function MotBoostEvalOneFrame( frameNum, SeqTemplate, numDigs, outBaseName, iFirsts, iLasts, DataBlock )

% Now find which batch the requested frame sits in most comfortably
% (assuming 50 frame overlap of tracked sequences, try to give f +/- 25
% frames of space to exist.
numLasts = size(iLasts(:),1);
iLast = iLasts( numLasts );
if( frameNum > iLast )
    fprintf( 1, 'Error: Wanted Eval frame %d but batches only reach %d\n', frameNum, iLast );
elseif( frameNum > iLast -25 )
    iBatch = numLasts;
else
    iBatch = find( iLasts - 25 > frameNum, 1 ); % The (...,1) says: give me at most 1 index.
end;


if( numDigs == 4 )
    % These two have been precomputed already!
    %banFileName = sprintf( '%s%.4d_%.4d.ban', SeqTemplate, iFirsts(iBatch), iLasts(iBatch) );
    %txt2DfileName = sprintf( '%s%.4d_%.4d_2D.txt', SeqTemplate, iFirsts(iBatch), iLasts(iBatch) );
    matFileName = sprintf( '%s%.4d_%.4d.mat', SeqTemplate, iFirsts(iBatch), iLasts(iBatch) );
elseif( numDigs == 5 )
    % These two have been precomputed already!
    %banFileName = sprintf( '%s%.5d_%.5d.ban', SeqTemplate, iFirsts(iBatch), iLasts(iBatch) );
    %txt2DfileName = sprintf( '%s%.5d_%.5d_2D.txt', SeqTemplate, iFirsts(iBatch), iLasts(iBatch) );
    matFileName = sprintf( '%s%.5d_%.5d.mat', SeqTemplate, iFirsts(iBatch), iLasts(iBatch) );
elseif( numDigs == 6 )
    % These two have been precomputed already!
    %banFileName = sprintf( '%s%.5d_%.5d.ban', SeqTemplate, iFirsts(iBatch), iLasts(iBatch) );
    %txt2DfileName = sprintf( '%s%.5d_%.5d_2D.txt', SeqTemplate, iFirsts(iBatch), iLasts(iBatch) );
    matFileName = sprintf( '%s%.6d_%.6d.mat', SeqTemplate, iFirsts(iBatch), iLasts(iBatch) );
end;



% Now load up the 2D traj file and 3D camera calibs
load( matFileName );

if( DataBlock == 1 )
    % Restore! After ICCV deadline.
    %debugImgName = sprintf( 'G:\\MotBoostData01\\StillsRaw_full\\Test\\Seq05VD_f%.5d.png', frameNum );
    
    debugImgName = sprintf( 'G:\\MotBoostData01\\701_StillsRaw_full\\Seq05VD_f%.5d.png', frameNum );
elseif( DataBlock == 2 )
    debugImgName = sprintf( 'G:\\MotBoostData01\\701_StillsRaw_full\\0016E5_%.5d.png', frameNum );
elseif( DataBlock ==3 )
    debugImgName = sprintf( 'G:\\MotBoostData01\\701_StillsRaw_full\\0006R0_f%.5d.png', frameNum );
elseif( DataBlock ==4 )
    debugImgName = sprintf( 'G:\\MotBoostData01\\701_StillsRaw_full\\0001TP_%.6d.png', frameNum );
end;
% debugImgName = 'G:\\MotBoostData01\\StillsRaw_full\\blankWhite320x240.png';


%       find( TrajTable(:, 1) == 7074 );    % Find indexes to all frames with this Traj#
%       find( TrajTable(:, 2) == 1502 );    % Find indexes to all Traj's with this Frame#



isOfTrajsExistingNow = find( TrajTable(:, 2) == frameNum );
% Stupid robustness hack like below because of Error: 
%       ??? Subscript indices must either be real positive integers or logicals.
while(size(isOfTrajsExistingNow,1) < 1    ||   min(isOfTrajsExistingNow) < 1   ||   max(isOfTrajsExistingNow) > size(TrajTable,1) )
        fprintf(1, ',');
        fprintf(1, 'size(isOfTrajsExistingNow,1): %d\n', size(isOfTrajsExistingNow,1) );
        fprintf(1, 'min(isOfTrajsExistingNow): %d\n', min(isOfTrajsExistingNow) );
        fprintf(1, 'max(isOfTrajsExistingNow): %d\n', max(isOfTrajsExistingNow) );
        isOfTrajsExistingNow = find( TrajTable(:, 2) == frameNum );
end;
XYs = TrajTable( isOfTrajsExistingNow, 3:4 );


% %-- OUT: Density of Features?

