void
vpImageSimulator::project(const vpColVector &_vin, const vpHomogeneousMatrix &_cMt,vpColVector &_vout)
{
vpColVector XH(4);
getHomogCoord(_vin,XH);
getCoordFromHomog(_cMt*XH,_vout);
}
/*
* SHA: Compression function, unrolled.
*
* Some operations in shaCompress are done as 5 groups of 16 operations.
* Others are done as 4 groups of 20 operations.
* The code below shows that structure.
*
* The functions that compute the new values of the 5 state variables
* A-E are done in 4 groups of 20 operations (or you may also think
* of them as being done in 16 groups of 5 operations). They are
* done by the SHA_RNDx macros below, in the right column.
*
* The functions that set the 16 values of the W array are done in
* 5 groups of 16 operations. The first group is done by the
* LOAD macros below, the latter 4 groups are done by SHA_MIX below,
* in the left column.
*
* gcc's optimizer observes that each member of the W array is assigned
* a value 5 times in this code. It reduces the number of store
* operations done to the W array in the context (that is, in the X array)
* by creating a W array on the stack, and storing the W values there for
* the first 4 groups of operations on W, and storing the values in the
* context's W array only in the fifth group. This is undesirable.
* It is MUCH bigger code than simply using the context's W array, because
* all the offsets to the W array in the stack are 32-bit signed offsets,
* and it is no faster than storing the values in the context's W array.
*
* The original code for sha_fast.c prevented this creation of a separate
* W array in the stack by creating a W array of 80 members, each of
* whose elements is assigned only once. It also separated the computations
* of the W array values and the computations of the values for the 5
* state variables into two separate passes, W's, then A-E's so that the
* second pass could be done all in registers (except for accessing the W
* array) on machines with fewer registers. The method is suboptimal
* for machines with enough registers to do it all in one pass, and it
* necessitates using many instructions with 32-bit offsets.
*
* This code eliminates the separate W array on the stack by a completely
* different means: by declaring the X array volatile. This prevents
* the optimizer from trying to reduce the use of the X array by the
* creation of a MORE expensive W array on the stack. The result is
* that all instructions use signed 8-bit offsets and not 32-bit offsets.
*
* The combination of this code and the -O3 optimizer flag on GCC 3.4.3
