diff --git a/arna/oops_assign/beginner_tutorials/CMakeLists.txt b/arna/oops_assign/beginner_tutorials/CMakeLists.txt
new file mode 100644
index 0000000..b0bd611
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/CMakeLists.txt
@@ -0,0 +1,33 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+#rosbuild_add_executable(hello src/helloROS.cpp)
+rosbuild_add_executable(game src/play.cpp)
+#rosbuild_add_executable(image src/image_proc101.cpp)
diff --git a/arna/oops_assign/beginner_tutorials/Makefile b/arna/oops_assign/beginner_tutorials/Makefile
new file mode 100644
index 0000000..b75b928
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/arna/oops_assign/beginner_tutorials/bin/game b/arna/oops_assign/beginner_tutorials/bin/game
new file mode 100755
index 0000000..0ec8afb
Binary files /dev/null and b/arna/oops_assign/beginner_tutorials/bin/game differ
diff --git a/arna/oops_assign/beginner_tutorials/bin/hello b/arna/oops_assign/beginner_tutorials/bin/hello
new file mode 100755
index 0000000..9ab0298
Binary files /dev/null and b/arna/oops_assign/beginner_tutorials/bin/hello differ
diff --git a/arna/oops_assign/beginner_tutorials/bin/image b/arna/oops_assign/beginner_tutorials/bin/image
new file mode 100755
index 0000000..db61957
Binary files /dev/null and b/arna/oops_assign/beginner_tutorials/bin/image differ
diff --git a/arna/oops_assign/beginner_tutorials/mainpage.dox b/arna/oops_assign/beginner_tutorials/mainpage.dox
new file mode 100644
index 0000000..872299c
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/mainpage.dox
@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b beginner_tutorials 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/
diff --git a/arna/oops_assign/beginner_tutorials/manifest.xml b/arna/oops_assign/beginner_tutorials/manifest.xml
new file mode 100644
index 0000000..0921b3b
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/manifest.xml
@@ -0,0 +1,18 @@
+<package>
+  <description brief="beginner_tutorials">
+
+     beginner_tutorials
+
+  </description>
+  <author>arna</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/beginner_tutorials</url>
+  <depend package="std_msgs"/>
+  <depend package="rospy"/>
+  <depend package="roscpp"/>
+  <depend package="opencv2"/>
+
+</package>
+
+
diff --git a/arna/oops_assign/beginner_tutorials/src/Makefile b/arna/oops_assign/beginner_tutorials/src/Makefile
new file mode 100644
index 0000000..e2fe339
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/src/Makefile
@@ -0,0 +1,9 @@
+
+all: image run
+
+image: image_proc101.cpp
+	g++ -g $^ -o $@ -Wall `pkg-config opencv --cflags --libs`
+run:
+	./image
+clean:
+	rm image
diff --git a/arna/oops_assign/beginner_tutorials/src/a.out b/arna/oops_assign/beginner_tutorials/src/a.out
new file mode 100755
index 0000000..34f5537
Binary files /dev/null and b/arna/oops_assign/beginner_tutorials/src/a.out differ
diff --git a/arna/oops_assign/beginner_tutorials/src/event.h b/arna/oops_assign/beginner_tutorials/src/event.h
new file mode 100644
index 0000000..b28dddf
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/src/event.h
@@ -0,0 +1,16 @@
+#include<iostream>
