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require 'dp'
require 'torchx'  -- for paths.indexdir
require 'csvigo'  -- for parsing formatted text


    

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-- for debug
dataPath = '/opt2/data/rgbd/rgbd_dataset_freiburg2_pioneer_360'


    

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--function rgbd(dataPath, validRatio)
    validRatio = validRatio or 0.15  -- last part of seq.
    
    -- 1. load images into input and target Tensors
    local trj = csvigo.load{path=dataPath..'/groundtruth.txt', verbose=false,
                            mode='tidy', separator=' ', skip=3, header=false}
    local rgb = csvigo.load{path=dataPath..'/rgb.txt', verbose=false,
                            mode='tidy', separator=' ', skip=3, header=false}    
    local img = paths.indexdir(paths.concat(dataPath, 'rgb'))
    
    for i=1,3 do -- table.getn(rgb.var_1) do  -- # of rgb images
        local ts = rgb.var_1[i]
        local filename = rgb.var_2[i]
        print(ts)
        print(filename)
        print(trj{var1=ts})
    end
--end


    

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rgbd(dataPath)


    

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