        %   Restore me!!
        featsFileName = sprintf( '%s%.5d_WhereAreFeatures2D.txt', outBaseName, frameNum );
        fid = fopen(featsFileName,'wt');      % 'rt' means read text
        if (fid < 0)    
            error('could not open file');   % just abort if error
        end;
        fprintf( fid, '%f %f\n', XYs');
        fclose( fid );


%%      Height above the Camera Center in current frame.

numXYs = size(XYs,1);
offsetForFrameNums = iFirsts(iBatch) -1;
Cs = zeros( iLasts(iBatch) - iFirsts(iBatch) + 1,   3);
j=1;
for( iFrameC = iFirsts(iBatch):iLasts(iBatch) )
    iInBig = iFrameC - offsetForFrameNums;
    %                      Long way, if we only have P...
    %P = Kbig(:,:, iInBig ) * Rbig(:,:, iInBig ) * [eye(3) -Tbig(:,:, iInBig )];
    %p1 = P(:,1); p2 = P(:,2); P(:,3); p3 = P(:,3); p4 = P(:,4);
    %C = [det([p2 p3 p4])  -det([p1 p3 p4])  det([p1 p2 p4])   -det([p1 p2 p3]) ];
    %Rbig(:,:, iInBig ) * [eye(3) -Tbig(:,:, iInBig )]
    %C = C(1:3) / C(4);
    %Cs(j, 1:3) = C;
    Cs(j, 1:3) = [Tbig(:,:, iInBig )]';     % ...vs short way if we have T
    j = j+1;
end;
%plot3( Cs(:,1), Cs(:,2), Cs(:,3), 'bo' );
curC = Cs( frameNum-offsetForFrameNums,    1:3);
% plot3( curC(:,1), curC(:,2), curC(:,3), 'md', 'MarkerSize', 10 );

XYsIn3D = zeros( numXYs, 3 );
for( iTraj = 1:numXYs )
    %fprintf(1, 'iTraj #%d\n', iTraj);
    trajNum = TrajTable(isOfTrajsExistingNow(iTraj), 1);

    rowsTrajWasTracked = find( TrajTable(:, 1) == trajNum );
    %rowsTrajWasTracked = find( (TrajTable(:, 1) <= trajNum+0.001) && (TrajTable(:, 1) >= trajNum-0.001) );
    
    %% Weird hacks, attempting to circumvent Matlab bug that would crash
    %% here... Still breaks!
    %% 
    %TrajByFrame = sortrows( TrajTable(rowsTrajWasTracked, 2:4), 1);
    rowsTrajWasTracked2 = find( TrajTable(:, 1) == trajNum );
    while( (size(rowsTrajWasTracked,1) ~= size(rowsTrajWasTracked2,1))  ||  sum(rowsTrajWasTracked == rowsTrajWasTracked2) ~= size(rowsTrajWasTracked,1) )
        fprintf(1, ',');
        rowsTrajWasTracked = find( TrajTable(:, 1) == trajNum );
        rowsTrajWasTracked2 = find( TrajTable(:, 1) == trajNum );
    end;
    TrajByFrame = TrajTable(round(rowsTrajWasTracked), 2:4);
    if( size( TrajByFrame, 1 ) < 3 )
        continue;   % No point in processing too short a track.
    end;
    
    %[VarianceIn3D Res] = VarOfBackProjectTraj( TrajByFrame, offsetForFrameNums, Kbig, Rbig, Tbig );
    XYsIn3D(iTraj, 1:3) = BackProject2DTrajTo3D( TrajByFrame, offsetForFrameNums, Kbig, Rbig, Tbig );
    fprintf(1, '.');
end;
fprintf(1, '\n');
% hold on;
% % plot3( XYsIn3D(:,1), XYsIn3D(:,2), XYsIn3D(:,3), 'r.' );
% HighXYs = XYsIn3D( find( XYsIn3D(:, 2) < 0 ), : );
% plot3( HighXYs(:,1), HighXYs(:,2), HighXYs(:,3), 'r.' );
% LowXYs = XYsIn3D( find( XYsIn3D(:, 2) >= 0 ), : );
% plot3( LowXYs(:,1), LowXYs(:,2), LowXYs(:,3), 'g.' );
% hold off;

