added SSE2-optimized 3x3 invert by Grigoriy Frolov

modules/core/src/lapack.cpp

@@ -1024,7 +1024,7 @@ double cv::invert( InputArray _src, OutputArray _dst, int method )
 							__m128 s0 = _mm_or_ps(t0, t1);
 							__m128 det =_mm_set1_ps((float)d);
 							s0 =  _mm_mul_ps(s0, det);
-							const uchar CV_DECL_ALIGNED(16) inv[16] = {0,0,0,0,0,0,0,0x80,0,0,0,0x80,0,0,0,0};
+							static const uchar CV_DECL_ALIGNED(16) inv[16] = {0,0,0,0,0,0,0,0x80,0,0,0,0x80,0,0,0,0};
 							__m128 pattern = _mm_load_ps((const float*)inv); 
 							s0 = _mm_xor_ps(s0, pattern);//==-1*s0
 							s0 = _mm_shuffle_ps(s0, s0, _MM_SHUFFLE(0,2,1,3));
@@ -1064,7 +1064,7 @@ double cv::invert( InputArray _src, OutputArray _dst, int method )
 							__m128d det = _mm_load1_pd((const double*)&d);
 							sm =  _mm_mul_pd(sm, det);
 				
-							uchar CV_DECL_ALIGNED(16) inv[8] = {0,0,0,0,0,0,0,0x80};
+							static const uchar CV_DECL_ALIGNED(16) inv[8] = {0,0,0,0,0,0,0,0x80};
 							__m128d pattern = _mm_load1_pd((double*)inv); 
 							ss = _mm_mul_pd(ss, det);
 							ss = _mm_xor_pd(ss, pattern);//==-1*ss
@@ -1097,24 +1097,66 @@ double cv::invert( InputArray _src, OutputArray _dst, int method )
                 double d = det3(Sf);
                 if( d != 0. )
                 {
+                    float CV_DECL_ALIGNED(16) t[12];
+                    
                     result = true;
                     d = 1./d;
-                    float t[9];
-                    t[0] = (float)(((double)Sf(1,1) * Sf(2,2) - (double)Sf(1,2) * Sf(2,1)) * d);
-                    t[1] = (float)(((double)Sf(0,2) * Sf(2,1) - (double)Sf(0,1) * Sf(2,2)) * d);
-                    t[2] = (float)(((double)Sf(0,1) * Sf(1,2) - (double)Sf(0,2) * Sf(1,1)) * d);
-                   
-                    t[3] = (float)(((double)Sf(1,2) * Sf(2,0) - (double)Sf(1,0) * Sf(2,2)) * d);
-                    t[4] = (float)(((double)Sf(0,0) * Sf(2,2) - (double)Sf(0,2) * Sf(2,0)) * d);
-                    t[5] = (float)(((double)Sf(0,2) * Sf(1,0) - (double)Sf(0,0) * Sf(1,2)) * d);
-                   
-                    t[6] = (float)(((double)Sf(1,0) * Sf(2,1) - (double)Sf(1,1) * Sf(2,0)) * d);
-                    t[7] = (float)(((double)Sf(0,1) * Sf(2,0) - (double)Sf(0,0) * Sf(2,1)) * d);
-                    t[8] = (float)(((double)Sf(0,0) * Sf(1,1) - (double)Sf(0,1) * Sf(1,0)) * d);
-
-                    Df(0,0) = t[0]; Df(0,1) = t[1]; Df(0,2) = t[2];
-                    Df(1,0) = t[3]; Df(1,1) = t[4]; Df(1,2) = t[5];
-                    Df(2,0) = t[6]; Df(2,1) = t[7]; Df(2,2) = t[8];
+                #if CV_SSE2
+                    if(USE_SSE2)
+                    {
+                        __m128 det =_mm_set1_ps((float)d);
+                        __m128 s0 = _mm_loadu_ps((const float*)srcdata);//s0 = Sf(0,0) Sf(0,1) Sf(0,2) ***
+                        __m128 s1 = _mm_loadu_ps((const float*)(srcdata+srcstep));//s1 = Sf(1,0) Sf(1,1) Sf(1,2) ***
+                        __m128 s2 = _mm_set_ps(0.f, Sf(2,2), Sf(2,1), Sf(2,0)); //s2 = Sf(2,0) Sf(2,1) Sf(2,2) ***
