icra17_load.m

function [data, materials, calib] = icra17_load(DATADIR, dates, flowtype, lambda, weighing)
    if ischar(dates)
        dates = {dates};
    end

    if nargin == 5
        weighdate = weighing{1};
        weighep = weighing{2};
        fprintf('Weighing end-effector using %s/weigh/%s...\n', weighdate, weighep);
        [mass, fbias, ~, com, tbias] = weigh({fullfile(DATADIR, weighdate, 'weigh', weighep)});
        calib = struct('mass', mass, ...
                       'com',  com, ...
                       'fbias', fbias, ...
                       'tbias', tbias');
        varcalib = {calib};
    else
        varcalib = {};
    end

    data = containers.Map;
    for d=1:length(dates)
        date = dates{d};
        episodes = dir([DATADIR filesep date filesep flowtype]);
        for ep = 1:length(episodes)
            if episodes(ep).name(1) == '.'
                continue;
            elseif lambda(str2num(episodes(ep).name))
                continue;
            end

            flow = parse_flow(fullfile(DATADIR, date, flowtype, episodes(ep).name, [flowtype '.flow']));
            material = flow.answers('surface name').text;
            fprintf('Loading %s (%s)...\n', episodes(ep).name, material);
            [v, int, da,dg,mi, acc, ma, dt, o,b, motrak] = ...
                load_stick(fullfile(DATADIR, date, flowtype, episodes(ep).name), varcalib{:});
            [nums, ids, centers, p1s, p2s, p3s, p4s] = load_april(fullfile(DATADIR, date, flowtype, episodes(ep).name, 'bluefox', 'april.csv'));
            april = containers.Map('keytype','uint32', 'valuetype','any');
            for i=1:length(nums)
                april(nums(i)) = struct('ids',ids{i}, 'centers',centers{i}, 'p1s',p1s{i}, 'p2s',p2s{i}, 'p3s',p3s{i}', 'p4s',p4s{i});
            end
            data(material) = struct('datadir', DATADIR, ...
                                    'i',episodes(ep).name, 'flow',flowtype, 'date',date, ...
                                    'v',v, 'int',int, 'acc',acc, ...
                                    'imu', struct('acc',da, 'gyro',dg, 'mag',ma, 'mic',mi), ...
                                    'sensor', struct('opto',o, 'bio',b), ...
                                    'motrak',motrak, 'dt',dt, ...
                                    'april', april);
        end
    end

    materials = data.keys;
end