点云生成深度图，并保存深度图

//#include “stdafx.h“

#include 
#include 
#include 
#include 
#include 


unsigned char output[1000]input[1000] ;
using namespace std;
unsigned char IV[16]={0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 };

/**
 *  SM3 上下文结构体
 */
typedef struct
{
    unsigned long total[2];     /* 被处理的字节数  */
    unsigned long state[8];     /* 中间摘要 state  */
    unsigned char buffer[64];   /* 被处理的数据块 */
    unsigned char ipad[64];     /* HMAC: 内填充inner padding        */
    unsigned char opad[64];     /* HMAC: 外填充outer padding        */
}
sm3_context;

//辅助矩阵
/*s盒矩阵：The AES Substitution Table*/// 256 位的密匙256 位支持长度为32 个字符

static const unsigned char sbox[256]={	//static:内部变量  const：只读，不可变常量

	0x630x7c0x770x7b0xf20x6b0x6f0xc5

	0x300x010x670x2b0xfe0xd70xab0x76

	0xca0x820xc90x7d0xfa0x590x470xf0

	0xad0xd40xa20xaf0x9c0xa40x720xc0

	0xb70xfd0x930x260x360x3f0xf70xcc

	0x340xa50xe50xf10x710xd80x310x15

	0x040xc70x230xc30x180x960x050x9a

	0x070x120x800xe20xeb0x270xb20x75

	0x090x830x2c0x1a0x1b0x6e0x5a0xa0

	0x520x3b0xd60xb30x290xe30x2f0x84

	0x530xd10x000xed0x200xfc0xb10x5b

	0x6a0xcb0xbe0x390x4a0x4c0x580xcf

	0xd00xef0xaa0xfb0x430x4d0x330x85

	0x450xf90x020x7f0x500x3c0x9f0xa8

	0x510xa30x400x8f0x920x9d0x380xf5

	0xbc0xb60xda0x210x100xff0xf30xd2

	0xcd0x0c0x130xec0x5f0x970x440x17

	0xc40xa70x7e0x3d0x640x5d0x190x73

	0x600x810x4f0xdc0x220x2a0x900x88

	0x460xee0xb80x140xde0x5e0x0b0xdb

	0xe00x320x3a0x0a0x490x060x240x5c

	0xc20xd30xac0x620x910x950xe40x79

	0xe70xc80x370x6d0x8d0xd50x4e0xa9

	0x6c0x560xf40xea0x650x7a0xae0x08

	0xba0x780x250x2e0x1c0xa60xb40xc6

	0xe80xdd0x740x1f0x4b0xbd0x8b0x8a

	0x700x3e0xb50x660x480x030xf60x0e

	0x610x350x570xb90x860xc10x1d0x9e

	0xe10xf80x980x110x690xd90x8e0x94

	0x9b0x1e0x870xe90xce0x550x280xdf

	0x8c0xa10x890x0d0xbf0xe60x420x68

	0x410x990x2d0x0f0xb00x540xbb0x16

};

//逆向S 盒矩阵

static const unsigned char contrary_sbox[256]={

	0x520x090x6a0xd50x300x360xa50x38

	0xbf0x400xa30x9e0x810xf30xd70xfb

	0x7c0xe30x390x820x9b0x2f0xff0x87

	0x340x8e0x430x440xc40xde0xe90xcb

	0x540x7b0x940x320xa60xc20x230x3d

	0xee0x4c0x950x0b0x420xfa0xc30x4e//0x4e

	0x080x2e0xa10x660x280xd90x240xb2

	0x760x5b0xa20x490x6d0x8b0xd10x25

	0x720xf80xf60x640x860x680x980x16

	0xd40xa40x5c0xcc0x5d0x650xb60x92

	0x6c0x700x480x500xfd0xed0xb90xda

	0x5e0x150x460x570xa70x8d0x9d0x84

	0x900xd80xab0x000x8c0xbc0xd30x0a

	0xf70xe40x580x050xb80xb30x450x06

	0xd00x2c0x1e0x8f0xca0x3f0x0f0x02