this folder consists of files relating to oops_assignment (except helloR...

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)

arna/oops_assign/beginner_tutorials/Makefile

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

arna/oops_assign/beginner_tutorials/mainpage.dox

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

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>
+
+

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

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);
+};

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;
+};
+};
+

arna/oops_assign/beginner_tutorials/src/helloROS.cpp

@@ -0,0 +1,7 @@
+#include<iostream>
+using namespace std;
+
+int main(){
+cout<<"Hello"<<endl;
+return 0;
+}

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();
+};

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);
+
+}*/