diff --git a/Udai/1st.cpp b/Udai/1st.cpp
new file mode 100644
index 0000000..3b98aae
--- /dev/null
+++ b/Udai/1st.cpp
@@ -0,0 +1,6 @@
+#include<iostream>
+#include<opencv2/highgui/highgui.hpp>
+#include<opencv2/core/core.hpp>
+#include<opencv2/opencv.hpp>
+#include "blobdetection.cpp"
+
diff --git a/Udai/Makefile b/Udai/Makefile
new file mode 100644
index 0000000..d9ab27d
--- /dev/null
+++ b/Udai/Makefile
@@ -0,0 +1,7 @@
+all: image run
+image: OOPass.cpp
+	g++ -g $^ -o $@ -Wall `pkg-config opencv --cflags --libs`
+run:
+	./image
+clean:
+	rm image
diff --git a/Udai/OOPass.cpp b/Udai/OOPass.cpp
new file mode 100644
index 0000000..dff4ae3
--- /dev/null
+++ b/Udai/OOPass.cpp
@@ -0,0 +1,255 @@
+#include<iostream>
+#include<opencv2/highgui/highgui.hpp>
+#include<opencv2/core/core.hpp>
+#include<opencv2/opencv.hpp>
+
+#include "blobdetection.cpp"
+
+
+class game
+{
+public:
+cv::Mat img;
+int *selected;
+int **visited;
+int *colour;
+int *cenx;
+int *ceny;
+int dice;
+int currx;
+int curry;
+int score;
+int shape;
+int rows;
+int cols;
+
+
+game()
+{ currx = curry = 0; 
+score = 0;
+}
+void processmap(char []);
+void start();
+void colouredarray();
+void inputdice();
+void calculateposition();
+int finish();
+};
+
+
+
+int main()
+{
+	game g;
+	int i;
+	g.processmap("/home/udai/Documents/circles.jpeg");
+	g.start();
+	for(i = 1; i<g.shape; ++i)
+	{
+		std::cout<<"Shape "<<i<<" has centroid ("<<g.cenx[i]<<", "<<g.ceny[i]<<") and colour "<<g.colour[i]<<std::endl;
+	}
+	int players;
+	std::cout<<"Enter number of players in the game:\n";
+	std::cin>>players;
+	g.selected = new int[g.shape];
+	int* finalscore = new int[players];
+	for(i=0; i<players; ++i)
+	{
+		if(i>0)
+			std::cout<<"Next player now!\n";
+		g.currx = g.curry = g.score = 0;
+		for(int j=1; j<g.shape; ++j)
+			g.selected[j] = 0;
+		while(1)
+		{
+			g.inputdice();
+			g.calculateposition();
+			std::cout<<"score is(player "<<i<<") "<<g.score<<std::endl;
+			if(g.finish() == 1)
+				break;
+		}
+		finalscore[i] = g.score;
+		std::cout<<"The player's final score is "<<finalscore[i]<<std::endl;
+	}
+	int max = finalscore[0];
+	int winner = 0;
+	for(i=0; i<players; ++i)
+	{
+		if(finalscore[i]>max)
+		{
+			max = finalscore[i];
+			winner = i;
+		}
+	}
+	std::cout<<"Winner of the game is Player "<<winner<<" with a score of "<<max<<std::endl;
+	return 0;
+}
+
+void game::inputdice()
+{
+std::cout<<"Roll the dice ";
+std::cin>>dice;
+
+while((dice<1)||(dice>6))
+{
+	std::cout<<"Roll the dice";
+	std::cin>>dice;
+}
+}
+
+void game::calculateposition()
+{
+int i, j, temp;
+float dist;
+float min = sqrt( pow(rows, 2) + pow(cols, 2) );
+if(dice%2==0)
+	{
+	for(i=1; i<shape; ++i)
+		if(colour[i] == 2) //assuming red to be 2
+		{
+			dist = sqrt( pow(cenx[i] - currx , 2) + pow(ceny[i] - curry, 2) );
+			if(dist<min)
+				{min = dist; temp =i; }
+		}
+	currx = cenx[temp];
+	curry = ceny[temp];
+	score += 2*dice;
+	selected[temp] = 1;
+	}
+else if (dice == 1)
+	{
+	for(i=1; i<shape; ++i)
+		if(colour[i] == 0) //assuming blue to be 0
+		{
+			dist = sqrt( pow(cenx[i] - currx , 2) + pow(ceny[i] - curry, 2) );
+			if(dist<min)
+				{min = dist; temp =i; }
+		}
+	currx = cenx[temp];
+	curry = ceny[temp];
+	score += 10;
+	selected[temp] = 1;
+	}
+else
+	{
+	for(i=1; i<shape; ++i)
+		if(colour[i] == 1) //assuming green to be 1
+		{
+			dist = sqrt( pow(cenx[i] - currx , 2) + pow(ceny[i] - curry, 2) );
+			if(dist<min)
+				{min = dist; temp =i; }
+		}
+	currx = cenx[temp];
+	curry = ceny[temp];
+	score += dice;
+	selected[temp] = 1;
+	}
+std::cout<<"X co-ordinate is "<<currx<<", Y co-ordinate is "<<curry<<std::endl;
+}
+
+int game::finish()
+{
+	int flag = 1;
+	for(int i =1; i<shape; ++i)
+		if(selected[i] == 0)
+			{
+				flag = 0;
+				break;
+			}
+	return flag;
+}
+
+void game::processmap(char a[])
+{
+	std::cout<<"Hello world\n";
+	img = cv::imread(a, CV_LOAD_IMAGE_COLOR);
+	cv::namedWindow("mywin", CV_WINDOW_AUTOSIZE);
+	cv::imshow("mywin", img);
+	cv::waitKey(0);
+
+cv::Mat newimg(img.rows, img.cols, CV_8UC1, cvScalarAll(0));
+
+	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] >=240) && (img.at<cv::Vec3b>(i,j)[1] <=15) && (img.at<cv::Vec3b>(i,j)[2] <= 15) ) ||
+					( (img.at<cv::Vec3b>(i,j)[0] <=15) && (img.at<cv::Vec3b>(i,j)[1] >=240) && (img.at<cv::Vec3b>(i,j)[2] <= 15) ) ||
+				( (img.at<cv::Vec3b>(i,j)[0] <=15) && (img.at<cv::Vec3b>(i,j)[1] <=15) && (img.at<cv::Vec3b>(i,j)[2] >= 240) ) )
+
+					newimg.at<uchar>(i,j) = 255;
+				else 
+					newimg.at<uchar>(i,j) = 0;
+			} 
+
+	cv::imshow("mywin", newimg);
+	cv::waitKey(0);
+
+//int **visited;
+visited = new int*[newimg.rows];
+for(i=0; i<img.cols; ++i)
+visited[i] = new int[newimg.cols];
+
+if(visited)
+	std::cout<<"Visited allocated\n";
+
+for(i=0; i<newimg.rows; ++i)
+for(j=0; j<newimg.cols; ++j)
+	visited[i][j] = -1;
+
+//int shape = 1;
+shape = 1;
+	for(i=0; i<newimg.rows; ++i)
+		for(j=0; j<newimg.cols; ++j)
+			if((newimg.at<uchar>(i,j)==255)&&(visited[i][j]==-1))
+				{BFS(newimg, visited, shape, i, j);
+					shape++;}
+for(i=0; i<newimg.rows; ++i)
+	for(j=0; j<newimg.cols; ++j)
+		if(visited[i][j]!=-1)
+			newimg.at<uchar>(i,j) = 255*sin(visited[i][j]);
+	std::cout<<"Number of blobs are "<<shape-1<<std::endl;
+	cv::waitKey(0);
+	cv::imshow("mywin", newimg);
+
+	cv::waitKey(0);
+	rows = newimg.rows;
+	cols = newimg.cols;
+}
+//img.at<cv::Vec3b>(i,j)[0] = 
+//cv::Mat bin(img.rows, img.cols, CV_8UC1, cvScalarAll(0));
+
+void game::start()
+{
+	int i, j;
+	int *count = new int[shape];
+	cenx = new int[shape];
