zynq_7010/MultiFrameCapture.cpp

#include "MultiFrameCapture.h"
#include <thread>
#include <opencv2/opencv.hpp>
#include "DevUtil.h"
#include "Gpio.h"
#include "FpgaComm.h"
#include "gvideoisp1.h"
#include "CameraParam.h"
#include "correct_ultis.h"
#include "filetools.h"
#include "USBProtocol.h"
#include "utilsfunc.h"
#include "CImageMerge.h"
#include "Jpegcompress.h"
#include "CSizedetect.h"
#include "ThreadPool.h"

#include "HCamDevice.h"

const int vsp_A = 45;
const int vsp_B = 45;

// using namespace cv;
MultiFrameCapture::MultiFrameCapture(ScannerGlue glue,
                                     std::shared_ptr<FpgaComm> fpga,
                                     CISVendor vendor) : reset_pin(new GpioOut(Fpga_Reset)),
                                                         fpgaLoad(new Gpio(Fpga_Load)),
                                                         fpga_conf_initn(new Gpio(Fpga_InitN)),
                                                         snaped_index(0),
                                                         frame_count(1),
                                                         b_snap_run(true),
                                                         b_stop_snap(false),
                                                         b_imgproc(true),
                                                         m_glue(glue),
                                                         iImageremain(0),
                                                         bScanning(false),

                                                         ////////////////默认300dpi 和灰度设置
                                                         resolution_(DPI_300),
                                                         cis_width_(WIDTH),
                                                         cis_height_(HEIGHT),
                                                         pixels_width_(WIDTH),
                                                         pixels_height_(HEIGHT),
                                                         paper_size_((unsigned int)PaperSize::G400_AUTO),
                                                         color_mode_(GRAY),
                                                         is_correct_(0),
                                                         is_double_paper_(0)
#ifdef TEST_SIMCAP
                                                         ,
                                                         m_test_pimg(nullptr), m_test_pimg_len(0)
#endif
{
    m_capFpageregs = fpga;
    video.reset(new HCamDevice);
    reset_fpga();

    m_snap_thread.reset(new std::thread(&MultiFrameCapture::snaprun, this));
    m_imgproc_thread.reset(new std::thread(&MultiFrameCapture::procimage, this));
}

MultiFrameCapture::~MultiFrameCapture()
{
    if (m_capFpageregs.get())
        m_capFpageregs.reset();

    if (video.get())
        video.reset();

    m_frameinfos.Clear();
    m_frameinfos.ShutDown();
    if (m_imgproc_thread.get())
    {
        if (m_imgproc_thread->joinable())
        {
            b_imgproc = false;
            m_imgproc_thread->join();
        }
    }

#ifdef TEST_SIMCAP
    if (m_test_pimg)
        free(m_test_pimg);
#endif
}

void MultiFrameCapture::SetParent(void *scanner)
{
}

void MultiFrameCapture::open()
{
    int ret = video->open_device(cis_width_,cis_height_);
    if(ret < -1)
        return;

    int i = 1 ; 
    char *buf = NULL;
    while (i >= 0)
    {
       i = video->HtCamReadCaptureFrame((void **)&buf, 10);
    }
}

void MultiFrameCapture::snap()
{
#ifndef TEST_SIMCAP
    std::lock_guard<std::mutex> m_lock(m_mtx_snap);
    b_stop_snap =  b_end_snap = false;

    video->HtCamStartVideoCapturing();

    snaped_index++;
    m_cv_snap.notify_all();
#endif
}

void MultiFrameCapture::stopsnap(bool autosize)
{
    printf("stop stop stop\r\n");
    if (autosize)
    {
        video->HtCamStopSampling();  
        b_stop_snap = true;
    }

    //b_stop_snap =false;
    //video->HtCamStopVideoCapturing();
}

void MultiFrameCapture::close()
{
    printf("close close close\r\n");
   if (video.get())
       video->close_device();
}

int MultiFrameCapture::read(int addr)
{
    return m_capFpageregs->read(addr);
}

void *MultiFrameCapture::readFrameTest(int timeout)
{
    return nullptr;
}
uint32_t MultiFrameCapture::compute_frame(int paper_size,int dpi)
{
    SIZE size =  GetPaperSize((PaperSize)paper_size,dpi);
    return size.cy;
}
SIZE MultiFrameCapture::GetPaperSize(PaperSize paper, int dpi)
{
    if (paper_map_.find(paper) != paper_map_.end()) 
    {
        SIZE resize{2338,3307};
        resize.cx = paper_map_[paper].cx * dpi / 25.4;
        resize.cy = paper_map_[paper].cy * dpi / 25.4;
        return resize;
    }
    return SIZE{2338, 3307};
}
void MultiFrameCapture::UpdateScanParam(HG_ScanConfiguration config)
{
    m_config = config;

    if (!video.get())
    {
        return ;
    }
   
    resolution_ = config.params.dpi == 3 ? DPI_600 : DPI_300;   //0:600dpi   1:300dpi config.params.dpi = 2||3  pc 2代表300 3代表600
    color_mode_ = config.params.isColor == 1 ? COLOR : GRAY;
    is_correct_ = config.params.isCorrect;
    paper_size_ = config.params.pageSize;
    is_double_paper_ = config.params.doubleFeeded;
    
    cis_width_ = resolution_ == 0 ? WIDTH * 2 : WIDTH; //宽 :DPI不变下 彩色灰度是一样的
    //width_ = paper_size_ == PaperSize::G400_MAXSIZE || paper_size_ ==PaperSize::G400_MAXAUTO && 
    cis_height_ = HEIGHT; 

    pixels_width_  = color_mode_ == 1 ? cis_width_  * 3 : cis_width_;
    pixels_height_ = color_mode_ == 1 ? cis_height_ / 3 : cis_height_;

    video->HtCamSetClolr(color_mode_);
    video->HtCamSetDpi(resolution_);
    printf(" -----------------------snap dpi = %d resolution = %d------------------\r\n",config.params.dpi, config.params.isColor);
    FPGAConfigParam fpgaparam = GetFpgaparam(config.params.dpi, config.params.isColor);
    video->HtCamSetSpTime(fpgaparam.Sp);  // 2344 灰色  //2023-8-10 最新2650
   // fpgaparam.Sp=0;
   // video->HtCamGetSpTime(fpgaparam.Sp);
    printf(" -----------------------HtCamSetSpTime%d------------------ \r\n",fpgaparam.Sp);
    video->HtCamSetStSp(fpgaparam.MaxBright);
    printf(" -----------------------HtCamSetStSp%d------------------\r\n",fpgaparam.MaxBright);
    

