1 files changed, 87 insertions, 0 deletions

diff --git a/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/readras.m b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/readras.m
new file mode 100755
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+++ b/SD-VBS/common/toolbox/toolbox_basic/TOOLBOX_calib/readras.m
@@ -0,0 +1,87 @@
+function [X, map] = readras(filename, ys, ye, xs, xe);
+%READRAS Read an image file in sun raster format.
+%        READRAS('imagefile.ras') reads a "sun.raster" image file.
+%        [X, map] = READRAS('imagefile.ras') returns both the image and a 
+%        color map, so that
+%               [X, map] = readras('imagefile.ras');
+%               image(X) 
+%               colormap(map)
+%               axis('equal')
+%        will display the result with the proper colors.
+%        NOTE: readras cannot deal with complicated color maps.  
+%              In fact, Matlab doesn't quite allow to work with colormaps
+%              with more than 64 entries.
+%
+
+%%
+%%       (C) Thomas K. Leung 3/30/93.
+%%       California Institute of Technology.
+%%       Modified by Andrea Mennucci to deal with color images
+%%
+
+% PC and UNIX version of readras - Jean-Yves Bouguet - Dec. 1998
+
+dot = max(find(filename == '.'));
+suffix = filename(dot+1:dot+3);
+
+if(strcmp(suffix, 'ras'))                       % raster file format %
+        fp = fopen(filename, 'rb');
+        if(fp<0) error(['Cannot open ' filename '.']), end
+
+        %Read and crack the 32-byte header
+        fseek(fp, 4, -1);  
+
+        width   = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar');
+
+        height  = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar');
+
+        depth   = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar');
+
+        length  = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar');
+
+        type    = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar');
+
+        maptype = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar');
+
+        maplen  = 2^24 * fread(fp, 1, 'uchar') + 2^16 * fread(fp, 1, 'uchar') + 2^8 * fread(fp, 1, 'uchar') + fread(fp, 1, 'uchar');
+
+        maplen = maplen / 3;
+
+        if maptype == 2                                 % RMT_RAW
+                map = fread(fp, [maplen, 3], 'uchar')/255;
+%               if maplen<64, map=[map',zeros(3,64-maplen)]';maplen=64; end;
+        elseif maptype == 1                             % RMT_EQUAL_RGB
+                map(:,1) = fread(fp, [maplen], 'uchar');
+                map(:,2) = fread(fp, [maplen], 'uchar');
+                map(:,3) = fread(fp, [maplen], 'uchar');
+                %maxmap = max(max(map));
+                map = map/255;
+                if maplen<64, map=[map',zeros(3,64-maplen)]'; maplen=64; end;
+        else                                            % RMT_NONE
+                map = [];
+        end
+%       if maplen>64,
+%            map=[map',zeros(3,256-maplen)]';
+%       end;
+
+        % Read the image
+
+        if rem(width,2) == 1
+                Xt = fread(fp, [width+1, height], 'uchar');
+                X = Xt(1:width, :)';
+        else
+                Xt = fread(fp, [width, height], 'uchar');
+                X = Xt';
+        end
+        X = X + 1;
+        fclose(fp);
+else
+        error('Image file name must end in either ''ras'' or ''rast''.');
+end
+
+
+if nargin == 5
+
+        X = X(ys:ye, xs:xe);
+
+end
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