Getting a compile error after integrating opencv. Trying to resolve t…

…he error.

Abinash/OOP_Assignment/CMakeLists.txt

@@ -0,0 +1,31 @@
+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(OOPs_PS src/main.cpp src/Board.cpp src/Player.cpp src/Dice.cpp src/Dice6.cpp src/Game.cpp src/Position.cpp src/Image.cpp src/Board.h src/Player.h src/Dice.h src/Dice6.h src/Game.h src/Position.h src/Image.h)

Abinash/OOP_Assignment/Makefile

@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

Abinash/OOP_Assignment/Board.h → Abinash/OOP_Assignment/include/OOPs_PS/Board.h

@@ -3,10 +3,10 @@
 #include "Position.h"
 #include "Image.h"
 
-typedef struct{
+struct pix{
    char c;
    Position p;
-}pix;
+};
 
 struct Chan{
    Position r[100];int rn;

Abinash/OOP_Assignment/include/OOPs_PS/Image.h

@@ -0,0 +1,26 @@
+#ifndef IMAGE_H
+#define IMAGE_H
+#include <cv.h>
+#include <cxcore.h>
+#include <highgui.h>
+#include <queue>
+#include <cstdlib>
+#include <string>
+#include "Position.h"
+#include "Board.h"
+
+class Image
+{
+   public:
+     Image(cv::Mat,Board*);
+
+   protected:
+   private:
+   	cv::Mat img;
+   	int blob_count;
+	int **VISITED;
+   	queue<position> track;
+};
+
+#endif // IMAGE_H
+

Abinash/OOP_Assignment/mainpage.dox

@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b OOPs_PS 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/

Abinash/OOP_Assignment/manifest.xml

@@ -0,0 +1,17 @@
+<package>
+  <description brief="OOPs_PS">
+
+     OOPs_PS
+
+  </description>
+  <author>Abinash Meher</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/OOPs_PS</url>
+  <depend package="std_msgs"/>
+  <depend package="rospy"/>
+  <depend package="roscpp"/>
+
+</package>
+
+

Abinash/OOP_Assignment/src/Board.cpp

@@ -0,0 +1,20 @@
+#include "Board.h"
+#include <cstdlib>
+#include <ctime>
+
+//void Board::mapped(Image img,int *x,int *y,chan *pa)
+//{
+
+
+//}
+
+Board::Board()
+{
+   srand((unsigned int)time(NULL));
+   Chan *x;
+   int i,j,k;
+   x=&A;
+   x->rn=0;
+   x->gn=0;
+   x->bn=0;//Board::mapped(img,&height,&width,&A);
+}

Abinash/OOP_Assignment/src/Board.h

@@ -0,0 +1,28 @@
+#ifndef BOARD_H
+#define BOARD_H
+#include "Position.h"
+#include "Image.h"
+
+struct pix{
+   char c;
+   Position p;
+};
+
+struct Chan{
+   Position r[100];int rn;
+   Position g[100];int gn;
+   Position b[100];int bn;
+};
+
+class Board
+{
+   public:
+      int height,width;
+      Chan A;
+      Board();
+   private:
+      //void mapped(Image,int*,int*,chan *pa);
+
+};
+
+#endif // BOARD_H

Abinash/OOP_Assignment/src/Dice.h

@@ -0,0 +1,13 @@
+#ifndef DICE_H
+#define DICE_H
+
+
+class Dice
+{
+   public:
+   virtual int roll()=0;
+   protected:
+   private:
+};
+
+#endif // DICE_H

Abinash/OOP_Assignment/src/Dice6.h

@@ -0,0 +1,15 @@
+#ifndef DICE6_H
+#define DICE6_H
+
+#include "Dice.h"
+
+
+class Dice6 : public Dice
+{
+   public:
+      int roll();
+   protected:
+   private:
+};
+
+#endif // DICE6_H

