diff --git a/Yash/Oops_assgn/Search algo/BFS.cpp b/Yash/Oops_assgn/Search algo/BFS.cpp
new file mode 100644
index 0000000..d8e8f0c
--- /dev/null
+++ b/Yash/Oops_assgn/Search algo/BFS.cpp	
@@ -0,0 +1,102 @@
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <iostream>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <math.h>
+#include <queue>
+#include <new>
+#include <stdio.h>
+using namespace cv;
+using namespace std;
+struct Pixel
+{
+    int x,y;
+};
+
+int main( int argc, char** argv )
+{
+    
+    Mat image,grey,bin;
+    int **visited,i,j,a,b,k,l,count=0,s=0,ht,wd;
+    queue<Pixel> pix_queue;
+   // cout << "Success" << s; s++;
+    // getchar();
+
+    image = imread("/home/yash/fuerte_workspace/sandbox/beginner_tutorials/algo/img.png", CV_LOAD_IMAGE_COLOR);  
+
+    if(! image.data )                              
+    {
+        cout <<  "Could not open or find the image" << std::endl ;
+        return -1;
+    }
+    ht=image.rows;
+    wd=image.cols;
+    cvtColor(image,grey,CV_BGR2GRAY);
+    imwrite("grey_img.png",grey);
+    namedWindow( "Display window", WINDOW_AUTOSIZE );
+    imshow( "Display window", grey );                
+
+    waitKey(0);
+    threshold(grey, bin, 100, 255, CV_THRESH_BINARY);
+
+    imshow("Display window",bin);
+    waitKey(0);
+    visited=new int* [ht];
+    for(i=0;i<=ht;i++)
+        visited[i]=new int [wd];
+    for(i=0;i<=ht;i++)
+        for(j=0;j<=wd;j++)
+            visited[i][j]=-1;
+        ht--; wd--;
+    for(i=1;i<603;i++)
+        for(j=1;j<1429;j++)
+        {
+            if(bin.at<uchar>(i,j)==255)
+            {
+                if(visited[i][j]==-1)
+                {
+                    count++;
+                    Pixel pix;
+                    Pixel temp;
+                    pix.x=i;
+                    pix.y=j;
+                    pix_queue.push(pix);
+                    temp=pix_queue.front();
+                    a=temp.x;
+                    b=temp.y;
+                    printf("a=%d,b=%d",a,b);
+                    getchar();
+                    while(!pix_queue.empty())
+                    {
+                        
+                        Pixel t;
+                        t=pix_queue.front();
+                        a=t.x;
+                        b=t.y;
+                        pix_queue.pop();
+                        for(k=a-1;k<=a+1;k++)
+                            for(l=b-1;l<=b+1;l++)
+                            {
+                                if(bin.at<uchar>(k,l)==255 && visited[k][l]==-1)
+                                {
+                                    printf("k=%d,l%d",k,l);
+                    getchar();
+                                    pix.x=k;
+                                    pix.y=l;
+                                    pix_queue.push(pix);
+                                    visited[k][l]=count;
+                                }
+                            }
+                        visited[a][b]=count;
+                    }
