Colony

    sprintf(buf, "%s: Error: Invalid colonet message type\n", __FUNCTION__);

  case CLIENT_REQUEST_IMAGE:

    if (parse_request_image(pool_index)) {

      return -1;

    }

    break;

 * @brief This function parses a client's request for an image from the over head camera

 * 

 * @param pool_index The index in the connection pool of the client that sent this command

 *

 * @return 0 on success, negative error code on failure

 */

int Command::parse_request_image(int pool_index) {

  //printf("*****parse_request_image\n");

  unsigned char buffer[150000];

  int length;

  //get the latest image data from the vision module

  length = getImageBytes(buffer, 150000);

  if (length > 0)

    connection_pool->write_to_client(pool_index, (char *)buffer, length);

  else

    return -1;

  return 0;

}

/**

  //printf("colonet_wl_send: client_source:%d, dest:%d, msg_code:%d\n", client_source, dest, msg_code);

  int parse_request_image(int pool_index);

#ifndef MEMDST_H

#define MEMDST_H

GLOBAL(void)

jpeg_memory_dest (j_compress_ptr cinfo, JOCTET* buffer, int bufsize, int* outsize);

#endif

/*

 * jmorecfg.h

 *

 * Copyright (C) 1991-1997, Thomas G. Lane.

 * This file is part of the Independent JPEG Group's software.

 * For conditions of distribution and use, see the accompanying README file.

 *

 * This file contains additional configuration options that customize the

 * JPEG software for special applications or support machine-dependent

 * optimizations.  Most users will not need to touch this file.

 */

/*

 * Define BITS_IN_JSAMPLE as either

 *   8   for 8-bit sample values (the usual setting)

 *   12  for 12-bit sample values

 * Only 8 and 12 are legal data precisions for lossy JPEG according to the

 * JPEG standard, and the IJG code does not support anything else!

 * We do not support run-time selection of data precision, sorry.

 */

#define BITS_IN_JSAMPLE  8	/* use 8 or 12 */

/*

 * Maximum number of components (color channels) allowed in JPEG image.

 * To meet the letter of the JPEG spec, set this to 255.  However, darn

 * few applications need more than 4 channels (maybe 5 for CMYK + alpha

 * mask).  We recommend 10 as a reasonable compromise; use 4 if you are

 * really short on memory.  (Each allowed component costs a hundred or so

 * bytes of storage, whether actually used in an image or not.)

 */

#define MAX_COMPONENTS  10	/* maximum number of image components */

/*

 * Basic data types.

 * You may need to change these if you have a machine with unusual data

 * type sizes; for example, "char" not 8 bits, "short" not 16 bits,

 * or "long" not 32 bits.  We don't care whether "int" is 16 or 32 bits,

 * but it had better be at least 16.

 */

/* Representation of a single sample (pixel element value).

 * We frequently allocate large arrays of these, so it's important to keep

 * them small.  But if you have memory to burn and access to char or short

 * arrays is very slow on your hardware, you might want to change these.

 */

#if BITS_IN_JSAMPLE == 8

/* JSAMPLE should be the smallest type that will hold the values 0..255.

 * You can use a signed char by having GETJSAMPLE mask it with 0xFF.

 */

#ifdef HAVE_UNSIGNED_CHAR

typedef unsigned char JSAMPLE;

#define GETJSAMPLE(value)  ((int) (value))

#else /* not HAVE_UNSIGNED_CHAR */

typedef char JSAMPLE;

#ifdef CHAR_IS_UNSIGNED

#define GETJSAMPLE(value)  ((int) (value))

#else

#define GETJSAMPLE(value)  ((int) (value) & 0xFF)

#endif /* CHAR_IS_UNSIGNED */

#endif /* HAVE_UNSIGNED_CHAR */

#define MAXJSAMPLE	255

#define CENTERJSAMPLE	128

#endif /* BITS_IN_JSAMPLE == 8 */

#if BITS_IN_JSAMPLE == 12

/* JSAMPLE should be the smallest type that will hold the values 0..4095.

 * On nearly all machines "short" will do nicely.

 */

typedef short JSAMPLE;

#define GETJSAMPLE(value)  ((int) (value))

#define MAXJSAMPLE	4095

#define CENTERJSAMPLE	2048

#endif /* BITS_IN_JSAMPLE == 12 */

/* Representation of a DCT frequency coefficient.

 * This should be a signed value of at least 16 bits; "short" is usually OK.

 * Again, we allocate large arrays of these, but you can change to int

 * if you have memory to burn and "short" is really slow.

 */

typedef short JCOEF;

/* Compressed datastreams are represented as arrays of JOCTET.

 * These must be EXACTLY 8 bits wide, at least once they are written to

 * external storage.  Note that when using the stdio data source/destination

 * managers, this is also the data type passed to fread/fwrite.

 */

#ifdef HAVE_UNSIGNED_CHAR

typedef unsigned char JOCTET;

#define GETJOCTET(value)  (value)

#else /* not HAVE_UNSIGNED_CHAR */

typedef char JOCTET;

#ifdef CHAR_IS_UNSIGNED

#define GETJOCTET(value)  (value)

#else

#define GETJOCTET(value)  ((value) & 0xFF)

#endif /* CHAR_IS_UNSIGNED */

#endif /* HAVE_UNSIGNED_CHAR */

/* These typedefs are used for various table entries and so forth.

 * They must be at least as wide as specified; but making them too big

 * won't cost a huge amount of memory, so we don't provide special

 * extraction code like we did for JSAMPLE.  (In other words, these

 * typedefs live at a different point on the speed/space tradeoff curve.)

 */

/* UINT8 must hold at least the values 0..255. */

#ifdef HAVE_UNSIGNED_CHAR

typedef unsigned char UINT8;

#else /* not HAVE_UNSIGNED_CHAR */

#ifdef CHAR_IS_UNSIGNED

typedef char UINT8;

#else /* not CHAR_IS_UNSIGNED */

typedef short UINT8;

#endif /* CHAR_IS_UNSIGNED */

#endif /* HAVE_UNSIGNED_CHAR */

/* UINT16 must hold at least the values 0..65535. */

#ifdef HAVE_UNSIGNED_SHORT

typedef unsigned short UINT16;

#else /* not HAVE_UNSIGNED_SHORT */

typedef unsigned int UINT16;

#endif /* HAVE_UNSIGNED_SHORT */

/* INT16 must hold at least the values -32768..32767. */

#ifndef XMD_H			/* X11/xmd.h correctly defines INT16 */

typedef short INT16;

#endif

/* INT32 must hold at least signed 32-bit values. */

#ifndef XMD_H			/* X11/xmd.h correctly defines INT32 */

typedef long INT32;

#endif

/* Datatype used for image dimensions.  The JPEG standard only supports

 * images up to 64K*64K due to 16-bit fields in SOF markers.  Therefore

 * "unsigned int" is sufficient on all machines.  However, if you need to

 * handle larger images and you don't mind deviating from the spec, you

 * can change this datatype.

