputFormat', 'cell');
    lalo=cell2mat(lalo_p);
    % Plot path of S³ center
    h=geoplot(lalo(:,1),lalo(:,2),'x'); 
    hold on;


    hc=[];
    hc2=[];
    hc3=[];
    ref=[];
    GLaA=[];
    GLoA=[];
    GLaB=[];
    GLoB=[];
    for idx=1:size(res,1) % for each image in path
        % Load data of path
        lat=str2num(res.lat(idx));
        lon=str2num(res.lon(idx));
        yaw=str2num(res.yaw(idx));
        perc=str2num(res.perc(idx));
        time_=str2num(res.time(idx));
        altitude=str2num(res.altitude(idx));
        range=res.range(idx);
        hull=str2num(res.hull(idx));
        LaA=str2num(res.LaA(idx));
        LoA=str2num(res.LoA(idx));
        LaB=str2num(res.LaB(idx));
        LoB=str2num(res.LoB(idx));
        rota=str2num(res.rota(idx));
        aabb=str2num(res.aabb(idx));
        cv=str2num(res.hull(idx));
        % Get closed circunference of image
        [La,Lo]=get_circumference2(lat,lon,yaw,altitude,range);
        points=[La',Lo'];
        points=points([hull],:);
        figure(1);
        % Plot points of circunference
        hc2_=geoplot([La,La(1)]',[Lo,Lo(1)]','x-');
hold on;

% Get partss of circunference        
%[LaA,LoA,LaB,LoB]=get_circumference3(lat,lon,yaw,altitude,range);
%hc3_=[];
%for kk=1:length(LaA)
%    hc3_=[hc3_,geoplot([LaA(kk),LaB(kk)],[LoA(kk),LoB(kk)])];
%end
%hold on;










        % Plot convex hull of circunference
        hc_=geoplot(points(:,1),points(:,2));
        hold on;
        hc_.Visible="off";
        hc2_.Visible="off";
        %set(hc3_,'Visible','off');
        hc=[hc,hc_];
        hc2=[hc2,hc2_];
        %hc3=[hc3;hc3_];
        ref=[ref,...
            struct("lat",lat,...
                   "lon",lon,...
                   "yaw",yaw,...
                   "altitude",altitude,...
                   "range",range,...
                   "time",time_,...
                   "perc",perc,...
                   "latc",res.latc(idx),...
                   "lonc",res.lonc(idx),...
                   "yawc",res.yawc(idx),...
                   "path",res.path(idx),...
                   "id",res.id(idx),...
                   "LaA",LaA,...
                   "LoA",LoA,...
                   "LaB",LaB,...
                   "LoB",LoB,...
                   "cv",cv,...
                   "aabb",aabb, ...
                   "yaw1",yaw1,...
                   "yaw2",yaw2,...
                   "rota",rota)];
    end
    hold off;
    % Create figure window
    a=uifigure("Position",[286,446,300,127]);
    % Create drop down menu
    dd=uidropdown(a,'FontSize',24,'Position',[70,120-50,150,50],...
        'ValueChangedFcn',{@change_func,hc,hc2,hc3});
    dd.ItemsData= 1:size(res,1);
    dd.Items= arrayfun(@(x) string(num2str(x)), 1:size(res,1));
    % Create '+' and '-' buttons
    uibutton(a,'Text','+','FontSize',26,'Position',[240,120-50,50,50],...
        'ButtonPushedFcn',{@plus_func,dd,hc,hc2,hc3});
    uibutton(a,'Text','-','FontSize',26,'Position',[10,120-50,50,50],...
        'ButtonPushedFcn',{@minus_func,dd,hc,hc2,hc3});
    % Create global data
    data.db_file=db_file;
    data.ref=ref;
    data.p_active=-1;
    data.ref=ref;
    data.rects=[];
    set(groot,"UserData",data);
    % Show first image of path
    show_current_part(dd.Value,hc,hc2,hc3);
end

function ref=get_part_id(id)
    data=get(groot,"UserData");
    ref=-1;
    for idx=1:size(data.S,1)
        if data.S(idx,2)<=id && id < data.S(idx,3)
            ref=idx;
            break;
        end
    end
end