+                    printf("got out");
+                    getchar();
+
+                }
+
+            }
+        }
+       
+    cout<<count;
+    return 0;
+}
\ No newline at end of file
diff --git a/Yash/Oops_assgn/Search algo/Dijkstra.cpp b/Yash/Oops_assgn/Search algo/Dijkstra.cpp
new file mode 100644
index 0000000..8b798e8
--- /dev/null
+++ b/Yash/Oops_assgn/Search algo/Dijkstra.cpp	
@@ -0,0 +1,95 @@
+#include <iostream>
+#include <queue>
+#include <stdio.h>
+using namespace std;
+struct node
+{
+	int i;
+	int cweight;
+};
+
+class CompareWeight
+{
+	public:
+	bool operator() (node& lhs, node& rhs) 
+	{
+		if (lhs.cweight>rhs.cweight) return true;
+		return false;
+	}
+};
+
+int main()
+{	
+	int j,l,n,s,e,present;
+	node start,current,next;
+	n=8;
+	int k[n][n], past[n],flag[n];
+	for(j=0;j<n;j++)
+		flag[j]=-1;
+	priority_queue <node, vector<node>, CompareWeight> pq;
+	
+	cout<<"Start=";
+	cin>>s;
+	cout<<"End=";
+	cin>>e;
+	for(j=0;j<n;j++)
+	{
+		for(l=0;l<n;l++)
+		{
+			k[j][l]=-1;
+		}
+	}
+	
+	k[0][1]=20;
+	k[0][3]=80;
+	k[0][6]=90;
+	k[1][5]=10;
+	k[2][3]=10;
+	k[2][5]=50;
+	k[2][7]=20;
+	k[3][2]=10;
+	k[3][6]=20;
+	k[4][1]=50;
+	k[4][6]=30;
+	k[5][2]=10;
+	k[5][3]=40;
+	k[6][0]=20;
+	start.i=s;
+	start.cweight=0;
+	pq.push(start);
+	while(!pq.empty())
+	{
+		current=pq.top();
+		pq.pop();
+		if(past[current.i]>current.cweight||flag[current.i]==-1)
+		{
+			past[current.i]=current.cweight;
+			flag[current.i]=1;
+		}
+		for(j=0;j<n;j++)
+		{
+			if(k[current.i][j]!=-1)
+				{
+					next.i=j;
+					next.cweight=current.cweight+k[current.i][j];
+					if(past[next.i]>=next.cweight||flag[next.i]==-1)
+						pq.push(next);
+				}
+		}
+		cout<<"Success";
+	}
+present=e;
+l=past[e];
+cout<<'\n'<<"Backtrace End("<<e<<") <- ";
+	while(present!=s)
+	{
+		for(j=0;j<n;j++)
+			if(k[j][present]!=-1 && past[present]-k[j][present]==past[j])
+			{
+				present=j;
+				cout<<j<<" <- ";
+			}
+	}
+	cout<<'\n';
+	return 0;
+}
\ No newline at end of file
diff --git a/Yash/Oops_assgn/Search algo/dfs.cpp b/Yash/Oops_assgn/Search algo/dfs.cpp
new file mode 100644
index 0000000..2637b83
--- /dev/null
+++ b/Yash/Oops_assgn/Search algo/dfs.cpp	
@@ -0,0 +1,102 @@
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <iostream>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <math.h>
+#include <stack>
+#include <new>
+#include <stdio.h>
+using namespace cv;
+using namespace std;
+struct Pixel
+{
+    int x,y;
+};
+
+int main( int argc, char** argv )
+{
+    
+    Mat image,grey,bin;
+    int **visited,i,j,a,b,k,l,count=0,s=0,ht,wd;
+    stack<Pixel> pix_stack;
+   // cout << "Success" << s; s++;
+    // getchar();
+
+    image = imread("/home/yash/fuerte_workspace/sandbox/beginner_tutorials/algo/img.png", CV_LOAD_IMAGE_COLOR);  
+
+    if(! image.data )                              
+    {
+        cout <<  "Could not open or find the image" << std::endl ;
+        return -1;
+    }
+    ht=image.rows;
+    wd=image.cols;
