1 | %=======================================================================
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2 | % Copyright 2008-2020, LEGI UMR 5519 / CNRS UGA G-INP, Grenoble, France
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3 | % http://www.legi.grenoble-inp.fr
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4 | % Joel.Sommeria - Joel.Sommeria (A) legi.cnrs.fr
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5 | %
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6 | % This file is part of the toolbox UVMAT.
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7 | %
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8 | % UVMAT is free software; you can redistribute it and/or modify
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9 | % it under the terms of the GNU General Public License as published
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10 | % by the Free Software Foundation; either version 2 of the license,
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11 | % or (at your option) any later version.
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12 | %
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13 | % UVMAT is distributed in the hope that it will be useful,
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14 | % but WITHOUT ANY WARRANTY; without even the implied warranty of
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15 | % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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16 | % GNU General Public License (see LICENSE.txt) for more details.
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17 | %=======================================================================
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18 |
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19 | function [A,FileInfo,timestamps,errormsg]=read_rdvision(filename,frame_idx)
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20 | % BINREAD_RDV Permet de lire les fichiers bin g???n???r???s par Hiris ??? partir du
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21 | % fichier seq associ???.
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22 | % [IMGS,TIMESTAMPS,NB_FRAMES] = BINREAD_RDV(FILENAME,FRAME_IDX) lit
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23 | % l'image d'indice FRAME_IDX de la s???quence FILENAME.
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24 | %
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25 | % Entr???es
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26 | % -------
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27 | % FILENAME : Nom du fichier s???quence (.seq).
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28 | % FRAME_IDX : Indice de l'image ??? lire. Si FRAME_IDX vaut -1 alors la
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29 | % s???quence est enti???rement lue. Si FRAME_IDX est un tableau d'indices
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30 | % alors toutes les images d'incides correspondant sont lues. Si FRAME_IDX
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31 | % est un tableau vide alors aucune image n'est lue mais le nombre
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32 | % d'images et tous les timestamps sont renvoy???s. Les indices commencent ???
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33 | % 1 et se termines ??? NB_FRAMES.
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34 | %
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35 | % Sorties
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36 | % -------
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37 | % IMGS : Images de sortie.
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38 | % TIMESTAMPS : Timestaps des images lues.
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39 | % NB_FRAMES : Nombres d'images dans la s???quence.
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40 |
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41 | errormsg='';
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42 | if nargin<2% no frame indices specified
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43 | frame_idx=-1;% all the images in the series are read
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44 | end
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45 | A=[];
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46 | timestamps=[];
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47 | [PathDir,RootFile,Ext]=fileparts(filename);
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48 | RootPath=fileparts(PathDir);
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49 | switch Ext
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50 | case '.seq'
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51 | filename_seq=filename;
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52 | filename_sqb=fullfile(PathDir,[RootFile '.sqb']);
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53 | case '.sqb'
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54 | filename_seq=fullfile(PathDir,[RootFile '.seq']);
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55 | filename_sqb=filename;
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56 | otherwise
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57 | errormsg='input file extension must be .seq or .sqb';
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58 | end
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59 | if ~exist(filename_seq,'file')
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60 | errormsg=[filename_seq ' does not exist'];
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61 | return
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62 | end
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63 | s=ini2struct(filename_seq);
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64 | FileInfo=s.sequenceSettings;
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65 | if isfield(s.sequenceSettings,'numberoffiles')
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66 | FileInfo.NumberOfFrames=str2double(s.sequenceSettings.numberoffiles);
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67 | FileInfo.FrameRate=str2double(s.sequenceSettings.framepersecond);
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68 | FileInfo.ColorType='grayscale';
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69 | FileInfo.TimeName='timestamp';
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70 | else
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71 | FileInfo.FileType='';
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72 | return
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73 | end
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74 | FileInfo.FileType='rdvision'; % file used to store info from image acquisition systems of rdvision
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75 | nbfield=numel(fieldnames(FileInfo));
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76 | FileInfo=orderfields(FileInfo,[nbfield nbfield-1 nbfield-2 (1:nbfield-3)]); %reorder the fields of fileInfo for clarity
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77 |
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78 | % read the images the input frame_idxis not empty
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79 | if ~isempty(frame_idx)
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80 | w=str2double(FileInfo.width);
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81 | h=str2double(FileInfo.height);
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82 | bpp=str2double(FileInfo.bytesperpixel);
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83 | bin_file=FileInfo.binfile;
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84 | % bin_file='Dalsa1_';
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85 | nb_frames=str2double(FileInfo.numberoffiles);
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86 | %%%% reading the .sqb file
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87 | m = memmapfile(filename_sqb,'Format', { 'uint32' [1 1] 'offset'; ...