Abinash/OOP_Assignment/src/Game.h

@@ -0,0 +1,28 @@
+#ifndef GAME_H
+#define GAME_H
+#include "Player.h"
+#include "Dice6.h"
+#include "Board.h"
+#include "Dice.h"
+
+
+class Game
+{
+   public:
+      void StartGame();
+      void get_players ();//takes no of players and makes players with unique ids
+      Player** winset;
+      int no_winners;
+      Game();
+	Board bd1;
+   private:
+
+      int no_players;
+
+      void trialturn();//executes one turn for each player
+      Player *Set;
+      Dice6 dice;
+
+};
+
+#endif // GAME_H

Abinash/OOP_Assignment/src/Image.cpp

@@ -0,0 +1,139 @@
+#include "Image.h"
+
+cv::Mat Image::image_transform_binary(cv::Mat img0)
+{
+	cv::Mat bin(img0.rows,img0.cols,CV_8UC1,cvScalarAll(0));
+	for (int i=0;i<img0.rows;i++)
+	{
+		for (int j=0;j<img0.cols;j++)
+		{
+			if (img0.at<cv::Vec3b>(i,j)[0]==255 && img0.at<cv::Vec3b>(i,j)[1]==0 && img0.at<cv::Vec3b>(i,j)[2]==0) bin.at<uchar>(i,j)=255;
+			if (img0.at<cv::Vec3b>(i,j)[1]==255 && img0.at<cv::Vec3b>(i,j)[0]==0 && img0.at<cv::Vec3b>(i,j)[2]==0) bin.at<uchar>(i,j)=255;
+			if (img0.at<cv::Vec3b>(i,j)[2]==255 && img0.at<cv::Vec3b>(i,j)[1]==0 && img0.at<cv::Vec3b>(i,j)[0]==0) bin.at<uchar>(i,j)=255;
+		}
+	}
+	return bin;
+}
+
+void find_pass_center(cv::Mat bin,Board* bd)
+{
+	Position* Ctmp = new Position[blob_count];
+	int *Cn = new int[blob_count];
+	Position tmp;
+
+	for (int m=0;m<blob_count;m++)
+	{
+		Ctmp[m].x=0;
+		Ctmp[m].y=0;
+		Cn[m]=0;
+	}
+
+	for (int i=0;i<bin.rows;i++)
+	{
+		for (int j=0;j<bin.cols;j++)
+		{
+			int k=VISITED[i]][j];
+			if (k!=-1)
+				{
+					Ctmp[k].x+=j;
+					Ctmp[k].y+=i;
+					Cn[k]++;
+				}
+		}
+	}
+
+	for (int z=0;z<blob_count;z++)
+	{
+		tmp.x=Ctmp[z].x/Cn[z];
+		tmp.y=Ctmp[z].y/Cn[z];
+		if (img.at<cv::Vec3b>(tmp.y,tmp.x)[0]==255)
+		{
+			bd->A.b[bd->A.bn]=tmp;
+			(bd->A.bn)++;
+		}
+		if (img.at<cv::Vec3b>(tmp.y,tmp.x)[1]==255)
+		{
+			bd->A.g[bd->A.gn]=tmp;
+			(bd->A.gn)++;
+		}
+		if (img.at<cv::Vec3b>(tmp.y,tmp.x)[2]==255)
+		{
+			bd->A.r[bd->A.rn]=tmp;
+			(bd->A.rn)++;
+		}
+	}
+}
+
+void blob_detect(cv::Mat bin,Board *bd)
+{
+	int height=bin.rows, width=bin.cols;
+	VISITED=new int*[height];
+
+	for(int i=0;i<height;i++)
+		VISITED[i]=new int[width];
+
+	for(i=0;i<height;i++)
+	{
+		for(int j=0;j<width;j++)
+		{
+			A[i][j]=-1;
+		}
+	}
+
+	for(i=0;i<height;i++)
+	{
+		for(j=0;j<width;j++)
+		{
+			if(bin.at<uchar>(i,j)==255)
+			{
+				if(VISITED[i][j]==-1)
+				{
+					Position tmp;
+					tmp.y=i;
+					tmp.x=j;
+				 	track.push(tmp);
+					while(!track.empty())
+					{
+				 		Position v=track.front();
+				 		int k,l;
+				 		track.pop();
+				 		for(k=v.x-1;k<=v.x+1;k++)
+				 		{
+							 for(l=v.y-1;l<=v.y+1;l++)
+							 {
+								if(k<height && l<width && k>=0 && l>=0 && VISITED[k][l]==-1 && bin.at<uchar>(k,l)==255)
+								{
+									Position kl;
+									kl.y=l;
+									kl.x=k;
+									track.push(kl);
+							 		VISITED[k][l]=blob_count;
+							 	}
+					 		}
+						}
+						A[v.x][v.y]=blob_count;
+					}
+					blob_count++;
+				 }
+			 }
+		 }
+	}
+
+	Image::find_pass_center(bin,bd);
+}
+
+Image::Image(std::string file,Board *bd)
+{
+	cv::Mat bin;
+	img=imread(file);
+	blob_count=0;
+	bin=Image::image_transform_binary(img);
+	cv::namedWindow("OImage",CV_WINDOW_AUTOSIZE);
+	cv::imshow("OImage",img);
+	cv::waitKey(0);
+	cv::namedWindow("Image",CV_WINDOW_AUTOSIZE);
+	cv::imshow("Image",bin);
+	cv::waitKey(0);
+	Image::blob_detect(bin,bd);
+}
+