+	ceny = new int[shape];
+	colour = new int[shape];
+	for(i=1; i<shape; ++i)
+		{count[i] = 0;
+			cenx[i] = 0;
+			ceny[i] = 0;
+		}
+	for(i = 0; i<rows; ++i)
+		for(j=0; j<cols; ++j)
+			if(visited[i][j] != -1)
+			{
+				cenx[visited[i][j]] += j;
+				ceny[visited[i][j]] += i;
+				count[visited[i][j]] ++;
+			}
+	for(i =1; i<shape; ++i)
+		{
+			cenx[i] /= count[i];
+			ceny[i] /= count[i];
+			if((img.at<cv::Vec3b>(ceny[i],cenx[i])[0] >= 230) && (img.at<cv::Vec3b>(ceny[i],cenx[i])[1] <= 25) && (img.at<cv::Vec3b>(ceny[i],cenx[i])[2] <=25 ))
+				colour[i] = 0;
+			else if ((img.at<cv::Vec3b>(ceny[i],cenx[i])[0] <=25) && (img.at<cv::Vec3b>(ceny[i],cenx[i])[1] >=230) && (img.at<cv::Vec3b>(ceny[i],cenx[i])[2] <= 25))
+				colour[i] = 1;
+			else if ((img.at<cv::Vec3b>(ceny[i],cenx[i])[0] <=25) && (img.at<cv::Vec3b>(ceny[i],cenx[i])[1] <=25) && (img.at<cv::Vec3b>(ceny[i],cenx[i])[2] >= 230))
+				colour[i] = 2;
+			else colour[i] = -1;
+		}
+
+}
\ No newline at end of file
diff --git a/Udai/blobdetection.cpp b/Udai/blobdetection.cpp
new file mode 100644
index 0000000..f0fb5ca
--- /dev/null
+++ b/Udai/blobdetection.cpp
@@ -0,0 +1,37 @@
+#include<iostream>
+#include<opencv2/highgui/highgui.hpp>
+#include<opencv2/core/core.hpp>
+#include<opencv2/opencv.hpp>
+
+struct node
+{
+	int x;
+	int y;
+};
+
+void BFS(cv::Mat newimg, int**visited, int shape, int i, int j)
+{
+int front, rear;
+node *q = new node[newimg.rows*newimg.cols];
+front = rear = 0;
+q[front].x = j; 
+q[front].y = i;
+
+while(1)
+{
+	for(int u = q[front].y-1; u<=q[front].y+1; ++u)
+		for(int v = q[front].x-1; v<=q[front].x+1; ++v)
+			if((u>=0)&&(u<=newimg.rows)&&(v>=0)&&(v<=newimg.cols))
+			if((visited[u][v]==-1)&&(newimg.at<uchar>(u,v)==255))
+			{
+				visited[u][v] = 0;
+				rear++;
+				q[rear].x = v;
+				q[rear].y = u;
+			}
+	visited[q[front].y][q[front].x] = shape;
+	front++;
+
+	if(front>rear){delete q; break;}
+}
+}
\ No newline at end of file
diff --git a/aditya/Gazebo_assignment/my_robot/model.config b/aditya/Gazebo_assignment/my_robot/model.config
deleted file mode 100644
index 7d5baae..0000000
--- a/aditya/Gazebo_assignment/my_robot/model.config
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>Test DD</name>
-  <version>1.0</version>
-  <sdf version='1.4'>model.sdf</sdf>
-
-  <author>
-   <name>Aditya</name>
-   <email>me@my.email</email>
-  </author>
-
-  <description>
-    AGV Simulation Task-1
-  </description>
-</model>
-
diff --git a/aditya/Gazebo_assignment/my_robot/model.sdf b/aditya/Gazebo_assignment/my_robot/model.sdf
deleted file mode 100644
index 43eec7a..0000000
--- a/aditya/Gazebo_assignment/my_robot/model.sdf
+++ /dev/null
@@ -1,105 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.4'>
-  <model name="Test DD">
-    <static>false</static>
-    <link name='chassis'>
-      <pose>0 0 .1 0 0 0</pose>
-      <collision name='collision'>
-	<geometry>
-            <box>
-              <size>.4 .2 .1</size>
-            </box>
-	</geometry>
-      </collision>
-      
-      <visual name='visual'>
-	<geometry>
-	  <box>
-              <size>.4 .2 .1</size>
-	  </box>
-	</geometry>
-      </visual>
-      <collision name='caster_collision'>
-       	<pose>-0.15 0 -0.05 0 0 0</pose>
-        <geometry>
-          <sphere>
-          <radius>.05</radius>
-	  </sphere>
-	</geometry>
-	<surface>
-	  <friction>
-          <ode>
-            <mu>0</mu>
-            <mu2>0</mu2>
-            <slip1>1.0</slip1>
-            <slip2>1.0</slip2>
-          </ode>
-	  </friction>
-	</surface>
-    </collision>    
-    <visual name='caster_visual'>
-      <pose>-0.15 0 -0.05 0 0 0</pose>
-      <geometry>
-        <sphere>
-          <radius>.05</radius>
-        </sphere>
-      </geometry>
-    </visual>
-    </link>
-    <link name="left_wheel">
-      <pose>0.1 0.13 0.1 0 1.5707 1.5707</pose>
-      <collision name="collision">
-	<geometry>
-	  <cylinder>
-	    <radius>.1</radius>
-	    <length>.05</length>
-	  </cylinder>
-	</geometry>
-      </collision>
-      <visual name="visual">
-	<geometry>
-	  <cylinder>
-	    <radius>.1</radius>
-	    <length>.05</length>
-	  </cylinder>
-	</geometry>
-      </visual>
-    </link>
-    <link name="right_wheel">
-      <pose>0.1 -0.13 0.1 0 1.5707 1.5707</pose>
-      <collision name="collision">
-	<geometry>
-	  <cylinder>
-	    <radius>.1</radius>
-	    <length>.05</length>
-	  </cylinder>
-	</geometry>
-      </collision>
-      <visual name="visual">
-      <geometry>
-        <cylinder>
-          <radius>.1</radius>
-          <length>.05</length>
-        </cylinder>
-      </geometry>
-      </visual>
-    </link>
-    <joint type="revolute" name="left_wheel_hinge">
-      <pose>0 0 -0.03 0 0 0</pose>
-      <child>left_wheel</child>
-      <parent>chassis</parent>
-      <axis>
-	<xyz>0 1 0</xyz>
-      </axis>
-    </joint>
-    
-    <joint type="revolute" name="right_wheel_hinge">
-      <pose>0 0 0.03 0 0 0</pose>
-      <child>right_wheel</child>
-      <parent>chassis</parent>
-      <axis>
-	<xyz>0 1 0</xyz>
-      </axis>
-    </joint>
-  </model>
-</sdf>
diff --git a/aditya/OOPS_assignment/CMakeLists.txt b/aditya/OOPS_assignment/CMakeLists.txt
deleted file mode 100644
index 574ed87..0000000
--- a/aditya/OOPS_assignment/CMakeLists.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-cmake_minimum_required(VERSION 2.8)
-project( Game )
-find_package( OpenCV REQUIRED )
-add_executable( game src/main.cpp )
-target_link_libraries( game ${OpenCV_LIBS} )