+#include<cstdio>
+#include "point.h"
+#include "image_proc101.cpp"
+
+using namespace std;
+
+class evt: public pt{
+public:int score,dice,can_play;
+evt(int a,int b): pt(a,b){
+	score=0;can_play=0;
+};	
+
+void score_update(image* img);
+int detect_circle(image* img);
+};
diff --git a/arna/oops_assign/beginner_tutorials/src/game.cpp b/arna/oops_assign/beginner_tutorials/src/game.cpp
new file mode 100644
index 0000000..53a914f
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/src/game.cpp
@@ -0,0 +1,14 @@
+#include <iostream>
+#include <cstdlib>
+#include "event.h"
+using namespace std;
+
+class game: public pt{
+public:
+int winner_score,winner_id;
+game(int a,int b): pt(a, b){
+	x=a;y=b;
+winner_score=0;winner_id=0;
+};
+};
+
diff --git a/arna/oops_assign/beginner_tutorials/src/helloROS.cpp b/arna/oops_assign/beginner_tutorials/src/helloROS.cpp
new file mode 100644
index 0000000..4645654
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/src/helloROS.cpp
@@ -0,0 +1,7 @@
+#include<iostream>
+using namespace std;
+
+int main(){
+cout<<"Hello"<<endl;
+return 0;
+}
diff --git a/arna/oops_assign/beginner_tutorials/src/image b/arna/oops_assign/beginner_tutorials/src/image
new file mode 100755
index 0000000..55636cf
Binary files /dev/null and b/arna/oops_assign/beginner_tutorials/src/image differ
diff --git a/arna/oops_assign/beginner_tutorials/src/image.h b/arna/oops_assign/beginner_tutorials/src/image.h
new file mode 100644
index 0000000..f2e3221
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/src/image.h
@@ -0,0 +1,28 @@
+#include <iostream>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/opencv.hpp>
+using namespace std;
+
+class image{
+public:
+cv::Mat img;
+int** A,mark,*count_x,*count_y;
+image(int a){
+img=cv::imread("/home/arnatubai/Desktop/circles2.png",CV_LOAD_IMAGE_COLOR);
+A=new int*[img.rows];
+	 for(int i=0;i<img.rows;i++)A[i]=new int[img.cols];	
+	 for(int i=0;i<img.rows;i++){
+		 for(int j=0;j<img.cols;j++){
+			 A[i][j]=-1;
+		 }}
+		 
+		 mark=0;
+	cout<<A[10][10]<<endl;
+}
+cv::Mat game_binary(cv::Mat img);
+//int** allocate_A();
+cv::Mat qblobdetect(cv::Mat& bin);
+void centroid(cv::Mat qblob,int* count_pix);
+void process_image();
+};
diff --git a/arna/oops_assign/beginner_tutorials/src/image_proc101.cpp b/arna/oops_assign/beginner_tutorials/src/image_proc101.cpp
new file mode 100644
index 0000000..be6471a
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/src/image_proc101.cpp
@@ -0,0 +1,174 @@
+#include <iostream>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/opencv.hpp>
+#include "image.h"
+
+struct ind{int x;int y;
+struct ind* next;};
+struct ind *front,*rear;
+
+
+void enqueue(int x,int y){
+struct ind* n;
+n=(struct ind*)malloc(sizeof(struct ind));
+n->x=x;
+n->y=y;
+n->next=NULL;
+if(front==NULL){front=n;rear=front;}
+else {rear->next=n;rear=n;}
+}
+void dequeue(){
+	struct ind* t;
+	t=front;
+	front=t->next;
+	free(t);
+}
+void qfront(int* x,int *y){
+	if(front!=NULL){
+	*x=front->x;
+	*y=front->y;}
+	return;
+}
+int qempty(){
+	if(front==NULL)return 1;
+	return 0;}
+
+
+
+
+cv::Mat image:: game_binary(cv::Mat img){