* results in code that is 3 times faster than the previous NSS sha_fast
* code on AMD64.
*/
static void NO_SANITIZE_ALIGNMENT
shaCompress(volatile SHA_HW_t *X, const PRUint32 *inbuf)
{
register SHA_HW_t A, B, C, D, E;
#if defined(SHA_NEED_TMP_VARIABLE)
register PRUint32 tmp;
#endif
#if !defined(SHA_PUT_W_IN_STACK)
#define XH(n) X[n - H2X]
#define XW(n) X[n - W2X]
#else
SHA_HW_t w_0, w_1, w_2, w_3, w_4, w_5, w_6, w_7,
w_8, w_9, w_10, w_11, w_12, w_13, w_14, w_15;
#define XW(n) w_##n
#define XH(n) X[n]
#endif
#define K0 0x5a827999L
#define K1 0x6ed9eba1L
#define K2 0x8f1bbcdcL
#define K3 0xca62c1d6L
#define SHA_RND1(a, b, c, d, e, n) \
a = SHA_ROTL(b, 5) + SHA_F1(c, d, e) + a + XW(n) + K0; \
c = SHA_ROTL(c, 30)
#define SHA_RND2(a, b, c, d, e, n) \
a = SHA_ROTL(b, 5) + SHA_F2(c, d, e) + a + XW(n) + K1; \
c = SHA_ROTL(c, 30)
#define SHA_RND3(a, b, c, d, e, n) \
a = SHA_ROTL(b, 5) + SHA_F3(c, d, e) + a + XW(n) + K2; \
c = SHA_ROTL(c, 30)
#define SHA_RND4(a, b, c, d, e, n) \
a = SHA_ROTL(b, 5) + SHA_F4(c, d, e) + a + XW(n) + K3; \
c = SHA_ROTL(c, 30)
#define LOAD(n) XW(n) = SHA_HTONL(inbuf[n])
A = XH(0);
B = XH(1);
C = XH(2);
D = XH(3);
E = XH(4);
LOAD(0);
SHA_RND1(E, A, B, C, D, 0);
LOAD(1);
SHA_RND1(D, E, A, B, C, 1);
LOAD(2);
SHA_RND1(C, D, E, A, B, 2);
LOAD(3);
SHA_RND1(B, C, D, E, A, 3);
LOAD(4);
SHA_RND1(A, B, C, D, E, 4);
LOAD(5);
SHA_RND1(E, A, B, C, D, 5);
LOAD(6);
SHA_RND1(D, E, A, B, C, 6);
LOAD(7);
SHA_RND1(C, D, E, A, B, 7);
LOAD(8);
SHA_RND1(B, C, D, E, A, 8);
LOAD(9);
SHA_RND1(A, B, C, D, E, 9);
LOAD(10);
SHA_RND1(E, A, B, C, D, 10);
LOAD(11);
SHA_RND1(D, E, A, B, C, 11);
LOAD(12);
SHA_RND1(C, D, E, A, B, 12);
LOAD(13);
SHA_RND1(B, C, D, E, A, 13);
LOAD(14);
SHA_RND1(A, B, C, D, E, 14);
LOAD(15);
SHA_RND1(E, A, B, C, D, 15);
SHA_MIX(0, 13, 8, 2);
SHA_RND1(D, E, A, B, C, 0);
SHA_MIX(1, 14, 9, 3);
SHA_RND1(C, D, E, A, B, 1);
SHA_MIX(2, 15, 10, 4);
SHA_RND1(B, C, D, E, A, 2);
SHA_MIX(3, 0, 11, 5);
SHA_RND1(A, B, C, D, E, 3);
SHA_MIX(4, 1, 12, 6);
SHA_RND2(E, A, B, C, D, 4);
SHA_MIX(5, 2, 13, 7);
SHA_RND2(D, E, A, B, C, 5);
SHA_MIX(6, 3, 14, 8);
SHA_RND2(C, D, E, A, B, 6);
SHA_MIX(7, 4, 15, 9);
SHA_RND2(B, C, D, E, A, 7);
SHA_MIX(8, 5, 0, 10);
SHA_RND2(A, B, C, D, E, 8);
SHA_MIX(9, 6, 1, 11);
SHA_RND2(E, A, B, C, D, 9);
SHA_MIX(10, 7, 2, 12);
SHA_RND2(D, E, A, B, C, 10);
SHA_MIX(11, 8, 3, 13);
SHA_RND2(C, D, E, A, B, 11);
SHA_MIX(12, 9, 4, 14);
SHA_RND2(B, C, D, E, A, 12);
SHA_MIX(13, 10, 5, 15);
SHA_RND2(A, B, C, D, E, 13);
SHA_MIX(14, 11, 6, 0);
SHA_RND2(E, A, B, C, D, 14);
