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scala - How to convert unix timestamp to date in Spark

I have a data frame with a column of unix timestamp(eg.1435655706000), and I want to convert it to data with format 'yyyy-MM-DD', I've tried nscala-time but it doesn't work.

val time_col = sqlc.sql("select ts from mr").map(_(0).toString.toDateTime)
time_col.collect().foreach(println)

and I got error: java.lang.IllegalArgumentException: Invalid format: "1435655706000" is malformed at "6000"

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Here it is using Scala DataFrame functions: from_unixtime and to_date

// NOTE: divide by 1000 required if milliseconds
// e.g. 1446846655609 -> 2015-11-06 21:50:55 -> 2015-11-06 
mr.select(to_date(from_unixtime($"ts" / 1000))) 

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