function vision_engine_d(object1,object2,object3)
%executes seeing strategy for dynamic situation
%with cluttered background and speckle noise
%object1, ... are l1xl2 binary arrays

%1.ENTER.
%opening frames
page1
pause(2)
close
page2
pause(2)
close
page3d
pause(2)
close

%2.SELECT OBJECT
[l1,l2]=size(object1);d=min(l1,l2);
[X2,X1]=meshgrid(1:l2,(1:l1)');
%select which object
trueobject=sum(rand(1)<[1/3,2/3,1]);
object=eval(['object',num2str(trueobject)]);






%3.GET CENTER,SCALE (RADII) OF EACH OBJECT
c1=center(object1);
c2=center(object2);
c3=center(object3);
c=[c1;c2;c3];
r1=scale(object1);
r2=scale(object2);
r3=scale(object3);
r=[r1, r2,r3];

'IT WILL TAKE A WHILE TO BUILD THE SCENE...'


%4. SELECT SPECKLE LEVEL
speckle
pause
close
load V

%5.SELECT NUMBER OF CLUTTER ITEMS IN CLUTTERED BACKGROUND
numobj
pause
close
load W
N=floor(N)+1;

%6.PREPARE BACKGROUND
n=20;
[l1,l2]=size(object);
%and simulates clutter with elongated objects, depth in l1xl2-scene
%total depth = n, N objects of lengths <=l and
%widths <= w
scene =zeros(l1,l2);depths=n.*ones(l1,l2);

w=7;l=5;
ws=[-round(w/2):round(w/2)];
ls=[-round(l/2):round(l/2)];
%start simulating clutter
for i=1:N
   x1=ceil(l1*rand(1));
   x2=ceil(l2*rand(1));
   depth=ceil(n*rand(1));
   v1=round(x1+ls*(1-depth/n));v2=round(x2+ws*(1-depth/n));
   v1=max(1,min(v1,l1));v2=max(1,min(v2,l2));
   new=zeros(l1,l2);new(v1,v2)=ones(length(v1),length(v2));
   scene=scene | new;
     depths(v1,v2) = min(depths(v1,v2),  ones(length(v1),length(v2)).*  depth);
  end
   scene=diffeo(scene,5);
   scene=scene.*70;
   
   %8.INSERT MOVING OBJECT INTO MOVIE FRAMES
   M=zeros(l1,l2,n);
for t=1:n
   %compute depth for obscuration
   obscure=depths < (n-t).*ones(l1,l2);
   newobject=fastintm(object,n/t);
   M(:,:,t)=newobject.*(1-obscure)+(obscure | newobject<1).*scene;
     %degrade by speckle noise
   M(:,:,t)=M(:,:,t).*(1+.3.*(rand(l1,l2)-.5));
end

%7.PLAY MOVIE WITH INFERENCE: BAYESIAN RECOGNITION OF OBJECT
%introduce posterior energies
E=zeros(1,3);
object1=object1>20;object2=object2>20;object3=object3>20;
names=['none ';'tank ';'truck'];
image(zeros(l1,l2))
text(l1/4,l2/4,'TRUTH:','FontSize',24)

text(l1/4,l2/2,names(trueobject,:),'FontSize',24)
pause(2)
close


for t=2:n
   for alpha = 1:3
   subplot(2,2,1),image(2.*M(:,:,t))
   title('OBSERVED IMAGE')
   % implement saccadic search in dynamic setting
   fovea=20<max(0,M(:,:,t)-M(:,:,t-1));
   %get center and radius of fovea
   fcenter=center(fovea);
   fradius=scale(fovea)+.0000001;
   
   %transform fovea to location and scale of object_alpha
   %Y1=c(alpha,1)+r(1).*(X1-fcenter(1))./fradius;
   %Y2=c(alpha,2)+r(2).*(X2-fcenter(2))./fradius;
  Y1=fcenter(1)+fradius.*(X1-c(alpha,1))./r(alpha);
  Y2=fcenter(2)+fradius.*(X2-c(alpha,2))./r(alpha);


        obj=fastint(reshape(M(:,:,t),l1,l2),Y1-X1,Y2-X2);
   E(alpha)=norm(obj-eval('object',num2str(alpha)),'fro');
   end

