bool img2world(cv::Point2f iP,XgyPlane pl,cv::Point3f &wP)
{
cv::Mat temp_cP(3,1,CV_64F);
temp_cP.at<double>(0,0)=(iP.x-0.5*width)/focalLength;
temp_cP.at<double>(1,0)=(iP.y-0.5*height)/focalLength;
temp_cP.at<double>(2,0)=1;
cv::Mat v1(3,1,CV_64F);
cv::Mat invRot(3,3,CV_64F);
invRot=rotateMat.t();
v1=invRot*temp_cP;
cv::Point3f t1;
t1.x=v1.at<double>(0,0);
t1.y=v1.at<double>(1,0);
t1.z=v1.at<double>(2,0);
cv::Mat v2(3,1,CV_64F);
v2=invRot*tranVector;
cv::Point3f t2;
t2.x=v2.at<double>(0,0);
t2.y=v2.at<double>(1,0);
t2.z=v2.at<double>(2,0);
double temp=pl.a*t1.x+pl.b*t1.y+pl.c*t1.z;
double cPz;
if(temp!=0)
cPz=(pl.a*t2.x+pl.b*t2.y+pl.c*t2.z-pl.d)/temp;
else
{
return false;
}
if(cPz<0)
{
return false;
}
wP.x=cPz*t1.x-t2.x;
wP.y=cPz*t1.y-t2.y;
wP.z=cPz*t1.z-t2.z;
return true;
}
QMatrix4x4 Camera::generateMatrix() const
{
//RTS
QMatrix4x4 proj;
proj.perspective( fov_, aspect_, zNear_, zFar_ );
QMatrix4x4 invTranslate;
invTranslate.setToIdentity();
invTranslate.translate( -pos_ );
QMatrix4x4 invRot( side_.x(), side_.y(), side_.z(), 0.0f,
up_.x(), up_.y(), up_.z(), 0.0f,
-dir_.x(), -dir_.y(), -dir_.z(), 0.0f,
0.0f, 0.0f, 0.0f, 1.0f );
return proj * ( invRot * invTranslate );
}
main() {
static unsigned char key[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
static unsigned char pt[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
unsigned char ct[16];
unsigned char word[4][4];
unsigned int answer[16];
int line[4];
int i, j, k, l, m, a,b,c,d;
unsigned char possibleKeys[256];
/* Inverse S-Box */
unsigned char inv_s[256] =
{
0x52, 0x09, 0x6A, 0xD5, 0x30, 0x36, 0xA5, 0x38, 0xBF, 0x40, 0xA3, 0x9E, 0x81, 0xF3, 0xD7, 0xFB,
0x7C, 0xE3, 0x39, 0x82, 0x9B, 0x2F, 0xFF, 0x87, 0x34, 0x8E, 0x43, 0x44, 0xC4, 0xDE, 0xE9, 0xCB,
0x54, 0x7B, 0x94, 0x32, 0xA6, 0xC2, 0x23, 0x3D, 0xEE, 0x4C, 0x95, 0x0B, 0x42, 0xFA, 0xC3, 0x4E,
0x08, 0x2E, 0xA1, 0x66, 0x28, 0xD9, 0x24, 0xB2, 0x76, 0x5B, 0xA2, 0x49, 0x6D, 0x8B, 0xD1, 0x25,
0x72, 0xF8, 0xF6, 0x64, 0x86, 0x68, 0x98, 0x16, 0xD4, 0xA4, 0x5C, 0xCC, 0x5D, 0x65, 0xB6, 0x92,
0x6C, 0x70, 0x48, 0x50, 0xFD, 0xED, 0xB9, 0xDA, 0x5E, 0x15, 0x46, 0x57, 0xA7, 0x8D, 0x9D, 0x84,
0x90, 0xD8, 0xAB, 0x00, 0x8C, 0xBC, 0xD3, 0x0A, 0xF7, 0xE4, 0x58, 0x05, 0xB8, 0xB3, 0x45, 0x06,
0xD0, 0x2C, 0x1E, 0x8F, 0xCA, 0x3F, 0x0F, 0x02, 0xC1, 0xAF, 0xBD, 0x03, 0x01, 0x13, 0x8A, 0x6B,