    {
        int val = config.params.dpi == 3 ? 600 :(config.params.dpi == 2?300:200);
        uint32_t cnt = compute_frame(paper_size_ , val) / HEIGHT + 1; //多设一帧
        video->HtCamSetFrameCnt(cnt);
        printf(" -----------------------设置帧数：%d------------------\r\n",cnt);
    }

    printf("resolution_:%d\r\n", resolution_);
    printf("color_mode_:%d\r\n", color_mode_);
    printf("paper_size_:%d\r\n", paper_size_);
    printf("paper_size_:%d\r\n", paper_size_);
    printf("cis_width_:%d\r\n", cis_width_);
    printf("cis_height_:%d\r\n", cis_height_);
    printf("pixels_width_:%d\r\n", pixels_width_);
    printf("pixels_height_:%d\r\n", pixels_height_);

#ifdef TEST_SIMCAP
    if (m_test_pimg)
        free(m_test_pimg);

    FILE *f_img;
    if (m_config.params.isColor == 1) // color
        f_img = fopen("/home/root/color.bmp", "rb");
    else
        f_img = fopen("/home/root/gray.bmp", "rb");

    if (f_img == nullptr)
        printf("!!!!!!!!!! error while reading image \r\n");

    fseek(f_img, 0, SEEK_END);
    m_test_pimg_len = ftell(f_img);
    m_test_pimg = (unsigned char*)malloc(m_test_pimg_len);
    fseek(f_img, 0, SEEK_SET);
    fread(m_test_pimg,1,m_test_pimg_len,f_img);
    printf("!!!!!!!!!! info: reading image len = %d  m_test_pimg = %p \r\n", m_test_pimg_len, m_test_pimg);
    fclose(f_img);
#endif
}

void MultiFrameCapture::createCorrect(int correctmode)
{
    if (m_correctThread.joinable())
        m_correctThread.join();
    stop_countdown();
    m_correctThread = std::thread(&MultiFrameCapture::correctcolor, this, correctmode);
}

void MultiFrameCapture::setFPGATriggerMode(bool autotrigger, int delay)
{
}

void MultiFrameCapture::setFanMode(int mode)
{
}

void MultiFrameCapture::fpgaReload()
{
    fpgaLoad->setValue(Gpio::Low);
    std::this_thread::sleep_for(std::chrono::milliseconds(15));
    fpgaLoad->setValue(Gpio::High);
    std::this_thread::sleep_for(std::chrono::milliseconds(15));
    m_capFpageregs->resetADC();
}

bool MultiFrameCapture::capturerImage()
{
    // if (m_config.params.pageSize == (int)PaperSize::G400_AUTO ||
    //     m_config.params.pageSize == (int)PaperSize::G400_MAXAUTO ||
    //     m_config.params.pageSize == (int)PaperSize::G400_MAXSIZE)
    // {
    // }
    // else
    // {
    //     int color = this->color();
    //     int channels = color ? 3 : 1;
    //     int width = this->width() * channels * 6;
    //     int dpi = m_config.params.dpi;
    //     for (int i = 0; i < frame_count; i++)
    //     {
    //         V4L2_DATAINFO_Ex frame_info;
    //         StopWatch sw_read;
    //         auto data = video->read_frame(150);
    //         printf("!!!!!!!!!!! read frame[%d] = %.2f \n", i, sw_read.elapsed_ms());
    //         frame_info.lost_frame = data ? false : true;
    //         frame_info.last_frame = (i == (frame_count - 1));
    //         frame_info.frame_index = i;
    //         if (data)
    //         {
    //             printf("+++++++ success: read frame[%d] \n", i);
    //             cv::Mat mat(FRAME_HEIGHT, width, CV_8UC1, data);
    //             StopWatch sw_clone;
    //             frame_info.mat = mat.clone();
    //             printf("!!!!!!!!!! Clone time = %0.3f \n",sw_clone.elapsed_ms());
    //             frame_info.pixtype = color;
    //             frame_info.dpi = dpi;
    //             frame_info.width = frame_info.height = 0; // 从mat信息中获取宽高信息
    //         }
    //         else
    //         {
    //             printf("------- error: lost frame[%d] \n", i);
    //         }
    //         m_frameinfos.Put(frame_info);
    //     }
    // }
    return true;
}

void MultiFrameCapture::waitsnapdone(int state)
{
#ifdef TEST_SIMCAP
    HG_JpegCompressInfo info;
    info.DataLength = m_test_pimg_len;
    info.pJpegData = (unsigned char *)m_test_pimg;

    m_glue.m_imageready(info);
#else
    printf("!!!!!!!!!!!!!!!! m_cv_snapdone wait \n");
    V4L2_DATAINFO_Ex info;
    info.snaped_index = snaped_index;
    info.snap_end = true;
    info.error_code = state;
    if (b_end_snap)
    {
        m_frameinfos.Put(info);
        return;
    }
    std::unique_lock<std::mutex> lock(m_mtx_snapdone);
    m_cv_snapdone.wait(lock);
    b_end_snap = true;
    m_frameinfos.Put(info);
    //printf("!!!!!!!!!!!!!!!! m_cv_snapdone wait done \n");
#endif
}