% % %-- OUT: HaboveCamPlusDC
HaboveCamPlusDC = -curC(2) + XYsIn3D(:,2);   % (+) is above the camera, (-) is below, it hopefully no lower than -7?
RawResponse = HaboveCamPlusDC;
HaboveCamPlusDC(HaboveCamPlusDC <= 0.1 ) = 0.1;
HaboveCamPlusDC(HaboveCamPlusDC > 2) = 2;
RawishResponse = HaboveCamPlusDC;
radii = 15 * HaboveCamPlusDC;
%plot( radii );


%%          Just for ICCV video
A = imread( debugImgName );
imagesc(A); hold on;
plot( XYs(:,1), XYs(:,2), 'r.'  );
%%plot( XYs(:,1)/3, XYs(:,2)/3, 'r.'  );
num = size(HaboveCamPlusDC, 1);
hold off
fig=gcf;
units=get(fig,'units');
set(fig,'units','normalized','outerposition',[0 0 0.5 0.5]);
set(fig,'units',units);
pngFileName = sprintf( '%s%.5d_Density.png', outBaseName, frameNum );
%saveas(gcf, bmpFileName, 'bmp');
%print( gcf, '-dpng', '-r80', pngFileName );
print( gcf, '-dpng', '-r147', pngFileName ); % 911 x 719


A = imread( debugImgName );
imagesc(A); hold on;
% %%plot( XYs(:,1), XYs(:,2), 'r.'  );      Obsolete?
% %%plot( XYs(:,1)/3, XYs(:,2)/3, 'r.'  );  Obsolete?
num = size(HaboveCamPlusDC, 1);
for( i=1:num ) plot( XYs(i,1), XYs(i,2), 'o', 'MarkerSize', radii(i), 'MarkerFaceColor', 'none' ); end;
%%for( i=1:num ) plot( XYs(i,1)/3, XYs(i,2)/3, 'o', 'MarkerSize', radii(i), 'MarkerFaceColor', 'none' ); end;
hold off
%plot(30 *radii ) % Seems like a good scaling

% % Save active fig to disk.
fig=gcf;
units=get(fig,'units');
set(fig,'units','normalized','outerposition',[0 0 0.5 0.5]);
set(fig,'units',units);
pngFileName = sprintf( '%s%.5d_HaboveCamPlusDC.png', outBaseName, frameNum );
%saveas(gcf, bmpFileName, 'bmp');
%print( gcf, '-dpng', '-r80', pngFileName );
print( gcf, '-dpng', '-r147', pngFileName ); % 911 x 719
%----------------------------------
%          Just for ICCV video
%%  End of Just for ICCV video


        %   Restore me!!
        HaboveCamFileName = sprintf( '%s%.5d_HaboveCamPlusDC.txt', outBaseName, frameNum );
        fid = fopen(HaboveCamFileName,'wt');      % 'rt' means read text
        if (fid < 0)    
            error('could not open file');   % just abort if error
        end;
        fprintf( fid, '%f %f %f\n', [XYs, radii]');
        fclose( fid );

        % ----------------------------------------------------- %
        %   Extra, to save off Raw and Rawish filter-responses to text    %
        HaboveCamFileName = sprintf( '%sRaw_%.5d_HaboveCamPlusDC.txt', outBaseName, frameNum );
        fid = fopen(HaboveCamFileName,'wt');      % 'rt' means read text
        if (fid < 0)    
            error('could not open file');   % just abort if error
        end;
        fprintf( fid, '%f %f %f\n', [XYs, RawResponse]');
        fclose( fid );
        %
        HaboveCamFileName = sprintf( '%sRawish_%.5d_HaboveCamPlusDC.txt', outBaseName, frameNum );
        fid = fopen(HaboveCamFileName,'wt');      % 'rt' means read text
        if (fid < 0)    
            error('could not open file');   % just abort if error
        end;
        fprintf( fid, '%f %f %f\n', [XYs, RawishResponse]');
        fclose( fid );
        % ----------------------------------------------------- %
        
        
        
        
        
        
        
        

%%          Min 3D distance: Closest the camera passes to each World Point.

