function compare_path(db_file)
    % Compare the path 
    close all hidden
    conn=sqlite(db_file);
    state_data=fetch(conn,"SELECT * FROM state;");
    close(conn);
    S=table2array(state_data([state_data.pri_sec==0],1:4));
    P=table2array(state_data([state_data.pri_sec==1],1:4));
    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);
    lalo_p=rowfun(@(x,y) [jsondecode(x),jsondecode(y)], res(:,["lat","lon"]),'OutputFormat', 'cell');
    lalo=cell2mat(lalo_p);
    h=geoplot(lalo(:,1),lalo(:,2),'x'); 
    hold on;
    hc=[];
    hc2=[];
    ref=[];
    for idx=1:size(res,1)
        lat=str2num(res.lat(idx));
        lon=str2num(res.lon(idx));
        yaw=str2num(res.yaw(idx));
        altitude=str2num(res.altitude(idx));
        range=res.range(idx);
        hull=str2num(res.hull(idx));
        [La,Lo]=get_circumference2(lat,lon,yaw,altitude,range);
        points=[La',Lo'];
        points=points([hull],:);
        figure(1);
        hc_=geoplot(points(:,1),points(:,2));
        hold on;
        hc2_=geoplot([La,La(1)]',[Lo,Lo(1)]','x-');
        hc_.Visible="off";
        hc2_.Visible="off";
        hc=[hc,hc_];
        hc2=[hc2,hc2_];
        ref=[ref,...
            struct("lat",lat,...
                   "lon",lon,...
                   "yaw",yaw,...
                   "altitude",altitude,...
                   "range",range,...
                   "latc",res.latc(idx),...
                   "lonc",res.lonc(idx),...
                   "yawc",res.yawc(idx),...
                   "path",res.path(idx),...
                   "id",res.id(idx))];
    end
    hold off;
    a=uifigure("Position",[286,446,300,127]);
    dd=uidropdown(a,'FontSize',24,'Position',[70,120-50,150,50],...
        'ValueChangedFcn',{@change_func,hc,hc2});
    dd.ItemsData= 1:size(res,1);
    dd.Items= arrayfun(@(x) string(num2str(x)), 1:size(res,1));
    uibutton(a,'Text','+','FontSize',26,'Position',[240,120-50,50,50],...
        'ButtonPushedFcn',{@plus_func,dd,hc,hc2});
    uibutton(a,'Text','-','FontSize',26,'Position',[10,120-50,50,50],...
        'ButtonPushedFcn',{@minus_func,dd,hc,hc2});
    data.db_file=db_file;
    data.S=S;
    data.s_data=get_sdata(db_file,S);
    data.ref=ref;
    set(groot,"UserData",data);
    show_current_part(dd.Value,hc,hc2);
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  s_data=get_sdata(db_file,S)
    conn=sqlite(db_file);
    res=fetch(conn,"SELECT name FROM sqlite_schema WHERE name='tmp';");
    if ~ isempty(res)
        execute(conn,"DROP TABLE tmp;")
    end
    sql="CREATE TABLE tmp("+ table_images_desc()+");";
    sql_insert="INSERT INTO tmp SELECT * FROM images WHERE %d <= cnt_id AND cnt_id<%d;";
    sql_get_path="SELECT time,lat,lon,yaw FROM images WHERE %d <= cnt_id AND cnt_id<%d;";
    execute(conn,sql);
    s_data=[];
    for idx=1:size(S,1)
        execute(conn,sprintf(sql_insert,S(idx,2),S(idx,3)));
        res=fetch(conn,sprintf(sql_get_path,S(idx,2),S(idx,3)));
        lat=cell2mat(arrayfun(@(x) str2num(x),res.lat,'UniformOutput',false));
        lon=cell2mat(arrayfun(@(x) str2num(x),res.lon,'UniformOutput',false));
        yaw=cell2mat(arrayfun(@(x) str2num(x),res.yaw,'UniformOutput',false));
        tim=cell2mat(arrayfun(@(x) str2num(x),res.time,'UniformOutput',false));
        [~,idxs]=sort(reshape(tim,length(tim(:)),1));
        s_data=[s_data,struct("lat",lat(idxs),"lon",lon(idxs),...
                             "idx1",S(idx,2),"idx2",S(idx,3))];
    end    
    close(conn);
end