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88 | 'uint32' [1 1] 'garbage1';...
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89 | 'double' [1 1] 'timestamp';...
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90 | 'uint32' [1 1] 'file_idx';...
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91 | 'uint32' [1 1] 'garbage2' },'Repeat',nb_frames);
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92 | data=m.Data;
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93 | %%%%%%%BRICOLAGE in case of unreadable .sqb file
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94 | % ind=[144 149:646];%indices of bin files
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95 | % lengthimage=w*h*bpp;% lengthof an image record on the binary file
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96 | % for ii=1:32*numel(ind)
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97 | % data(ii).offset=mod(ii-1,32)*2*lengthimage+lengthimage;%Dalsa_2
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98 | % %data(ii).offset=mod(ii-1,32)*2*lengthimage;%Dalsa_1
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99 | % data(ii).file_idx=ind(ceil(ii/32));
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100 | % data(ii).timestamp=0.2*(ii-1);
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101 | % end
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102 | %%%%%%%
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103 | timestamps=[data.timestamp];
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104 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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105 | if frame_idx==-1
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106 | frame_idx=1:nb_frames;
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107 | end
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108 |
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109 | classname=sprintf('uint%d',bpp*8);
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110 | A=zeros([h,w,length(frame_idx)],classname);
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111 |
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112 | classname=['*' classname];
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113 |
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114 | for i=1:length(frame_idx)
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115 | ii=frame_idx(i);
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116 | if ~isempty(FileInfo.binrepertoire)
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117 | binrepertoire=FileInfo.binrepertoire;
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118 | else %used when binrepertoire empty, strange feature of rdvision
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119 | binrepertoire=regexprep(FileInfo.bindirectory,'\\$','');%tranform Windows notation to Linux
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120 | binrepertoire=regexprep(binrepertoire,'\','/');
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121 | [tild,binrepertoire,DirExt]=fileparts(binrepertoire);
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122 | binrepertoire=[binrepertoire DirExt];
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123 | end
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124 | % binrepertoire='2014-07-04T10.48.46'% case FJORD5a %%%%%%%%%%%%%%%%%%%%%%%%%
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125 | % binrepertoire='2017-01-19T22.12.182'% EXP14 %%%%%%%%%%%%%%%%%%%%%%%%%
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126 | binfile=fullfile(RootPath,binrepertoire,sprintf('%s%.5d.bin',bin_file,data(ii).file_idx));
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127 | if ~exist(binfile,'file')
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128 | errormsg=[binfile ' does not exist'];
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129 | return
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130 | else
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131 | fid=fopen(binfile,'rb');
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132 | fseek(fid,data(ii).offset,-1);
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133 | A(:,:,i)=reshape(fread(fid,w*h,classname),w,h)';
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134 | fclose(fid);
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135 | end
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136 | end
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137 |
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138 | if ~isempty(frame_idx)
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139 | timestamps=timestamps(frame_idx);
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140 | end
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141 | end
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142 |
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143 | function Result = ini2struct(FileName)
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144 | %==========================================================================
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145 | % Author: Andriy Nych ( nych.andriy@gmail.com )
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146 | % Version: 733341.4155741782200
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147 | %==========================================================================
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148 | %
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149 | % INI = ini2struct(FileName)
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150 | %
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151 | % This function parses INI file FileName and returns it as a structure with
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152 | % section names and keys as fields.
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153 | %
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154 | % Sections from INI file are returned as fields of INI structure.
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155 | % Each fiels (section of INI file) in turn is structure.
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156 | % It's fields are variables from the corresponding section of the INI file.
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157 | %
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158 | % If INI file contains "oprhan" variables at the beginning, they will be
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159 | % added as fields to INI structure.