MinDistances = zeros( numXYs, 1 );
for( iTraj = 1:numXYs )
    WorldTgt = XYsIn3D(iTraj, 1:3);
    D = [Cs(:,1) - WorldTgt(1), Cs(:,2) - WorldTgt(2), Cs(:,3) - WorldTgt(3)];
    % Now rows of D have a vector from that Pt to each camera. We want the
    % magnitude of the smallest vector: 
    minDist = min( D(:,1) .* D(:,1)   +   D(:,2) .* D(:,2)    +   D(:,3) .* D(:,3) );
    % NB!! Since camera tracks are in batches, this is INaccurate for World-Pts
    % found near batch-boundaries. 
    MinDistances(iTraj) = sqrt(minDist);
end;
RawResponse = MinDistances;
radii = log(500*MinDistances);
RawishResponse = radii;
radii(radii < 4) = 4;
radii = 5 *(radii - 3.9);
%plot( radii );

%%          Just for ICCV video
%debugImgName = 'G:\\MotBoostData01\\StillsRaw_full\\blank320x240.png';
A = imread( debugImgName );
%debugImgName = 'G:\\MotBoostData01\\StillsRaw_full\\blankWhite320x240.png';
imagesc(A); hold on;
%%plot( XYs(:,1), XYs(:,2), 'r.'  );        Obsolete?
%%plot( XYs(:,1)/3, XYs(:,2)/3, 'r.'  );    Obsolete?
num = size(MinDistances, 1);
for( i=1:num ) plot( XYs(i,1), XYs(i,2), 'go', 'MarkerSize', radii(i) ); end;
%%for( i=1:num ) plot( XYs(i,1)/3, XYs(i,2)/3, 'go', 'MarkerSize', radii(i) ); end;
hold off
%plot(20 *radii ) % Seems like a good scaling

% % Save active fig to disk.
fig=gcf;
units=get(fig,'units');
set(fig,'units','normalized','outerposition',[0 0 1 1]);
set(fig,'units',units);
pngFileName = sprintf( '%s%.5d_MinDistances.png', outBaseName, frameNum );
%saveas(gcf, bmpFileName, 'bmp');
%%print( gcf, '-dpng', pngFileName );
%print( gcf, '-dpng', '-r80', pngFileName );
print( gcf, '-dpng', '-r147', pngFileName ); % 911 x 719
%----------------------------------
%          Just for ICCV video
%%  End of Just for ICCV video


        %   Restore me!!
        % % % %-- OUT: BuzzWorldPtDist
        BuzzWorldPtFileName = sprintf( '%s%.5d_BuzzWorldPtDist.txt', outBaseName, frameNum );
        fid = fopen(BuzzWorldPtFileName,'wt');      % 'rt' means read text
        if (fid < 0)    
            error('could not open file');   % just abort if error
        end;
        fprintf( fid, '%f %f %f\n', [XYs, radii]');
        fclose( fid );
        % ----------------------------------------------------- %
        %   Extra, to save off Raw and Rawish filter-responses to text    %
        BuzzWorldPtFileName = sprintf( '%sRaw_%.5d_BuzzWorldPtDist.txt', outBaseName, frameNum );
        fid = fopen(BuzzWorldPtFileName,'wt');      % 'rt' means read text
        if (fid < 0)    
            error('could not open file');   % just abort if error
        end;
        fprintf( fid, '%f %f %f\n', [XYs, RawResponse]');
        fclose( fid );
        %
        BuzzWorldPtFileName = sprintf( '%sRawish_%.5d_BuzzWorldPtDist.txt', outBaseName, frameNum );
        fid = fopen(BuzzWorldPtFileName,'wt');      % 'rt' means read text
        if (fid < 0)    
            error('could not open file');   % just abort if error
        end;
        fprintf( fid, '%f %f %f\n', [XYs, RawishResponse]');
        fclose( fid );
        % ----------------------------------------------------- %






%return; % !!!!!!!   Shortcut!






%%      "Variance" in 3D reconstructions, ie does the 3D point seem to shift? 

