1 files changed, 89 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadpgm.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadpgm.m
new file mode 100755
index 0000000..dfa8b61
--- /dev/null
+++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/loadpgm.m
@@ -0,0 +1,89 @@
+%LOADPGM        Load a PGM image
+%
+%       I = loadpgm(filename)
+%
+%       Returns a matrix containing the image loaded from the PGM format
+%       file filename.  Handles ASCII (P2) and binary (P5) PGM file formats.
+%
+%       If the filename has no extension, and open fails, a '.pgm' will
+%       be appended.
+%
+%
+%       Copyright (c) Peter Corke, 1999  Machine Vision Toolbox for Matlab
+
+
+% Peter Corke 1994
+
+function I = loadpgm(file)
+        white = [' ' 9 10 13];  % space, tab, lf, cr
+        white = setstr(white);
+
+        fid = fopen(file, 'r');
+        if fid < 0,
+                fid = fopen([file '.pgm'], 'r');
+        end
+        if fid < 0,
+                error('Couldn''t open file');
+        end
+                
+        magic = fread(fid, 2, 'char');
+        while 1
+                c = fread(fid,1,'char');
+                if c == '#',
+                        fgetl(fid);
+                elseif ~any(c == white)
+                        fseek(fid, -1, 'cof');  % unputc()
+                        break;
+                end
+        end
+        cols = fscanf(fid, '%d', 1);
+        while 1
+                c = fread(fid,1,'char');
+                if c == '#',
+                        fgetl(fid);
+                elseif ~any(c == white)
+                        fseek(fid, -1, 'cof');  % unputc()
+                        break;
+                end
+        end
+        rows = fscanf(fid, '%d', 1);
+        while 1
+                c = fread(fid,1,'char');
+                if c == '#',
+                        fgetl(fid);
+                elseif ~any(c == white)
+                        fseek(fid, -1, 'cof');  % unputc()
+                        break;
+                end
+        end
+        maxval = fscanf(fid, '%d', 1);
+        while 1
+                c = fread(fid,1,'char');
+                if c == '#',
+                        fgetl(fid);
+                elseif ~any(c == white)
+                        fseek(fid, -1, 'cof');  % unputc()
+                        break;
+                end
+        end
+        if magic(1) == 'P',
+                if magic(2) == '2',
+                        %disp(['ASCII PGM file ' num2str(rows) ' x ' num2str(cols)])
+                        I = fscanf(fid, '%d', [cols rows])';
+                elseif magic(2) == '5',
+                        %disp(['Binary PGM file ' num2str(rows) ' x ' num2str(cols)])
+                        if maxval == 1,
+                                fmt = 'unint1';
+                        elseif maxval == 15,
+                                fmt = 'uint4';
+                        elseif maxval == 255,
+                                fmt = 'uint8';
+                        elseif maxval == 2^32-1,
+                                fmt = 'uint32';
+                        end
+                        I = fread(fid, [cols rows], fmt)';
+                else
+                        disp('Not a PGM file');
+                end
+        end
+        fclose(fid);