+	cv::Mat bin(img.rows,img.cols,CV_8UC1,cvScalarAll(0));
+	// TODO : img.at<cv::Vec3b>(i, j)[0] = sdfsa
+int i,j;	
+for(i=0;i<img.rows;i++){
+   for(j=0;j<img.cols;j++){
+       if( img.at<cv::Vec3b>(i, j)[0]>=235 || img.at<cv::Vec3b>(i, j)[1] >= 235|| img.at<cv::Vec3b>(i, j)[2] >= 235)
+       		bin.at<uchar>(i, j) = 255;
+       	else bin.at<uchar>(i, j) = 0;
+   }
+
+}
+return bin;
+}
+
+
+//int* image:: allocate_centroid(int* )
+
+cv::Mat image:: qblobdetect(cv::Mat& bin){
+	 //std::cout<<"hello";
+	 int i,j,x,y,wd=bin.cols,ht=bin.rows,max_pix_count=0,max_size_index=0;
+	 //cout<<" a->"<<A[10][10]<<" "<<mark<<endl;
+	 for(i=0;i<ht;i++){
+		 for(j=0;j<wd;j++){
+			 if(bin.at<uchar>(i,j)==255){
+				 if(A[i][j]==-1){
+					 mark=mark+1;
+				 enqueue(i,j);
+
+				 //A[i][j]=0;
+				while(qempty()==0){
+				 qfront(&x,&y);
+				 int k,l;
+				 dequeue();
+				 for(k=x-1;k<=x+1;k++){
+					 for(l=y-1;l<=y+1;l++){
+						 if((k<ht)&&(l<wd)&&(k>=0)&&(l>=0)&&(A[k][l]==-1) && bin.at<uchar>(k,l)==255){
+							 enqueue(k,l);
+							 A[k][l]=mark;}
+					 }}
+				 A[x][y]=mark;
+				}
+			//std::cout<<*mark<<" "<<x<<","<<y<<std::endl;
+				 }
+			 }
+		 }}
+		 //cout<<"A->"<<A[10][10]<<endl;
+
+	cv::Mat qblob(bin.rows,bin.cols,CV_8UC3);	 
+	 //IplImage* qblobdetect=cvCreateImage(cvGetSize(bin),IPL_DEPTH_8U,3);
+	 //int *a;double *c_x,*c_y;
+	 
+	 //a=(int*)malloc((*mark+1)*sizeof(int));
+	 for(i=0;i<ht;i++){
+		 for(j=0;j<wd;j++){
+			 if(A[i][j]==-1)qblob.at<cv::Vec3b>(i,j)[0]=qblob.at<cv::Vec3b>(i,j)[1]=qblob.at<cv::Vec3b>(i,j)[2]=255;
+			else{	 
+			 qblob.at<cv::Vec3b>(i,j)[0]=255*sin(A[i][j]);
+			 qblob.at<cv::Vec3b>(i,j)[1]=255*cos(A[i][j]);
+			 qblob.at<cv::Vec3b>(i,j)[2]=255*(sin(A[i][j])+cos(A[i][j]))/1.5; 
+			 }
+			 }}
+	 
+	//centroid(bin,A,*mark,count_x,count_y); 
+	 return qblob;
+}
+
+void image:: centroid(cv::Mat qblob,int* count_pix){
+	
+	for(int i=0;i<=mark;i++)count_pix[i]=0;
+	for(int i=0;i<=mark;i++)count_x[i]=0;
+	for(int i=0;i<=mark;i++)count_y[i]=0;	
+	for(int i=0;i<qblob.rows;i++){
+		for(int j=0;j<qblob.cols;j++){
+				if(A[i][j]!=-1){
+					int r=A[i][j];
+					count_x[r]+=i;
+					count_y[r]+=j;
+					count_pix[r]++;
+				}
+		}
+	}
+for(int i=1;i<=mark;i++){
+	count_x[i]/=count_pix[i];
+	count_y[i]/=count_pix[i];
+}
+}
+
+
+
+
+void image:: process_image(){
+
+cv::namedWindow("C",CV_WINDOW_AUTOSIZE);
+cv::imshow("C",img);
+cv::waitKey(0);
+cv::Mat gray;
+cvtColor(img,gray,CV_BGR2GRAY);
+cv::imshow("C",gray);
+cv::waitKey(0);
+cv::Mat bin=game_binary(img);
+cv::imshow("C",bin);
+cv::waitKey(0);
+std::cout<<bin.rows<<","<<bin.cols<<std::endl;
+//std::cout<<"haha";
+cv::waitKey(0);
+//int** A,mark=0;
+//A=allocate_A();
+cv::Mat qblob=qblobdetect(bin);
+
+std::cout<<mark<<std::endl;
+cv::imshow("C",qblob);
+cv::waitKey(0);
+ count_x=new int[mark+1];
+ count_y=new int[mark+1];
+int *count_pix=new int[mark+1];
+centroid(qblob,count_pix);
+for(int i=1;i<=mark;i++){
+	std::cout<<i<<":"<<count_x[i]<<","<<count_y[i]<<std::endl;
+}
+cv::waitKey(0);
+cv::destroyWindow("C");
+}
+
+/*int main(){
+image* real=new image(10);
+std::cout<<"hello "<<real->img.rows<<","<<real->img.cols<<endl;