0x3A, 0x91, 0x11, 0x41, 0x4F, 0x67, 0xDC, 0xEA, 0x97, 0xF2, 0xCF, 0xCE, 0xF0, 0xB4, 0xE6, 0x73,
0x96, 0xAC, 0x74, 0x22, 0xE7, 0xAD, 0x35, 0x85, 0xE2, 0xF9, 0x37, 0xE8, 0x1C, 0x75, 0xDF, 0x6E,
0x47, 0xF1, 0x1A, 0x71, 0x1D, 0x29, 0xC5, 0x89, 0x6F, 0xB7, 0x62, 0x0E, 0xAA, 0x18, 0xBE, 0x1B,
0xFC, 0x56, 0x3E, 0x4B, 0xC6, 0xD2, 0x79, 0x20, 0x9A, 0xDB, 0xC0, 0xFE, 0x78, 0xCD, 0x5A, 0xF4,
0x1F, 0xDD, 0xA8, 0x33, 0x88, 0x07, 0xC7, 0x31, 0xB1, 0x12, 0x10, 0x59, 0x27, 0x80, 0xEC, 0x5F,
0x60, 0x51, 0x7F, 0xA9, 0x19, 0xB5, 0x4A, 0x0D, 0x2D, 0xE5, 0x7A, 0x9F, 0x93, 0xC9, 0x9C, 0xEF,
0xA0, 0xE0, 0x3B, 0x4D, 0xAE, 0x2A, 0xF5, 0xB0, 0xC8, 0xEB, 0xBB, 0x3C, 0x83, 0x53, 0x99, 0x61,
0x17, 0x2B, 0x04, 0x7E, 0xBA, 0x77, 0xD6, 0x26, 0xE1, 0x69, 0x14, 0x63, 0x55, 0x21, 0x0C, 0x7D
};
/* Array to hold the ciphertext bytes from a run through with 1 key */
unsigned char ct_byte[256];
/* This loop Runs through all 16 bytes of key */
for (i=0; i < 16; i++)
{
/* This loop runs through all 255 possible key entries at key byte i */
for (j=0; j < 256; j++)
{
/* Used for the 0's pt 0's key implementation */
if ((i == 0) && (j == 0))
{
//key[i] = j;
/* first init rijndael for underlying key */
rijndaelKeySetupEnc(rek, (unsigned char *)key, 128);
/* Testing all different plain text values */
for (k=0; k < 256; k++)
{
/* Input 0-255 in the first byte of pt */
pt[i] = (unsigned char)k;
/* Run the Encryption */
rijndaelEncrypt(rek, AES_ROUNDS, pt, ct);
print_hex_string(ct, 16); printf("\n");
/* Pushing the end results back through AES */
/* Invert last round of AES*/
for (l=0; l < 4; l++)
{
invShiftRows(ct,l);
ct = inv_s*ct;
}
/* Creating the rows/words of the ct */
for (a = 0; a < 16; a++)
{
answer[a] = ct[a];
}
printf("%x",answer);
for (l = 0; l < 4; l++)
{
//word[l] = answer ^ 0xff;
}
/* Key Expansion */
for (l = 4; l < 20; l++)
{
if (l % 4 == 0)
{
w[l-4] = invRot(invSub(w[l]) ^ w[l-1] ^ RCON[l/4]);
}
else
{
w[l-4] = w[l] ^ w[l-1];
}
}
/* Store each byte of the crypted output */
ct_byte[k] = ct[i];
}
/* Checking if the ct index is balance => XOR all elements = 0*/
unsigned char sum = 0;
for (k=0; k < 256; k++)
{
printf("%i + %i", sum, ct_byte[k]);
printf("\n");
sum = sum ^ ct_byte[k];
}
printf("%i", sum);
if (sum == 0)
{
possibleKeys[count] = j;
count++;
}
}
}
}
}