\ No newline at end of file
diff --git a/aditya/OOPS_assignment/Makefile b/aditya/OOPS_assignment/Makefile
deleted file mode 100644
index 845e3af..0000000
--- a/aditya/OOPS_assignment/Makefile
+++ /dev/null
@@ -1,160 +0,0 @@
-# CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 2.8
-
-# Default target executed when no arguments are given to make.
-default_target: all
-.PHONY : default_target
-
-#=============================================================================
-# Special targets provided by cmake.
-
-# Disable implicit rules so canonical targets will work.
-.SUFFIXES:
-
-# Remove some rules from gmake that .SUFFIXES does not remove.
-SUFFIXES =
-
-.SUFFIXES: .hpux_make_needs_suffix_list
-
-# Suppress display of executed commands.
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-# A target that is always out of date.
-cmake_force:
-.PHONY : cmake_force
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-#=============================================================================
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-
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-SHELL = /bin/sh
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-
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-RM = /usr/bin/cmake -E remove -f
-
-# The top-level source directory on which CMake was run.
-CMAKE_SOURCE_DIR = /home/aditya/agv-sandbox/agv-sandbox/aditya/OOPS_assignment
-
-# The top-level build directory on which CMake was run.
-CMAKE_BINARY_DIR = /home/aditya/agv-sandbox/agv-sandbox/aditya/OOPS_assignment
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diff --git a/aditya/OOPS_assignment/src/main.cpp b/aditya/OOPS_assignment/src/main.cpp
deleted file mode 100644
index 9fea354..0000000
--- a/aditya/OOPS_assignment/src/main.cpp
+++ /dev/null
@@ -1,126 +0,0 @@
-#include <iostream>
-#include <opencv2/highgui/highgui.hpp>
-#include <opencv2/core/core.hpp>
-#include <opencv2/opencv.hpp>
-
-cv::Mat inputimg()
-{
-	cv::Mat img;
-	img=cv::imread("./images.jpeg",1);
-	return img;
-}
-
-void showimg(cv::Mat img)
-{
-	cv::imshow("window",img);
-	cv::waitKey(1000);
-	cv::destroyAllWindows();
-}
-
-cv::Mat cvtbinary(cv::Mat img,char color)
-{
-	int i,j;
-	cv::Mat binary(img.rows,img.cols,CV_8UC1,cvScalarAll(0));
-	for(i=0;i<img.rows;++i){
-		for(j=0;j<img.cols;++j){
-			if(img.at<cv::Vec3b>(i,j)[color]>=200)
-				binary.at<uchar>(i,j)=255;
-		}
-	}
-	return binary;
-}
-
-char if_circle(cv::Mat img,int *x,int *y,char color)
-{
-	img=cvtbinary(img,color);
-	cv::Rect ROI(*x,*y,img.cols-*x,img.rows-*y);
-	img=img(ROI);
-	std::vector<cv::Vec3f> circles;
-	Canny(img,img,100,300,3);
-	GaussianBlur( img, img, cv::Size(9, 9), 2, 2 );
-	// showimg(img);
-	HoughCircles(img,circles,CV_HOUGH_GRADIENT,1,img.rows/10,200,50,0,0);
-	if(circles.size()==0)
-		return 0;
-	else{
-		*x=circles[circles.size()-1][0];
-		*y=circles[circles.size()-1][1];
-		return 1;
-	}
-}
-
-class player
-{
-public:
-  int score,x,y;
-  player()
-  {
-    score=0;
-    x=0;
-    y=0;
-  }
-};
-
-class boardgame
-{
-public:
-  cv::Mat board;
-  boardgame()
-  {
-  	board=inputimg();
-  	showimg(board);
-  }
-  int dice_read()
-  {
-    int x;
-    std::cout<<"Enter number on dice:";
-    std::cin>>x;
-    return x;
-  }
-  char score(int x,int *score,int *pose_x,int *pose_y)
-  {
-    if(!x&1){
-      (*score)*=2;
-      if(if_circle(board,pose_x,pose_y,2))
-        return 1;
-    }
-    else if(x==1){
-      (*score)+=10;
-      if(if_circle(board,pose_x,pose_y,0))
-        return 1;
-    }
-    else{
-      (*score)+=x;
-      if(if_circle(board,pose_x,pose_y,1))
-        return 1;
-    }
-    return 0;
-  }
-};
-
-int main()
-{
-  	boardgame bg;
-  	player p1,p2;
-    while(1){
-      std::cout<<"\n\n\tPlayer 1 plays\n";
-      //std::cout<<"Pos. of Player1:"<<p1.x<<p1.y;
-      if(bg.score(bg.dice_read(),&p1.score,&p1.x,&p1.y)){
-          std::cout<<"Player 1 moves to the next circle\nGame continues\n";
-        }
-      else{
-          std::cout<<"Player 1 has no choice of circle to move.\nPlayer 1 wins\n";
-          return 0;
-      }
-      std::cout<<"\n\tPlayer 2 Plays\n";
-      //std::cout<<"Pos. of Player2:"<<p2.x<<p2.y;
-      if(bg.score(bg.dice_read(),&p2.score,&p2.x,&p2.y))
-          std::cout<<"Player 2 moves to the next circle\nGame continues\n";
-      else{
-          std::cout<<"Player 2 has no choice of circle to move.\nPlayer 1 wins\n";
-          return 0;
-      }
-    }
-  	return 0;
-}
-    
diff --git a/aditya/Ros_assignment/publisher_subscriber/CMakeLists.txt b/aditya/Ros_assignment/publisher_subscriber/CMakeLists.txt
deleted file mode 100644
index 63c60f6..0000000
--- a/aditya/Ros_assignment/publisher_subscriber/CMakeLists.txt
+++ /dev/null
@@ -1,32 +0,0 @@
-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(publisher src/publisher.cpp)
-rosbuild_add_executable(subscriber src/subscriber.cpp)
diff --git a/aditya/Ros_assignment/publisher_subscriber/Makefile b/aditya/Ros_assignment/publisher_subscriber/Makefile
deleted file mode 100644
index b75b928..0000000
--- a/aditya/Ros_assignment/publisher_subscriber/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/aditya/Ros_assignment/publisher_subscriber/mainpage.dox b/aditya/Ros_assignment/publisher_subscriber/mainpage.dox
deleted file mode 100644
index 3f81c1d..0000000
--- a/aditya/Ros_assignment/publisher_subscriber/mainpage.dox
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b publisher_subscriber 
-
-<!-- 
-Provide an overview of your package.