function minus_func(app,event,dd,hc,hc2,hc3)
    if dd.Value==1 
        return
    end
    dd.Value=dd.Value-1;
    show_current_part(dd.Value,hc,hc2,hc3);
end

function plus_func(app,event,dd,hc,hc2,hc3)
    if dd.Value==dd.ItemsData(end) 
        return
    end
    dd.Value=dd.Value+1;
    show_current_part(dd.Value,hc,hc2,hc3);
end

function change_func(app,event,hc,hc2,hc3)
    show_current_part(app.Value,hc,hc2,hc3);
end

function show_current_part(idx_on,hc,hc2,hc3)
    data=get(groot,'UserData');
    if data.p_active ~= -1
        hc(data.p_active).Visible="off";
        hc2(data.p_active).Visible="off";
        %set(hc3(data.p_active,:),'Visible','off');
    end
    %hc(idx_on).Visible="on";
    hc2(idx_on).Visible="on";
    %set(hc3(idx_on,:),'Visible','on');
    LaA=data.ref(idx_on).LaA;
    LoA=data.ref(idx_on).LoA;
    LaB=data.ref(idx_on).LaB;
    LoB=data.ref(idx_on).LoB;
    yaw=data.ref(idx_on).yaw;
    yaw(yaw<0.0)=yaw(yaw<0.0)+2*pi;
    idx1=find((yaw/data.ref(idx_on).yaw1)-1 < 0.2);
    idx2=find((yaw/data.ref(idx_on).yaw2)-1 < 0.2);
    N=length(yaw);
    negative=setdiff(1:N,union(idx1,idx2));
    figure(9)
    ref=data.ref(idx_on);
    first=imread(fullfile(ref.path,ref.id+".png"));
    im1=imshow(first);
    set(im1,"ButtonDownFcn",@p1);
    %rota=union(data.ref(idx_on).rota,negative);
    rota=data.ref(idx_on).rota;
    for i=1:length(rota)
        od=rota(i);
        rectangle('Position',[1   ,data.ref(idx_on).perc(od)*1024,...
                              1023,0.0099*1024],...
                              'FaceColor',[0 1 0 0.25],'EdgeColor',[ 0 1 0 0.125]);
    end
    data.p_active=idx_on;
    set(groot,'UserData',data);
    show_rects(data.ref(idx_on));
end

function show_rects(ref)
    data=get(groot,'UserData');
    for idx=1:length(data.rects)
        rect=data.rects(idx);
        if rect_in_cv_hull(rect,ref)
            display_rect_in_ref(9,rect,ref);
        end
    end
end

function ret=rect_in_cv_hull(rect,ref)
    p=[[ref.LaA,ref.LaB]',[ref.LoA,ref.LoB]'];
    pp=p(ref.cv,:);
    ret=inpolygon(mean(rect.LatitudeData),mean(rect.LongitudeData),pp(:,1),pp(:,2));
end

function display_rect_in_ref(fig_id,rect,ref)
    wgs84 = wgs84Ellipsoid("m");
    udata=get(rect,'UserData');
    l=[];
    a=[];
    ii=[];
    yaw=[];
    for idx=1:length(ref.lat)
        if ismember(idx,ref.rota)
            continue
        end
        [ls,az]=distance(ref.lat(idx),ref.lon(idx),udata.la,udata.lo,wgs84);
        l=[l,ls];
        if az<0
            az=az+360;
        end
        a=[a,az];
        ii=[ii,idx];
        yaw=[yaw,rad2deg(ref.yaw(idx))];
        if yaw(end)<0
            yaw(end)=360+yaw(end);
        end
    end

    idx=find(l<=ref.range);
    a=a(idx);
    ii=ii(idx);
    yaw=yaw(idx);
    p=abs(abs(a-yaw)-180)/90;
    [d,i]=min(abs(p-1));
    idx=ii(i);
    figure(9);
    posi=[1   ,ref.perc(idx)*1024,1023,0.0099*1024];
    %rectangle('Position',[1   ,ref.perc(idx)*1024,...
    %                          1023,0.0099*1024],...
    %                          'FaceColor',[1 1 0 0.0],'EdgeColor',[ 1 1 0 0.75]);