+    cvtColor(image,grey,CV_BGR2GRAY);
+    imwrite("grey_img.png",grey);
+    namedWindow( "Display window", WINDOW_AUTOSIZE );
+    imshow( "Display window", grey );                
+
+    waitKey(0);
+    threshold(grey, bin, 100, 255, CV_THRESH_BINARY);
+
+    imshow("Display window",bin);
+    waitKey(0);
+    visited=new int* [ht];
+    for(i=0;i<=ht;i++)
+        visited[i]=new int [wd];
+    for(i=0;i<=ht;i++)
+        for(j=0;j<=wd;j++)
+            visited[i][j]=-1;
+        ht--; wd--;
+    for(i=1;i<603;i++)
+        for(j=1;j<1429;j++)
+        {
+            if(bin.at<uchar>(i,j)==255)
+            {
+                if(visited[i][j]==-1)
+                {
+                    count++;
+                    Pixel pix;
+                    Pixel temp;
+                    pix.x=i;
+                    pix.y=j;
+                    pix_stack.push(pix);
+                    temp=pix_stack.top();
+                    a=temp.x;
+                    b=temp.y;
+                    printf("a=%d,b=%d",a,b);
+                    getchar();
+                    while(!pix_stack.empty())
+                    {
+                        
+                        Pixel t;
+                        t=pix_stack.top();
+                        a=t.x;
+                        b=t.y;
+                        pix_stack.pop();
+                        for(k=a-1;k<=a+1;k++)
+                            for(l=b-1;l<=b+1;l++)
+                            {
+                                if(bin.at<uchar>(k,l)==255 && visited[k][l]==-1)
+                                {
+                                    printf("k=%d,l%d",k,l);
+                    getchar();
+                                    pix.x=k;
+                                    pix.y=l;
+                                    pix_stack.push(pix);
+                                    visited[k][l]=count;
+                                }
+                            }
+                        visited[a][b]=count;
+                    }
+                    printf("got out");
+                    getchar();
+
+                }
+
+            }
+        }
+       
+    cout<<count;
+    return 0;
+}
\ No newline at end of file
diff --git a/Yash/Oops_assgn/board_game/Board.cpp b/Yash/Oops_assgn/board_game/Board.cpp
new file mode 100644
index 0000000..b546268
--- /dev/null
+++ b/Yash/Oops_assgn/board_game/Board.cpp
@@ -0,0 +1,135 @@
+#include "Board.h"
+using namespace std;
+
+
+
+int** blobDetect(int *count)
+{	
+	int i,j,k,l,x,y,d;
+	queue<int > myqueue1;
+	queue<int > myqueue2;
+	cv::Mat img=imread(image.jpg);
+	int ht=img->cols;
+ 	int wd=img->rows;
+	Mat gray;
+ 	cvtCor( image, gray, CV_BGR2GRAY );
+ 	imwrite( "Gray_Image.jpg", gray);
+ 	cv::Scalar intensity;
+ 	
+
+ 	int **visited;
+	visited = (int**)malloc(768*sizeof(int*)); 
+ 	for(i=0;i<ht;i++)
+		visited[i]=(int*)malloc((1024*sizeof(int));
+ 	
+
+ 	for(i=0;i<img->cols;i++)
+ 		for(j=0;j<img->rows;j++)
+ 			{
+ 				intensity= grey.at<uchar>(i, j);