 */

typedef unsigned int JDIMENSION;

#define JPEG_MAX_DIMENSION  65500L  /* a tad under 64K to prevent overflows */

/* These macros are used in all function definitions and extern declarations.

 * You could modify them if you need to change function linkage conventions;

 * in particular, you'll need to do that to make the library a Windows DLL.

 * Another application is to make all functions global for use with debuggers

 * or code profilers that require it.

 */

/* a function called through method pointers: */

#define METHODDEF(type)		static type

/* a function used only in its module: */

#define LOCAL(type)		static type

/* a function referenced thru EXTERNs: */

#define GLOBAL(type)		type

/* a reference to a GLOBAL function: */

#define EXTERN(type)		extern type

/* This macro is used to declare a "method", that is, a function pointer.

 * We want to supply prototype parameters if the compiler can cope.

 * Note that the arglist parameter must be parenthesized!

 * Again, you can customize this if you need special linkage keywords.

 */

#ifdef HAVE_PROTOTYPES

#define JMETHOD(type,methodname,arglist)  type (*methodname) arglist

#else

#define JMETHOD(type,methodname,arglist)  type (*methodname) ()

#endif

/* Here is the pseudo-keyword for declaring pointers that must be "far"

 * on 80x86 machines.  Most of the specialized coding for 80x86 is handled

 * by just saying "FAR *" where such a pointer is needed.  In a few places

 * explicit coding is needed; see uses of the NEED_FAR_POINTERS symbol.

 */

#ifdef NEED_FAR_POINTERS

#define FAR  far

#else

#define FAR

#endif

/*

 * On a few systems, type boolean and/or its values FALSE, TRUE may appear

 * in standard header files.  Or you may have conflicts with application-

 * specific header files that you want to include together with these files.

 * Defining HAVE_BOOLEAN before including jpeglib.h should make it work.

 */

#ifndef HAVE_BOOLEAN

typedef int boolean;

#endif

#ifndef FALSE			/* in case these macros already exist */

#define FALSE	0		/* values of boolean */

#endif

#ifndef TRUE

#define TRUE	1

#endif

/*

 * The remaining options affect code selection within the JPEG library,

 * but they don't need to be visible to most applications using the library.

 * To minimize application namespace pollution, the symbols won't be

 * defined unless JPEG_INTERNALS or JPEG_INTERNAL_OPTIONS has been defined.

 */

#ifdef JPEG_INTERNALS

#define JPEG_INTERNAL_OPTIONS

#endif

#ifdef JPEG_INTERNAL_OPTIONS

/*

 * These defines indicate whether to include various optional functions.

 * Undefining some of these symbols will produce a smaller but less capable

 * library.  Note that you can leave certain source files out of the

 * compilation/linking process if you've #undef'd the corresponding symbols.

 * (You may HAVE to do that if your compiler doesn't like null source files.)

 */

/* Arithmetic coding is unsupported for legal reasons.  Complaints to IBM. */

/* Capability options common to encoder and decoder: */

#define DCT_ISLOW_SUPPORTED	/* slow but accurate integer algorithm */

#define DCT_IFAST_SUPPORTED	/* faster, less accurate integer method */

#define DCT_FLOAT_SUPPORTED	/* floating-point: accurate, fast on fast HW */

/* Encoder capability options: */

#undef  C_ARITH_CODING_SUPPORTED    /* Arithmetic coding back end? */

#define C_MULTISCAN_FILES_SUPPORTED /* Multiple-scan JPEG files? */

#define C_PROGRESSIVE_SUPPORTED	    /* Progressive JPEG? (Requires MULTISCAN)*/

#define ENTROPY_OPT_SUPPORTED	    /* Optimization of entropy coding parms? */

/* Note: if you selected 12-bit data precision, it is dangerous to turn off

 * ENTROPY_OPT_SUPPORTED.  The standard Huffman tables are only good for 8-bit

 * precision, so jchuff.c normally uses entropy optimization to compute

 * usable tables for higher precision.  If you don't want to do optimization,

 * you'll have to supply different default Huffman tables.

 * The exact same statements apply for progressive JPEG: the default tables

 * don't work for progressive mode.  (This may get fixed, however.)

 */

#define INPUT_SMOOTHING_SUPPORTED   /* Input image smoothing option? */

/* Decoder capability options: */

#undef  D_ARITH_CODING_SUPPORTED    /* Arithmetic coding back end? */

#define D_MULTISCAN_FILES_SUPPORTED /* Multiple-scan JPEG files? */

#define D_PROGRESSIVE_SUPPORTED	    /* Progressive JPEG? (Requires MULTISCAN)*/

#define SAVE_MARKERS_SUPPORTED	    /* jpeg_save_markers() needed? */

#define BLOCK_SMOOTHING_SUPPORTED   /* Block smoothing? (Progressive only) */

#define IDCT_SCALING_SUPPORTED	    /* Output rescaling via IDCT? */

#undef  UPSAMPLE_SCALING_SUPPORTED  /* Output rescaling at upsample stage? */

#define UPSAMPLE_MERGING_SUPPORTED  /* Fast path for sloppy upsampling? */

#define QUANT_1PASS_SUPPORTED	    /* 1-pass color quantization? */

#define QUANT_2PASS_SUPPORTED	    /* 2-pass color quantization? */

/* more capability options later, no doubt */

/*

 * Ordering of RGB data in scanlines passed to or from the application.

 * If your application wants to deal with data in the order B,G,R, just

 * change these macros.  You can also deal with formats such as R,G,B,X

 * (one extra byte per pixel) by changing RGB_PIXELSIZE.  Note that changing

 * the offsets will also change the order in which colormap data is organized.

 * RESTRICTIONS:

 * 1. The sample applications cjpeg,djpeg do NOT support modified RGB formats.

 * 2. These macros only affect RGB<=>YCbCr color conversion, so they are not

 *    useful if you are using JPEG color spaces other than YCbCr or grayscale.