SHA_MIX(15, 12, 7, 1);
SHA_RND2(D, E, A, B, C, 15);
SHA_MIX(0, 13, 8, 2);
SHA_RND2(C, D, E, A, B, 0);
SHA_MIX(1, 14, 9, 3);
SHA_RND2(B, C, D, E, A, 1);
SHA_MIX(2, 15, 10, 4);
SHA_RND2(A, B, C, D, E, 2);
SHA_MIX(3, 0, 11, 5);
SHA_RND2(E, A, B, C, D, 3);
SHA_MIX(4, 1, 12, 6);
SHA_RND2(D, E, A, B, C, 4);
SHA_MIX(5, 2, 13, 7);
SHA_RND2(C, D, E, A, B, 5);
SHA_MIX(6, 3, 14, 8);
SHA_RND2(B, C, D, E, A, 6);
SHA_MIX(7, 4, 15, 9);
SHA_RND2(A, B, C, D, E, 7);
SHA_MIX(8, 5, 0, 10);
SHA_RND3(E, A, B, C, D, 8);
SHA_MIX(9, 6, 1, 11);
SHA_RND3(D, E, A, B, C, 9);
SHA_MIX(10, 7, 2, 12);
SHA_RND3(C, D, E, A, B, 10);
SHA_MIX(11, 8, 3, 13);
SHA_RND3(B, C, D, E, A, 11);
SHA_MIX(12, 9, 4, 14);
SHA_RND3(A, B, C, D, E, 12);
SHA_MIX(13, 10, 5, 15);
SHA_RND3(E, A, B, C, D, 13);
SHA_MIX(14, 11, 6, 0);
SHA_RND3(D, E, A, B, C, 14);
SHA_MIX(15, 12, 7, 1);
SHA_RND3(C, D, E, A, B, 15);
SHA_MIX(0, 13, 8, 2);
SHA_RND3(B, C, D, E, A, 0);
SHA_MIX(1, 14, 9, 3);
SHA_RND3(A, B, C, D, E, 1);
SHA_MIX(2, 15, 10, 4);
SHA_RND3(E, A, B, C, D, 2);
SHA_MIX(3, 0, 11, 5);
SHA_RND3(D, E, A, B, C, 3);
SHA_MIX(4, 1, 12, 6);
SHA_RND3(C, D, E, A, B, 4);
SHA_MIX(5, 2, 13, 7);
SHA_RND3(B, C, D, E, A, 5);
SHA_MIX(6, 3, 14, 8);
SHA_RND3(A, B, C, D, E, 6);
SHA_MIX(7, 4, 15, 9);
SHA_RND3(E, A, B, C, D, 7);
SHA_MIX(8, 5, 0, 10);
SHA_RND3(D, E, A, B, C, 8);
SHA_MIX(9, 6, 1, 11);
SHA_RND3(C, D, E, A, B, 9);
SHA_MIX(10, 7, 2, 12);
SHA_RND3(B, C, D, E, A, 10);
SHA_MIX(11, 8, 3, 13);
SHA_RND3(A, B, C, D, E, 11);
SHA_MIX(12, 9, 4, 14);
SHA_RND4(E, A, B, C, D, 12);
SHA_MIX(13, 10, 5, 15);
SHA_RND4(D, E, A, B, C, 13);
SHA_MIX(14, 11, 6, 0);
SHA_RND4(C, D, E, A, B, 14);
SHA_MIX(15, 12, 7, 1);
SHA_RND4(B, C, D, E, A, 15);
SHA_MIX(0, 13, 8, 2);
SHA_RND4(A, B, C, D, E, 0);
SHA_MIX(1, 14, 9, 3);
SHA_RND4(E, A, B, C, D, 1);
SHA_MIX(2, 15, 10, 4);
SHA_RND4(D, E, A, B, C, 2);
SHA_MIX(3, 0, 11, 5);
SHA_RND4(C, D, E, A, B, 3);
SHA_MIX(4, 1, 12, 6);
SHA_RND4(B, C, D, E, A, 4);
SHA_MIX(5, 2, 13, 7);
SHA_RND4(A, B, C, D, E, 5);
SHA_MIX(6, 3, 14, 8);
SHA_RND4(E, A, B, C, D, 6);
SHA_MIX(7, 4, 15, 9);
SHA_RND4(D, E, A, B, C, 7);
SHA_MIX(8, 5, 0, 10);
SHA_RND4(C, D, E, A, B, 8);
SHA_MIX(9, 6, 1, 11);
SHA_RND4(B, C, D, E, A, 9);
SHA_MIX(10, 7, 2, 12);
SHA_RND4(A, B, C, D, E, 10);
SHA_MIX(11, 8, 3, 13);
SHA_RND4(E, A, B, C, D, 11);
SHA_MIX(12, 9, 4, 14);
SHA_RND4(D, E, A, B, C, 12);
SHA_MIX(13, 10, 5, 15);
SHA_RND4(C, D, E, A, B, 13);
SHA_MIX(14, 11, 6, 0);
SHA_RND4(B, C, D, E, A, 14);
SHA_MIX(15, 12, 7, 1);
SHA_RND4(A, B, C, D, E, 15);
XH(0) += A;
XH(1) += B;
XH(2) += C;
XH(3) += D;
XH(4) += E;
}