+ 				if (intensity>127)
+ 					grey.at<uchar>(i, j)=255;
+ 				else
+ 					grey.at<uchar>(i, j)=0;
+ 			}
+
+
+ 	
+ 	
+ 	
+ 	for(i=0;i<ht;i++)
+		for(j=0;j<wd;j++)
+			visited[i][j]=-1;
+
+
+
+	for(i=1;i<ht-1;i++)
+		for(j=1;j<wd-1;j++)
+		{
+			if(grey.at<uchar>(i, j)==0)
+			{
+				if(visited[i][j]==-1)
+				{
+					*count=*count+1;
+					
+						myqueue1.front=NULL;
+						myqueue1.push(i);
+						myqueue1.front(&x);
+						myqueue2.front=NULL;
+						myqueue2.push(j);
+						myqueue2.front(&y);
+					
+					
+				}
+				while(!isEmpty())
+				{
+					myqueue1.front(&x);
+					myqueue1.pop();
+					myqueue2.front(&y);
+					myqueue2.pop();
+					for(k=x-1;k<=x+1;k++)
+						for(l=y-1;l<=y+1;l++)
+						{
+							intensity=grey.at<uchar>(i, j);
+							if(intensity==0 && visited[k][l]==-1)
+							{
+								myqueue1.push(k);
+								myqueue2.push(l);
+								visited[k][l]=*count;
+							}
+						}
+						visited[x][y]=*count;
+				}
+			}
+		}
+		
+	return visited;
+}
+
+void centroid(int** output,int count,Circle* c)
+{
+	int i,j;
+	double count_pixel[count+1];
+ 	cv::Mat img=cv::imread(image.jpg);
+	for(i=0;i<img.rows;i++)
+		{
+			for(j=0;j<img.rows;j++)
+			{
+				int value;
+				value=output[i][j];
+				if(value!=-1)
+				{
+					c[value].x+=j;
+					c[value].y+=i;
+					count_pixel[value]++;
+				}
+			}
+		}
+	for(i=1;i<count+1;i++)
+	{
+		c[i].x/=count_pixel[i];
+		c[i].y/=count_pixel[i];
+	}
+	cv::Scalar intensity;
+	for(i=1;i<count+1;i++)
+	{
+		cv::Vec3b intensity = img.at<Vec3b>(&c[i].y, &c[i].x);
+		if(intensity.val[0]>200) c[i].color=1;
+		else if (intensity.val[1]>200) c[i].color=2;
+		else (intensity.val[2]>200) c[i].color=3;	
+	}
+}
+return_data board()
+{	
+	return_data a;
+	int **output=NULL;
+	int count;
+	output=blobDetect(&count);
+	Circle c[100];
+	centroid(output,count,c);
+	a.circle=c;
+	a.cnt=count;
+	return a;
+}
+
+
diff --git a/Yash/Oops_assgn/board_game/Board.h b/Yash/Oops_assgn/board_game/Board.h
new file mode 100644
index 0000000..36a61b9
--- /dev/null
+++ b/Yash/Oops_assgn/board_game/Board.h
@@ -0,0 +1,37 @@
+#include <ros/ros.h>
+#include <stdio.h>
+#include <iostream>
+#include <opencv2/imgproc/imgproc.hpp>     
+#include <opencv/cv.h>
+#include <opencv/highgui.h>
+#include <math.h>
+#include <cxcore.h>
+#include <queue> 
+
+using namespace std;
+
+class Circle
+{
+	public:
+	 	int x;
+	 	int y;
+	 	int color;
+};
+
+class return_data
+{
+	public:	
+		Circle* circle;
+		int cnt;
+};
+
+class Board
+{
+private:
+	Circle* c;
+public:
+	int** blobDetect(int*);
+	void centroid(int** ,int ,Circle* );
+	Circle* board();
+	int getCount();
+};
diff --git a/Yash/Oops_assgn/board_game/Board.h.gch b/Yash/Oops_assgn/board_game/Board.h.gch
new file mode 100644
index 0000000..192b14c
Binary files /dev/null and b/Yash/Oops_assgn/board_game/Board.h.gch differ
diff --git a/Yash/Oops_assgn/board_game/Dice.cpp b/Yash/Oops_assgn/board_game/Dice.cpp
new file mode 100644
index 0000000..715ffcb
--- /dev/null