 * 3. The color quantizer modules will not behave desirably if RGB_PIXELSIZE

 *    is not 3 (they don't understand about dummy color components!).  So you

 *    can't use color quantization if you change that value.

 */

#define RGB_RED		0	/* Offset of Red in an RGB scanline element */

#define RGB_GREEN	1	/* Offset of Green */

#define RGB_BLUE	2	/* Offset of Blue */

#define RGB_PIXELSIZE	3	/* JSAMPLEs per RGB scanline element */

/* Definitions for speed-related optimizations. */

/* If your compiler supports inline functions, define INLINE

 * as the inline keyword; otherwise define it as empty.

 */

#ifndef INLINE

#ifdef __GNUC__			/* for instance, GNU C knows about inline */

#define INLINE __inline__

#endif

#ifndef INLINE

#define INLINE			/* default is to define it as empty */

#endif

#endif

/* On some machines (notably 68000 series) "int" is 32 bits, but multiplying

 * two 16-bit shorts is faster than multiplying two ints.  Define MULTIPLIER

 * as short on such a machine.  MULTIPLIER must be at least 16 bits wide.

 */

#ifndef MULTIPLIER

#define MULTIPLIER  int		/* type for fastest integer multiply */

#endif

/* FAST_FLOAT should be either float or double, whichever is done faster

 * by your compiler.  (Note that this type is only used in the floating point

 * DCT routines, so it only matters if you've defined DCT_FLOAT_SUPPORTED.)

 * Typically, float is faster in ANSI C compilers, while double is faster in

 * pre-ANSI compilers (because they insist on converting to double anyway).

 * The code below therefore chooses float if we have ANSI-style prototypes.

 */

#ifndef FAST_FLOAT

#ifdef HAVE_PROTOTYPES

#define FAST_FLOAT  float

#else

#define FAST_FLOAT  double

#endif

#endif

#endif /* JPEG_INTERNAL_OPTIONS */

#include "vision.h"

#include <cv.h>

#include <highgui.h>

#include <stdio.h>

#define MINH 50 //min threshold level

#define MAXH 75 //max threshold level

#define MIN_BOX_WIDTH 10

#define MAX_BOX_WIDTH 20

#define MIN_BOX_HEIGHT 10

#define MAX_BOX_HEIGHT 20

#define BEST_CENTER_PADDING_X 9

#define BEST_CENTER_PADDING_Y 9

#define ELLIPSE_COUNT_TO_BE_OBJECT 7

struct CenterP {

  CvPoint center;

  int count;

};

static CvCapture *capture;

void compute(aTYPE *a, int length, IplImage* image, IplImage* out)

{

	int *values = (int*)out->imageData;

  for(int y = 0; y < image->height; y++)

  {

    for(int x = 0; x < image->width; x++)

    {

      bool d = ((uchar*)(image->imageData + image->widthStep*y))[x] > 0;

      if(!d) continue;

      for(int i = 0; i < length; i++)

      {

      	int centerj = y + a[i].rhoj;

      	int centeri = x + a[i].thetaj;

        if(centerj < 0 || centerj >= image->height || centeri < 0 || centeri >= image->width)

            continue;

        values[centerj * image->width + centeri]++;

      }

    }

  }

}

void circleTransform(IplImage* image, IplImage* out, int radius)

{

  int amax = 8 * radius;

  aTYPE *a = (aTYPE*)malloc(sizeof(aTYPE) * amax);

  int i = 0;

  for(int j = 0; j < amax; j++)

  {

    double theta = (6.2831853071795862 * ((double)j)) / ((double)amax);

    int rhoj = (int)cvRound(radius * cos(theta));

    int thetaj = (int)cvRound(radius * sin(theta));

    if(i == 0 || rhoj != a[i].rhoj && thetaj != a[i].thetaj)

    {

      a[i].rhoj = rhoj;

      a[i].thetaj = thetaj;

      i++;

    }

  }

  compute(a, amax, image, out);

	free(a);

}

// A Simple Camera Capture Framework

int main() {

  unsigned char buffer[150000];

  int written;

  CvCapture* capture = cvCaptureFromCAM( -1 );

  if( !capture ) {

    fprintf( stderr, "ERROR: capture is NULL \n" );

    getchar();

    return -1;

  }

  // Create a window in which the captured images will be presented

  cvNamedWindow( "mywindow1", CV_WINDOW_AUTOSIZE );

  cvNamedWindow( "mywindow2", CV_WINDOW_AUTOSIZE );

  //cvNamedWindow( "mywindow3", CV_WINDOW_AUTOSIZE );

  //cvNamedWindow( "mywindow4", CV_WINDOW_AUTOSIZE );

  //cvNamedWindow( "mywindow5", CV_WINDOW_AUTOSIZE );

  //cvNamedWindow( "mywindow6", CV_WINDOW_AUTOSIZE );

  //cvNamedWindow( "mywindow7", CV_WINDOW_AUTOSIZE );

  // Show the image captured from the camera in the window and repeat

  while( 1 ) {

    IplImage *image03, *image04;

    IplImage *im_capture;

    if(!cvGrabFrame(capture)){              // capture a frame 

      printf("Could not grab a frame\n\7");

      exit(0);

    }

    im_capture=cvRetrieveFrame(capture);           // retrieve the captured frame

    image03 = cvCreateImage(cvGetSize(im_capture), im_capture->depth, 1);

    cvCvtColor(im_capture, image03, CV_RGB2GRAY);

    /*/ load image and force it to be grayscale

    if ((image03 = cvLoadImage(filename, 0)) == 0) {

      fprintf(stderr, "Failed to load image.\n");

      return -1;

    }*/

    // Create the destination images

    IplImage* image02 = cvCloneImage(image03);

    // Create dynamic structure and sequence.

    CvMemStorage* stor = cvCreateMemStorage(0);

    CvSeq* cont = cvCreateSeq(CV_SEQ_ELTYPE_POINT, sizeof(CvSeq), sizeof(CvPoint) , stor);

    struct CenterP bestc[100];

    int index=0;

      // Threshold the source image. This needful for cvFindContours().

      cvCanny(image03, image02, 50, 100);

      cvDilate(image02, image02);

      cvShowImage( "mywindow2", image02 );

      // Find all contours.

      cvFindContours(image02, stor, &cont, sizeof(CvContour), CV_RETR_LIST, CV_CHAIN_APPROX_NONE, cvPoint(0,0));

      // Clear images. IPL use.

      cvZero(image02);

      // This cycle draw all contours and approximate it by ellipses.

      for(; cont; cont = cont->h_next) {

        int i; // Indicator of cycle.

        int count = cont->total; // This is number point in contour

        CvPoint center;

        CvSize size;

        // Number point must be more than or equal to 6 (for cvFitEllipse_32f).

        if (count < 6) continue;

        // Alloc memory for contour point set.