Abinash/OOP_Assignment/src/Image.h

@@ -0,0 +1,26 @@
+#ifndef IMAGE_H
+#define IMAGE_H
+#include <cv.h>
+#include <cxcore.h>
+#include <highgui.h>
+#include <queue>
+#include <cstdlib>
+#include <string>
+#include "Position.h"
+#include "Board.h"
+
+class Image
+{
+   public:
+     Image(std::string ,Board*);
+
+   protected:
+   private:
+   	cv::Mat img;
+   	int blob_count;
+	int **VISITED;
+   	queue<position> track;
+};
+
+#endif // IMAGE_H
+

Abinash/OOP_Assignment/src/Player.h

@@ -0,0 +1,20 @@
+#ifndef PLAYER_H
+#define PLAYER_H
+#include "Position.h"
+#include "Board.h"
+#include <iostream>
+#include <cmath>
+
+class Player
+{
+   public:
+      Position pos;
+      int score,id;
+      void Getdice(int,Board*);
+      Player();
+   private:
+      void shift_position(Position*,int,Board*);
+      void upgrade_score(int*,int);
+};
+
+#endif // PLAYER_H

Abinash/OOP_Assignment/src/Position.cpp

@@ -2,5 +2,6 @@
 
 Position::Position()
 {
-   x=0;y=0;
+   x=0;
+   y=0;//ctor
 }

Abinash/OOP_Assignment/src/Position.h

@@ -5,8 +5,11 @@
 class Position
 {
    public:
-      int x,y;
+      int x;
+      int y;
       Position();
+   protected:
+   private:
 };
 
 #endif // POSITION_H

Abinash/OOP_Assignment/main.cpp → Abinash/OOP_Assignment/src/main.cpp

@@ -1,6 +1,10 @@
 #include <iostream>
 #include <ctime>
 #include <cstdlib>
+#include <string>
+#include <opencv2/opencv.hpp>
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
 #include "Position.h"
 #include "Board.h"
 #include "Player.h"
@@ -13,13 +17,16 @@ using namespace std;
 
 int main()
 {
-   int b;
    srand((unsigned int)time(NULL));
    Game bgame;
+   string file;
+   cout<<"Give filename"<<endl;
+   cin>>file;
+   Image bimg(file,&(bgame.bd1));
    bgame.get_players();
    bgame.StartGame();
    cout<<"Winners :"<<endl;
-   for (b=0;b<bgame.no_winners;b++)
+   for (int b=0;b<bgame.no_winners;b++)
    {
       cout<<"Player_"<<bgame.winset[b]->id<<endl;
    }