    llla=[];
    lllo=[];
    lld=[];
%    for jdx=max([1,idx-1]):min([idx+1,length(ref.lon)])
     for jdx=idx         
        lla=[];
        llo=[];
        ld=[];
        for i=0:100
            [la,lo,d]=getGeo_d(i/100,0.0,ref.range,...
                                      ref.lat(jdx),...
                                      ref.lon(jdx), ...
                                      ref.altitude(jdx),...
                                      ref.yaw(jdx),0.0);
            lla=[lla,la];
            llo=[llo,lo];
            ld=[ld,d];
        end
        llla=[llla;lla];
        lllo=[lllo;llo];
        lld=[lld;ld];
    end
    ep=sqrt((llla-udata.la).^2+(lllo-udata.lo).^2+1*(lld-udata.de).^2);
    [a,idx_x]=min(ep);
    if idx_x>0
        idx_x=idx_x-1;
    end
    %rectangle('Position',[idx_x*1024/100 ,1,0.02*1024,1024],'EdgeColor',[1,1,1])
    posi(1)=idx_x*1024/100;
    posi(3)=0.02*1024;
    rectangle('Position',posi,'FaceColor',[1 1 0 0.0],'EdgeColor',[ 1 1 0 0.75],'LineWidth',2);
    b=1;
end



function p1(src,event) %,im2)
    if event.Button == 1  
        po=event.IntersectionPoint;
        h = images.roi.Circle();
        addlistener(h,'MovingROI',@(src,evt) updateLabel(src,evt)); %,im2));
        addlistener(h,'ROIClicked',@updateUnits);
        %cp = hAx.CurrentPoint;
        cp = po(1:2);
        h.beginDrawingFromPoint(cp);
    end
end

function updateLabel(src,evt) %,im2)

    %figure(2)
    %data=get(2,'UserData');
    %if isempty(data)
    %    h=rectangle("Position",evt.Source(1).Position,'FaceColor',[1,0,0]);
    %    set(2,"UserData",h);
    %else
    %    data.Position=evt.Source(1).Position;
    %end
end

function updateUnits(src,evt)
    data=get(groot,'UserData');
    rect_data=get(src,'UserData');
    xy=evt.Source(1).Position;
    xol=xy(1)/1024; yol=xy(2)/1024;
    ref=data.ref(data.p_active);
    la=interp1(ref.perc,ref.lat,yol);
    lo=interp1(ref.perc,ref.lon,yol);
    de=interp1(ref.perc,ref.altitude,yol);
    ya=interp1(ref.perc,ref.yaw,yol);
    [laP,loP]=getGeo1024(xol,yol,ref.range,la,lo,1*de,ya,0);
    [scA,scO]=scircle1(laP,loP,0.000005);
    figure(1);
    hold on;
    if isempty(rect_data)
        rk=geoplot(scA,scO,'Color',[1 0 0],'LineWidth',2);
        rect_data.rk=rk;
        insert_in_userdata(rk,laP,loP,de);
    else
        rect_data.rk.LatitudeData=scA;
        rect_data.rk.LongitudeData=scO;
        rect_data.de=de;
        modify_in_userdata(rect_data.rk);
    end
    hold off
    set(src,'UserData',rect_data);
end


function insert_in_userdata(rk,laP,loP,de)
    data=get(groot,'UserData');
    udata.la=laP;
    udata.lo=loP;
    udata.de=de;
    if isempty(data.rects)
        udata.id=1;
        set(rk,'UserData',udata);
        data.rects=[rk];
        data.rects_id=[1];
    else
        udata.id=data.rects_id(end)+1;
        set(rk,'UserData',udata);
        data.rects=[data.rects,rk];
        data.rects_id=[data.rects_id,udata.id];
    end
    set(groot,'UserData',data);
end

function modify_in_userdata(rk)
    data=get(groot,'UserData');
    udata=get(rk,'UserData')
    idx=find(data.rects_id==udata.id);
    set(groot,'UserData',data);
end