+cv::waitKey(0);
+real->process_image();
+for(int i=1;i<=real->mark;i++){
+	std::cout<<i<<":"<<real->count_x[i]<<","<<real->count_y[i]<<std::endl;
+}
+cv::waitKey(0);
+
+}*/
\ No newline at end of file
diff --git a/arna/oops_assign/beginner_tutorials/src/play.cpp b/arna/oops_assign/beginner_tutorials/src/play.cpp
new file mode 100644
index 0000000..d7de180
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/src/play.cpp
@@ -0,0 +1,107 @@
+#include<iostream>
+#include "game.cpp"
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/opencv.hpp>
+
+using namespace std;
+
+pt:: pt(int a,int b){
+x=a;
+y=b;
+}
+
+
+int evt::detect_circle(image* real){int present;
+	cout<<"starting pos="<<x<<","<<y<<endl;
+	if(x>=real->img.rows || y>=real->img.cols)return 0;
+int i;
+if(dice%2==0){
+		present=real->A[x][y];
+for(i=present+1;i<=real->mark;i++){
+	if(real->img.at<cv::Vec3b>(real->count_x[i],real->count_y[i])[2]==255){can_play=1;break;}
+	else can_play=0;}}
+else if(dice==1){
+	present=real->A[x][y];
+for(i=present+1;i<=real->mark;i++){
+	if(real->img.at<cv::Vec3b>(real->count_x[i],real->count_y[i])[0]==255){can_play=1;break;}
+	else can_play=0;}
+}
+else{
+	present=real->A[x][y];
+for(i=present+1;i<=real->mark;i++){
+	if(real->img.at<cv::Vec3b>(real->count_x[i],real->count_y[i])[1]==255){can_play=1;break;}
+	else can_play=0;}
+}
+if(i>real->mark)can_play=0;
+if(can_play){
+x=real->count_x[i];y=real->count_y[i];}
+cout<<"present="<<present<<",x="<<x<<" ,y="<<y<<endl;
+return can_play;
+}
+
+/*int evt:: detect_circle(image* img){int i,j;
+	if(x>=img.rows || y>=imgcols)return 0;
+if(dice%2==0){
+for(i=x;i<img.rows;i++){
+	for( j=y+1;j<img.cols;j++){
+		if(img.r_pixel[i][j]==255){can_play=1;break;}
+		else can_play=0;}}
+}
+else if(dice==1){
+for( i=x;i<img.height;i++){
+	for( j=y+1;j<img.width;j++){
+		if(img.b_pixel[i][j]==255){can_play=1;break;}
+		else can_play=0;}}
+}
+else {
+for( i=x;i<img.height;i++){
+	for( j=y+1;j<img.width;j++){
+		if(img.g_pixel[i][j]==255){can_play=1;break;}
+		else can_play=0;}}
+}
+if(can_play){
+x=i;y=j;}
+cout<<"x="<<x<<" ,y="<<y<<endl;
+return can_play;
+}*/
+
+
+void evt::score_update(image* img){
+if(dice%2==0 && detect_circle(img))score+=2*dice;
+else if(dice==1){score+=10;int x=detect_circle(img);}
+else {score+=dice;int x=detect_circle(img);}
+return;
+}
+
+
+int main(){
+int n;
+image* real=new image(10);
+real->process_image();
+cout<<"input no. of players: ";
+cin>>n;
+int t=n; //total players
+cout<<n<<" players are playing"<<endl;
+game* G=new game(0,0);
+while(n--){
+
+evt* E=new evt(0,0);
+do{
+	cout<<"input dice outcome:"; 
+cin>>E->dice;
+cout<<"passing pos:-"<<E->x<<","<<E->y<<endl;
+E->score_update(real);
+cout<<"at position:-"<<E->x<<","<<E->y<<endl;
+//G1->score=E->score;
+//G1->x=E->x;G1->y=E->y;
+}while(E->can_play);
+cout<<"score= "<<E->score<<endl<<endl;
+if(E->score>G->winner_score){
+	G->winner_score=E->score;G->winner_id=t-n;  //if player 1 and 2 have same score, player 1 is winner, not 2 (assumed for simplicity).
+}
+}
+cout<<"WINNER is player "<<G->winner_id<<" with score="<<G->winner_score<<endl;
+return 0;}
+
+