bool MultiFrameCapture::IsImageQueueEmpty()
{
    //printf(" m_frameinfos.Size = %d iImageremain = %d bScanning = %d\n", m_frameinfos.Size(), iImageremain.operator int(), bScanning);
    return (m_frameinfos.Size() == 0 && iImageremain == 0) && !bScanning;
}

void MultiFrameCapture::resetimageremain()
{
    iImageremain = 0;
}

std::atomic_int &MultiFrameCapture::getimageremain()
{
    return iImageremain;
}

void MultiFrameCapture::clearimages()
{
    m_frameinfos.Clear();
}

void MultiFrameCapture::setScanFlag(bool brun)
{
    bScanning = brun;
}

void MultiFrameCapture::reset_fpga()
{
    reset_pin->setValue(Gpio::Low);
    std::this_thread::sleep_for(std::chrono::milliseconds(50));
    reset_pin->setValue(Gpio::High);
    std::this_thread::sleep_for(std::chrono::milliseconds(50));
    m_capFpageregs->resetADC();
}

void MultiFrameCapture::reload_fpga()
{
    fpgaLoad->setValue(Gpio::Low);
    std::this_thread::sleep_for(std::chrono::milliseconds(5));
    fpga_conf_initn->setValue(Gpio::Low);
    std::this_thread::sleep_for(std::chrono::milliseconds(200));
    fpgaLoad->setValue(Gpio::High);
    std::this_thread::sleep_for(std::chrono::milliseconds(15));
    fpga_conf_initn->setValue(Gpio::High);
    std::this_thread::sleep_for(std::chrono::milliseconds(15));
    std::this_thread::sleep_for(std::chrono::seconds(5));
    printf("reload done \n");
}

void MultiFrameCapture::set_gain(int ix, int val)
{
    for (int i = 0; i < 6; i++)
    {
        if (ix)
            m_capFpageregs->setAGain(i, val);
        else
            m_capFpageregs->setBGain(i, val);
    }
}

void MultiFrameCapture::set_offset(int ix, int val)
{
    for (int i = 0; i < 6; i++)
    {
        if (ix)
            m_capFpageregs->setAOffset(i, val);
        else
            m_capFpageregs->setBOffset(i, val);

        std::this_thread::sleep_for(std::chrono::milliseconds(1));
    }
}

void MultiFrameCapture::set_expo(int ix, int val)
{
    switch (ix)
    {
    case 0:
        m_capFpageregs->setAExposureR(val);
        break;
    case 1:
        m_capFpageregs->setAExposureG(val);
        break;
    case 2:
        m_capFpageregs->setAExposureB(val);
        break;
    case 3:
        m_capFpageregs->setBExposureR(val);
        break;
    case 4:
        m_capFpageregs->setBExposureG(val);
        break;
    case 5:
        m_capFpageregs->setBExposureB(val);
        break;
    default:
        break;
    }
    std::this_thread::sleep_for(std::chrono::milliseconds(1));
}

void MultiFrameCapture::configFPGAParam(int mode, int dpi)
{
    FPGAConfigParam fpgaparam = GetFpgaparam(dpi, mode);
    // m_capFpageregs->resetADC();
    // std::this_thread::sleep_for(std::chrono::milliseconds(50));
    int value_a, value_b;
    for (int i = 0; i < 6; i++)
    {
        if (i < 3)
        {
            set_expo(i, fpgaparam.ExposureF[i]);
            LOG("fpgaparam.ExposureF[%d] = %d \n", i, fpgaparam.ExposureF[i]);
        }
        else
        {
            set_expo(i, fpgaparam.ExposureB[i % 3]);
            LOG("fpgaparam.ExposureB[%d] = %d\n", i % 3, fpgaparam.ExposureB[i % 3]);
        }
        int A_value, B_value;
        std::this_thread::sleep_for(std::chrono::milliseconds(3));
        m_capFpageregs->setAOffset(i, fpgaparam.OffsetF[i]);
        LOG("fpgaparam.setAOffset[%d] = %d \n", i, fpgaparam.OffsetF[i]);

        std::this_thread::sleep_for(std::chrono::milliseconds(3));
        m_capFpageregs->getAOffset(i, A_value, B_value);
        LOG("fpgaparam.getAOffset[%d]  = A_value = %d B_value = %d \n", i, A_value, B_value);

        std::this_thread::sleep_for(std::chrono::milliseconds(3));
        m_capFpageregs->setBOffset(i, fpgaparam.OffsetB[i]);
        LOG("fpgaparam.setBOffset[%d] = %d  \n", i, fpgaparam.OffsetB[i]);

        std::this_thread::sleep_for(std::chrono::milliseconds(3));
        m_capFpageregs->getBOffset(i, A_value, B_value);
        LOG("fpgaparam.getBOffset[%d]  = A_value = %d B_value = %d \n", i, A_value, B_value);

        std::this_thread::sleep_for(std::chrono::milliseconds(3));
        m_capFpageregs->setAGain(i, fpgaparam.GainF[i]);
        LOG("fpgaparam.GainF[%d] = %d\n", i, fpgaparam.GainF[i]);
        std::this_thread::sleep_for(std::chrono::milliseconds(3));
        m_capFpageregs->setBGain(i, fpgaparam.GainB[i]);
        LOG("fpgaparam.GainB[%d] = %d\n", i, fpgaparam.GainB[i]);
        std::this_thread::sleep_for(std::chrono::milliseconds(3));