+++ b/Yash/Oops_assgn/board_game/Dice.cpp
@@ -0,0 +1,9 @@
+
+#include "Dice.h"
+
+using namespace std;
+
+int dice()
+{
+	return rand()%6 + 1;
+}
\ No newline at end of file
diff --git a/Yash/Oops_assgn/board_game/Dice.h b/Yash/Oops_assgn/board_game/Dice.h
new file mode 100644
index 0000000..1e8b181
--- /dev/null
+++ b/Yash/Oops_assgn/board_game/Dice.h
@@ -0,0 +1,11 @@
+#include <stdio.h>
+#include <math.h>
+#include <stdlib.h>
+
+using namespace std;;
+
+class Dice
+{
+	public:
+		int dice();
+};
diff --git a/Yash/Oops_assgn/board_game/Dice.h.gch b/Yash/Oops_assgn/board_game/Dice.h.gch
new file mode 100644
index 0000000..616b667
Binary files /dev/null and b/Yash/Oops_assgn/board_game/Dice.h.gch differ
diff --git a/Yash/Oops_assgn/board_game/Distance.cpp b/Yash/Oops_assgn/board_game/Distance.cpp
new file mode 100644
index 0000000..df6c659
--- /dev/null
+++ b/Yash/Oops_assgn/board_game/Distance.cpp
@@ -0,0 +1,7 @@
+#include "Distance.h"
+using namespace std;
+
+float dist(int x, int y, int a, int b)
+{
+	return sqrt((x-a)*(x-a)+(y-b)*(y-b));
+}
\ No newline at end of file
diff --git a/Yash/Oops_assgn/board_game/Distance.h b/Yash/Oops_assgn/board_game/Distance.h
new file mode 100644
index 0000000..db0bb7a
--- /dev/null
+++ b/Yash/Oops_assgn/board_game/Distance.h
@@ -0,0 +1,10 @@
+#include <iostream>
+#include <math.h>
+
+using namespace std;
+
+class Distance
+{
+	public:
+		float dist(int, int, int, int);
+};
diff --git a/Yash/Oops_assgn/board_game/Distance.h.gch b/Yash/Oops_assgn/board_game/Distance.h.gch
new file mode 100644
index 0000000..192b14c
Binary files /dev/null and b/Yash/Oops_assgn/board_game/Distance.h.gch differ
diff --git a/Yash/Oops_assgn/board_game/Game.cpp b/Yash/Oops_assgn/board_game/Game.cpp
new file mode 100644
index 0000000..870cd60
--- /dev/null
+++ b/Yash/Oops_assgn/board_game/Game.cpp
@@ -0,0 +1,24 @@
+
+#include "Game.h"
+using namespace std;
+
+int game(Player p[])
+{
+	return_data a;
+	int th;
+	Dice d;
+	Board* bd;
+	cv::Mat img=cv::imread(image.jpg);
+	a = bd->board();
+	int i;
+	while(0)
+	{
+		for (i=0;i<2;i++)
+		{
+			th=d.dice();
+			p[i].newStatus(th,return_data a);
+			if(p[i].x>img->width||p[i].y>img->height)
+				return i;
+		}
+	}
+}
\ No newline at end of file
diff --git a/Yash/Oops_assgn/board_game/Game.h b/Yash/Oops_assgn/board_game/Game.h
new file mode 100644
index 0000000..b1f03ea
--- /dev/null
+++ b/Yash/Oops_assgn/board_game/Game.h
@@ -0,0 +1,13 @@
+#include <iostream>
+#include "Player.h"
+#include "Board.h"
+#include "Dice.h"
+
+
+using namespace std;
+
+class gameplay
+{
+	public:
+		int game(Player p[]);
+};
diff --git a/Yash/Oops_assgn/board_game/Game.h.gch b/Yash/Oops_assgn/board_game/Game.h.gch
new file mode 100644
index 0000000..192b14c
Binary files /dev/null and b/Yash/Oops_assgn/board_game/Game.h.gch differ
diff --git a/Yash/Oops_assgn/board_game/Main.cpp b/Yash/Oops_assgn/board_game/Main.cpp
new file mode 100644
index 0000000..25dee67
--- /dev/null
+++ b/Yash/Oops_assgn/board_game/Main.cpp
@@ -0,0 +1,21 @@
