source/NN/model.py

@@ -0,0 +1,27 @@
+import torch.nn as nn
+import torch
+import torch.nn.functional as F
+
+
+class Conv_Neural_Network_Model(nn.Module):
+    def __init__(self, num_classes=5,hidden_layer1 = 512,hidden_layer2 = 256):
+        super(Conv_Neural_Network_Model, self).__init__()
+        
+        self.conv1 = nn.Conv2d(in_channels=3, out_channels=32, kernel_size=3, stride=1, padding=1)
+        self.pool1 = nn.MaxPool2d(kernel_size=2, stride=2, padding=0)
+        self.conv2 = nn.Conv2d(in_channels=32, out_channels=64, kernel_size=3, stride=1, padding=1)
+
+        self.fc1 = nn.Linear(64*25*25,hidden_layer1)
+        self.fc2 = nn.Linear(hidden_layer1,hidden_layer2)
+        self.out = nn.Linear(hidden_layer2,num_classes)
+
+    def forward(self, x):
+        x = self.pool1(F.relu(self.conv1(x)))
+        x = self.pool1(F.relu(self.conv2(x)))
+        x = x.view(-1, 64*25*25) #<----flattening the image
+        x = self.fc1(x)
+        x = torch.relu(x)
+        x = self.fc2(x)
+        x = torch.relu(x)
+        x = self.out(x)
+        return F.log_softmax(x, dim=-1)

source/NN/neural_network.py

@@ -0,0 +1,120 @@
+import torch
+import torch.nn as nn
+from torch.utils.data import DataLoader
+from torchvision import datasets, transforms, utils
+from torchvision.transforms import Compose, Lambda, ToTensor
+import matplotlib.pyplot as plt
+from NN.model import *
+from PIL import Image
+import pygame
+
+device = torch.device('cuda') if torch.cuda.is_available() else torch.device('cpu')
+
+#data transform to tensors:
+data_transformer = transforms.Compose([
+    transforms.Resize((100, 100)), 
+    transforms.ToTensor(),  
+    transforms.Normalize((0.5, 0.5, 0.5 ), (0.5, 0.5, 0.5))  
+    ])
+
+
+#loading data:
+train_set = datasets.ImageFolder(root='resources/train', transform=data_transformer)
+test_set = datasets.ImageFolder(root='resources/test', transform=data_transformer)
+
+
+#to mozna nawet przerzucic do funkcji train:
+# train_loader = DataLoader(train_set, batch_size=64, shuffle=True)
+#test_loader = DataLoader(test_set, batch_size=32, shuffle=True)
+
+
+#function for training model
+def train(model, dataset, iter=100, batch_size=64):
+    optimizer = torch.optim.SGD(model.parameters(), lr=0.01)
+    criterion = nn.NLLLoss()
+    train_loader = DataLoader(dataset, batch_size=batch_size, shuffle=True)
+    model.train()
+
+    for epoch in range(iter):
+        for inputs, labels in train_loader:
+            optimizer.zero_grad()
+            output = model(inputs.to(device))
+            loss = criterion(output, labels.to(device))
+            loss.backward()
+            optimizer.step()
+        if epoch % 10 == 0:
+                print('epoch: %3d loss: %.4f' % (epoch, loss))
+
+#function for getting accuracy
+def accuracy(model, dataset):
+    model.eval()
+    with torch.no_grad():
+        correct = sum([
+            (model(inputs.to(device)).argmax(dim=1) == labels.to(device)).sum()
+            for inputs, labels in DataLoader(dataset, batch_size=64, shuffle=True)
+        ])
+
+    return correct.float() / len(dataset)
+
+
+# model = Conv_Neural_Network_Model()
+# model.to(device)
+
+#loading the already saved model:
+# model.load_state_dict(torch.load('CNN_model.pth'))
+# model.eval()
+
+# #training the model:
+# train(model, train_set)
+# print(f"Accuracy of the network is: {100*accuracy(model, test_set)}%")
+# torch.save(model.state_dict(), 'CNN_model.pth')
+
+
+
+def load_model():
+    model = Conv_Neural_Network_Model()
+    model.load_state_dict(torch.load('CNN_model.pth', map_location=torch.device('cpu')))
+    model.eval()
+    return model
+
+
+def load_image(image_path):
+    testImage = Image.open(image_path).convert('RGB')
+    testImage = data_transformer(testImage)
+    testImage = testImage.unsqueeze(0)
+    return testImage
+
+def display_image(screen, image_path, position):
+    image = pygame.image.load(image_path)
+    image = pygame.transform.scale(image, (250, 250))
+    screen.blit(image, position)
+
+def display_result(screen, position, predicted_class):
+    font = pygame.font.Font(None, 30)
+    displayed_text = font.render("The predicted image is: "+str(predicted_class), 1, (255,255,255))
+    screen.blit(displayed_text, position)
+
+def guess_image(model, image_tensor):
+    with torch.no_grad():
+        testOutput = model(image_tensor)
+        _, predicted = torch.max(testOutput, 1)
+        predicted_class = train_set.classes[predicted.item()]
+    return predicted_class
+
+
+
+#TEST - loading the image and getting results:
+# testImage_path = 'resources/images/plant_photos/1c76aa4d-11f4-47d1-8bdd-2cb78deeeccf.jpg'
+# testImage = Image.open(testImage_path)
+# testImage = data_transformer(testImage)
+# testImage = testImage.unsqueeze(0)
+# testImage = testImage.to(device)
+
+# model.load_state_dict(torch.load('CNN_model.pth'))
+# model.to(device)
+# model.eval()
+
+# testOutput = model(testImage)
+# _, predicted = torch.max(testOutput, 1)
+# predicted_class = train_set.classes[predicted.item()]
+# print(f'The predicted class is: {predicted_class}')

