function I = load_image(kk , calib_name , format_image , type_numbering , image_numbers , N_slots),


if ~type_numbering,   
    number_ext =  num2str(image_numbers(kk));
else
    number_ext = sprintf(['%.' num2str(N_slots) 'd'],image_numbers(kk));
end;


ima_name = [calib_name  number_ext '.' format_image];

if ~exist(ima_name),
    
    fprintf(1,'Image %s not found!!!\n',ima_name);
    I = NaN;
    
else
    
    fprintf(1,'Loading image %s...\n',ima_name);
    
    if format_image(1) == 'p',
        if format_image(2) == 'p',
            I = double(loadppm(ima_name));
        else
            I = double(loadpgm(ima_name));
        end;
    else
        if format_image(1) == 'r',
            I = readras(ima_name);
        else
            I = double(imread(ima_name));
        end;
    end;
    
    
    if size(I,3)>1,
        I = 0.299 * I(:,:,1) + 0.5870 * I(:,:,2) + 0.114 * I(:,:,3);
    end;
    
end;