MagOf3DVariance = zeros( numXYs, 1 );
for( iTraj = 1:numXYs )
    fprintf(1, 'iTraj #%d\n', iTraj);
    trajNum = TrajTable(isOfTrajsExistingNow(iTraj), 1);
    rowsTrajWasTracked = find( TrajTable(:, 1) == trajNum );
    %TrajByFrame = sortrows( TrajTable(rowsTrajWasTracked, 2:4), 1);

    rows = round(rowsTrajWasTracked);
    while( size(rows,1) < 1    ||   min(rows) < 1   ||   max(rows) > size(TrajTable,1) )
        fprintf(1, ',');
        fprintf(1, 'size(rows,1): %d\n', size(rows,1) );
        fprintf(1, 'min(rows): %d\n', min(rows) );
        fprintf(1, 'max(rows): %d\n', max(rows) );
        rowsTrajWasTracked = find( TrajTable(:, 1) == trajNum );
        rows = round(rowsTrajWasTracked);
    end;
    TrajByFrame = TrajTable(rows, 2:4);    
    %Frequently errored above with: "??? Subscript indices must either be real positive integers or logicals."
    % Even with round()...now trying uint8()
    
    if( size( TrajByFrame, 1 ) < 3 )
        continue;   % No point in processing too short a track.
    end;
    
    [VarianceIn3D Res] = VarOfBackProjectTraj( TrajByFrame, offsetForFrameNums, Kbig, Rbig, Tbig );
    %VarianceIn3D(1);%VarianceIn3D;%norm(VarianceIn3D);
    %MagOf3DVariance(iTraj) = norm(Res);
    %MagOf3DVariance(iTraj) = norm(VarianceIn3D); % V01 %V05
    MagOf3DVariance(iTraj) = Res;   % V02 % V03 % V04
    
    %fprintf(1, '.');
end;
fprintf(1, '\n');

A = imread( debugImgName );
imagesc(A); hold on;
%%plot( XYs(:,1), XYs(:,2), 'r.'  );
%%plot( XYs(:,1)/3, XYs(:,2)/3, 'r.'  );

%radii = 30 * MagOf3DVariance/max(MagOf3DVariance);
RawResponse = MagOf3DVariance;
radii = log(1+MagOf3DVariance); 
RawishResponse = radii;
radii = 30 * radii / max(radii);    % V01 %V02 %V03 %V04  %V05
% plot(25*radii) % Seems like a good multiplier... Check that: after
% removing normalization by "count" - the # of features in a rect, the best
% multiplier is 1.0 with the Boujou-density of detected features.
num = size(radii, 1);
for( i=1:num ) plot( XYs(i,1), XYs(i,2), '.', 'MarkerSize', radii(i) ); end;
%for( i=1:num ) plot( XYs(i,1)/3, XYs(i,2)/3, '.', 'MarkerSize', radii(i) ); end;   
hold off

% Save active fig to disk.
fig=gcf;
units=get(fig,'units');
set(fig,'units','normalized','outerposition',[0 0 1 1]);
set(fig,'units',units);
pngFileName = sprintf( '%s%.5d_VariancePlot2D.png', outBaseName, frameNum );
%saveas(gcf, bmpFileName, 'bmp');
%%print( gcf, '-dpng', pngFileName );
%print( gcf, '-dpng', '-r80', pngFileName );
print( gcf, '-dpng', '-r147', pngFileName ); % 911 x 719
%----------------------------------

        %   Restore me!!
        % % %-- OUT: VarianceMag of 3D reconstructs?
        varianceFileName = sprintf( '%s%.5d_VarianceMagOf3DReconstructs.txt', outBaseName, frameNum );
        fid = fopen(varianceFileName,'wt');      % 'rt' means read text
        if (fid < 0)    
            error('could not open file');   % just abort if error
        end;
        %fprintf( fid, '%f\n', [XYs, MagOf3DVariance]');
        %fprintf( fid, '%f %f %f\n', [XYs, MagOf3DVariance]');
        fprintf( fid, '%f %f %f\n', [XYs, radii]');   %V04
        fclose( fid );
        % ----------------------------------------------------- %
        %   Extra, to save off Raw and Rawish filter-responses to text    %
        varianceFileName = sprintf( '%sRaw_%.5d_VarianceMagOf3DReconstructs.txt', outBaseName, frameNum );
        fid = fopen(varianceFileName,'wt');      % 'rt' means read text
        if (fid < 0)    
            error('could not open file');   % just abort if error
        end;
        fprintf( fid, '%f %f %f\n', [XYs, RawResponse]');
        fclose( fid );
        %
        varianceFileName = sprintf( '%sRawish_%.5d_VarianceMagOf3DReconstructs.txt', outBaseName, frameNum );
        fid = fopen(varianceFileName,'wt');      % 'rt' means read text
        if (fid < 0)    
            error('could not open file');   % just abort if error
        end;
        fprintf( fid, '%f %f %f\n', [XYs, RawishResponse]');
        fclose( fid );
        % ----------------------------------------------------- %