'posterior energy =' 
E
   %find minimm posterior energy
  [Y,I]=sort(E);
  Emin=Y(1);Enext=Y(2);Emax=Y(3);
  x=(Enext-Emin)/Emax>.01;m=I(1);
       if x==0
      subplot(2,2,2),image(30.*fovea)
      title('FOVEA')
      
            subplot(2,2,3),image(zeros(l1,l2))
      title(' credible hypothesis')
      text(l1/4,l2/2,'?','FontSize',128)
      xlabel('TO CONTINUE PRESS ENTER')
      pause(1)
      close
      
      else
      subplot(2,2,3),image(30.*fovea)
      title('FOVEA')
      subplot(2,2,4),image(zeros(l1,l2))
      title(' credible hypothesis')
      text(l1/4,l2/2,names(m,:),'FontSize',24)
      xlabel('TO CONTINUE PRESS ENTER')
      pause(1)
      close
      %end
   end
   
end 
	
   
   
 

%8. Auxiliary functions

function page1()

load page1                             

a = figure('Color',[0.8 0.8 0.8], ...
	'Colormap',mat0, ...
	'PointerShapeCData',mat1, ...
	'Position',[120 120 560 420]);
b = axes('Parent',a, ...
	'Box','on', ...
	'CameraUpVector',[0 1 0], ...
	'CameraUpVectorMode','manual', ...
	'Color',[1 1 1], ...
	'ColorOrder',mat2, ...
	'Layer','top', ...
	'Visible','off', ...
	'XColor',[0 0 0], ...
	'XLim',[0.5 800.5], ...
	'XLimMode','manual', ...
	'YColor',[0 0 0], ...
	'YDir','reverse', ...
	'YLim',[0.5 600.5], ...
	'YLimMode','manual', ...
	'ZColor',[0 0 0]);
c = image('Parent',b, ...
	'CData',mat3, ...
	'XData',[1 800], ...
	'YData',[1 600]);
c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HandleVisibility','callback', ...
	'HorizontalAlignment','center', ...
	'Position',[399.576 -11.8167 0], ...
	'VerticalAlignment','bottom');
set(get(c,'Parent'),'Title',c);

function page2()

load page2                             

a = figure('Color',[0.8 0.8 0.8], ...
	'Colormap',mat0, ...
	'PointerShapeCData',mat1, ...
	'Position',[120 120 560 420]);
b = axes('Parent',a, ...
	'Box','on', ...
	'CameraUpVector',[0 1 0], ...
	'Color',[1 1 1], ...
	'ColorOrder',mat2, ...
	'Layer','top', ...
	'Visible','off', ...
	'XColor',[0 0 0], ...
	'XLim',[0.5 800.5], ...
	'XLimMode','manual', ...
	'YColor',[0 0 0], ...
	'YDir','reverse', ...
	'YLim',[0.5 600.5], ...
	'YLimMode','manual', ...
	'ZColor',[0 0 0]);
c = image('Parent',b, ...
	'CData',mat3, ...
	'XData',[1 800], ...
	'YData',[1 600]);
c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HandleVisibility','callback', ...
	'HorizontalAlignment','center', ...
	'Position',[399.576 -11.8167 0], ...
	'VerticalAlignment','bottom');
set(get(c,'Parent'),'Title',c);

function page3d()