        // m_capFpageregs->getAGain(i,A_value,B_value);
        // LOG("fpgaparam.getAGain[%d]  = A_value = %d B_value = %d \n", i, A_value,B_value);
        // std::this_thread::sleep_for(std::chrono::milliseconds(3));
        // m_capFpageregs->getBGain(i,A_value,B_value);
        // LOG("fpgaparam.getBGain[%d]  = A_value = %d B_value = %d \n", i, A_value,B_value);
        // std::this_thread::sleep_for(std::chrono::milliseconds(3));
    }
};
int MultiFrameCapture::width()
{
    int dpi = m_capFpageregs->getDpi();
    int channel = 1;
#ifdef G400
    int width = dpi == 0x02 ? 1296 * channel : (dpi == 0x03 ? (2592 * channel) : (864 * channel));
#else
    int width = dpi == 0x02 ? 864 * channel : (dpi == 0x03 ? (1728 * channel) : (864 * channel)); // we only sup dunnancis now
#endif
    return width;
}

int MultiFrameCapture::color()
{
   // return m_capFpageregs->getColorMode();
}

// int MultiFrameCapture::imageProcessCurrentFrame()
// {

// }
#include "bmp.h"

static int cnt = 0;
void MultiFrameCapture::snaprun()
{
    //frame_info 发送得数据信息   channels 图像位深  num 需要取得帧数  time_out读图超时时间设置
    auto snap_func = [this](V4L2_DATAINFO_Ex frame_info, int channels,int num,int time_out)
    {
        unsigned char *data = NULL;
        int ret = video->HtCamReadCaptureFrame((void **)&data, time_out);
        if (ret == -1 || ret == -2)
        {
            printf("----------------获取图像超时或者失败------------\r\n");
            return ret;
        }
        
        uint32_t sendLine = video->HtCamReadFpgaRegs(0x000e);
        printf("--------------fpga send line ------------:%d\r\n",sendLine);
        if (data)
        {
            if (ret == 0)
                frame_info.first_frame = true;
            else
                frame_info.first_frame = false;

                frame_info.last_frame = num == ret+1 ? true:false;
            
            printf("获取数据 width:%d height:%d is_first:%d  is_last:%d\r\n",frame_info.width,frame_info.height,frame_info.first_frame,frame_info.last_frame);
            cv::Mat mat = cv::Mat(frame_info.height, frame_info.width, CV_8UC1, data, cv::Mat::AUTO_STEP);
            //cv::imwrite("/home/root/test.png", mat);
            // printf("--------------frame_index------------:%d\r\n",frame_index);
            // if (frame_index == 4)
            // {
            //     savebitmap(data,15552,512,"1.bmp");
            // }
            frame_info.mat = mat.clone();
            m_frameinfos.Put(frame_info);
           
        }
        return ret;
    };

    while (b_snap_run)
    {
        std::unique_lock<std::mutex> lock(m_mtx_snap);
        m_cv_snap.wait(lock);

        V4L2_DATAINFO_Ex frame_info;
        int channels = 1;

  
        frame_info.pixtype = color_mode_;
        frame_info.dpi = resolution_;
        frame_info.width = pixels_width_;
        frame_info.height = pixels_height_;

        frame_info.error_code = 0;
       
        frame_info.snaped_index = snaped_index;
        frame_info.first_frame = false;
        frame_info.last_frame = false;

        int color_mode = video->HtCamGetColorMode();
        int count = 1;
        uint32_t frame_num = 0;
        uint32_t frame_cnt = 0;
        video->HtCamGetFrameCnt(frame_cnt);
        frame_info.frame_index = frame_cnt;
        int func_sig = 0;
        int time_out = color_mode_ == 1 ? 800 : 800;
        int time_out_cnt = 0;

        printf("---------------------   frame_info.width   ------------------ :%d\r\n",frame_info.width );
        printf("---------------------   frame_info.height  ------------------ :%d\r\n",frame_info.height );
        printf("---------------------   frame_info.pixtype ------------------ :%d\r\n",frame_info.pixtype );
        printf("---------------------   frame_info.dpi     ------------------ :%d\r\n",frame_info.dpi );


        for (size_t i = 1; i <= frame_cnt; i++)
        {
            printf("***********设置的帧数:%d 正在采集第[%d]帧************\r\n",frame_cnt,i);

            frame_info.last_frame = frame_cnt == i ? true : false;
            //frame_info.frame_index = i;

            func_sig =  snap_func(frame_info, channels,frame_cnt,time_out);
            if (func_sig == -1 ) //当前帧取图超时，在取一次！！！  一直超时 不就卡死了？？？ 这个地方还是需要加个时间限制几秒内一帧未取出就退了，返回异常状态吧？
            {
                i--;    
                time_out +=200;
                time_out_cnt ++;
                if (time_out_cnt >=5)
                {
                    break;
                }
                continue;
            }
            
            if (b_stop_snap)
            {
                video->HtCamGetFrameNum(frame_num);  
                
                while (frame_num-1 > func_sig)
                {
                    func_sig = snap_func(frame_info, channels,frame_num,time_out);//同上面一样
                    printf("-----------当前采集到第:[%d]帧 CIS总共采集[%d]帧 -------\r\n",func_sig+1,frame_num);
                    if (func_sig == -1 )
                    {
                       time_out +=200;
                       time_out_cnt ++;
                       if (time_out_cnt >=5)
                       {
                            break;
                       }
                       continue;
                    }
                }
                break;
            }
        }

               
        video->HtCamStopVideoCapturing();
        //iImageremain++;
        printf("----------停止采集图像 ----------\r\n"); 
 
        m_cv_snapdone.notify_all();
        b_end_snap = true;
    }
}

void MultiFrameCapture::updatesnapstatus(int papertype)
{
    b_stop_snap = false;
    snaped_index = 0;
}

void MultiFrameCapture::procimage()
{
 
    static int idx = 0;
    ThreadPool prc_pool(4);
    std::queue<std::future<cv::Mat>> prc_fu;
    unsigned int frames_height;
    unsigned int frames_width = 0;
    int cnt_ =0;
    while (b_imgproc)
    {
        V4L2_DATAINFO_Ex frame = m_frameinfos.Take();
        static int inx = 0;

        if (!frame.mat.empty())
        {
            JpegCompress cmp(90);