diff --git a/arna/oops_assign/beginner_tutorials/src/point.h b/arna/oops_assign/beginner_tutorials/src/point.h
new file mode 100644
index 0000000..252971b
--- /dev/null
+++ b/arna/oops_assign/beginner_tutorials/src/point.h
@@ -0,0 +1,10 @@
+#include <iostream>
+#include <cstdio>
+using namespace std;
+
+class pt{
+public:
+int x;int y;
+int r,g,b;
+public: pt(int a,int b);
+};
diff --git a/arna/road/CMakeLists.txt b/arna/road/CMakeLists.txt
new file mode 100644
index 0000000..f8f1c9c
--- /dev/null
+++ b/arna/road/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
diff --git a/arna/road/Makefile b/arna/road/Makefile
new file mode 100644
index 0000000..b75b928
--- /dev/null
+++ b/arna/road/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/arna/road/mainpage.dox b/arna/road/mainpage.dox
new file mode 100644
index 0000000..e3254e1
--- /dev/null
+++ b/arna/road/mainpage.dox
@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b road 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/
diff --git a/arna/road/manifest.xml b/arna/road/manifest.xml
new file mode 100644
index 0000000..869f845
--- /dev/null
+++ b/arna/road/manifest.xml
@@ -0,0 +1,16 @@
+<package>
+  <description brief="road">
+
+     road
+
+  </description>
+  <author>arna</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/road</url>
+  <depend package="std_msgs"/>
+  <depend package="roscpp"/>
+
+</package>
+
+
diff --git a/arna/road/src/Makefile b/arna/road/src/Makefile
new file mode 100644
index 0000000..28e4121
--- /dev/null
+++ b/arna/road/src/Makefile
@@ -0,0 +1,7 @@
+all: road
+
+road: road_identify.cpp
+	g++ -g $^ -o $@ -Wall `pkg-config opencv --cflags --libs`
+
+
+
diff --git a/arna/road/src/road b/arna/road/src/road
new file mode 100755
index 0000000..9306f06
Binary files /dev/null and b/arna/road/src/road differ
diff --git a/arna/road/src/road_identify.cpp b/arna/road/src/road_identify.cpp
new file mode 100644
index 0000000..55ee04b
--- /dev/null
+++ b/arna/road/src/road_identify.cpp
@@ -0,0 +1,358 @@
+#include <iostream>
+#include <cmath>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/opencv.hpp>
+
+const int threshold=125;
+
+class point{
+public: int x,y;
+};
+
+struct ind{int x;int y;
+struct ind* next;};
+struct ind *front,*rear;
+
+
+void enqueue(int x,int y){
+struct ind* n;
+n=(struct ind*)malloc(sizeof(struct ind));
+n->x=x;
+n->y=y;
+n->next=NULL;
+if(front==NULL){front=n;rear=front;}
+else {rear->next=n;rear=n;}
+}
+void dequeue(){
+	struct ind* t;
+	t=front;
+	front=t->next;
+	free(t);
+}
+void qfront(int* x,int *y){
+	if(front!=NULL){
+	*x=front->x;
+	*y=front->y;}
+	return;
+}
+int qempty(){
+	if(front==NULL)return 1;
+	return 0;}
+
+float dist(point p1,point p2){
+return sqrt((p1.x-p2.x)*(p1.x-p2.x) + (p1.y-p2.y)*(p1.y-p2.y));
+}
+
+struct poly{
+	int degree;
+	float* coeff;
+};
+
+struct poly add(struct poly p1,struct poly p2){
+	int n=p1.degree,m=p2.degree;
+int ld=n>m?m:n;
+struct poly p3;
+p3.degree=n+m-ld;
+p3.coeff=new float[p3.degree+1];
+for(int i=0;i<=ld;i++)p3.coeff[i]=p1.coeff[i]+p2.coeff[i];
+for(int i=ld+1;i<=p3.degree;i++){
+	if(ld==n)p3.coeff[i]=p2.coeff[i];
+	else p3.coeff[i]=p1.coeff[i];}	
