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implementation for 2nd individual project

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This commit is contained in:
Kamila Bobkowska 2020-05-07 16:06:30 +00:00
parent fc6a719351
commit edfdbc255f
1 changed files with 222 additions and 105 deletions
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211
models/Garbagetruck.py
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@ -1,14 +1,27 @@
import pygame import pygame
import random import random
from models.dumpster import trash from models.dumpster import trash
#libraries used in the CNN part
import os
import numpy as np
import random
import shutil
from keras.models import Sequential
from keras.layers import Conv2D, Flatten, MaxPooling2D, Dense
from keras.preprocessing import image
from keras.preprocessing.image import ImageDataGenerator
import matplotlib.pyplot as plt
class GarbageTruck(): class GarbageTruck():
def __init__(self): def __init__(self):
self.coor = [0,0] self.coor = [0,0]
self.capacity = 5 self.capacity = 5
self.plastic = 0 self.plastic = 0
self.paper = 0 self.paper = 0
self.mixed = 0 self.metal = 0
self.organic = 0 self.cardboard = 0
self.glass = 0 self.glass = 0
self.trash=trash() self.trash=trash()
self.dir = 'R' self.dir = 'R'
@ -18,24 +31,17 @@ class GarbageTruck():
self.coor = [random.randint(0,19),random.randint(0,19)] self.coor = [random.randint(0,19),random.randint(0,19)]
return self.coor return self.coor
#check id garbage truck full
def amIFull(self): def amIFull(self):
#check id garbage truck full
if ( self.plastic==self.capacity and self.paper==self.capacity and if ( self.plastic==self.capacity and self.paper==self.capacity and
self.glass==self.capacity and self.mixed==self.capacity and self.glass==self.capacity and self.metal==self.capacity and
self.organic==self.capacity): self.cardboard==self.capacity):
print("DUMPSTER TRUCK FULL")
return False
else:
return True return True
#otherwise see if a category is full
elif self.plastic!=self.capacity:
return False
elif self.paper!=self.capacity:
return False
elif self.glass!=self.capacity:
return False
elif self.mixed!=self.capacity:
return False
elif self.organic!=self.capacity:
return False
# used to move in A*
def move(self): def move(self):
if(self.dir=="R"): if(self.dir=="R"):
self.coor[0]+=1 self.coor[0]+=1
@ -46,6 +52,7 @@ class GarbageTruck():
elif(self.dir=="D"): elif(self.dir=="D"):
self.coor[1]+=1 self.coor[1]+=1
# used to move in A*
def turn(self,goal): def turn(self,goal):
if(goal[0]-self.coor[0]==1): if(goal[0]-self.coor[0]==1):
self.dir='R' self.dir='R'
@ -61,45 +68,155 @@ class GarbageTruck():
self.picture = pygame.image.load('./images/truckD.png') self.picture = pygame.image.load('./images/truckD.png')
return dir return dir
''' #old move # main function for an attempt to collect garbage from a dumpster
def move(self, coor, moving, size):
if(moving == 0 and coor[0] > 0):
coor[0] = coor[0] - 1
return(coor)
elif(moving == 1 and coor[1] > 0):
coor[1] = coor[1] - 1
return(coor)
elif(moving == 2 and coor[0] < size - 1):
coor[0] = coor[0] + 1
return(coor)
elif(moving == 3 and coor[1] < size - 1):
coor[1] = coor[1] + 1
return(coor)
else:
return(coor)'''
def collectingTrash(self, trash, id): def collectingTrash(self, trash, id):
#1st if recognizes the dumpster kind if self.amIFull():
if trash[id].color==1: inthedumpster = self.check(trash, id)
#2nd if check if there is space in the garbage truck and if there is still trash self.takingTrash(trash, id, inthedumpster)
if self.plastic<self.capacity and trash[id].plastic > 0:
#trying to put a specific piece of trash if possible
def collect(self, trash, id, i):
if i == "plastic":
if self.plastic < self.capacity:
#print("Plastic put into garbage truck")
self.plastic+=1 self.plastic+=1
return True return True