        CvPoint* PointArray = (CvPoint*) malloc(count * sizeof(CvPoint));

        CvPoint2D32f* PointArray2D32f= (CvPoint2D32f*) malloc(count * sizeof(CvPoint2D32f));

        // Alloc memory for ellipse data.

        CvBox2D32f* box = (CvBox2D32f*)malloc(sizeof(CvBox2D32f));

        /* Use Hough Transform to check circularity of contours, threshold Hough space

          Second gen (?): Use Harr cascade on bot shape */

        /*for( ; cont != 0; cont = cont->h_next )

        {

		      CvRect rect = ((CvContour*)cont)->rect;

		      if (rect.width < RADIUS - R_ERROR || rect.height < RADIUS - R_ERROR) continue;

		      cvZero(imageBlobs);

		      cvZero(imageOutlines);

          cvDrawContours( imageOutlines, contour, CV_RGB(255,255,255), CV_RGB(255,255,255), -1, 1, 8 );

		      cvDrawContours( imageBlobs,    contour, CV_RGB(255,255,255), CV_RGB(255,255,255), -1, CV_FILLED, 8 );

		      CvScalar drawcolor = CV_RGB( rand()&255, rand()&255, rand()&255 );

		      cvDrawContours( imageCircles, contour, drawcolor, drawcolor, -1, CV_FILLED, 8 );

        }*/

        // Get contour point set.

        cvCvtSeqToArray(cont, PointArray, CV_WHOLE_SEQ);

        // Convert CvPoint set to CvBox2D32f set.

        for(i=0; i<count; i++) {

          PointArray2D32f[i].x = (float)PointArray[i].x;

          PointArray2D32f[i].y = (float)PointArray[i].y;

        }

        // Fits ellipse to current contour.

        cvFitEllipse(PointArray2D32f, count, box);

        // Convert ellipse data from float to integer representation.

        center.x = cvRound(box->center.x);

        center.y = cvRound(box->center.y);

        size.width = cvRound(box->size.width*0.5);

        size.height = cvRound(box->size.height*0.5);

        box->angle = -box->angle;

        if (size.width > MIN_BOX_WIDTH && size.height > MIN_BOX_HEIGHT

            && size.width < MAX_BOX_WIDTH && size.height < MAX_BOX_HEIGHT){

          //printf("%d %d %d %d\n",center.x,center.y,size.width,size.height);

          int found=0, j;

          for (j = 0; j < index; j++) {

            if (abs(bestc[j].center.x-center.x) < BEST_CENTER_PADDING_X

                && abs(bestc[j].center.y-center.y) < BEST_CENTER_PADDING_Y) {

              bestc[j].count++;

              found=1;

              break;

            }

          }

          if (!found){

            struct CenterP c;

            c.center=center;

            c.count=1;

            bestc[index]=c;

            index++;

          }

        }

        // Free memory.

        free(PointArray);

        free(PointArray2D32f);

        free(box);

      }

    image04 = cvCloneImage(image03);

    cvZero(image04);

    int i;

    for (i = 0; i < index; i++) {

      //if (bestc[i].count > ELLIPSE_COUNT_TO_BE_OBJECT){

        cvCircle(image04, bestc[i].center, 20, CV_RGB(0,0,0), 5, 8, 0);

      //}

    }

    cvReleaseImage(&image02);

    cvReleaseImage(&image03);

    // Show image. HighGUI use.

    cvShowImage( "mywindow1", image04 );

    cvReleaseImage(&image04);

    cvReleaseMemStorage(&stor);

    //If ESC key pressed, Key=0x10001B under OpenCV 0.9.7(linux version),

    //remove higher bits using AND operator

    if( (cvWaitKey(0) & 255) == 27 ) break;

  }

  // Release the capture device housekeeping

  cvReleaseCapture( &capture );

  cvDestroyWindow( "mywindow1" );

  cvDestroyWindow( "mywindow2" );

  cvDestroyWindow( "mywindow3" );

  cvDestroyWindow( "mywindow4" );

  cvDestroyWindow( "mywindow5" );

  cvDestroyWindow( "mywindow6" );

  cvDestroyWindow( "mywindow7" );

  return 0;

}

#include "vision.h"

#define DEBUG 1 //Debug to find threshold level

int write_JPEG_to_mem (unsigned char *storage, int length, IplImage *img, int quality);

/*static char* filename;*/

static CvCapture *capture;

int vision_init(/*char* filename_*/) {

  /*filename = filename_;*/

  if (DEBUG)

    cvNamedWindow("Result", CV_WINDOW_AUTOSIZE);

  //TODO: replace with 1394 capture so we don't have to use Coriander

  capture = cvCreateCameraCapture(-1);

  if( !capture ) {

    fprintf( stderr, "ERROR: capture is NULL \n" );

    return -1;

  }

void vision_close()

{

  if (DEBUG)

    cvDestroyWindow("Result");

  cvReleaseCapture(&capture);

}

int getImageBytes(unsigned char *buffer, int length)

{

  IplImage* im_capture;

  if(!cvGrabFrame(capture)){              // capture a frame 

    printf("Could not grab a frame\n\7");

    exit(0);

  }

  im_capture=cvRetrieveFrame(capture);           // retrieve the captured frame

  return write_JPEG_to_mem (buffer, length, im_capture, 30);

}

  IplImage* im_capture;

  if(!cvGrabFrame(capture)){              // capture a frame 

    printf("Could not grab a frame\n\7");

    exit(0);

  }

  im_capture=cvRetrieveFrame(capture);           // retrieve the captured frame

  image03 = cvCreateImage(cvGetSize(im_capture), im_capture->depth, 1);

  cvCvtColor(im_capture, image03, CV_RGB2GRAY);

  /*/ load image and force it to be grayscale

  }*/

  int h;

  for (h = MINH; h < MAXH; h++) {

#include <stdio.h>

#include "jpeglib.h"

#include <cv.h>

#include "vision.h"

#include "memdst.h"

int write_JPEG_to_mem (unsigned char *storage, int length, IplImage *_img, int quality)