+#include <iostream>
+#include "Player.h"
+
+using namespace std;
+
+int main(int argc, char* argv[])
+{
+	Player p[2];
+	gameplay game1;
+	int j;
+	for (j=0;j<2;j++)
+	{
+		p[j].x=0;
+		p[j].y=0;
+		p[j].score=0;
+	}
+	int i=game1.game(p)
+	cout<<"Player"<<i<<"wins";
+	cout<<"Score:"<<p[i].score;
+	return 0;
+}
\ No newline at end of file
diff --git a/Yash/Oops_assgn/board_game/Player.cpp b/Yash/Oops_assgn/board_game/Player.cpp
new file mode 100644
index 0000000..2a63564
--- /dev/null
+++ b/Yash/Oops_assgn/board_game/Player.cpp
@@ -0,0 +1,45 @@
+#include "Player.h"
+using namespace std;
+
+void Player::updtPos(int color, Circle* circle,int count )
+{
+	Distance d;
+	int i,j;
+	float min=d.dist(0,0,1024,768);
+	for(i=0;i<bd->getCount();i++)
+	{
+		if(p.x<circle[i].x && p.y<circle[i].y)
+			if(min>d.dist(x,y,circle[i].x,circle[i].y))
+			{
+				j=i;
+				min=d.dist(x,y,circle[i].x,circle[i].y);
+			}
+	}
+	p.x=circle[i].x;
+	p.y=circle[i].y;
+}
+
+
+void Player::newStatus(int th, return_data a)
+{
+	if(th%2==0)
+	{
+		p.updtPos(1,a.circle, a.cnt);
+		p.score+=2*th;
+		return;
+	}
+	if(th==1)
+	{
+		p.updtPos(2,a.circle, a.cnt);
+		score+=10;
+		return;
+	}
+	else 
+	{
+		p.updtPos(3,a.circle,a.cnt);
+		p.score+=th;
+		return;
+	}
+}
+
+
diff --git a/Yash/Oops_assgn/board_game/Player.h b/Yash/Oops_assgn/board_game/Player.h
new file mode 100644
index 0000000..3a2b96d
--- /dev/null
+++ b/Yash/Oops_assgn/board_game/Player.h
@@ -0,0 +1,15 @@
+#include <stdio.h>
+#include <iostream>
+#include <math.h>
+#include "Distance.h"
+#include "Board.h"
+using namespace std;
+
+class Player
+{
+	private:
+		int x,y,score;
+	public:
+		void newStatus(int , Circle*,return_data );
+		void updtPos(int , Circle*, int );	
+};
diff --git a/Yash/Oops_assgn/board_game/Player.h.gch b/Yash/Oops_assgn/board_game/Player.h.gch
new file mode 100644
index 0000000..192b14c
Binary files /dev/null and b/Yash/Oops_assgn/board_game/Player.h.gch differ
diff --git a/Yash/Oops_assgn/board_game/blob.cpp b/Yash/Oops_assgn/board_game/blob.cpp
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--- /dev/null
+++ b/Yash/Oops_assgn/board_game/blob.cpp
@@ -0,0 +1,367 @@
+#include <stdio.h>
+#include <highgui.h>
+#include <cv.h>
+#include <cxcore.h>
+#include <stdio.h>
+#include <stdlib.h>
+ 
+#define PIX(img,i,j,k) (((uchar*)img->imageData)[(i)*img->widthStep+(j)*img->nChannels+(k)])
+typedef struct node
+{
+int x;
+int y;
+struct node *next;
+}node;
+ 
+node *rear,*front;
+ 
+int isEmpty()
+{
+if(front==NULL)
+return 1;
+else return 0;
+}
+void enqueue(int x,int y)
+{
+node* t;
+t=(node*)malloc(sizeof(node));
+t->x=x;
+t->y=y;
+t->next=NULL;
+if(isEmpty())
+{
+front=t;
+rear=front;
+}
+else{
+rear->next=t;
+rear=t;
+rear->next=NULL;
+}
+}
+void queuefront(int *x,int *y)
+{
+*x=front->x;
+*y=front->y;
+return;
+}
+void dequeue()
+{
+node* t;
+if(isEmpty())
+{
+printf("Queue Underflow\n");
+return;
+}
+t=front;
+front=t->next;
+free(t);
+}
+ 
+IplImage* img;
+IplImage* gray;
+ 