source/area/field.py

@@ -52,4 +52,11 @@ def get_tile_coordinates(index):
         tile = tiles[index]
         return tile.x, tile.y
     else:
-        return None
+        return None
+    
+def get_tile_index():
+    valid_indices = []
+    for index, tile in enumerate(tiles):
+        if tile.image=="resources/images/sampling.png":
+            valid_indices.append(index)
+    return random.choice(valid_indices)

source/main.py

@@ -3,17 +3,21 @@ import time
 import random
 import pandas as pd
 import joblib
-
 from area.constants import WIDTH, HEIGHT, TILE_SIZE
 from area.field import drawWindow
 from area.tractor import Tractor, do_actions
 from area.field import tiles, fieldX, fieldY
-from area.field import get_tile_coordinates
+from area.field import get_tile_coordinates, get_tile_index
 from ground import Dirt
 from plant import Plant
 from bfs import graphsearch, Istate, succ
 from astar import a_star
-WIN = pygame.display.set_mode((WIDTH, HEIGHT))
+from NN.neural_network import load_model, load_image, guess_image, display_image, display_result
+from PIL import  Image
+
+pygame.init()
+WIN_WIDTH = WIDTH + 300
+WIN = pygame.display.set_mode((WIN_WIDTH, HEIGHT))
 pygame.display.set_caption('Intelligent tractor')
 
 
@@ -23,7 +27,7 @@ def main():
     pygame.display.update()
 
 #getting coordinates of our "goal tile":
-    tile_index=127
+    tile_index = get_tile_index()
     tile_x, tile_y = get_tile_coordinates(tile_index)
     if tile_x is not None and tile_y is not None:
         print(f"Coordinates of tile {tile_index} are: ({tile_x}, {tile_y})")
@@ -61,15 +65,40 @@ def main():
     while run:
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
-                run = False
-
-        #small test of work_on_field method:        
+                run = False       
         time.sleep(1)
-        tile1 = tiles[0]
-        p1 = Plant('wheat', 'cereal', random.randint(1,100), random.randint(1,100), random.randint(1,100))      
+
+        # movement based on route-planning (test):
+
+        tractor.draw_tractor(WIN)
+        time.sleep(1)
+        if moves != False:
+            do_actions(tractor, WIN, moves)
+
+
+        #guessing the image under the tile:
+        goalTile = tiles[tile_index]
+        image_path = goalTile.photo
+        display_image(WIN, goalTile.photo, (WIDTH-20 , 300))   #displays photo next to the field
+        pygame.display.update()
+
+        image_tensor = load_image(image_path)
+        prediction = guess_image(load_model(), image_tensor)
+        
+        display_result(WIN, (WIDTH - 50 , 600), prediction)      #display text under the photo
+        pygame.display.update()
+        print(f"The predicted image is: {prediction}")
+
+
+        p1 = Plant('wheat', 'cereal', random.randint(1,100), random.randint(1,100), random.randint(1,100))
+        goalTile.plant = p1
         d1 = Dirt(random.randint(1, 100), random.randint(1,100))
         d1.pests_and_weeds()
-        tile1.ground=d1
+        goalTile.ground=d1
+        #getting the name and type of the recognized plant:
+        p1.update_name(prediction)
+
+        #decission tree test:
         if d1.pest:
             pe = 1
         else:
@@ -116,19 +145,13 @@ def main():
 
         model = joblib.load('model.pkl')
         nowe_dane = pd.read_csv('model_data.csv')
-
         predykcje = model.predict(nowe_dane)
-
-        # movement based on route-planning (test):
-
-        tractor.draw_tractor(WIN)
-        time.sleep(1)
-        if moves != False:
-            do_actions(tractor, WIN, moves)
         print(predykcje)
+
+        #work on field:
         if predykcje == 'work':
-            tractor.work_on_field(tile1, d1, p1)
-        time.sleep(30)
+            tractor.work_on_field(goalTile, d1, p1)
+        time.sleep(50)
         print("\n")
 
 

source/plant.py

@@ -19,7 +19,19 @@ class Plant:
         else:
             print("Unable to grow due to bad condition of the ground")
 
-#   more properties
+    def update_name(self, predicted_class):
+        if predicted_class == "Apple":
+            self.name = "apple"
+            self.plant_type = 'fruit'
 
+        elif predicted_class == "Radish":
+            self.name = "radish"
+            self.plant_type = 'vegetable'
 
-# add init, getters,setters
+        elif predicted_class == "Cauliflower":
+            self.name = "cauliflower"
+            self.plant_type = 'vegetable'
+
+        elif predicted_class == "Wheat":
+            self.name = "wheat"
+            self.plant_type = 'cereal'