{

  struct jpeg_compress_struct cinfo;

  struct jpeg_error_mgr jerr;

  JSAMPROW row_pointer[1];

  int numBytes = -1; //size of jpeg after compression

  IplImage *img;

  img = cvCloneImage(_img);

  cvCvtColor(_img, img, CV_RGB2BGR);

  cinfo.err = jpeg_std_error(&jerr);

  jpeg_create_compress(&cinfo);

  jpeg_memory_dest(&cinfo,(JOCTET*)storage,length,&numBytes);

  cinfo.image_width = img->width;

  cinfo.image_height = img->height;

  cinfo.input_components = img->nChannels;

  cinfo.in_color_space = JCS_RGB;

  jpeg_set_defaults(&cinfo);

  jpeg_set_quality(&cinfo, quality, TRUE );

  jpeg_start_compress(&cinfo, TRUE);

  while (cinfo.next_scanline < cinfo.image_height) {

    row_pointer[0] = (unsigned char *)(img->imageData + cinfo.next_scanline * img->widthStep);

    (void) jpeg_write_scanlines(&cinfo, row_pointer, 1);

  }

  jpeg_finish_compress(&cinfo);

  jpeg_destroy_compress(&cinfo);

  return numBytes;

}

int vision_init(/*char* filename*/);

void vision_close(void);

int getImageBytes(unsigned char *buffer, int length);

/*

 * jpeglib.h

 *

 * Copyright (C) 1991-1998, Thomas G. Lane.

 * This file is part of the Independent JPEG Group's software.

 * For conditions of distribution and use, see the accompanying README file.

 *

 * This file defines the application interface for the JPEG library.

 * Most applications using the library need only include this file,

 * and perhaps jerror.h if they want to know the exact error codes.

 */

#ifndef JPEGLIB_H

#define JPEGLIB_H

/*

 * First we include the configuration files that record how this

 * installation of the JPEG library is set up.  jconfig.h can be

 * generated automatically for many systems.  jmorecfg.h contains

 * manual configuration options that most people need not worry about.

 */

#ifndef JCONFIG_INCLUDED	/* in case jinclude.h already did */

#include "jconfig.h"		/* widely used configuration options */

#endif

#include "jmorecfg.h"		/* seldom changed options */

/* Version ID for the JPEG library.

 * Might be useful for tests like "#if JPEG_LIB_VERSION >= 60".

 */

#define JPEG_LIB_VERSION  62	/* Version 6b */

/* Various constants determining the sizes of things.

 * All of these are specified by the JPEG standard, so don't change them

 * if you want to be compatible.

 */

#define DCTSIZE		    8	/* The basic DCT block is 8x8 samples */

#define DCTSIZE2	    64	/* DCTSIZE squared; # of elements in a block */

#define NUM_QUANT_TBLS      4	/* Quantization tables are numbered 0..3 */

#define NUM_HUFF_TBLS       4	/* Huffman tables are numbered 0..3 */

#define NUM_ARITH_TBLS      16	/* Arith-coding tables are numbered 0..15 */

#define MAX_COMPS_IN_SCAN   4	/* JPEG limit on # of components in one scan */

#define MAX_SAMP_FACTOR     4	/* JPEG limit on sampling factors */

/* Unfortunately, some bozo at Adobe saw no reason to be bound by the standard;

 * the PostScript DCT filter can emit files with many more than 10 blocks/MCU.

 * If you happen to run across such a file, you can up D_MAX_BLOCKS_IN_MCU

 * to handle it.  We even let you do this from the jconfig.h file.  However,

 * we strongly discourage changing C_MAX_BLOCKS_IN_MCU; just because Adobe

 * sometimes emits noncompliant files doesn't mean you should too.

 */

#define C_MAX_BLOCKS_IN_MCU   10 /* compressor's limit on blocks per MCU */

#ifndef D_MAX_BLOCKS_IN_MCU

#define D_MAX_BLOCKS_IN_MCU   10 /* decompressor's limit on blocks per MCU */

#endif

/* Data structures for images (arrays of samples and of DCT coefficients).

 * On 80x86 machines, the image arrays are too big for near pointers,

 * but the pointer arrays can fit in near memory.

 */

typedef JSAMPLE FAR *JSAMPROW;	/* ptr to one image row of pixel samples. */

typedef JSAMPROW *JSAMPARRAY;	/* ptr to some rows (a 2-D sample array) */

typedef JSAMPARRAY *JSAMPIMAGE;	/* a 3-D sample array: top index is color */

typedef JCOEF JBLOCK[DCTSIZE2];	/* one block of coefficients */

typedef JBLOCK FAR *JBLOCKROW;	/* pointer to one row of coefficient blocks */

typedef JBLOCKROW *JBLOCKARRAY;		/* a 2-D array of coefficient blocks */

typedef JBLOCKARRAY *JBLOCKIMAGE;	/* a 3-D array of coefficient blocks */

typedef JCOEF FAR *JCOEFPTR;	/* useful in a couple of places */

/* Types for JPEG compression parameters and working tables. */

/* DCT coefficient quantization tables. */

typedef struct {

  /* This array gives the coefficient quantizers in natural array order

   * (not the zigzag order in which they are stored in a JPEG DQT marker).

   * CAUTION: IJG versions prior to v6a kept this array in zigzag order.

   */

  UINT16 quantval[DCTSIZE2];	/* quantization step for each coefficient */

  /* This field is used only during compression.  It's initialized FALSE when

   * the table is created, and set TRUE when it's been output to the file.

   * You could suppress output of a table by setting this to TRUE.

   * (See jpeg_suppress_tables for an example.)

   */

  boolean sent_table;		/* TRUE when table has been output */

} JQUANT_TBL;

/* Huffman coding tables. */

typedef struct {

  /* These two fields directly represent the contents of a JPEG DHT marker */

  UINT8 bits[17];		/* bits[k] = # of symbols with codes of */

				/* length k bits; bits[0] is unused */

  UINT8 huffval[256];		/* The symbols, in order of incr code length */

  /* This field is used only during compression.  It's initialized FALSE when

   * the table is created, and set TRUE when it's been output to the file.

   * You could suppress output of a table by setting this to TRUE.

   * (See jpeg_suppress_tables for an example.)