            HG_JpegCompressInfo info = cmp.GetCompressedImg(frame.mat);
    
            info.first_frame = frame.first_frame;
            info.last_frame = frame.last_frame;
            info.index_frame = frame.frame_index;
            info.data_type = 0;
            //info.DataLength = frame.width *frame.height;
            info.width = frame.width;
            info.height = frame.height;
           // cv::Mat mat = frame.mat.clone();

            printf("获取数据2222 width:%d height:%d is_first:%d  is_last:%d DataLength:%d\r\n",frame.width,frame.height,info.first_frame,info.last_frame,info.DataLength);
           
            cv::imwrite("/home/root/opencv"+to_string(cnt_++)+".bmp",frame.mat);
            m_glue.m_imageready(info);


            //iImageremain--;
        }
        continue;
    }
}

bool MultiFrameCapture::saveLutImg(int dpi, int mode, bool black)
{
    // int config_dpi = dpi == 1 ? 2 : dpi;
    // const int offset_indexs[] = {0, 1, 2, 5, 4, 3, 3, 4, 5, 2, 1, 0};
    // int channels = mode == IMAGE_COLOR ? 3 : 1;
    // int height = 60;
    // int width = config_dpi == 0x02 ? 864 : (config_dpi == 0x03 ? 1728 : 864);
    // int orgimgwidth = width * 2 * 3 * channels;
    // int dstwidth = width * 2 * 3;
    // bool isNeedSave = true;
    // string log;
    // void *data = video->read_frame(1000);
    // if (data == NULL)
    // {
    //     isNeedSave = false;
    //     log = "WARNNING WARNNING WARNNING  FAILDED TO READ IMAGE DATA !!!!!!!!!!!!!!!!!!!\r\n";
    //     if (m_glue.m_deviceevent)
    //         m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, log);
    //     return isNeedSave;
    // }

    // cv::Mat src(height, orgimgwidth, CV_8UC1, data);
    // CImageMerge t_marge;
    // cv::Mat mrgmat = t_marge.MergeImage(src, dstwidth, height, mode);
    // printf("mrgmat  width = %d  height = %d \n", mrgmat.cols, mrgmat.rows);
    // static int inx = 0;
    // //imwrite(to_string(++inx)+".jpg",mrgmat);
    // //  return 0;
    // FPGAConfigParam param = GetFpgaparam(dpi, mode);
    // if (black) // 暗场
    // {
    //     volatile double offValues[12]{0};
    //     int blockcount = 12;
    //     int bandwidth = mrgmat.cols / blockcount;
    //     for (int n = 0; n < blockcount; n++)
    //     {
    //         cv::Mat img = mrgmat(cv::Rect(bandwidth * n, 10, bandwidth, mrgmat.rows - 10)).clone();
    //         cv::Scalar mean = cv::mean(img);
    //         // printf("band[%d] mean = %0.2f bandwidth = %d  \n", n, mean.val[0],bandwidth);
    //         offValues[n] = mean.val[0];
    //     }

    //     for (int s = 0; s < 2; s++)
    //     {
    //         unsigned int offsets[6]; // = (int *)(s == 0 ? &param.OffsetF[0] : &param.OffsetB[0]);
    //         memcpy(offsets, (s == 0 ? &param.OffsetF[0] : &param.OffsetB[0]), sizeof(param.OffsetF));
    //         for (int j = 0; j < 6; j++)
    //         {
    //             int k = s * 6 + j;
    //             // double diff = BLACK_DIFF(offValues[k]);
    //             double diff = 8 - offValues[k];
    //             double step = radio * diff;
    //             // int preStep = offsetStep[k];
    //             // if (step * preStep < 0)
    //             // {
    //             //     //step = 0 - preStep / 2;
    //             //     step /= 2;
    //             // }
    //             // else
    //             // {
    //             //     radio = 1;
    //             // }

    //             if (step < 1 && step > 0.5)
    //                 step = 1;
    //             if (step < -0.5 && step > -1)
    //                 step = -1;
    //             // FMT_STEP(step);
    //             bool isMinStep = abs(step) == 1 && step == offsetStep[k];
    //             bool isOutBounds = offsets[j] >= 255 && step > 0;
    //             isOutBounds |= offsets[j] <= 0 && step < 0;
    //             log += "	暗场校正 :" + std::to_string(k) + ";diff:" + std::to_string(diff) + ";light:" + std::to_string(offValues[k]) + ";offset:" + std::to_string(offsets[j]) + ";step:" + std::to_string(step) + "\r\n";
    //             if (isOutBounds)
    //                 log += "	第" + std::to_string(k) + "条带暗场校正异常，暗场值无法降低 \r\n";
    //             else if (abs(step) > 1 || isMinStep)
    //             {
    //                 offsetStep[k] = (int)(step);
    //                 printf(" k = %d offsets[%d] = %d step = %f mean = %f\n", k, offset_indexs[k], offsets[offset_indexs[k]], step, offValues[k]);
    //                 offsets[offset_indexs[k]] += step;
    //                 log += "offsetStep" + std::to_string(k) + " = " + std::to_string(offsetStep[k]) + ", offset_indexs" + std::to_string(k) + " =" + std::to_string(offset_indexs[k]) + "\r\n";

    //                 if (offsets[offset_indexs[k]] < 1)
    //                     offsets[offset_indexs[k]] = 1;
    //                 if (offsets[offset_indexs[k]] > 255)
    //                     offsets[offset_indexs[k]] = 255;
    //                 isNeedSave = false;
    //             }
    //             log += (s == 0 ? "彩色正面" : "彩色背面");
    //             log += "偏移值:" + std::to_string(offsets[0]) + "," + std::to_string(offsets[1]) + "," + std::to_string(offsets[2]) + "," + std::to_string(offsets[3]) + "," + std::to_string(offsets[4]) + "," + std::to_string(offsets[5]) + "\r\n";
    //             // log += (s == 0 ? "彩色正面暗场校正完成 \r\n" : "彩色背面暗场校正完成 \r\n");
    //             // ftt.append_log(log);
    //             if (m_glue.m_deviceevent)
    //                 m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, log);
    //             log = "";
    //         }
    //         memcpy((s == 0 ? &param.OffsetF[0] : &param.OffsetB[0]), offsets, sizeof(param.OffsetF));
    //         // memset(&param.OffsetF[0],0,sizeof(param.OffsetF));
    //         // memset(&param.OffsetB[0],0,sizeof(param.OffsetF));
    //         // param.OffsetB[5] =255;
    //         // param.OffsetF[4] =255;
    //     }