+return p3;}
+
+struct poly mult(struct poly p1,struct poly p2){
+	struct poly p3;
+	p3.degree=p1.degree+p2.degree;
+	p3.coeff=new float[p3.degree+1];
+	for(int i=0;i<=p3.degree;i++)p3.coeff[i]=0;
+for(int i=0;i<=p1.degree;i++){
+	for(int j=0;j<=p2.degree;j++)p3.coeff[i+j]+=p1.coeff[i]*p2.coeff[j];
+}
+return p3;
+}
+
+struct poly langrange(point* P){
+	struct poly p1,p2;
+	p1.degree=p2.degree=0;
+	p1.coeff=new float[1];
+	p2.coeff=new float[1];
+	p1.coeff[0]=1;
+	p2.coeff[0]=0;
+	for(int i=0;i<=5;i++){
+		struct poly p3;
+		p3.degree=1;
+		p3.coeff=new float[2];
+		p3.coeff[0]=1;
+		float denom=1;
+		for(int j=0;j<=5;j++){
+			if(j!=i){denom*=(P[i].x-P[j].x);
+				p3.coeff[1]=-P[j].x;
+				p1=mult(p1,p3);}
+		}
+		denom/=P[i].y;
+		struct poly pt;
+		pt.degree=0;
+		pt.coeff=new float[1];
+		if(denom!=0)pt.coeff[0]=1/denom;
+		else pt.coeff[0]=0;
+		p1=mult(p1,pt);
+		p2=add(p2,p1);
+		p1.degree=0;
+		p1.coeff=new float[1];
+		p1.coeff[0]=1;
+		//std::cout<<"degree so far:"<<p2.degree<<" ";
+	}
+return p2;
+}
+
+cv::Mat qblobdetect(cv::Mat& bin,int** A,int* mark){
+	 //std::cout<<"hello";
+	 int i,j,x,y,wd=bin.cols,ht=bin.rows,max_pix_count=0,max_size_index=0;
+	 //cout<<" a->"<<A[10][10]<<" "<<mark<<endl;
+	 for(i=0;i<ht;i++){
+		 for(j=0;j<wd;j++){
+			 if(bin.at<uchar>(i,j)==255){
+				 if(A[i][j]==-1){
+					 *mark=*mark+1;
+				 enqueue(i,j);
+
+				 //A[i][j]=0;
+				while(qempty()==0){
+				 qfront(&x,&y);
+				 int k,l;
+				 dequeue();
+				 for(k=x-1;k<=x+1;k++){
+					 for(l=y-1;l<=y+1;l++){
+						 if((k<ht)&&(l<wd)&&(k>=0)&&(l>=0)&&(A[k][l]==-1) && bin.at<uchar>(k,l)==255){
+							 enqueue(k,l);
+							 A[k][l]=*mark;}
+					 }}
+				 A[x][y]=*mark;
+				}
+			//std::cout<<*mark<<" "<<x<<","<<y<<std::endl;
+				 }
+			 }
+		 }}
+		 //cout<<"A->"<<A[10][10]<<endl;
+
+	cv::Mat qblob(bin.rows,bin.cols,CV_8UC3);	 
+	 //IplImage* qblobdetect=cvCreateImage(cvGetSize(bin),IPL_DEPTH_8U,3);
+	 //int *a;double *c_x,*c_y;
+	 
+	 //a=(int*)malloc((*mark+1)*sizeof(int));
+	 for(i=0;i<ht;i++){
+		 for(j=0;j<wd;j++){
+			 if(A[i][j]==-1)qblob.at<cv::Vec3b>(i,j)[0]=qblob.at<cv::Vec3b>(i,j)[1]=qblob.at<cv::Vec3b>(i,j)[2]=255;
+			else{	 
+			 qblob.at<cv::Vec3b>(i,j)[0]=255*sin(A[i][j]);
+			 qblob.at<cv::Vec3b>(i,j)[1]=255*cos(A[i][j]);
+			 qblob.at<cv::Vec3b>(i,j)[2]=255*(sin(A[i][j])+cos(A[i][j]))/1.5; 
+			 }
+			 }}
+	 
+	//centroid(bin,A,*mark,count_x,count_y); 
+	 return qblob;
+}
+
+cv::Mat game_binary(cv::Mat img){
+	cv::Mat bin(img.rows,img.cols,CV_8UC1,cvScalarAll(0));
+	// TODO : img.at<cv::Vec3b>(i, j)[0] = sdfsa
+int i,j;	
+for(i=0;i<img.rows;i++){
+   for(j=0;j<img.cols;j++){
+       if( img.at<cv::Vec3b>(i, j)[0]>=235 || img.at<cv::Vec3b>(i, j)[1] >= 235|| img.at<cv::Vec3b>(i, j)[2] >= 235)
+       		bin.at<uchar>(i, j) = 255;
+       	else bin.at<uchar>(i, j) = 0;
+   }
+
+}
+return bin;
+}
+
+
+
+cv::Mat link_blobs(cv::Mat qblob,int** A,int mark,point* min_x,point* max_x,point* min_y,point* max_y,int* connected_index){
+	for(int i=0;i<qblob.rows;i++){
+		for(int j=0;j<qblob.cols;j++){ int r=A[i][j];
+			if(r!=-1){
+				if(i>max_x[r].x){max_x[r].x=i;max_x[r].y=j;}