+int** blobDetection(IplImage *img,int *count)
+{
+int i,j,k,l,x,y;
+*count=0;
+int height = img->height;
+int width = img->width;
+int **visited;
+visited = (int**)malloc(height*sizeof(int*));
+for(i=0;i<img->height;i++)
+visited[i]=(int*)malloc(img->width*sizeof(int));
+for(i=0;i<img->height;i++)
+for(j=0;j<img->width;j++)
+visited[i][j]=-1;
+for(i=1;i<img->height-1;i++)
+for(j=1;j<img->width-1;j++)
+{
+if(PIX(img,i,j,0)==0)
+{
+if(visited[i][j]==-1)
+{
+*count=*count +1;
+front=NULL;
+enqueue(i,j);
+queuefront(&x,&y);
+while(!isEmpty())
+{
+queuefront(&x,&y);
+//printf("(%d,%d),(%d)",x,y,visited[x][y]);
+dequeue();
+for(k=x-1;k<=x+1;k++)
+for(l=y-1;l<=y+1;l++)
+{
+if(PIX(img,k,l,0)==0 && visited[k][l]==-1)
+{
+enqueue(k,l);
+visited[k][l]=*count;
+}
+}
+visited[x][y]=*count;
+}
+}
+}
+}
+//printf("%d\n",*count);
+return visited;
+}
+ 
+ 
+void hough()
+{
+IplImage *frame,*output;
+//cvWaitKey(10000);
+int thresh=127;
+//cvNamedWindow("win",CV_WINDOW_AUTOSIZE);
+cvNamedWindow("window",CV_WINDOW_AUTOSIZE);
+cvShowImage("window",gray);
+output=cvCreateImage(cvGetSize(gray),IPL_DEPTH_8U,1);
+int height,width;
+height=gray->height;
+width=gray->width;
+int** mat;
+int diag;
+diag=(int)(sqrt(height*height + width*width));
+int angle=360;
+int step=2;
+int i,j;
+CvScalar pixel;
+ 
+mat=(int**)(malloc(diag*sizeof(int*)));
+for(i=0;i<diag;i++)
+{
+mat[i]=(int *)(malloc(angle*sizeof(int)));
+}
+for(i=0;i<diag;i++)
+{
+for(j=0;j<angle;j++)
+{
+mat[i][j]=0;
+}
+}
+int distance=0;
+int temp;
+ 
+for(i=0;i<gray->height;i++)
+{
+for(j=0;j<gray->width;j++)
+{
+CvScalar pixel;
+pixel=cvGet2D(gray,i,j);
+if(pixel.val[0]==0)
+{
+for(temp=0;temp<360;temp++)
+{
+distance=(int)(fabs(j*cos(temp*3.14/180.0)+i*sin(temp*3.14/180.0)));
+mat[distance][temp]++;
+}
+}
+}
+}
+ 
+int x;
+int count=0;
+thresh=100;
+cvCreateTrackbar("Thresh","window",&thresh,500);
+while(1)
+{
+pixel.val[0]=0;
+for(x=0;x<gray->width;x++)
+{
+int y;
+for(y=0;y<gray->height;y++)
+{
+cvSet2D(output,y,x,pixel);
+}
+}
+pixel.val[0]=255;
+for(i=0;i<diag;i++)
+{
+for(j=0;j<360;j++)
+{
+if(mat[i][j]>thresh)
+{
+count++;
+//printf("%d %d\n",i,j);
+for(x=0;x<gray->width;x++)
+{
+int y;
+y=(int)(-(1.0)/tan(j*3.14/180.0)*x + i/sin(j*3.14/180.0));
+if(y>=0 && y<gray->height)
+{
+//printf("%d %d\n",y,x);
+cvSet2D(output,y,x,pixel);
+}
+}
+}
+}
+}
+cvShowImage("my_win",output);
+if(cvWaitKey(33)==27 || thresh==20)
+break;
+}
+//cvReleaseImage(&output);
+//printf("%d\n",count);
+//cvShowImage("my_win",output);
+//cvWaitKey(0);
+cvDestroyAllWindows();
+return;
+}
+void function(int **data,int counts, double count_x[], double count_y[]) //function to detect the shapes
+{
+ 
+cvNamedWindow("win",0); //create window in function
+int k,l,count;
+CvScalar pixel,pix,pix2; //structure to store four values
+int i,j,t;
+for(count=1;count<=counts;count++)
+{
+int c=0;
+gray=cvCreateImage(cvGetSize(img),IPL_DEPTH_8U,1);
+for(i=1;i<img->height-1;i++)
+{
+for(j=1;j<img->width-1;j++)
+{
+pixel.val[0]=255;
+cvSet2D(gray,i,j,pixel);