--->
-
--->
-
-
-*/
diff --git a/aditya/Ros_assignment/publisher_subscriber/manifest.xml b/aditya/Ros_assignment/publisher_subscriber/manifest.xml
deleted file mode 100644
index a178819..0000000
--- a/aditya/Ros_assignment/publisher_subscriber/manifest.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<package>
-  <description brief="publisher_subscriber">
-
-     publisher_subscriber
-
-  </description>
-  <author>aditya</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/publisher_subscriber</url>
-  <depend package="roscpp"/>
-  <depend package="rospy"/>
-
-</package>
-
-
diff --git a/aditya/Ros_assignment/publisher_subscriber/src/publisher.cpp b/aditya/Ros_assignment/publisher_subscriber/src/publisher.cpp
deleted file mode 100644
index 198ead4..0000000
--- a/aditya/Ros_assignment/publisher_subscriber/src/publisher.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-#include <sstream>
-
-int main(int argc,char **argv)
-{
-  ros::init(argc, argv,"talker");
-  ros::NodeHandle n;
-  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter",1000);
-  ros::Rate loop_rate(10);
-  int count=0;
-  while(ros::ok()){
-    std_msgs::String msg;
-    std::stringstream ss;
-    ss <<"hello world "<< count;
-    msg.data = ss.str();
-    ROS_INFO("%s", msg.data.c_str());
-    chatter_pub.publish(msg);
-    ros::spinOnce();
-    loop_rate.sleep();
-    ++count;
-  }
-  return 0;
-}
diff --git a/aditya/Ros_assignment/publisher_subscriber/src/subscriber.cpp b/aditya/Ros_assignment/publisher_subscriber/src/subscriber.cpp
deleted file mode 100644
index c07d02d..0000000
--- a/aditya/Ros_assignment/publisher_subscriber/src/subscriber.cpp
+++ /dev/null
@@ -1,70 +0,0 @@
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-/**
-* This tutorial demonstrates simple receipt of messages over the ROS
-system.
-*/
-void chatterCallback(const std_msgs::String::ConstPtr& msg)
-{
-  ROS_INFO("I heard: [%s]", msg->data.c_str());
-}
-int main(int argc,char **argv)
-{
-  /**
-   * The ros::init() function needs to see argc and argv so that it can
-   perform
-   * any ROS arguments and name remapping that were provided at the
-   command line. For programmatic
-   * remappings you can use a different version of init() which takes
-   remappings
-   * directly, but for most command-line programs, passing argc and argv
-   is the easiest
-   * way to do it. The third argument to init() is the name of the
-   node.
-   *
-   * You must call one of the versions of ros::init() before using any
-   other* part of the ROS system.
-  */
-  ros::init(argc, argv,"listener");
-  /**
-   * NodeHandle is the main access point to communications with the ROS
-   system.
-   * The first NodeHandle constructed will fully initialize this node,
-   and the last
-   * NodeHandle destructed will close down the node.
-   */
-  ros::NodeHandle n;
-  /**
-   * The subscribe() call is how you tell ROS that you want to receive
-   messages
-   * on a given topic. This invokes a call to the ROS
-   * master node, which keeps a registry of who is publishing and who
-   * is subscribing. Messages are passed to a callback function, here
-   * called chatterCallback. subscribe() returns a Subscriber object
-   that you
-   * must hold on to until you want to unsubscribe. When all copies of
-   the Subscriber
-   * object go out of scope, this callback will automatically be
-   unsubscribed from
-   * this topic.
-   *
-   * The second parameter to the subscribe() function is the size of
-   the message
-   * queue. If messages are arriving faster than they are being
-   processed, this
-   * is the number of messages that will be buffered up before beginning
-   to throw
-   * away the oldest ones.
-   */
-  ros::Subscriber sub = n.subscribe("chatter",1000, chatterCallback);
-  /**
-   * ros::spin() will enter a loop, pumping callbacks. With this
-   version, all
-   * callbacks will be called from within this thread (the main one).
-   ros::spin()
-   * will exit when Ctrl-C is pressed, or the node is shutdown by the
-   master.