   */

  boolean sent_table;		/* TRUE when table has been output */

} JHUFF_TBL;

/* Basic info about one component (color channel). */

typedef struct {

  /* These values are fixed over the whole image. */

  /* For compression, they must be supplied by parameter setup; */

  /* for decompression, they are read from the SOF marker. */

  int component_id;		/* identifier for this component (0..255) */

  int component_index;		/* its index in SOF or cinfo->comp_info[] */

  int h_samp_factor;		/* horizontal sampling factor (1..4) */

  int v_samp_factor;		/* vertical sampling factor (1..4) */

  int quant_tbl_no;		/* quantization table selector (0..3) */

  /* These values may vary between scans. */

  /* For compression, they must be supplied by parameter setup; */

  /* for decompression, they are read from the SOS marker. */

  /* The decompressor output side may not use these variables. */

  int dc_tbl_no;		/* DC entropy table selector (0..3) */

  int ac_tbl_no;		/* AC entropy table selector (0..3) */

  /* Remaining fields should be treated as private by applications. */

  /* These values are computed during compression or decompression startup: */

  /* Component's size in DCT blocks.

   * Any dummy blocks added to complete an MCU are not counted; therefore

   * these values do not depend on whether a scan is interleaved or not.

   */

  JDIMENSION width_in_blocks;

  JDIMENSION height_in_blocks;

  /* Size of a DCT block in samples.  Always DCTSIZE for compression.

   * For decompression this is the size of the output from one DCT block,

   * reflecting any scaling we choose to apply during the IDCT step.

   * Values of 1,2,4,8 are likely to be supported.  Note that different

   * components may receive different IDCT scalings.

   */

  int DCT_scaled_size;

  /* The downsampled dimensions are the component's actual, unpadded number

   * of samples at the main buffer (preprocessing/compression interface), thus

   * downsampled_width = ceil(image_width * Hi/Hmax)

   * and similarly for height.  For decompression, IDCT scaling is included, so

   * downsampled_width = ceil(image_width * Hi/Hmax * DCT_scaled_size/DCTSIZE)

   */

  JDIMENSION downsampled_width;	 /* actual width in samples */

  JDIMENSION downsampled_height; /* actual height in samples */

  /* This flag is used only for decompression.  In cases where some of the

   * components will be ignored (eg grayscale output from YCbCr image),

   * we can skip most computations for the unused components.

   */

  boolean component_needed;	/* do we need the value of this component? */

  /* These values are computed before starting a scan of the component. */

  /* The decompressor output side may not use these variables. */

  int MCU_width;		/* number of blocks per MCU, horizontally */

  int MCU_height;		/* number of blocks per MCU, vertically */

  int MCU_blocks;		/* MCU_width * MCU_height */

  int MCU_sample_width;		/* MCU width in samples, MCU_width*DCT_scaled_size */

  int last_col_width;		/* # of non-dummy blocks across in last MCU */

  int last_row_height;		/* # of non-dummy blocks down in last MCU */

  /* Saved quantization table for component; NULL if none yet saved.

   * See jdinput.c comments about the need for this information.

   * This field is currently used only for decompression.

   */

  JQUANT_TBL * quant_table;

  /* Private per-component storage for DCT or IDCT subsystem. */

  void * dct_table;

} jpeg_component_info;

/* The script for encoding a multiple-scan file is an array of these: */

typedef struct {

  int comps_in_scan;		/* number of components encoded in this scan */

  int component_index[MAX_COMPS_IN_SCAN]; /* their SOF/comp_info[] indexes */

  int Ss, Se;			/* progressive JPEG spectral selection parms */

  int Ah, Al;			/* progressive JPEG successive approx. parms */

} jpeg_scan_info;

/* The decompressor can save APPn and COM markers in a list of these: */

typedef struct jpeg_marker_struct FAR * jpeg_saved_marker_ptr;

struct jpeg_marker_struct {

  jpeg_saved_marker_ptr next;	/* next in list, or NULL */

  UINT8 marker;			/* marker code: JPEG_COM, or JPEG_APP0+n */

  unsigned int original_length;	/* # bytes of data in the file */

  unsigned int data_length;	/* # bytes of data saved at data[] */

  JOCTET FAR * data;		/* the data contained in the marker */

  /* the marker length word is not counted in data_length or original_length */

};

/* Known color spaces. */

typedef enum {

	JCS_UNKNOWN,		/* error/unspecified */

	JCS_GRAYSCALE,		/* monochrome */

	JCS_RGB,		/* red/green/blue */

	JCS_YCbCr,		/* Y/Cb/Cr (also known as YUV) */

	JCS_CMYK,		/* C/M/Y/K */

	JCS_YCCK		/* Y/Cb/Cr/K */

} J_COLOR_SPACE;

/* DCT/IDCT algorithm options. */

typedef enum {

	JDCT_ISLOW,		/* slow but accurate integer algorithm */

	JDCT_IFAST,		/* faster, less accurate integer method */

	JDCT_FLOAT		/* floating-point: accurate, fast on fast HW */

} J_DCT_METHOD;

#ifndef JDCT_DEFAULT		/* may be overridden in jconfig.h */

#define JDCT_DEFAULT  JDCT_ISLOW

#endif

#ifndef JDCT_FASTEST		/* may be overridden in jconfig.h */

#define JDCT_FASTEST  JDCT_IFAST

#endif

/* Dithering options for decompression. */

typedef enum {

	JDITHER_NONE,		/* no dithering */

	JDITHER_ORDERED,	/* simple ordered dither */

	JDITHER_FS		/* Floyd-Steinberg error diffusion dither */

} J_DITHER_MODE;

/* Common fields between JPEG compression and decompression master structs. */

#define jpeg_common_fields \

  struct jpeg_error_mgr * err;	/* Error handler module */\

  struct jpeg_memory_mgr * mem;	/* Memory manager module */\

  struct jpeg_progress_mgr * progress; /* Progress monitor, or NULL if none */\

  void * client_data;		/* Available for use by application */\

  boolean is_decompressor;	/* So common code can tell which is which */\

  int global_state		/* For checking call sequence validity */

/* Routines that are to be used by both halves of the library are declared

 * to receive a pointer to this structure.  There are no actual instances of

 * jpeg_common_struct, only of jpeg_compress_struct and jpeg_decompress_struct.

 */

struct jpeg_common_struct {

  jpeg_common_fields;		/* Fields common to both master struct types */

  /* Additional fields follow in an actual jpeg_compress_struct or

   * jpeg_decompress_struct.  All three structs must agree on these

   * initial fields!  (This would be a lot cleaner in C++.)