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

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

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

function show_current_part(idx_on,hc,hc2)
    for idx=1:length(hc)
        hc(idx).Visible="off";
        hc2(idx).Visible="off";
        if idx==idx_on
            %hc(idx).Visible="on";
            hc2(idx).Visible="on";
            show_similar(idx);
        end
    end
end

function show_similar(idx)
   data=get(groot,"UserData");
   ref=data.ref(idx);
   lat=ref.lat;
   lon=ref.lon;
   N=length(lat);
   idx1=fix(N/3);
   idx2=fix(2*N/3);
   fstring=['SELECT * FROM tmp WHERE tmp.cnt_id IN (SELECT cnt_id FROM rtr WHERE xmin<=%15.10f ',...
       ' AND %15.10f <= xmax AND ymin<= %15.10f ',...
       ' AND  %15.10f <= ymax ) AND abs(yawc - %15.10f) <  20.0* 3.1415/180.0;'];
   if lat(idx1) < lat(idx2)
       [lati,lata]=deal(lat(idx1),lat(idx2));
   else
       [lata,lati]=deal(lat(idx1),lat(idx2));
   end   
   if lon(idx1) < lon(idx2)
       [loni,lona]=deal(lon(idx1),lon(idx2));
   else
       [lona,loni]=deal(lon(idx1),lon(idx2));
   end         
   sql=string(sprintf(fstring,lati,lata,loni,lona,ref.yawc));
   conn=sqlite(data.db_file);
   other=fetch(conn,sql);
   close(conn);
   if isempty(other)
       return
   end
   di=[];
   for idx=1:size(other,1)
       di=[di,norm([ref.latc,ref.lonc]-[other.latc(idx),other.lonc(idx)])];
   end
   [~,iss]=sort(di);
   ok=zeros(size(data.S,1),1);
   to_del=[];
   for idx=1:length(iss)
       ref_=get_part_id(other.cnt_id(iss(idx)));
       if ok(ref_)<1
           ok(ref_)=ok(ref_)+2;
       else
           to_del=[to_del,iss(idx)];
       end
   end
   other([to_del],:)=[];
   di([to_del])=[];
   [~,iss]=sort(di);
   figure(9);
   first=imread(fullfile(ref.path,ref.id+".png"));
   imshow(first);
   title("Ref: "+convert_to_title(ref.id), 'Interpreter', 'none');

   for kdx=1:length(iss)
      other_image=other(iss(kdx),:);   

    figure(9+kdx);
    second=imread(fullfile(other_image.path,other_image.id+".png"));
    imshow(second);
    title(convert_to_title(other_image.id), 'Interpreter', 'none');

    figure(19+kdx);
    lat=str2num(other_image.lat);
    lon=str2num(other_image.lon);
    yaw=str2num(other_image.yaw);
    altitude=str2num(other_image.altitude);
    range=other_image.range;
    hull=str2num(other_image.hull);
    [La,Lo]=get_circumference2(lat,lon,yaw,altitude,range);
    [LaA,LoA,LaB,LoB]=get_circumference3(lat,lon,yaw,altitude,range);
    points=[La',Lo'];
    points=[points;points(1,:)];
    for idx=1:length(data.s_data)
       if data.s_data(idx).idx1<= other_image.cnt_id && ...
                other_image.cnt_id< data.s_data(idx).idx2
           lat=data.s_data(idx).lat;
           lon=data.s_data(idx).lon;
           break;
       end
    end
    geoplot(lat,lon);
    hold on;
    %geoplot(points(:,1),points(:,2),'x-');
    for kk=1:length(LaA)
        geoplot([LaA(kk),LaB(kk)],[LoA(kk),LoB(kk)])
        hold on;
    end
    hold on;
    %points=points([hull],:);
    %geoplot(points(:,1),points(:,2));
    title(convert_to_title(other_image.id), 'Interpreter', 'none');
    hold off;
   end
    set(1,"Position",[100,322,560,420]);
    set(9,"Position",[735,310,700,654]);
    for idx=1:3
    set(9+idx,'Position',[1600+(idx-1)*700,-400,694,654]);
    set(19+idx,'Position',[1600+(idx-1)*700,700,560,420]);
    end
end

function res=substr(stri,pos,len)
    res=extractBetween(stri,pos,pos+len-1);
end

function titel_str=convert_to_title(id)
    ids=split(id,'_');
    da=ids(2);
    dat=substr(da,7,2)+"."+substr(da,5,2)+"."+substr(da,1,4);
    t1=ids(3);
    ti1=substr(t1,1,2)+":"+substr(t1,3,2)+":"+substr(t1,5,2);
    t2=ids(5);
    ti2=substr(t2,1,2)+":"+substr(t2,3,2)+":"+substr(t2,5,2);
    titel_str=dat+" "+ti1+"-"+ti2;
end