GetImage

 GETIMAGE returns the image of a certain laser scan if it exists.

 GETIMAGE uses the camera calibration results to get the image of a
 certain laser scan. It returns an empty variable if the image does not
 exist.
 
 USAGE:
     image=GetImage(imageno);
 
 INPUTS:
     imageno: number of laser scan/image
 
 OUTPUTS:
     image: image of the laser scan.
 
 Abdallah Kassir 1/3/2010

0001 function image=GetImage(imageno)
0002 % GETIMAGE returns the image of a certain laser scan if it exists.
0003 %
0004 % GETIMAGE uses the camera calibration results to get the image of a
0005 % certain laser scan. It returns an empty variable if the image does not
0006 % exist.
0007 %
0008 % USAGE:
0009 %     image=GetImage(imageno);
0010 %
0011 % INPUTS:
0012 %     imageno: number of laser scan/image
0013 %
0014 % OUTPUTS:
0015 %     image: image of the laser scan.
0016 %
0017 % Abdallah Kassir 1/3/2010
0018 
0019 load Calib_Results.mat type_numbering calib_name N_slots format_image;
0020 
0021 if ~type_numbering,   
0022     number_ext =  num2str(imageno);
0023 else
0024     number_ext = sprintf(['%.' num2str(N_slots) 'd'],imageno);
0025 end;
0026 
0027 ima_name = [calib_name  number_ext '.' format_image];
0028 
0029 if exist(ima_name,'file')
0030     if strcmp(format_image,'pgm')
0031         image = im2double(loadpgm(ima_name));
0032     elseif strcmp(format_image,'ppm')
0033         image = im2double(loadppm(ima_name));
0034     elseif strcmp(format_image,'ras')
0035         image = readras(ima_name);
0036     else
0037         image = im2double(imread(ima_name));
0038     end
0039 else
0040     image=[];
0041 end