-  */
-  ros::spin();
-  return 0;
-}
diff --git a/krishna95/oops assignment/CMakeLists.txt b/krishna95/oops assignment/CMakeLists.txt
deleted file mode 100644
index 95daeb9..0000000
--- a/krishna95/oops assignment/CMakeLists.txt	
+++ /dev/null
@@ -1,32 +0,0 @@
-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(talker src/gameImage.h )
-rosbuild_add_executable(game src/game/maingame.cpp src/game/Image.h src/game/Image.cpp src/game/Player.h src/game/Player.cpp src/game/Game.h src/game/Game.cpp)
diff --git a/krishna95/oops assignment/Game.cpp b/krishna95/oops assignment/Game.cpp
deleted file mode 100644
index 0cc921a..0000000
--- a/krishna95/oops assignment/Game.cpp	
+++ /dev/null
@@ -1,27 +0,0 @@
-#include "Game.h"
-
-void Game::numofplayers(int x){
-		cout<<"starting to create an array of players"<<endl;
-		players=new Player[x];
-		cout<<"array of players created"<<endl;
-	}
-	void  Game::setplayer(Player* player,int Id,Image image){
-			cout<<"initialising the values for player"<<endl;
-			player->id=Id;
-			player->pos.x=0;
-			player->pos.y=0;
-			player->score=0;
-			player->_count=image.count;
-			
-		}
-	void Game::setting(Image image){
-		cout<<"enter the setting zone"<<endl;
-		numofplayers(num_players);
-		for (int i=0;i<num_players;i++)
-			setplayer(&players[i],i,image);
-		cout<<"initialising done"<<endl;
-	}
-<<<<<<< HEAD
-	
-=======
->>>>>>> 06d2ba277a670859eec28c9fc13fb8ed2bd719a5
diff --git a/krishna95/oops assignment/Game.h b/krishna95/oops assignment/Game.h
deleted file mode 100644
index 28269f6..0000000
--- a/krishna95/oops assignment/Game.h	
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef GAME_H
-#define GAME_H
-#include <iostream>
-#include <math.h>
-#include <stdlib.h>
-#include <new>
-#include <stdio.h>
-#include <highgui.h>
-#include <math.h>
-#include <cv.h>
-#include <cxcore.h> 
-#include "Player.h"
-#include "Image.h"
-
-
-//g++ game.cpp 'pkg-config opencv --cflags --libs'
-using namespace std;
-
-class Game{
-	private:
-	int dice;
-	public:
-	Player *winner;
-	cv::Mat img;
-	Player *players;
-	int num_players;
-	void numofplayers(int x);
-	void  setplayer( Player* player,int Id,Image image);
-	void setting(Image image);
-};
-
-<<<<<<< HEAD
-#endif
-=======
-#endif
->>>>>>> 06d2ba277a670859eec28c9fc13fb8ed2bd719a5
diff --git a/krishna95/oops assignment/Image.cpp b/krishna95/oops assignment/Image.cpp
deleted file mode 100644
index a7165dd..0000000
--- a/krishna95/oops assignment/Image.cpp	
+++ /dev/null
@@ -1,166 +0,0 @@
-#include "Image.h"
-#include <cstdlib>
-using namespace std;
-struct point {
-	int x;
-	int y;
-}point;
-
-
-struct ind
-{
-	int x;int y;
-	struct ind* next;
-};
- ind *front,*rear;
-
-void enqueue(int x,int y){
-	 ind* n;
-	n=(ind*)malloc(sizeof(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(){
-	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::color_to_binary(cv::Mat img1)
-{
-	cv::Mat bin(img1.rows,img1.cols,CV_8UC1,cvScalarAll(0));
-		for (int i=0;i<img1.rows;i++ ){
-			for (int j=0;j<img1.cols;j++){
-				if (img1.at<cv::Vec3b>(i,j)[0]==0 && img1.at<cv::Vec3b>(i,j)[1]==0 && img1.at<cv::Vec3b>(i,j)[2]==0 )
-					bin.at<uchar>(i,j)=0;
-				else
-					bin.at<uchar>(i,j)=255;
-			}
-		}
-		return bin;
-}
-
-void Image::find_prop(cv::Mat bin,cv::Mat img1){
-		cout<<"find_prop has started"<<endl;
-		int c_x,c_y,c_pixel,i,j,k;
-		for (k=1;k<=count;k++)
-		{
-			for ( i=0;i<bin.rows;i++)
-			{
-				for ( j=0;j<bin.cols;j++){
-					if (A[i][j]==k)
-					{
-						c_x+=j;
-						c_y+=i;
-						c_pixel++;
-					}
-				}
-			}
-		
-		blob[k].x=c_x/c_pixel;
-		blob[k].y=c_y/c_pixel;
-		c_x=c_y=c_pixel=0;
-		if (img1.at<cv::Vec3b>(blob[k].y,blob[k].x)[0]==255)
-			{ cout<<"here"<<endl;blob[k].color='b';}
-		if (img1.at<cv::Vec3b>(blob[k].y,blob[k].x)[1]==255)
-			{ cout<<"here"<<endl;blob[k].color='g';}
-		if (img1.at<cv::Vec3b>(blob[k].y,blob[k].x)[2]==255)
-			{ cout<<"here"<<endl;blob[k].color='r';}
-	}
-}
-
-
-void Image::definearray(int count){
-		cout<<"define array has started"<<endl;
-		blob=new prop[count+1];
-		cout<<"define array has ended"<<endl;
-	}
-
-void Image::BlobDetect(cv::Mat bin,int *count,cv::Mat img1)
-{
-	int i,j,x,y,wd=bin.cols,ht=bin.rows;
-	cout<<"rowss is "<<ht<<endl;
-	cout <<"cols is "<<wd<<endl;
-	 	A=new int*[ht];
-	 	for(i=0;i<ht;i++)
-			 A[i]=new int[wd];
-	 	for(i=0;i<ht;i++){
-			 for(j=0;j<wd;j++){
-			 	A[i][j]=-1;
-			 }
-		}
-		cout<<"A matrix is created"<<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){
-					 *count=*count+1;
-				 	enqueue(i,j);
-					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]=*count;
-							 	}
-					 		}
-						}
-						A[x][y]=*count;
-					}
-				 }
-			 }
-		 }
-	}
-	std::cout<<"number of blobs"<<*count<<endl;
-
-	Image::definearray(*count);	
-	Image::find_prop(bin,img1);
-}
-
- Image::Image(cv::Mat img3){
-	img=img3;
-	count=0;
-	cv::Mat bin(img.rows,img.cols,CV_8UC1,cvScalarAll(0));
-	 bin=Image::color_to_binary(img);
-	cv::namedWindow("won",0);
-	cv::imshow("won",bin);
-	cv::waitKey(0);
-	BlobDetect(bin,&count,img);
-}
-<<<<<<< HEAD
-=======
-
-
-
->>>>>>> 06d2ba277a670859eec28c9fc13fb8ed2bd719a5
-
-
-
-
-
-
-
-
-
diff --git a/krishna95/oops assignment/Image.h b/krishna95/oops assignment/Image.h
deleted file mode 100644
index d7910d9..0000000
--- a/krishna95/oops assignment/Image.h	
+++ /dev/null
@@ -1,40 +0,0 @@
-#ifndef IMAGE_H
-#define IMAGE_H