   */

};

typedef struct jpeg_common_struct * j_common_ptr;

typedef struct jpeg_compress_struct * j_compress_ptr;

typedef struct jpeg_decompress_struct * j_decompress_ptr;

/* Master record for a compression instance */

struct jpeg_compress_struct {

  jpeg_common_fields;		/* Fields shared with jpeg_decompress_struct */

  /* Destination for compressed data */

  struct jpeg_destination_mgr * dest;

  /* Description of source image --- these fields must be filled in by

   * outer application before starting compression.  in_color_space must

   * be correct before you can even call jpeg_set_defaults().

   */

  JDIMENSION image_width;	/* input image width */

  JDIMENSION image_height;	/* input image height */

  int input_components;		/* # of color components in input image */

  J_COLOR_SPACE in_color_space;	/* colorspace of input image */

  double input_gamma;		/* image gamma of input image */

  /* Compression parameters --- these fields must be set before calling

   * jpeg_start_compress().  We recommend calling jpeg_set_defaults() to

   * initialize everything to reasonable defaults, then changing anything

   * the application specifically wants to change.  That way you won't get

   * burnt when new parameters are added.  Also note that there are several

   * helper routines to simplify changing parameters.

   */

  int data_precision;		/* bits of precision in image data */

  int num_components;		/* # of color components in JPEG image */

  J_COLOR_SPACE jpeg_color_space; /* colorspace of JPEG image */

  jpeg_component_info * comp_info;

  /* comp_info[i] describes component that appears i'th in SOF */

  JQUANT_TBL * quant_tbl_ptrs[NUM_QUANT_TBLS];

  /* ptrs to coefficient quantization tables, or NULL if not defined */

  JHUFF_TBL * dc_huff_tbl_ptrs[NUM_HUFF_TBLS];

  JHUFF_TBL * ac_huff_tbl_ptrs[NUM_HUFF_TBLS];

  /* ptrs to Huffman coding tables, or NULL if not defined */

  UINT8 arith_dc_L[NUM_ARITH_TBLS]; /* L values for DC arith-coding tables */

  UINT8 arith_dc_U[NUM_ARITH_TBLS]; /* U values for DC arith-coding tables */

  UINT8 arith_ac_K[NUM_ARITH_TBLS]; /* Kx values for AC arith-coding tables */

  int num_scans;		/* # of entries in scan_info array */

  const jpeg_scan_info * scan_info; /* script for multi-scan file, or NULL */

  /* The default value of scan_info is NULL, which causes a single-scan

   * sequential JPEG file to be emitted.  To create a multi-scan file,

   * set num_scans and scan_info to point to an array of scan definitions.

   */

  boolean raw_data_in;		/* TRUE=caller supplies downsampled data */

  boolean arith_code;		/* TRUE=arithmetic coding, FALSE=Huffman */

  boolean optimize_coding;	/* TRUE=optimize entropy encoding parms */

  boolean CCIR601_sampling;	/* TRUE=first samples are cosited */

  int smoothing_factor;		/* 1..100, or 0 for no input smoothing */

  J_DCT_METHOD dct_method;	/* DCT algorithm selector */

  /* The restart interval can be specified in absolute MCUs by setting

   * restart_interval, or in MCU rows by setting restart_in_rows

   * (in which case the correct restart_interval will be figured

   * for each scan).

   */

  unsigned int restart_interval; /* MCUs per restart, or 0 for no restart */

  int restart_in_rows;		/* if > 0, MCU rows per restart interval */

  /* Parameters controlling emission of special markers. */

  boolean write_JFIF_header;	/* should a JFIF marker be written? */

  UINT8 JFIF_major_version;	/* What to write for the JFIF version number */

  UINT8 JFIF_minor_version;

  /* These three values are not used by the JPEG code, merely copied */

  /* into the JFIF APP0 marker.  density_unit can be 0 for unknown, */

  /* 1 for dots/inch, or 2 for dots/cm.  Note that the pixel aspect */

  /* ratio is defined by X_density/Y_density even when density_unit=0. */

  UINT8 density_unit;		/* JFIF code for pixel size units */

  UINT16 X_density;		/* Horizontal pixel density */

  UINT16 Y_density;		/* Vertical pixel density */

  boolean write_Adobe_marker;	/* should an Adobe marker be written? */

  /* State variable: index of next scanline to be written to

   * jpeg_write_scanlines().  Application may use this to control its

   * processing loop, e.g., "while (next_scanline < image_height)".

   */

  JDIMENSION next_scanline;	/* 0 .. image_height-1  */

  /* Remaining fields are known throughout compressor, but generally

   * should not be touched by a surrounding application.

   */

  /*

   * These fields are computed during compression startup

   */

  boolean progressive_mode;	/* TRUE if scan script uses progressive mode */

  int max_h_samp_factor;	/* largest h_samp_factor */

  int max_v_samp_factor;	/* largest v_samp_factor */

  JDIMENSION total_iMCU_rows;	/* # of iMCU rows to be input to coef ctlr */

  /* The coefficient controller receives data in units of MCU rows as defined

   * for fully interleaved scans (whether the JPEG file is interleaved or not).

   * There are v_samp_factor * DCTSIZE sample rows of each component in an

   * "iMCU" (interleaved MCU) row.

   */

  /*

   * These fields are valid during any one scan.

   * They describe the components and MCUs actually appearing in the scan.

   */

  int comps_in_scan;		/* # of JPEG components in this scan */

  jpeg_component_info * cur_comp_info[MAX_COMPS_IN_SCAN];

  /* *cur_comp_info[i] describes component that appears i'th in SOS */

  JDIMENSION MCUs_per_row;	/* # of MCUs across the image */

  JDIMENSION MCU_rows_in_scan;	/* # of MCU rows in the image */

  int blocks_in_MCU;		/* # of DCT blocks per MCU */

  int MCU_membership[C_MAX_BLOCKS_IN_MCU];

  /* MCU_membership[i] is index in cur_comp_info of component owning */

  /* i'th block in an MCU */

  int Ss, Se, Ah, Al;		/* progressive JPEG parameters for scan */

  /*

   * Links to compression subobjects (methods and private variables of modules)

   */

  struct jpeg_comp_master * master;

  struct jpeg_c_main_controller * main;

  struct jpeg_c_prep_controller * prep;

  struct jpeg_c_coef_controller * coef;

  struct jpeg_marker_writer * marker;

  struct jpeg_color_converter * cconvert;

  struct jpeg_downsampler * downsample;

  struct jpeg_forward_dct * fdct;

  struct jpeg_entropy_encoder * entropy;

  jpeg_scan_info * script_space; /* workspace for jpeg_simple_progression */

  int script_space_size;

};

/* Master record for a decompression instance */

struct jpeg_decompress_struct {

  jpeg_common_fields;		/* Fields shared with jpeg_compress_struct */

  /* Source of compressed data */

  struct jpeg_source_mgr * src;

  /* Basic description of image --- filled in by jpeg_read_header(). */

  /* Application may inspect these values to decide how to process image. */

  JDIMENSION image_width;	/* nominal image width (from SOF marker) */

  JDIMENSION image_height;	/* nominal image height */

  int num_components;		/* # of color components in JPEG image */

  J_COLOR_SPACE jpeg_color_space; /* colorspace of JPEG image */

  /* Decompression processing parameters --- these fields must be set before

   * calling jpeg_start_decompress().  Note that jpeg_read_header() initializes

   * them to default values.