load page3d                            

a = figure('Color',[0.8 0.8 0.8], ...
	'Colormap',mat0, ...
	'PointerShapeCData',mat1, ...
	'Position',[120 120 560 420], ...
	'Tag','Fig1');
b = axes('Parent',a, ...
	'Box','on', ...
	'CameraUpVector',[0 1 0], ...
	'Color',[1 1 1], ...
	'ColorOrder',mat2, ...
	'Layer','top', ...
	'Tag','Axes1', ...
	'XColor',[0 0 0], ...
	'XLim',[0.5 800.5], ...
	'XLimMode','manual', ...
	'YColor',[0 0 0], ...
	'YDir','reverse', ...
	'YLim',[0.5 600.5], ...
	'YLimMode','manual', ...
	'ZColor',[0 0 0]);
c = image('Parent',b, ...
	'CData',mat3, ...
	'Tag','Axes1Image1', ...
	'XData',[1 800], ...
	'YData',[1 600]);
c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HandleVisibility','callback', ...
	'HorizontalAlignment','center', ...
	'Position',[399.576 642.729 0], ...
	'Tag','Axes1Text4', ...
	'VerticalAlignment','cap');
set(get(c,'Parent'),'XLabel',c);
c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HandleVisibility','callback', ...
	'HorizontalAlignment','center', ...
	'Position',[-58.6224 303.139 0], ...
	'Rotation',90, ...
	'Tag','Axes1Text3', ...
	'VerticalAlignment','baseline');
set(get(c,'Parent'),'YLabel',c);
c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HandleVisibility','callback', ...
	'HorizontalAlignment','right', ...
	'Position',[-134.373 -52.2859 0], ...
	'Tag','Axes1Text2', ...
	'Visible','off');
set(get(c,'Parent'),'ZLabel',c);
c = text('Parent',b, ...
	'Color',[0 0 0], ...
	'HandleVisibility','callback', ...
	'HorizontalAlignment','center', ...
	'Position',[399.576 -11.8167 0], ...
	'Tag','Axes1Text1', ...
	'VerticalAlignment','bottom');
set(get(c,'Parent'),'Title',c);




function numobj()
load numobj                            

a = figure('Units','points', ...
	'Color',[0.8 0.8 0.8], ...
	'Colormap',mat0, ...
	'PointerShapeCData',mat1, ...
	'Position',[160.5 93.75 420 315], ...
	'Tag','Fig1');
b = uicontrol('Parent',a, ...
	'Units','points', ...
	'BackgroundColor',[0.752941 0.752941 0.752941], ...
	'ButtonDownFcn','Select number of objects in clutter background', ...
	'FontSize',24, ...
	'Position',[204.75 158.25 172.5 94.5], ...
	'String','Select number of objects in         background', ...
	'Style','text', ...
	'Tag','StaticText1');
b = uicontrol('Parent',a, ...
	'Units','points', ...
	'BackgroundColor',[0.752941 0.752941 0.752941], ...
	'Callback','N=get(gco, ''Value''); save W N', ...
	'Max',300, ...
	'Position',[34.5 31.5 57 219.75], ...
	'Style','slider', ...
	'Tag','Slider1', ...
	'Value',127.2);
b = uicontrol('Parent',a, ...
	'Units','points', ...
	'BackgroundColor',[0.752941 0.752941 0.752941], ...
	'FontSize',24, ...
	'Position',[104.25 230.25 45 32.25], ...
	'String','300', ...
	'Style','text', ...
	'Tag','StaticText2');
b = uicontrol('Parent',a, ...
	'Units','points', ...
	'BackgroundColor',[0.752941 0.752941 0.752941], ...
	'FontSize',24, ...
	'Position',[105 19.5 46.5 30], ...
	'String','0', ...
	'Style','text', ...
   'Tag','StaticText3');


function result=fastint(I,s1,s2)
%interpolates (bilinearly) matrix I given at equally spaced grid points
%to points displaced by vector field s with components s1 and s2
[l1,l2]=size(I);
[Y,X]=meshgrid(1:l2,(1:l1)');
XI=X+s1;M=XI>l1.*ones(l1,l2);XI=(1-M).*XI+M.*l1.*ones(l1,l2);
M=XI<ones(l1,l2);XI=(1-M).*XI+M.*ones(l1,l2);
YI=Y+s2;M=YI>l2.*ones(l1,l2);YI=(1-M).*YI+M.*l2.*ones(l1,l2);
M=YI<ones(l1,l2);YI=(1-M).*YI+M.*ones(l1,l2);
result=interp2(Y,X,I,YI,XI);

function c=center(BW)
%computes 2-vector c as centroid of binary image BW
area=sum(sum(BW))+.0000001;
[l1,l2]=size(BW);
[X2,X1]=meshgrid(1:l2,(1:l1)');
c=[0 0];
c(1)=sum(sum(X1.*BW))/area;
c(2)=sum(sum(X2.*BW))/area;

function radius=scale(BW)
%computes radius of inertia of binary image BW
area=sum(sum(BW))+.000001;
c=center(BW);
[l1,l2]=size(BW);
[X2,X1]=meshgrid(1:l2,(1:l1)');
M=BW.*((X1-c(1)).^2+(X2-c(2)).^2);
radius=sum(sum(M))/area;
radius=sqrt(radius);