+				if(i<min_x[r].x){min_x[r].x=i;min_x[r].y=j;}
+				if(j>max_y[r].y){max_y[r].x=i;max_y[r].y=j;}
+				if(j<min_y[r].y){min_y[r].x=i;min_y[r].y=j;}
+			}
+		}
+	}
+for(int i=1;i<=mark;i++){
+	for(int j=i+1;j<=mark;j++){
+		if(dist(max_x[i],min_x[j])<threshold || dist(min_x[i],max_x[j])<threshold || dist(min_y[i],max_y[j])<threshold ||dist(max_y[i],min_y[j])<threshold){
+			connected_index[j]=connected_index[i];
+			std::cout<<" if condition running"<<i<<" "<<j<<std::endl;
+		}
+	  else if(dist(max_x[i],max_x[j])<threshold || dist(min_x[i],min_x[j])<threshold || dist(min_y[i],min_y[j])<threshold ||dist(max_y[i],max_y[j])<threshold){
+			connected_index[j]=connected_index[i];
+			std::cout<<"else if condition running"<<i<<" "<<j<<std::endl;
+		}	
+}			
+}
+for(int i=0;i<=mark;i++)std::cout<<connected_index[i]<<" "<<min_x[i].x<<" "<<max_x[i].x<<" "<<min_y[i].y<<" "<<max_y[i].y<<std::endl;
+cv::Mat linked(qblob.rows,qblob.cols,CV_8UC3);
+for(int i=0;i<qblob.rows;i++){
+	for(int j=0;j<qblob.cols;j++){
+		if(A[i][j]==-1)qblob.at<cv::Vec3b>(i,j)[0]=qblob.at<cv::Vec3b>(i,j)[1]=qblob.at<cv::Vec3b>(i,j)[2]=255;
+		else{	 
+			 linked.at<cv::Vec3b>(i,j)[0]=255*sin(connected_index[A[i][j]]);
+			 linked.at<cv::Vec3b>(i,j)[1]=255*cos(connected_index[A[i][j]]);
+			 linked.at<cv::Vec3b>(i,j)[2]=255*(sin(connected_index[A[i][j]])+cos(connected_index[A[i][j]]))/1.5; 
+			 }
+	}
+}
+return linked;
+
+}
+
+void equation(int mark,point* min_x,point* min_y,point* max_x,point* max_y,int* connected_index,struct poly* p_lane1,struct poly* p_lane2){
+int* connected_index2=new int[mark+1];
+struct poly p1,p2,p3,p4;
+point* max_x_lane_eq,*min_x_lane_eq,*min_y_lane_eq,*max_y_lane_eq;
+	max_x_lane_eq=new point[6];
+	max_y_lane_eq=new point[6];
+	min_x_lane_eq=new point[6];
+	min_y_lane_eq=new point[6];
+for(int i=0;i<=mark;i++)connected_index2[i]=connected_index[i];
+int all_zero=0;
+do{int r;
+	all_zero=0;
+	p1.degree=p2.degree=p3.degree=p4.degree=0;
+p1.coeff=new float[1];
+p2.coeff=new float[1];
+p3.coeff=new float[1];
+p4.coeff=new float[1];
+p1.coeff[0]=p2.coeff[0]=p3.coeff[0]=p4.coeff[0]=0;
+for(int i=0;i<=mark;i++)if(connected_index2[i]!=0){all_zero=1;r=connected_index2[i];break;}
+
+if(all_zero){int lane_pt=0,interpolated=0;
+	for(int i=0;i<=mark;i++){
+		if(connected_index2[i]==r){
+			lane_pt++;
+			max_x_lane_eq[lane_pt%6]=max_x[i];
+			max_y_lane_eq[lane_pt%6]=max_y[i];
+			min_x_lane_eq[lane_pt%6]=min_x[i];
+			min_y_lane_eq[lane_pt%6]=min_y[i];
+if(lane_pt==6){
+	for(int j=0;j<=5;j++)std::cout<<max_x_lane_eq[j].x<<" "<<max_x_lane_eq[j].y<<std::endl;
+}
+			if(lane_pt>=6){interpolated++;
+
+				p1=add(p1,langrange(max_x_lane_eq));
+				p2=add(p2,langrange(max_y_lane_eq));
+				p3=add(p3,langrange(min_x_lane_eq));
+				p4=add(p4,langrange(min_y_lane_eq));
+			}
+		connected_index2[i]=0;}
+//std::cout<<"done interpolating till "<<i<<" "<<lane_pt<<std::endl;
+
+}
+
+struct poly pt;
+pt.degree=0;
+pt.coeff=new float[1];
+pt.coeff[0]=1.0/interpolated;
+std::cout<<"1/interpolated="<<pt.coeff[0]<<std::endl;
+p1=mult(p1,pt);p2=mult(p2,pt);p3=mult(p3,pt);p4=mult(p4,pt);
+if(r==1){*p_lane1=add(p1,add(p2,add(p3,p4)));