    //     if (isNeedSave)
    //     {
    //         printf("Save LUT image path :%s \n", param.Flat_BwPath.c_str());
    //         log = "暗场校正完成 \r\n";
    //         if (m_glue.m_deviceevent)
    //             m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, log);
    //         log = "";
    //         imwrite(param.Flat_BwPath, mrgmat);
    //     }
    // }
    // else // 明场
    // {
    //     if (mode == IMAGE_COLOR)
    //     {
    //         volatile double values[2][3];
    //         cv::Scalar a = mean(mrgmat(Rect(0, 0, mrgmat.cols / 2, mrgmat.rows)));
    //         cv::Scalar b = mean(mrgmat(Rect(mrgmat.cols / 2, 0, mrgmat.cols / 2, mrgmat.rows)));
    //         for (char j = 0; j < 3; j++)
    //         {
    //             values[0][j] = a.val[j];
    //             values[1][j] = b.val[j];
    //             printf("values[0][%d]  = %.2f values[1][%d] = %.2f\n", j,values[0][j], j,values[1][j]);
    //         }

    //         log = "开始彩色明场校正 \r\n";
    //         if (m_glue.m_deviceevent)
    //             m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, log);
    //         for (int s = 0; s < 2; s++)
    //         {
    //             volatile int exposures[3]; // = (int *)(s == 0 ? param.ExposureF : param.ExposureB);
    //             memcpy((void *)exposures, (s == 0 ? &param.ExposureF[0] : &param.ExposureB[0]), sizeof(param.ExposureB));
    //             for (int x = 0; x < 3; x++)
    //             {
    //                 int k = (3 * s + x);
    //                 //int diff = LIGHT_DIFF(*((double *)values + k));
    //                 int diff = param.MaxBright - *((double *)values + k);
    //                 log += "	明场:" + std::to_string(k) + ";diff：" + std::to_string(diff) + "\r\n";

    //                 double step = diff * radio;
    //                 int preStep = *((int *)expStep + k);
    //                 if (step * preStep < 0)
    //                 {
    //                     step = 0 - preStep / 2;
    //                 }
    //                 if (step < 1 && step > 0)
    //                     step = 1;
    //                 if (step < 0 && step > -1)
    //                     step = -1;

    //                 bool isMinStep = abs(step) <= 2 && step == *((int *)expStep + k);
    //                 bool isOutBounds = exposures[x] >= (param.Sp - 5) && step > 0;
    //                 isOutBounds |= exposures[x] <= 0 && step < 0;
    //                 if (isOutBounds)
    //                     log += "	第" + to_string(x) + "个明场校正异常 \r\n";
    //                 else if (abs(diff) >= 1 || isMinStep)
    //                 {
    //                     *((int *)expStep + k) = (int)(step);
    //                     exposures[x] += step;
    //                     if (exposures[x] > (param.Sp - 5))
    //                     {
    //                         exposures[x] = (param.Sp - 5);
    //                     }
    //                     if (exposures[x] < 0)
    //                         exposures[x] = 0;
    //                     isNeedSave = false;
    //                 }
    //                 log += "	曝光值：" + to_string(exposures[x]) + "\r\n";
    //                 log += "	调整步长：" + to_string(*((int *)expStep + k)) + "\r\n";
    //             }
    //             memcpy((s == 0 ? &param.ExposureF[0] : &param.ExposureB[0]), (void *)exposures, sizeof(param.ExposureB));
    //         }
    //         // ftt.append_log(log);
    //         if (m_glue.m_deviceevent)
    //             m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, log);

    //         if (isNeedSave)
    //         {
    //             log = "彩色明场校正完成\r\n";
    //             if (m_glue.m_deviceevent)
    //                 m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, log);
    //             log = "";
    //             imwrite(param.Flat_WhitePath, mrgmat);
    //         }
    //     }
    //     else
    //     {
    //         double values[2];
    //         values[0] = cv::mean(mrgmat(cv::Rect(0, 0, mrgmat.cols / 2, mrgmat.rows))).val[0];
    //         values[1] = cv::mean(mrgmat(cv::Rect(mrgmat.cols / 2, 0, mrgmat.cols / 2, mrgmat.rows))).val[0];
    //         printf("values[0]  = %.2f values[1] = %.2f\n", values[0], values[1]);
    //         log = "-----开始灰色明场校正-----\r\n";
    //         log += "	灰色扫描灰度明场均值：" + to_string(values[0]) + "," + to_string(values[1]) + "\r\n";
    //         if (m_glue.m_deviceevent)
    //             m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, log);
    //         for (int s = 0; s < 2; s++)
    //         {
    //             int *exposures = (int *)(s == 0 ? param.ExposureF : param.ExposureB);
    //             //int diff = LIGHT_DIFF(values[s]);
    //             int diff = param.MaxBright - values[s];
    //             double step = diff * radio;
    //             log += "	明场:" + to_string(s) + ";diff：" + to_string(diff) + "\r\n";
    //             int preStep = expStep[s][0];
    //             if (step * preStep < 0)
    //             {
    //                 step = 0 - preStep / 2;
    //             }
    //             else
    //             {
    //                 radio = 1;
    //             }
    //             if (step < 1 && step > 0)
    //                 step = 1;
    //             if (step < 0 && step > -1)
    //                 step = -1;

