Converts the sparse vector of aruco markers to a single integer representing pick markers - place markers #aits

aruco_binning_script

# pick bin dimensions in the vector [aruco_marker[:72], color_bins[72:92], optical_flow_avg[92:94], hand_loc[94:96]]
pick_bins = [i for i in range(24 * 2)]
place_bins = [i for i in range(24 * 2, 36 * 2)]

for i in range(1,41):
    with open(f"htk_inputs_aruco/picklist_{i}.txt") as infile:
        infile = infile.readlines()
        for line in infile:
            line = line.split()
            aruco_markers = line[:72]

            aruco_pick_place_counter = 0

            for x_index in range(0, 72, 2):
                x = float(aruco_markers[x_index])
                if x != 0:
                    if x_index in pick_bins:
                        # +1 for pick bin
                        aruco_pick_place_counter += 1
                    if x_index in place_bins:
                        # -1 for place bin
                        aruco_pick_place_counter -= 1

            new_line = [str(aruco_pick_place_counter)] + line[72:]

            with open(f"htk_inputs_aruco/picklist_{i}_binned_aruco.txt", "a") as outfile:
                outfile.write(" ".join(new_line))
                outfile.write("\n")
                
        print (f"picklist_{i}.txt")