diff --git a/src/image_processes/CMakeLists.txt b/src/image_processes/CMakeLists.txt
new file mode 100644
index 0000000..cb5f7f3
--- /dev/null
+++ b/src/image_processes/CMakeLists.txt
@@ -0,0 +1,206 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(image_processes)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ roscpp
+ rospy
+ std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES image_processes
+# CATKIN_DEPENDS roscpp rospy stdmsg
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/image_processes.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/image_processes_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_image_processes.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/src/image_processes/launch/image_cropping.launch b/src/image_processes/launch/image_cropping.launch
new file mode 100644
index 0000000..6a23743
--- /dev/null
+++ b/src/image_processes/launch/image_cropping.launch
@@ -0,0 +1,22 @@
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/src/image_processes/package.xml b/src/image_processes/package.xml
new file mode 100644
index 0000000..057b7b4
--- /dev/null
+++ b/src/image_processes/package.xml
@@ -0,0 +1,71 @@
+
+
+ image_processes
+ 0.0.0
+ The image_processes package
+
+
+
+
+ vasundhara
+
+
+
+
+
+ TODO
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ catkin
+ roscpp
+ rospy
+ std_msgs
+ cv_bridge
+ roscpp
+ rospy
+ std_msgs
+ cv_bridge
+ roscpp
+ rospy
+ std_msgss
+ cv_bridge
+
+
+
+
+
+
+
+
diff --git a/src/image_processes/scripts/node1.py b/src/image_processes/scripts/node1.py
new file mode 100644
index 0000000..0a495cd
--- /dev/null
+++ b/src/image_processes/scripts/node1.py
@@ -0,0 +1,81 @@
+#!/usr/bin/env python3
+
+import rospy
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+
+'''
+def webcam_img_publisher():
+ rospy.init_node('webcam_img_publisher', anonymous=True)
+ img_pub = rospy.Publisher('Webcam_img', Image, queue_size=10)
+ rate = rospy.Rate(10) # 10Hz
+
+ cap = cv2.VideoCapture(0)
+ bridge = CvBridge()
+
+ while not rospy.is_shutdown():
+ ret, frame = cap.read()
+ if ret:
+ img_msg = bridge.cv2_to_imgmsg(frame, encoding="bgr8")
+ img_pub.publish(img_msg)
+ rospy.loginfo('publishing video frame')
+ rate.sleep()
+
+ cap.release()
+
+if __name__ == '__main__':
+ try:
+ webcam_img_publisher()
+ except rospy.ROSInterruptException:
+ pass
+
+'''
+def publish_message():
+
+ # Node is publishing to the video_frames topic using
+ # the message type Image
+ pub = rospy.Publisher('Webcam_img', Image, queue_size=10)
+
+ # Tells rospy the name of the node.
+ # Anonymous = True makes sure the node has a unique name. Random
+ # numbers are added to the end of the name.
+ rospy.init_node('image_capture', anonymous=True)
+
+ # Go through the loop 10 times per second
+ rate = rospy.Rate(10) # 10hz
+
+ # Create a VideoCapture object
+ # The argument '0' gets the default webcam.
+ cap = cv2.VideoCapture(0)
+
+ # Used to convert between ROS and OpenCV images
+ br = CvBridge()
+
+ # While ROS is still running.
+ while not rospy.is_shutdown():
+
+ # Capture frame-by-frame
+ # This method returns True/False as well
+ # as the video frame.
+ ret, frame = cap.read()
+
+ if ret == True:
+ # Print debugging information to the terminal
+ rospy.loginfo('publishing video frame')
+ # cv2.imshow("Frame", frame)
+ # cv2.waitKey(1)
+ # Publish the image.