-#include <iostream>
-#include <cmath>
-#include <cstdlib>
-#include <new>
-#include <cstdio>
-#include <highgui.h>
-#include <cmath>
-#include <cv.h>
-#include <cxcore.h> 
-
-struct prop{
-	char color;
-	int x;
-	int y;
-};
-
-
-
-class Image{
-	private:
-	cv::Mat img;
-	int **A;
-	public:
-	prop *blob;
-	int count;
-	Image(cv::Mat img3);
-	cv::Mat color_to_binary(cv::Mat img1);
-	void BlobDetect(cv::Mat bin,int *count,cv::Mat img1);
-	void definearray(int count);
-	void find_prop(cv::Mat bin,cv::Mat img1);
-
-};
-
-<<<<<<< HEAD
-#endif
-=======
-#endif
->>>>>>> 06d2ba277a670859eec28c9fc13fb8ed2bd719a5
diff --git a/krishna95/oops assignment/Player.cpp b/krishna95/oops assignment/Player.cpp
deleted file mode 100644
index aa32d52..0000000
--- a/krishna95/oops assignment/Player.cpp	
+++ /dev/null
@@ -1,77 +0,0 @@
-#include "Player.h"
-
-
-
-
-void Player::Reqcolor(int outcome){
-	if (outcome%2==0)
-		reqcolor='r';
-	else
-		if (outcome==1)
-		reqcolor='b';
-		else
-			reqcolor='g';
-		cout<<"required colour is "<<reqcolor<<endl;
-	}
-
-
-point Player::RequiredPos(point pos,int outcome,prop *blob){
-int min=1000;
-point pos2;
-pos2.x=pos2.y=0;
-Player::Reqcolor(outcome);
-for (int i=0;i<_count;i++)
-{
-	if (blob[i].color==reqcolor && blob[i].x>pos.x && blob[i].y>pos.y)
-	{
-		if (sqrt((blob[i].x-pos.x)*(blob[i].x-pos.x)+(blob[i].y-pos.y)*(blob[i].y-pos.y))<min)
-		{
-			pos2.x=blob[i].x;
-			pos2.y=blob[i].y;
-		}	
-	}
-}
-	cout<<"pos 2 is "<<pos2.x<<" "<<pos2.y<<endl;
-	return pos2;
-}
-			
-
-
-
-point Player::updatepos(point pos,int outcome,prop *blob){
-	pos=RequiredPos(pos,outcome,blob);
-	return pos;
-}
-
-int Player::updatescore(int outcome,int score){
-	if (outcome%2==0)
-		return score+2*outcome;
-	if (outcome==1)
-		return score+10;
-	else
-		return score+outcome;
-}
-
-void Player::update(int outcome,prop *blob){
-	cout<<"updating "<<endl;
-	pos=updatepos(pos,outcome,blob);
-	cout<<"initial score is "<<score<<endl;
-	score=updatescore(outcome,score);
-	cout<<"score is "<<score<<endl;
-}
-
-void Player::play(prop *blob){
-	outcome= rand()%6;
-	cout<<"outcome is "<<outcome<<endl;
-	update(outcome,blob);
-}
-
-
-
-
-
-
-
-
-
-
diff --git a/krishna95/oops assignment/Player.h b/krishna95/oops assignment/Player.h
deleted file mode 100644
index ac908a7..0000000
--- a/krishna95/oops assignment/Player.h	
+++ /dev/null
@@ -1,38 +0,0 @@
-#ifndef PLAYER_H
-#define PLAYER_H
-#include <iostream>
-#include <math.h>
-#include <stdlib.h>
-#include <new>
-#include "Image.h"
-
-using namespace std;
-
- struct point {
-	int x;
-	int y;
-};
-
-
-class Player {
-private:
-	int outcome;
-	char reqcolor;
-	public:
-	int score;
-	int id,_count;
-	point pos;
-
-	void Reqcolor(int outcome);
-	point RequiredPos(point pos,int outcome,prop *blob);
-	point updatepos(point pos,int outcome,prop *blob);
-	int updatescore(int outcome,int score);
-	void update(int outcome,prop *blob);
-	void  play(prop *blob);
-};
-
-<<<<<<< HEAD
-#endif 
-=======
-#endif 
->>>>>>> 06d2ba277a670859eec28c9fc13fb8ed2bd719a5
diff --git a/krishna95/oops assignment/board.jpg b/krishna95/oops assignment/board.jpg
deleted file mode 100644
index c28806b..0000000
Binary files a/krishna95/oops assignment/board.jpg and /dev/null differ
diff --git a/krishna95/oops assignment/maingame.cpp b/krishna95/oops assignment/maingame.cpp
deleted file mode 100644
index 7956a1c..0000000
--- a/krishna95/oops assignment/maingame.cpp	
+++ /dev/null
@@ -1,45 +0,0 @@
-#include <opencv2/opencv.hpp>
-#include <opencv2/core/core.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include "Image.h"
-#include "Player.h"
-#include "Game.h"
-#include <iostream>
-using namespace std;
-int main(){
-	Game game;
-	game.img=cv::imread("board.jpg",1);
-	
-	cv::namedWindow("win",0);
-	cv::imshow("win",game.img);
-	cv::waitKey(0);
-	Image board(game.img);
-	cout<<"enter the number of players"<<endl;
-		
-		cin>>game.num_players;
-		cout<<"done"<<endl;
-		game.setting(board);
-		cout<<game.players[0].pos.x<<" "<<game.players[0].pos.y<<" "<< game.players[0].score<<endl;
-
-	cout<<"entering the infinite loop"<<endl;
-	while (1)
-	{
-		
-		for (int i=0;i<game.num_players;i++){
-			cout<<"playing"<<" "<<i<<endl;
-			cout<<game.players[i].pos.x<<" "<<game.players[i].pos.y<<endl;
-			game.players[i].play(board.blob);
-			cout<<game.players[i].pos.x<<" "<<game.players[i].pos.y<<endl;
-			//cv::waitKey(0);
-			if (game.players[i].pos.x==0 && game.players[i].pos.y==0)
-			{
-				game.winner=&game.players[i];
-				cout<<"winner is player "<<i<<endl;
-				return 0;
-			}
-		}
-	}
-}
-
-
-
diff --git a/krishna95/oops assignment/manifest.xml b/krishna95/oops assignment/manifest.xml
deleted file mode 100644
index de573e8..0000000
--- a/krishna95/oops assignment/manifest.xml	
+++ /dev/null
@@ -1,18 +0,0 @@
-<package>
-  <description brief="beginner_tutorials">
-
-     beginner_tutorials
-
-  </description>
-  <author>krish.kgp</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="opencv2"/>
-  <depend package="roscpp"/>
-
-</package>
-
-
diff --git a/krishna95/ros assignment/publisher.cpp b/krishna95/ros assignment/publisher.cpp
deleted file mode 100644
index 0b347d9..0000000
--- a/krishna95/ros assignment/publisher.cpp	
+++ /dev/null
@@ -1,25 +0,0 @@
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-#include <sstream>
-int main(int argc,char ** argv)
-{
-	ros::init(argc,argv,"talker");
-	ros::NodeHandle n;