+	
+	pt.coeff[0]=0.25;
+	*p_lane1=mult(*p_lane1,pt);
+}
+else{*p_lane2=add(p1,add(p2,add(p3,p4)));
+	
+	pt.coeff[0]=0.25;
+	*p_lane2=mult(*p_lane2,pt);
+}
+}
+}while(all_zero!=0);
+free(connected_index2);
+free(max_x_lane_eq);
+free(max_y_lane_eq);
+free(min_x_lane_eq);
+free(min_y_lane_eq);
+} 
+
+void plot_function(cv::Mat& func,point P){
+	
+
+
+}
+
+int main(){
+cv::Mat road=cv::imread("road_image.png",CV_LOAD_IMAGE_COLOR);
+cv::namedWindow("road",CV_WINDOW_AUTOSIZE);
+road=game_binary(road);
+cv::imshow("road",road);
+cv::waitKey(0);
+
+int mark=0;
+int**A=new int*[road.rows];
+for(int i=0;i<road.rows;i++)A[i]=new int[road.cols];
+for(int i=0;i<road.rows;i++){
+	for(int j=0;j<road.cols;j++)A[i][j]=-1;
+}
+cv::Mat qblob=qblobdetect(road,A,&mark);
+cv::imshow("road",qblob);
+cv::waitKey(0);
+point* min_x=new point[mark+1];
+point* max_x=new point[mark+1];
+point* min_y=new point[mark+1];
+point* max_y=new point[mark+1];
+for(int i=0;i<=mark;i++){
+	min_x[i].x=65535;
+	max_x[i].x=0;
+	min_y[i].y=65535;
+	max_y[i].y=0;
+}
+int* connected_index=new int[mark+1];
+for(int i=0;i<=mark;i++)connected_index[i]=i;
+cv::Mat linked_road=link_blobs(qblob,A,mark,min_x,max_x,min_y,max_y,connected_index);
+cv::imshow("road",linked_road);
+cv::waitKey(0);
+
+/*struct poly p1,p2;
+p1.degree=p2.degree=1;
+p1.coeff=new float[2];
+p2.coeff=new float[2];
+p1.coeff[0]=p1.coeff[1]=p2.coeff[0]=p2.coeff[1]=1;
+struct poly p3=mult(p1,p2);
+for(int i=0;i<=2;i++)std::cout<<p3.coeff[i]<<" ";*/
+
+point* P=new point[6];
+for(int i=0;i<=5;i++){
+	P[i].x=i;
+	P[i].y=i*i+2*i-1;
+}
+struct poly p1=langrange(P);
+std::cout<<p1.degree<<std::endl;
+for(int i=0;i<=p1.degree;i++)std::cout<<p1.coeff[i]<<" ";
+std::cout<<std::endl;
+struct poly p_lane1,p_lane2;
+p_lane1.degree=p_lane2.degree=0;
+p_lane1.coeff=new float[1];
+p_lane2.coeff=new float[1];
+p_lane1.coeff[0]=p_lane2.coeff[0]=0;
+equation(mark,min_x,min_y,max_x,max_y,connected_index,&p_lane1,&p_lane2);
+for(int i=0;i<=p_lane1.degree;i++)std::cout<<p_lane1.coeff[i]<<" ";std::cout<<std::endl;
+for(int i=0;i<=p_lane2.degree;i++)std::cout<<p_lane2.coeff[i]<<" ";std::cout<<std::endl;
+
+cv::Mat func(road.rows,road.cols,CV_8UC3);
+for(int i=0;i<road.rows;i++){
+	int j=p_lane1.coeff[5]+i*(p_lane1.coeff[4]+i*(p_lane1.coeff[3]+i*(p_lane1.coeff[2]+i*(p_lane1.coeff[1]+i*p_lane1.coeff[0]))))/1;
+	int k=p_lane2.coeff[5]+i*(p_lane2.coeff[4]+i*(p_lane2.coeff[3]+i*(p_lane2.coeff[2]+i*(p_lane2.coeff[1]+i*p_lane2.coeff[0]))))/10;
+	//int l=p1.coeff[5]+i*(p1.coeff[4]+i*(p1.coeff[3]+i*(p1.coeff[2]+i*(p1.coeff[1]+i*p1.coeff[0]))));;
+	if(j>=0 && j<road.cols)cv::circle(func,cv::Point(i,j),4,cv::Scalar(255,0,0),-1);
+	if(k>=0 && k<road.cols)cv::circle(func,cv::Point(i,k),4,cv::Scalar(0,255,0),-1);
+	//if(l>=0 && l<road.cols)cv::circle(func,cv::Point(i,l),4,cv::Scalar(0,0,255),-1);
+}
+cv::namedWindow("function",CV_WINDOW_AUTOSIZE);
+cv::imshow("function",func);
+cv::waitKey(0);
+}
\ No newline at end of file
diff --git a/arna/road/src/road_image.png b/arna/road/src/road_image.png
new file mode 100644
index 0000000..e26f7db
Binary files /dev/null and b/arna/road/src/road_image.png differ