+ # The 'cv2_to_imgmsg' method converts an OpenCV
+ # image to a ROS image message
+ pub.publish(br.cv2_to_imgmsg(frame))
+ print(type(frame))
+
+ # Sleep just enough to maintain the desired rate
+ rate.sleep()
+
+if __name__ == '__main__':
+ try:
+ publish_message()
+ except rospy.ROSInterruptException:
+ pass
diff --git a/src/image_processes/scripts/node2.py b/src/image_processes/scripts/node2.py
new file mode 100644
index 0000000..2221259
--- /dev/null
+++ b/src/image_processes/scripts/node2.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+# Import the necessary libraries
+import rospy # Python library for ROS
+from sensor_msgs.msg import Image # Image is the message type
+from cv_bridge import CvBridge # Package to convert between ROS and OpenCV Images
+import cv2 # OpenCV library
+import numpy as np
+import sys
+
+def crop_image(frame, percentage):
+ height, width = frame.shape[:2]
+ crop_height = int(height * percentage)
+ crop_width = int(width * percentage)
+ cropped_frame = frame[crop_height:, crop_width:]
+ return cropped_frame
+
+
+
+def imgmsg_to_cv2(img_msg):
+ dtype = np.dtype("uint8") # Hardcode to 8 bits...
+ dtype = dtype.newbyteorder('>' if img_msg.is_bigendian else '<')
+ image_opencv = np.ndarray(shape=(img_msg.height, img_msg.width, 3), # and three channels of data. Since OpenCV works with bgr natively, we don't need to reorder the channels.
+ dtype=dtype, buffer=img_msg.data)
+ # If the byt order is different between the message and the system.
+ if img_msg.is_bigendian == (sys.byteorder == 'little'):
+ image_opencv = image_opencv.byteswap().newbyteorder()
+ return image_opencv
+
+def img_callback(img_msg):
+ bridge = CvBridge()
+ frame = imgmsg_to_cv2(img_msg)
+ cropped_frame = crop_image(frame, 0.3) # Crop by 30% in pixels
+ cropped_img_msg = bridge.cv2_to_imgmsg(cropped_frame)
+ pub = rospy.Publisher('Webcam_cropped', Image, queue_size=10)
+ pub.publish(cropped_img_msg)
+
+def webcam_cropped_node():
+ rospy.init_node('webcam_cropped_node', anonymous=True)
+ rospy.Subscriber('Webcam_img', Image, img_callback)
+
+ rate = rospy.Rate(10) # 10Hz
+
+ rospy.spin()
+
+ cv2.destroyAllWindows()
+
+
+if __name__ == '__main__':
+ try:
+ webcam_cropped_node()
+ except rospy.ROSInterruptException:
+ pass
\ No newline at end of file
diff --git a/src/image_processes/scripts/node3.py b/src/image_processes/scripts/node3.py
new file mode 100644
index 0000000..2cb34aa
--- /dev/null
+++ b/src/image_processes/scripts/node3.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+
+import rospy
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+import cv2
+import numpy as np
+import sys
+
+def imgmsg_to_cv2(img_msg):
+ dtype = np.dtype("uint8") # Hardcode to 8 bits...
+ dtype = dtype.newbyteorder('>' if img_msg.is_bigendian else '<')
+ image_opencv = np.ndarray(shape=(img_msg.height, img_msg.width, 3), # and three channels of data. Since OpenCV works with bgr natively, we don't need to reorder the channels.
+ dtype=dtype, buffer=img_msg.data)
+ # If the byt order is different between the message and the system.
+ if img_msg.is_bigendian == (sys.byteorder == 'little'):
+ image_opencv = image_opencv.byteswap().newbyteorder()
+ return image_opencv
+
+def img_callback(img_msg):
+ frame = imgmsg_to_cv2(img_msg)
+ cv2.imshow('Webcam Cropped', frame)
+ cv2.waitKey(1)
+
+def webcam_show_node():
+ rospy.init_node('webcam_show_node', anonymous=True)
+ img_sub = rospy.Subscriber('Webcam_cropped', Image, img_callback)
+ rospy.spin()
+
+if __name__ == '__main__':
+ try:
+ webcam_show_node()
+ except rospy.ROSInterruptException:
+ pass
\ No newline at end of file