int main(int argc, char*argv[])
{
word32 dat[2], enc[2], dec[2], *ky;
int i;
unsigned char key[] = { 0x91, 0x5f, 0x46, 0x19, 0xbe, 0x41, 0xb2, 0x51,
0x63, 0x55, 0xa5, 0x01, 0x10, 0xa9,
0xce, 0x91};
*dat = 0xEEDBA521;
*(dat+1) = 0x6D8F4B15;
rounds = atoi(argv[1]);
/* printf("Enter Rounds: ");
scanf("%d", &rounds);
*/
t = KR(rounds);
fprintf( stderr,"t = %d\nrounds = %d\n",t, rounds );
ky = (word32 *) calloc(t, sizeof(word32));
RC5key(key, sizeof(key), ky);
RC5encrypt(dat, enc, ky);
RC5decrypt(enc, dec, ky);
printf("Dat: %x %x\n", dat[0], dat[1]);
printf("Enc: %x %x\n", enc[0], enc[1]);
printf("Dec: %x %x\n", dec[0], dec[1]);
return 0;
} /* End */
void RC5decrypt(word32 const *in, word32 *out, word32 *key)
{
register word32 a, b;
int i;
a = *in;
b = *(in+1);
key += KR(rounds);
//fprintf(stderr,"a=%X, b=%X\n",a,b);
for (i = 0; i < rounds; i++) {
b -= *--key;
//fprintf(stderr, "b_res = %X\n", b);
b = ROTR(b, a&ANDVAL) ^ a;
//fprintf(stderr, "b_rot = %X\n", b);
//b = b ^ a;
//fprintf(stderr, "b_xor = %X\n\n", b);
a -= *--key;
fprintf(stderr, "a_res = %X\n", a);
a = ROTR(a, b&ANDVAL) ^ b;
fprintf(stderr, "a_rot = %X\n\n", a);
//fprintf(stderr,"a=%X, b=%X\n",a,b);
}
b -= *--key;
a -= *--key;
*out = a;
*(out+1) = b;
}
//--------------------------------------------decomposeProhMats-------------------------------------------//
// through the projection matrix we can get nearly all the information of the cameras
// the position of the camera
// the direction of the camera
// the focal of the camera
// the axises of the camera
void Camera::decomposeProjMats()
{
// 1.0 get direction
this->dir_.at<float>(0) = this->project_.at<float>(2,0);
this->dir_.at<float>(1) = this->project_.at<float>(2,1);
this->dir_.at<float>(2) = this->project_.at<float>(2,2);
this->dir_ = this->dir_/ norm(this->dir_);
// 2.0 get position
cv::Mat KR(3,3,CV_32FC1);
cv::Mat KT(3,1,CV_32FC1);
for(int i=0; i<3; i++)
{
for(int j=0; j<3; j++)
{
KR.at<float>(i,j) = this->project_.at<float>(i,j);
}
}
for(int i=0; i<3; i++)
KT.at<float>(i,0) = this->project_.at<float>(i,3);
this->pos_ = -KR.inv()* KT;
// 3.0 compute the focal
cv::Mat R0(3,1, CV_32FC1);
cv::Mat R1(3, 1, CV_32FC1);
cv::Mat R2(3, 1, CV_32FC1);
for(int i=0; i<3; i++)
{
R0.at<float>(i) = KR.at<float>(0, i);
R1.at<float>(i) = KR.at<float>(1, i);
R2.at<float>(i) = KR.at<float>(2, i);
}
this->focal_ = 0.5*abs(norm(R0.cross(R2)))+ 0.5*abs(norm(R1.cross(R2)));
// 4.0 axises of the camera
this->zaxis_ = this->dir_;
this->yaxis_ = this->zaxis_.cross(R0);
this->yaxis_ = this->yaxis_/norm(this->yaxis_);
this->xaxis_ = this->yaxis_.cross(this->zaxis_);
this->xaxis_ = this->xaxis_/norm(this->xaxis_);
KR.release();
KT.release();
R0.release();
R1.release();
R2.release();
}