    //             int exp = *(exposures + 1);
    //             std::string ss1(string_format("exp[%d] = %d step = %.3f \r\n", s, exp, step));
    //             log += ss1;
    //             bool isMinStep = abs(step) <= 2 && step == expStep[s][0];
    //             bool isOutBounds = exp >= (param.Sp - 5) && step > 0;
    //             isOutBounds |= exp <= 0 && step < 0;
    //             if (isOutBounds)
    //                 log += "	第" + to_string(s) + "个明场校正异常 \r\n";
    //             else if (abs(diff) > 1 || isMinStep)
    //             {
    //                 exp += step;
    //                 if (exp < 0)
    //                     exp = 0;
    //                 if (exp > (param.Sp - 5))
    //                     exp = (param.Sp - 5);

    //                 float coffe[3] = {1, 1, 1}; // 0.2, 1,0.51
    //                 for (int k = 0; k < 3; k++)
    //                 {
    //                     *(exposures + k) = (int)(exp * coffe[k]);
    //                     expStep[s][k] = (int)(step);
    //                     std::string exps(string_format("expStep[%d][%d] = %.3f\r\n", s, k, step));
    //                     log += exps;
    //                     std::string ss(string_format("exposures[%d] = %0.3f \r\n", k, exposures[k]));
    //                     log += ss;
    //                 }
    //                 isNeedSave = false;
    //             }
    //         }
    //         // ftt.append_log(log);
    //         if (m_glue.m_deviceevent)
    //             m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, log);
    //         if (isNeedSave)
    //         {
    //             printf("Save LUT image path :%s \n", param.Flat_WhitePath.c_str());
    //             log = "灰度明场校正完成\r\n";
    //             if (m_glue.m_deviceevent)
    //                 m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, log);
    //             log = "";
    //             imwrite(param.Flat_WhitePath, mrgmat);
    //         }
    //     }
    // }
    // SaveFpgaparam(param);
    // printf("exit Save_lut \n");
    // return isNeedSave;
    return 0;
}

void MultiFrameCapture::formatStep()
{
    for (int i = 0; i < 2; i++)
    {
        for (int j = 0; j < 3; j++)
        {
            expStep[i][j] = 600;
        }
    }
    for (int i = 0; i < 12; i++)
        offsetStep[i] = 64;
}

void MultiFrameCapture::correctcolor(int correctmode)
{
    StopWatch sw_correct;
    std::string loginfo = "Start Correctcolor 200DPI COLOR \r\n";
    if ((correctmode == 0) || (correctmode == 2))
    {
        loginfo = "Start Correctcolor 200DPI COLOR \r\n";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
        creatcorrectconfig(0x01, IMAGE_COLOR);
        loginfo = "-----------200DPI COLOR Correct Done----------- \r\n\r\n ";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
    }
    if ((correctmode == 0) || (correctmode == 1))
    {
        loginfo = "Start Correctcolor 200DPI GRAY \r\n";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
        creatcorrectconfig(0x01, IMAGE_GRAY);
        loginfo = "-----------200DPI Gray Correct Done----------- \r\n\r\n";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
    }
    if ((correctmode == 0) || (correctmode == 4))
    {
        loginfo = " Start Correctcolor 300DPI COLOR \r\n";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
        creatcorrectconfig(0x02, IMAGE_COLOR);
        loginfo = "-----------300DPI COLOR Correct Done----------- \r\n\r\n ";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
    }
    if ((correctmode == 0) || (correctmode == 3))
    {
        loginfo = "Start Correctcolor 300DPI GRAY \r\n";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
        creatcorrectconfig(0x02, IMAGE_GRAY);
        loginfo = "-----------300DPI Gray Correct Done----------- \r\n\r\n ";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
    }
    if ((correctmode == 0) || (correctmode == 6))
    {
        loginfo = "Start Correctcolor 600DPI COLOR \r\n";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
        creatcorrectconfig(0x03, IMAGE_COLOR);
        loginfo = "-----------600DPI COLOR Correct Done----------- \r\n\r\n";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
    }
    if ((correctmode == 0) || (correctmode == 5))
    {
        loginfo = " Start Correctcolor 600DPI GRAY \r\n";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
        creatcorrectconfig(0x03, IMAGE_GRAY);
        loginfo = "-----------600DPI Gray Correct Done----------- \r\n\r\n ";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
    }
    if ((correctmode < 0) || (correctmode > 6))
    {
        loginfo = "不支持的校正模式...\r\n";
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, loginfo);
    }
    if (m_glue.m_deviceevent)
        m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLAT_FINISHED, "******Correct Done  times = " + to_string(sw_correct.elapsed_s()) + " ****** \r\n");
}

void MultiFrameCapture::openDevice(int dpi, int mode)
{
    reset_fpga();
    bool dunnancis = true;
    int channelwidth = dpi == 0x02 ? 864 : (dpi == 0x03 ? 1728 : 864); // 1296 2592 864
    int channels = mode == 0x01 ? 3 : 1;
    int width = channelwidth * channels;
    int frame_height = mode == 0x01 ? 60 * 3 : 60;
    int startsample = 202; // 205
    auto fpgaparam = GetFpgaparam(dpi, mode);
    int t_real_dpi = dpi == 1 ? 2 : (dpi == 2 ? 2 : 3);
    ModeFpga fpgamod = {
        .colorMode = mode,
        .dpi = t_real_dpi,
        .led = 1,
        .sample = startsample, // 256+39
        .adcA = 0,
        .adcB = 0,
        .selftest = 0,
        .sp = fpgaparam.Sp}; // 600DPI  0x1450 300DPI  0xe10


    configFPGAParam(mode, dpi);
    StopWatch swwv4l2open;

    printf("opened video  with width = %d height = %d time eplased = %.2f \n", width, 60 * 2, swwv4l2open.elapsed_ms());

    m_capFpageregs->setFrameNum(1);
    m_capFpageregs->setFrameHeight(frame_height);
    for (int i = 0; i < 1; i++)
    {
        char *buf = NULL;
        video->HtCamReadCaptureFrame((void **)&buf, 200);
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
        printf("abort first frame \n");
    }
    //video->close_video();
}

