From e4350d0413dc26786072face6fd2e0a345eb6309 Mon Sep 17 00:00:00 2001
From: Florian Jung <flo@windfisch.org>
Date: Wed, 3 Feb 2016 01:40:08 +0100
Subject: stuff? dunno

---
 detect_road_borders.cpp |  5 +++--
 joystick.cpp            |  2 +-
 mariokart.cpp           | 32 +++++++++++++++++++++++++++++++-
 3 files changed, 35 insertions(+), 4 deletions(-)

diff --git a/detect_road_borders.cpp b/detect_road_borders.cpp
index d3ab3f7..7e4868d 100644
--- a/detect_road_borders.cpp
+++ b/detect_road_borders.cpp
@@ -23,6 +23,7 @@
 #include <iostream>
 #include <math.h>
 #include <opencv2/opencv.hpp>
+#include <assert.h>
 
 using namespace std;
 using namespace cv;
@@ -580,7 +581,7 @@ int find_steering_point(Mat orig_img, Point origin_point, int** contour_map, Mat
 	vector<vector<Point> > contours;
 	vector<Vec4i> hierarchy;
 
-	findContours(img, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_NONE, Point(0, 0));
+	findContours(img, contours, hierarchy, RETR_TREE, CHAIN_APPROX_NONE, Point(0, 0));
 	
 	int low_y, low_idx, high_y, first_nonbottom_idx;
 	vector<Point>& contour = prepare_and_get_contour(img.cols, img.rows, contours, hierarchy,
@@ -660,7 +661,7 @@ int main(int argc, char* argv[])
 			continue;
 		}
 		
-		cvtColor(frame, tmp, CV_RGB2GRAY);
+		cvtColor(frame, tmp, COLOR_RGB2GRAY);
 		threshold(tmp, thres, 132, 255, THRESH_BINARY);
 		dilate(thres,tmp,Mat());
 		erode(tmp,thres,Mat());
diff --git a/joystick.cpp b/joystick.cpp
index 6729023..ad06bda 100644
--- a/joystick.cpp
+++ b/joystick.cpp
@@ -41,7 +41,7 @@
 
 using namespace std;
 
-#define THROTTLE_CNT_MAX 10
+#define THROTTLE_CNT_MAX 6
 
 #ifdef JOYSTICK_PATCHEDINPUTPLUGIN
 static char* pack(const BUTTONS* buttons, char* buf)
diff --git a/mariokart.cpp b/mariokart.cpp
index 414a9cd..284f570 100644
--- a/mariokart.cpp
+++ b/mariokart.cpp
@@ -63,6 +63,8 @@ using namespace cv;
 #define HIST_SMOOTH 7
 
 //#define NO_BRIGHTNESS // will man nicht, nur zu demonstrationszwecken
+#define ADJUST_BRIGHTNESS
+#define ADJUST_BRIGHTNESS_EXP 3
 
 #define ERODE_RADIUS_2D 4
 
@@ -188,6 +190,13 @@ void* thread1_func(void*)
 	}
 }
 
+float mypow(float base, float exp)
+{
+	if (base >= 0)
+		return pow(base,exp);
+	else
+		return -pow(-base,exp);
+}
 
 int main(int argc, char* argv[])
 {
@@ -262,6 +271,11 @@ joystick.reset();
   XorgGrabber capture("Mupen64Plus OpenGL Video");
 #endif
 
+  uchar mypow_lut[256];
+  for (int i=0; i<256; i++)
+  	mypow_lut[i] = mypow(((((float)i)-128.)/128.), ADJUST_BRIGHTNESS_EXP)*128.+128.;
+
+
   Mat transform;
   
   bool first=true;
@@ -277,7 +291,7 @@ joystick.reset();
   namedWindow("edit");
   setMouseCallback("edit", mouse_callback, NULL);
   
-  joystick.throttle(0.5);
+  joystick.throttle(2./6);
   
   
   VideoWriter img_writer, thres_writer, thres2_writer;
@@ -354,6 +368,22 @@ joystick.reset();
   }
   #endif
   
+  #ifdef ADJUST_BRIGHTNESS
+  Mat hsv;
+  cvtColor(img, hsv, CV_BGR2HSV);
+  for (int y=0; y<hsv.rows;y++)
+  {
+    uchar* data=hsv.ptr<uchar>(y) + 2;
+    for (int x = 0; x< hsv.cols; x++)
+    {
+      *data= mypow_lut[*data];
+      data+=3;
+    }
+  }
+
+  cvtColor(hsv, img, CV_HSV2BGR);
+  #endif
+  
   
   road_thresholder->process_image(img);
   Mat img_thres = road_thresholder->get_road();
-- 
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