   */

  J_COLOR_SPACE out_color_space; /* colorspace for output */

  unsigned int scale_num, scale_denom; /* fraction by which to scale image */

  double output_gamma;		/* image gamma wanted in output */

  boolean buffered_image;	/* TRUE=multiple output passes */

  boolean raw_data_out;		/* TRUE=downsampled data wanted */

  J_DCT_METHOD dct_method;	/* IDCT algorithm selector */

  boolean do_fancy_upsampling;	/* TRUE=apply fancy upsampling */

  boolean do_block_smoothing;	/* TRUE=apply interblock smoothing */

  boolean quantize_colors;	/* TRUE=colormapped output wanted */

  /* the following are ignored if not quantize_colors: */

  J_DITHER_MODE dither_mode;	/* type of color dithering to use */

  boolean two_pass_quantize;	/* TRUE=use two-pass color quantization */

  int desired_number_of_colors;	/* max # colors to use in created colormap */

  /* these are significant only in buffered-image mode: */

  boolean enable_1pass_quant;	/* enable future use of 1-pass quantizer */

  boolean enable_external_quant;/* enable future use of external colormap */

  boolean enable_2pass_quant;	/* enable future use of 2-pass quantizer */

  /* Description of actual output image that will be returned to application.

   * These fields are computed by jpeg_start_decompress().

   * You can also use jpeg_calc_output_dimensions() to determine these values

   * in advance of calling jpeg_start_decompress().

   */

  JDIMENSION output_width;	/* scaled image width */

  JDIMENSION output_height;	/* scaled image height */

  int out_color_components;	/* # of color components in out_color_space */

  int output_components;	/* # of color components returned */

  /* output_components is 1 (a colormap index) when quantizing colors;

   * otherwise it equals out_color_components.

   */

  int rec_outbuf_height;	/* min recommended height of scanline buffer */

  /* If the buffer passed to jpeg_read_scanlines() is less than this many rows

   * high, space and time will be wasted due to unnecessary data copying.

   * Usually rec_outbuf_height will be 1 or 2, at most 4.

   */

  /* When quantizing colors, the output colormap is described by these fields.

   * The application can supply a colormap by setting colormap non-NULL before

   * calling jpeg_start_decompress; otherwise a colormap is created during

   * jpeg_start_decompress or jpeg_start_output.

   * The map has out_color_components rows and actual_number_of_colors columns.

   */

  int actual_number_of_colors;	/* number of entries in use */

  JSAMPARRAY colormap;		/* The color map as a 2-D pixel array */

  /* State variables: these variables indicate the progress of decompression.

   * The application may examine these but must not modify them.

   */

  /* Row index of next scanline to be read from jpeg_read_scanlines().

   * Application may use this to control its processing loop, e.g.,

   * "while (output_scanline < output_height)".

   */

  JDIMENSION output_scanline;	/* 0 .. output_height-1  */

  /* Current input scan number and number of iMCU rows completed in scan.

   * These indicate the progress of the decompressor input side.

   */

  int input_scan_number;	/* Number of SOS markers seen so far */

  JDIMENSION input_iMCU_row;	/* Number of iMCU rows completed */

  /* The "output scan number" is the notional scan being displayed by the

   * output side.  The decompressor will not allow output scan/row number

   * to get ahead of input scan/row, but it can fall arbitrarily far behind.

   */

  int output_scan_number;	/* Nominal scan number being displayed */

  JDIMENSION output_iMCU_row;	/* Number of iMCU rows read */

  /* Current progression status.  coef_bits[c][i] indicates the precision

   * with which component c's DCT coefficient i (in zigzag order) is known.

   * It is -1 when no data has yet been received, otherwise it is the point

   * transform (shift) value for the most recent scan of the coefficient

   * (thus, 0 at completion of the progression).

   * This pointer is NULL when reading a non-progressive file.

   */

  int (*coef_bits)[DCTSIZE2];	/* -1 or current Al value for each coef */

  /* Internal JPEG parameters --- the application usually need not look at

   * these fields.  Note that the decompressor output side may not use

   * any parameters that can change between scans.

   */

  /* Quantization and Huffman tables are carried forward across input

   * datastreams when processing abbreviated JPEG datastreams.

   */

  JQUANT_TBL * quant_tbl_ptrs[NUM_QUANT_TBLS];

  /* ptrs to coefficient quantization tables, or NULL if not defined */

  JHUFF_TBL * dc_huff_tbl_ptrs[NUM_HUFF_TBLS];

  JHUFF_TBL * ac_huff_tbl_ptrs[NUM_HUFF_TBLS];

  /* ptrs to Huffman coding tables, or NULL if not defined */

  /* These parameters are never carried across datastreams, since they

   * are given in SOF/SOS markers or defined to be reset by SOI.

   */

  int data_precision;		/* bits of precision in image data */

  jpeg_component_info * comp_info;

  /* comp_info[i] describes component that appears i'th in SOF */

  boolean progressive_mode;	/* TRUE if SOFn specifies progressive mode */

  boolean arith_code;		/* TRUE=arithmetic coding, FALSE=Huffman */

  UINT8 arith_dc_L[NUM_ARITH_TBLS]; /* L values for DC arith-coding tables */

  UINT8 arith_dc_U[NUM_ARITH_TBLS]; /* U values for DC arith-coding tables */

  UINT8 arith_ac_K[NUM_ARITH_TBLS]; /* Kx values for AC arith-coding tables */

  unsigned int restart_interval; /* MCUs per restart interval, or 0 for no restart */

  /* These fields record data obtained from optional markers recognized by