void MultiFrameCapture::creatcorrectconfig(int dpi, int mode)
{
    openDevice(dpi, mode);
    bool isDone = false;
    formatStep();
    int i = 0;
    radio = 1;
    while (!isDone) // 先暗场
    {
        string log = "==============================第" + to_string(i) + "次===============================\r\n";
        // ftt.append_log(log);
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, log);
        configFPGAParam(mode, dpi);
        // ftt.append_log(log);
        std::this_thread::sleep_for(std::chrono::milliseconds(5));
        m_capFpageregs->enableLed(false);
        std::this_thread::sleep_for(std::chrono::milliseconds(5));
        m_capFpageregs->capture();
        std::this_thread::sleep_for(std::chrono::milliseconds(5));
        isDone = saveLutImg(dpi, mode, true); // 0 color_black 1 color_white 2 gray_balck 3 gray_white
        i++;
    }
    isDone = false;
    formatStep();
    while (!isDone) // 后明场
    {
        configFPGAParam(mode, dpi);
        string log = "==============================第" + to_string(i) + "次===============================\r\n";
        // ftt.append_log(log);
        if (m_glue.m_deviceevent)
            m_glue.m_deviceevent((int)HG_ScannerStatus::AUTO_FLATTING, log);
        std::this_thread::sleep_for(std::chrono::milliseconds(5));
        m_capFpageregs->enableLed(true);
        std::this_thread::sleep_for(std::chrono::milliseconds(5));
        m_capFpageregs->capture();
        std::this_thread::sleep_for(std::chrono::milliseconds(5));
        isDone = saveLutImg(dpi, mode, false);
        i++;
    }
    printf("creatcorrectconfig %s \n", (mode == IMAGE_COLOR ? " Color" : " Gray"));
    creatLUTData(dpi, mode);
    //video->close_video();
}

// void MultiFrameCapture::myFloodFill(cv::Mat& image, bool isTwoSide)
// {
//     int w = image.cols;
//     int h = image.rows;
//     cv::Vec3b lt, rt, lb, rb;
//     const double threshold = 10;

//     if (!isTwoSide)
//     {
//         lt = image.channels() == 3 ? image.at<cv::Vec3b>(0, 0) : image.at<uchar>(0, 0);
//         if (lt[0] < threshold && lt[1] < threshold && lt[2] < threshold)
//             cv::floodFill(image, cv::Point(0, 0), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);

//         rt = image.channels() == 3 ? image.at<cv::Vec3b>(0, w - 1) : image.at<uchar>(0, w - 1);
//         if (rt[0] < threshold)
//             cv::floodFill(image, cv::Point(w - 1, 0), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);

//         lb = image.channels() == 3 ? image.at<cv::Vec3b>(h - 1, 0) : image.at<uchar>(h - 1, 0);
//         if (lb[0] < threshold)
//             cv::floodFill(image, cv::Point(0, h - 1), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);

//         rb = image.channels() == 3 ? image.at<cv::Vec3b>(h - 1, w - 1) : image.at<uchar>(h - 1, w - 1);
//         if (rb[0] < threshold)
//             cv::floodFill(image, cv::Point(w - 1, h - 1), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);
//     }
//     else
//     {
//         int w_ = w / 2;
//         lt = image.channels() == 3 ? image.at<cv::Vec3b>(0, 0) : image.at<uchar>(0, 0);
//         if (lt[0] < threshold && lt[1] < threshold && lt[2] < threshold)
//             cv::floodFill(image, cv::Point(0, 0), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);

//         rt = image.channels() == 3 ? image.at<cv::Vec3b>(0, w_ - 1) : image.at<uchar>(0, w_ - 1);
//         if (rt[0] < threshold && rt[1] < threshold && rt[2] < threshold)
//             cv::floodFill(image, cv::Point(w_ - 1, 0), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);

//         lb = image.channels() == 3 ? image.at<cv::Vec3b>(h - 1, 0) : image.at<uchar>(h - 1, 0);
//         if (lb[0] < threshold && lb[1] < threshold && lb[2] < threshold)
//             cv::floodFill(image, cv::Point(0, h - 1), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);

//         rb = image.channels() == 3 ? image.at<cv::Vec3b>(h - 1, w_ - 1) : image.at<uchar>(h - 1, w_ - 1);
//         if (rb[0] < threshold && rb[1] < threshold && rb[2] < threshold)
//             cv::floodFill(image, cv::Point(w_ - 1, h - 1), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);

//         lt = image.channels() == 3 ? image.at<cv::Vec3b>(0, w_) : image.at<uchar>(0, w_);
//         if (lt[0] < threshold && lt[1] < threshold && lt[2] < threshold)
//             cv::floodFill(image, cv::Point(w_, 0), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);

//         rt = image.channels() == 3 ? image.at<cv::Vec3b>(0, w - 1) : image.at<uchar>(0, w - 1);
//         if (rt[0] < threshold && rt[1] < threshold && rt[2] < threshold)
//             cv::floodFill(image, cv::Point(w - 1, 0), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);

//         lb = image.channels() == 3 ? image.at<cv::Vec3b>(h - 1, w_) : image.at<uchar>(h - 1, w_);
//         if (lb[0] < threshold && lb[1] < threshold && lb[2] < threshold)
//             cv::floodFill(image, cv::Point(w_, h - 1), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);

//         rb = image.channels() == 3 ? image.at<cv::Vec3b>(h - 1, w - 1) : image.at<uchar>(h - 1, w - 1);
//         if (rb[0] < threshold && rb[1] < threshold && rb[2] < threshold)
//             cv::floodFill(image, cv::Point(w - 1, h - 1), cv::Scalar::all(255), 0, cv::Scalar::all(5), cv::Scalar::all(40), cv::FLOODFILL_FIXED_RANGE);
//     }
// }