elif trash[id].color==2: else:
if self.paper<self.capacity and trash[id].paper > 0: #print("No more space in garbage truck")
return False
elif i == "paper":
if self.paper < self.capacity:
#print("Paper put into garbage truck")
self.paper+=1 self.paper+=1
return True return True
elif trash[id].color==3: else:
if self.glass<self.capacity and trash[id].glass > 0: #print("No more space in garbage truck")
return False
elif i == "glass":
if self.glass < self.capacity:
#print("Glass put into garbage truck")
self.glass+=1 self.glass+=1
return True return True
elif trash[id].color==4: else:
if self.organic<self.capacity and trash[id].organic > 0: #print("No more space in garbage truck")
self.organic+=1 return False
elif i == "cardboard":
if self.cardboard < self.capacity:
#print("Cardboard put into garbage truck")
self.cardboard+=1
return True return True
elif trash[id].color==5: else:
if self.mixed<self.capacity and trash[id].mixed > 0: #print("No more space in garbage truck")
self.mixed+=1 return False
elif i == "metal":
if self.metal < self.capacity:
#print("Metal put into garbage truck")
self.metal+=1
return True return True
else:
#print("No more space in garbage truck")
return False
else: else:
return False return False
def cap(self):
print("In garbage truck:")
print("- Plastic:", self.plastic)
print("- Paper:", self.paper)
print("- Glass:", self.glass)
print("- Cardboard:", self.cardboard)
print("- Metal:", self.metal)
def takingTrash(self, trash, id, insides):
for i in insides:
if trash[id].kind == i:
#print("This ", i," was correctly sorted")
if self.collect(trash, id, i):
trash[id].empty(i)
else:
#print("This ", i , "shouldn't be here")
if self.collect(trash, id, i):
trash[id].empty(i)
self.cap()
return True
def check(self, trash, id):
classifier = Sequential()
classifier.add(Conv2D(32, (3, 3), input_shape=(110, 110, 3), activation = "relu"))
classifier.add(MaxPooling2D(pool_size = (2, 2)))
classifier.add(Conv2D(64, (3, 3), activation = "relu"))
classifier.add(MaxPooling2D(pool_size=(2, 2)))
# this layer in ver 4
classifier.add(Conv2D(32, (3, 3), activation = "relu"))
classifier.add(MaxPooling2D(pool_size=(2, 2)))
# -----------------
classifier.add(Flatten())
classifier.add(Dense(activation = "relu", units = 64 ))
classifier.add(Dense(activation = "softmax", units = 5))
classifier.compile(optimizer = "adam", loss = "binary_crossentropy", metrics = ["accuracy"])
train_datagen = ImageDataGenerator(
rescale=1./255,
shear_range=0.1,
zoom_range=0.1,
width_shift_range=0.1,
height_shift_range=0.1,
horizontal_flip=True,
vertical_flip=True,
)
test_datagen = ImageDataGenerator(
rescale=1./255,
validation_split=0.1
)
train_generator = train_datagen.flow_from_directory(
"Garbage classification\\trainset",
target_size=(110, 110),
batch_size=16,
class_mode='categorical',
#seed=0
)
test_generator = test_datagen.flow_from_directory(
"Garbage classification\\testset",
target_size=(110, 110),
batch_size=16,
class_mode='categorical',
)
labels = (train_generator.class_indices)
labels = dict((v,k) for k,v in labels.items())
test_x, test_y = test_generator.__getitem__(1)
whatarewe = []
classifier.load_weights("model_ver_4.h5")
''' #optional for displaying the trash and what the CNN decided it is
z=1
'''
for i in trash[id].trash:
gz = image.load_img(i, target_size = (110,110))
ti = image.img_to_array(gz)
ti=np.array(ti)/255.0
ti = np.expand_dims(ti, axis = 0)
prediction = classifier.predict(ti)
whatarewe.append(labels[np.argmax(prediction)])
''' #optional for displaying the trash and what the CNN decided it is
ax = plt.subplot(1, len(trash[id].trash), z)
z+=1
plt.imshow(gz)
ax.set_xticks([])
ax.set_yticks([])
plt.title("AI thinks:\n %s" % (labels[np.argmax(prediction)]))
plt.suptitle("dumpster kind: %s" %(trash[id].kind) )
plt.show(block=False)
plt.pause(3)
plt.close()
'''
return whatarewe