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160 | %
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161 | % Lines starting with ';' and '#' are ignored (comments).
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162 | %
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163 | % See example below for more information.
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164 | %
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165 | % Usually, INI files allow to put spaces and numbers in section names
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166 | % without restrictions as long as section name is between '[' and ']'.
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167 | % It makes people crazy to convert them to valid Matlab variables.
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168 | % For this purpose Matlab provides GENVARNAME function, which does
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169 | % "Construct a valid MATLAB variable name from a given candidate".
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170 | % See 'help genvarname' for more information.
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171 | %
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172 | % The INI2STRUCT function uses the GENVARNAME to convert strange INI
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173 | % file string into valid Matlab field names.
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174 | %
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175 | % [ test.ini ]~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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176 | %
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177 | % SectionlessVar1=Oops
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178 | % SectionlessVar2=I did it again ;o)
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179 | % [Application]
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180 | % Title = Cool program
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181 | % LastDir = c:\Far\Far\Away
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182 | % NumberOFSections = 2
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183 | % [1st section]
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184 | % param1 = val1
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185 | % Param 2 = Val 2
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186 | % [Section #2]
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187 | % param1 = val1
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188 | % Param 2 = Val 2
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189 | %
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190 | % ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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191 | %
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192 | % The function converts this INI file it to the following structure:
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193 | %
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194 | % [ MatLab session (R2006b) ]~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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195 | % >> INI = ini2struct('test.ini');
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196 | % >> disp(INI)
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197 | % sectionlessvar1: 'Oops'
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198 | % sectionlessvar2: 'I did it again ;o)'
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199 | % application: [1x1 struct]
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200 | % x1stSection: [1x1 struct]
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201 | % section0x232: [1x1 struct]
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202 | %
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203 | % >> disp(INI.application)
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204 | % title: 'Cool program'
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205 | % lastdir: 'c:\Far\Far\Away'
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206 | % numberofsections: '2'
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207 | %
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208 | % >> disp(INI.x1stSection)
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209 | % param1: 'val1'
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210 | % param2: 'Val 2'
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211 | %
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212 | % >> disp(INI.section0x232)
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213 | % param1: 'val1'
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214 | % param2: 'Val 2'
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215 | %
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216 | % ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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217 | %
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218 | % NOTE.
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219 | % WhatToDoWithMyVeryCoolSectionAndVariableNamesInIniFileMyVeryCoolProgramWrites?
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220 | % GENVARNAME also does the following:
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221 | % "Any string that exceeds NAMELENGTHMAX is truncated". (doc genvarname)
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222 | % Period.
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223 | %
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224 | % =========================================================================
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225 | Result = []; % we have to return something
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226 | CurrMainField = ''; % it will be used later
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227 | f = fopen(FileName,'r'); % open file
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228 | while ~feof(f) % and read until it ends
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229 | s = strtrim(fgetl(f)); % Remove any leading/trailing spaces
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230 | if isempty(s)
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231 | continue;
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232 | end;
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233 | if (s(1)==';') % ';' start comment lines
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234 | continue;
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235 | end;
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236 | if (s(1)=='#') % '#' start comment lines
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237 | continue;
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238 | end;
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239 | if ( s(1)=='[' ) && (s(end)==']' )
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240 | % We found section
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241 | CurrMainField = genvarname(lower(s(2:end-1)));
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242 | Result.(CurrMainField) = []; % Create field in Result
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243 | else
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244 | % ??? This is not a section start
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245 | [par,val] = strtok(s, '=');
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246 | val = CleanValue(val);
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247 | if ~isempty(CurrMainField)
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248 | % But we found section before and have to fill it
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249 | Result.(CurrMainField).(lower(genvarname(par))) = val;
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250 | else
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251 | % No sections found before. Orphan value
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252 | Result.(lower(genvarname(par))) = val;
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253 | end
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254 | end
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255 | end
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256 | fclose(f);
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257 | return;
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258 |
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259 | function res = CleanValue(s)
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260 | res = strtrim(s);
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261 | if strcmpi(res(1),'=')
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262 | res(1)=[];
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263 | end
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264 | res = strtrim(res);
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265 | return;
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