+int min=count;
+int max=-1;
+for(k=i-1;k<=i+1;k++)
+{
+for(l=j-1;l<=j+1;l++)
+{
+//pix=cvGet2D(img,k,l); //Getting pixel from loaded image
+/* cvGet2D(<image name>,<x coord>,<y coord>) */
+if(min>data[k][l])
+min=data[k][l];
+if(data[k][l]<=count && max<data[k][l])
+max=data[k][l];
+}
+}
+if((max-min)==count+1)
+{
+c++;
+pixel.val[0]=0; //Threshold
+}
+else
+pixel.val[0]=255;
+// printf("HERE\n");
+cvSet2D(gray,i,j,pixel); //Set pixel
+/*cvSet2D(<image name>,<x coord>,<y coord>, <name of pixel>) */
+}
+}
+cvShowImage("win",gray);
+//hough();
+//Use contours to detect number of edges
+CvSeq* contours; //hold the pointer to a contour in the memory block
+CvSeq* result; //hold sequence of points of a contour
+CvMemStorage *storage = cvCreateMemStorage(0); //storage area for all contours
+ 
+//finding all contours in the image
+cvFindContours(gray, storage, &contours, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE, cvPoint(0,0));
+ 
+//iterating through each contour
+ 
+result = cvApproxPoly(contours, sizeof(CvContour), storage, CV_POLY_APPROX_DP, cvContourPerimeter(contours)*0.02, 0);
+ 
+ 
+printf("No. of contours is %d \n",result->total);
+if(result->total==3)
+printf("Triangle\n");
+else if(result->total==4)
+printf("Square\n");
+else if (result->total==8)
+printf("Circle\n");
+else
+printf("Arbit\n");
+ 
+ 
+//shaped(count_x[count],count_y[count],count);
+cvReleaseImage(&gray);
+cvWaitKey(0);
+}
+ 
+}
+ 
+void binary_convert(IplImage *img) //Convert Image to binary
+{
+int i,j;
+CvScalar pixel;
+for(i=0;i<img->height;i++)
+{
+for(j=0;j<img->width;j++)
+{
+pixel=cvGet2D(img,i,j);
+if(pixel.val[0]>100)
+{
+PIX(img,i,j,0)=255;
+}
+else
+{
+PIX(img,i,j,0)=0;
+}
+}
+}
+//cvNamedWindow("win",0);
+//cvShowImage("win",img);
+//cvWaitKey(0);
+}
+ 
+void centroid(int** output,int count,double count_x[],double count_y[]) //Centroid
+{
+int i,j;
+ 
+double count_pixel[count+1];
+ 
+for(i=0;i<img->height;i++)
+{
+for(j=0;j<img->width;j++)
+{
+int value;
+value=output[i][j];
+if(value!=-1)
+{
+count_x[value]+=j;
+count_y[value]+=i;
+count_pixel[value]++;
+}
+}
+}
+for(i=1;i<count+1;i++)
+{
+count_x[i]/=count_pixel[i];
+count_y[i]/=count_pixel[i];
+}
+for(i=1;i<count+1;i++)
+{
+printf("For blob %d centroid is, x = %lf and y = %lf\n",i,count_x[i],count_y[i]);
+//count_y[i]/=count_pixel[i];
+}
+}
+int main()
+{
+ 
+IplImage* out;
+int** output=NULL;
+int count=0;
+int i,j;
+img=cvLoadImage("Untitled.jpg",0);
+//out=cvCreateImage(cvGetSize(img),img->depth,1);
+binary_convert(img); //Convert image to binary
+ 
+output=blobDetection(img,&count); //Blob detection
+ 
+printf("count = %d\n",count);
+cvShowImage("window2",img);
+double* count_x;
+double* count_y;
+ 
+count_x=(double* )(malloc(count*sizeof(double)));
+count_y=(double* )(malloc(count*sizeof(double)));
+centroid(output,count, count_x, count_y);
+function(output,count,count_x, count_y); //Centroid Callback function
+cvWaitKey(0);
+return 0;
+}
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