-	ros::Publisher agv_pub=n.advertise<std_msgs::String>("chatter",100);
-	int count=0;
-	ros:: Rate loop_rate(10);
-	while (ros::ok())
-	{
-		std_msgs:: String msg;
-		std:: stringstream ss;
-		ss << "hello world" << count;
-		msg.data=ss.str();
-		ROS_INFO("%s",msg.data.c_str());
-		agv_pub.publish(msg);
-		ros::spinOnce();
-		loop_rate.sleep();
-		++count;
-
-	}
-	return 0;
-}
\ No newline at end of file
diff --git a/krishna95/ros assignment/subscriber.cpp b/krishna95/ros assignment/subscriber.cpp
deleted file mode 100644
index 53ef39a..0000000
--- a/krishna95/ros assignment/subscriber.cpp	
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "ros/ros.h"
-#include "std_msgs/String.h"
-
-void callback(const std_msgs::String::ConstPtr& msg)
-{
-	ROS_INFO("I heard: [%s]",msg->data.c_str());
-}
-int main(int argc,char ** argv)
-{
-	ros::init(argc, argv,"listener");
-	ros::NodeHandle n;
-	ros::Subscriber sub=n.subscribe("chatter",100,callback);
-	ros::spin();
-	return 0;
-}
\ No newline at end of file
diff --git a/oops assignment/CMakeLists.txt b/oops assignment/CMakeLists.txt
deleted file mode 100644
index 95daeb9..0000000
--- a/oops assignment/CMakeLists.txt	
+++ /dev/null
@@ -1,32 +0,0 @@
-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(talker src/gameImage.h )
-rosbuild_add_executable(game src/game/maingame.cpp src/game/Image.h src/game/Image.cpp src/game/Player.h src/game/Player.cpp src/game/Game.h src/game/Game.cpp)
diff --git a/oops assignment/Game.cpp b/oops assignment/Game.cpp
deleted file mode 100644
index d485945..0000000
--- a/oops assignment/Game.cpp	
+++ /dev/null
@@ -1,24 +0,0 @@
-#include "Game.h"
-
-void Game::numofplayers(int x){
-		cout<<"starting to create an array of players"<<endl;
-		players=new Player[x];
-		cout<<"array of players created"<<endl;
-	}
-	void  Game::setplayer(Player* player,int Id,Image image){
-			cout<<"initialising the values for player"<<endl;
-			player->id=Id;
-			player->pos.x=0;
-			player->pos.y=0;
-			player->score=0;
-			player->_count=image.count;
-			
-		}
-	void Game::setting(Image image){
-		cout<<"enter the setting zone"<<endl;
-		numofplayers(num_players);
-		for (int i=0;i<num_players;i++)
-			setplayer(&players[i],i,image);
-		cout<<"initialising done"<<endl;
-	}
-	
diff --git a/oops assignment/Game.h b/oops assignment/Game.h
deleted file mode 100644
index 0491f16..0000000
--- a/oops assignment/Game.h	
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef GAME_H
-#define GAME_H
-#include <iostream>
-#include <math.h>
-#include <stdlib.h>
-#include <new>
-#include <stdio.h>
-#include <highgui.h>
-#include <math.h>
-#include <cv.h>
-#include <cxcore.h> 
-#include "Player.h"
-#include "Image.h"
-
-
-//g++ game.cpp 'pkg-config opencv --cflags --libs'
-using namespace std;
-
-class Game{
-	private:
-	int dice;
-	public:
-	Player *winner;
-	cv::Mat img;
-	Player *players;
-	int num_players;
-	void numofplayers(int x);
-	void  setplayer( Player* player,int Id,Image image);
-	void setting(Image image);
-};
-
-#endif
\ No newline at end of file
diff --git a/oops assignment/Image.cpp b/oops assignment/Image.cpp
deleted file mode 100644
index 4fdfc11..0000000
--- a/oops assignment/Image.cpp	
+++ /dev/null
@@ -1,160 +0,0 @@
-#include "Image.h"
-#include <cstdlib>
-using namespace std;
-struct point {
-	int x;
-	int y;
-}point;
-
-
-struct ind
-{
-	int x;int y;
-	struct ind* next;
-};
- ind *front,*rear;
-
-void enqueue(int x,int y){
-	 ind* n;
-	n=(ind*)malloc(sizeof(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(){
-	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::color_to_binary(cv::Mat img1)
-{
-	cv::Mat bin(img1.rows,img1.cols,CV_8UC1,cvScalarAll(0));
-		for (int i=0;i<img1.rows;i++ ){
-			for (int j=0;j<img1.cols;j++){
-				if (img1.at<cv::Vec3b>(i,j)[0]==0 && img1.at<cv::Vec3b>(i,j)[1]==0 && img1.at<cv::Vec3b>(i,j)[2]==0 )
-					bin.at<uchar>(i,j)=0;
-				else
-					bin.at<uchar>(i,j)=255;
-			}
-		}
-		return bin;
-}
-
-void Image::find_prop(cv::Mat bin,cv::Mat img1){
-		cout<<"find_prop has started"<<endl;
-		int c_x,c_y,c_pixel,i,j,k;
-		for (k=1;k<=count;k++)
-		{
-			for ( i=0;i<bin.rows;i++)
-			{
-				for ( j=0;j<bin.cols;j++){
-					if (A[i][j]==k)
-					{
-						c_x+=j;
-						c_y+=i;
-						c_pixel++;
-					}
-				}
-			}
-		
-		blob[k].x=c_x/c_pixel;
-		blob[k].y=c_y/c_pixel;
-		c_x=c_y=c_pixel=0;
-		if (img1.at<cv::Vec3b>(blob[k].y,blob[k].x)[0]==255)
-			{ cout<<"here"<<endl;blob[k].color='b';}
-		if (img1.at<cv::Vec3b>(blob[k].y,blob[k].x)[1]==255)
-			{ cout<<"here"<<endl;blob[k].color='g';}
-		if (img1.at<cv::Vec3b>(blob[k].y,blob[k].x)[2]==255)
-			{ cout<<"here"<<endl;blob[k].color='r';}
-	}
-}
-
-
-void Image::definearray(int count){
-		cout<<"define array has started"<<endl;
-		blob=new prop[count+1];
-		cout<<"define array has ended"<<endl;
-	}
-
-void Image::BlobDetect(cv::Mat bin,int *count,cv::Mat img1)
-{
-	int i,j,x,y,wd=bin.cols,ht=bin.rows;
-	cout<<"rowss is "<<ht<<endl;
-	cout <<"cols is "<<wd<<endl;
-	 	A=new int*[ht];
-	 	for(i=0;i<ht;i++)
-			 A[i]=new int[wd];
-	 	for(i=0;i<ht;i++){
-			 for(j=0;j<wd;j++){
-			 	A[i][j]=-1;
-			 }
-		}
-		cout<<"A matrix is created"<<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){
-					 *count=*count+1;
-				 	enqueue(i,j);
-					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]=*count;
-							 	}
-					 		}
-						}
-						A[x][y]=*count;
-					}
-				 }
-			 }
-		 }
-	}
-	std::cout<<"number of blobs"<<*count<<endl;
-
-	Image::definearray(*count);	
-	Image::find_prop(bin,img1);
-}
-
- Image::Image(cv::Mat img3){
-	img=img3;
-	count=0;
-	cv::Mat bin(img.rows,img.cols,CV_8UC1,cvScalarAll(0));
-	 bin=Image::color_to_binary(img);
-	cv::namedWindow("won",0);
-	cv::imshow("won",bin);
-	cv::waitKey(0);
-	BlobDetect(bin,&count,img);
-}
-
-
-
-
-
-
-
-
-
diff --git a/oops assignment/Image.h b/oops assignment/Image.h
deleted file mode 100644
index 1c1ee88..0000000
--- a/oops assignment/Image.h	
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef IMAGE_H
-#define IMAGE_H
-#include <iostream>
-#include <cmath>
-#include <cstdlib>
-#include <new>
-#include <cstdio>
-#include <highgui.h>
-#include <cmath>
-#include <cv.h>
-#include <cxcore.h> 
-
-struct prop{
-	char color;
-	int x;
-	int y;
-};
-
-
-
-class Image{
-	private:
-	cv::Mat img;
-	int **A;
-	public:
-	prop *blob;
-	int count;
-	Image(cv::Mat img3);
-	cv::Mat color_to_binary(cv::Mat img1);
-	void BlobDetect(cv::Mat bin,int *count,cv::Mat img1);
-	void definearray(int count);
-	void find_prop(cv::Mat bin,cv::Mat img1);
-
-};
-
-#endif
\ No newline at end of file
diff --git a/oops assignment/Player.cpp b/oops assignment/Player.cpp
deleted file mode 100644
index 3b3cde0..0000000
--- a/oops assignment/Player.cpp	
+++ /dev/null
@@ -1,71 +0,0 @@
-#include "Player.h"
-
-
-
-
-void Player::Reqcolor(int outcome){
-	if (outcome%2==0)
-		reqcolor='r';
-	else
-		if (outcome==1)
-		reqcolor='b';
-		else
-			reqcolor='g';
-		cout<<"required colour is "<<reqcolor<<endl;
-	}
-
-
-point Player::RequiredPos(point pos,int outcome,prop *blob){
-int min=1000;
-point pos2;
-pos2.x=pos2.y=0;
-Player::Reqcolor(outcome);
-for (int i=0;i<_count;i++)
-{
-	if (blob[i].color==reqcolor && blob[i].x>pos.x && blob[i].y>pos.y)
-	{
-		if (sqrt((blob[i].x-pos.x)*(blob[i].x-pos.x)+(blob[i].y-pos.y)*(blob[i].y-pos.y))<min)
-		{
-			pos2.x=blob[i].x;
-			pos2.y=blob[i].y;
-		}	
-	}
-}
-	cout<<"pos 2 is "<<pos2.x<<" "<<pos2.y<<endl;
-	return pos2;
-}
-			
-
-
-
-point Player::updatepos(point pos,int outcome,prop *blob){
-	pos=RequiredPos(pos,outcome,blob);
-	return pos;
-}
-
-int Player::updatescore(int outcome,int score){
-	if (outcome%2==0)
-		return score+2*outcome;
-	if (outcome==1)
-		return score+10;
-	else
-		return score+outcome;
-}
-
-void Player::update(int outcome,prop *blob){
-	cout<<"updating "<<endl;
-	pos=updatepos(pos,outcome,blob);
-	cout<<"initial score is "<<score<<endl;
-	score=updatescore(outcome,score);
-	cout<<"score is "<<score<<endl;
-}
-
-void Player::play(prop *blob){
-	outcome= rand()%6;
-	cout<<"outcome is "<<outcome<<endl;
-	update(outcome,blob);
-}
-
-
-
-
diff --git a/oops assignment/Player.h b/oops assignment/Player.h
deleted file mode 100644
index 0ef007c..0000000
--- a/oops assignment/Player.h	
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef PLAYER_H
-#define PLAYER_H
-#include <iostream>
-#include <math.h>
-#include <stdlib.h>
-#include <new>
-#include "Image.h"
-
-using namespace std;
-
- struct point {
-	int x;
-	int y;
-};
-
-
-class Player {
-private:
-	int outcome;
-	char reqcolor;
-	public:
-	int score;
-	int id,_count;
-	point pos;
-
-	void Reqcolor(int outcome);
-	point RequiredPos(point pos,int outcome,prop *blob);
-	point updatepos(point pos,int outcome,prop *blob);
-	int updatescore(int outcome,int score);
-	void update(int outcome,prop *blob);
-	void  play(prop *blob);
-};
-
-#endif 
\ No newline at end of file
diff --git a/oops assignment/board.jpg b/oops assignment/board.jpg
deleted file mode 100644
index c28806b..0000000
Binary files a/oops assignment/board.jpg and /dev/null differ
diff --git a/oops assignment/maingame.cpp b/oops assignment/maingame.cpp
deleted file mode 100644
index 0db6c5c..0000000
--- a/oops assignment/maingame.cpp	
+++ /dev/null
@@ -1,44 +0,0 @@
-#include <opencv2/opencv.hpp>
-#include <opencv2/core/core.hpp>
-#include <opencv2/highgui/highgui.hpp>
-#include "Image.h"
-#include "Player.h"
-#include "Game.h"
-#include <iostream>
-using namespace std;
-int main(){
-	Game game;
-	game.img=cv::imread("board.jpg",1);
-	
-	cv::namedWindow("win",0);
-	cv::imshow("win",game.img);
-	cv::waitKey(0);
-	Image board(game.img);
-	cout<<"enter the number of players"<<endl;
-		
-		cin>>game.num_players;
-		cout<<"done"<<endl;
-		game.setting(board);
-		cout<<game.players[0].pos.x<<" "<<game.players[0].pos.y<<" "<< game.players[0].score<<endl;
-
-	cout<<"entering the infinite loop"<<endl;
-	while (1)
-	{
-		
-		for (int i=0;i<game.num_players;i++){
-			cout<<"playing"<<" "<<i<<endl;
-			cout<<game.players[i].pos.x<<" "<<game.players[i].pos.y<<endl;
-			game.players[i].play(board.blob);
-			cout<<game.players[i].pos.x<<" "<<game.players[i].pos.y<<endl;
-			//cv::waitKey(0);
-			if (game.players[i].pos.x==0 && game.players[i].pos.y==0)
-			{
-				game.winner=&game.players[i];
-				cout<<"winner is player "<<i<<endl;
-				return 0;
-			}
-		}
-	}
-}
-
-
diff --git a/oops assignment/manifest.xml b/oops assignment/manifest.xml
deleted file mode 100644
index de573e8..0000000
--- a/oops assignment/manifest.xml	
+++ /dev/null
@@ -1,18 +0,0 @@
-<package>
-  <description brief="beginner_tutorials">
-
-     beginner_tutorials
-
-  </description>
-  <author>krish.kgp</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="opencv2"/>
-  <depend package="roscpp"/>
-
-</package>
-
-