+
+                        __m128 r0 =  _mm_shuffle_ps(s1,s1,_MM_SHUFFLE(3,0,2,1)); //r0 = Sf(1,1) Sf(1,2) Sf(1,0) ***
+                        __m128 r1 =  _mm_shuffle_ps(s2,s2,_MM_SHUFFLE(3,1,0,2)); //r1 = Sf(2,2) Sf(2,0) Sf(2,1) ***
+                        __m128 r2 =  _mm_shuffle_ps(s2,s2,_MM_SHUFFLE(3,0,2,1)); //r2 = Sf(2,1) Sf(2,2) Sf(2,0) ***
+                        
+                        __m128 t0 = _mm_mul_ps(s0, r0);//t0 = Sf(0,0)*Sf(1,1) Sf(0,1)*Sf(1,2) Sf(0,2)*Sf(1,0) ***
+                        __m128 t1 = _mm_mul_ps(s0, r1);//t1 = Sf(0,0)*Sf(2,2) Sf(0,1)*Sf(2,0) Sf(0,2)*Sf(2,1) ***
+                        __m128 t2 = _mm_mul_ps(s1, r2);//t2 = Sf(1,0)*Sf(2,1) Sf(1,1)*Sf(2,2) Sf(1,2)*Sf(2,0) ***
+                        
+                        __m128 r3 = _mm_shuffle_ps(s0,s0,_MM_SHUFFLE(3,0,2,1));//r3 = Sf(0,1) Sf(0,2) Sf(0,0) ***
+                        __m128 r4 = _mm_shuffle_ps(s0,s0,_MM_SHUFFLE(3,1,0,2));//r4 = Sf(0,2) Sf(0,0) Sf(0,1) ***
+                        
+                        __m128 t00 = _mm_mul_ps(s1, r3);//t00 = Sf(1,0)*Sf(0,1) Sf(1,1)*Sf(0,2) Sf(1,2)*Sf(0,0) ***
+                        __m128 t11 = _mm_mul_ps(s2, r4);//t11 = Sf(2,0)*Sf(0,2) Sf(2,1)*Sf(0,0) Sf(2,2)*Sf(0,1) ***
+                        __m128 t22 = _mm_mul_ps(s2, r0);//t22 = Sf(2,0)*Sf(1,1) Sf(2,1)*Sf(1,2) Sf(2,2)*Sf(1,0) ***
+                        
+                        t0 = _mm_mul_ps(_mm_sub_ps(t0,t00), det);//Sf(0,0)*Sf(1,1)   Sf(0,1)*Sf(1,2)   Sf(0,2)*Sf(1,0) ***
+                                                                //-Sf(1,0)*Sf(0,1)  -Sf(1,1)*Sf(0,2)  -Sf(1,2)*Sf(0,0)
+                        t1 = _mm_mul_ps(_mm_sub_ps(t1,t11), det);//Sf(0,0)*Sf(2,2)   Sf(0,1)*Sf(2,0)   Sf(0,2)*Sf(2,1) ***
+                                                                //-Sf(2,0)*Sf(0,2)  -Sf(2,1)*Sf(0,0)  -Sf(2,2)*Sf(0,1) 
+                        t2 = _mm_mul_ps(_mm_sub_ps(t2,t22), det);//Sf(1,0)*Sf(2,1)   Sf(1,1)*Sf(2,2)   Sf(1,2)*Sf(2,0) ***
+                                                                //-Sf(2,0)*Sf(1,1)  -Sf(2,1)*Sf(1,2)  -Sf(2,2)*Sf(1,0)
+                        _mm_store_ps(t, t0);
+                        _mm_store_ps(t+4, t1);
+                        _mm_store_ps(t+8, t2);
+                        
+                        Df(0,0) = t[9]; Df(0,1) = t[6]; Df(0,2) = t[1];
+                        Df(1,0) = t[10]; Df(1,1) = t[4]; Df(1,2) = t[2];
+                        Df(2,0) = t[8]; Df(2,1) = t[5]; Df(2,2) = t[0];
+                    }
+                    else
+                #endif
+                    {
+                        t[0] = (float)(((double)Sf(1,1) * Sf(2,2) - (double)Sf(1,2) * Sf(2,1)) * d);
+                        t[1] = (float)(((double)Sf(0,2) * Sf(2,1) - (double)Sf(0,1) * Sf(2,2)) * d);
+                        t[2] = (float)(((double)Sf(0,1) * Sf(1,2) - (double)Sf(0,2) * Sf(1,1)) * d);
+                       
+                        t[3] = (float)(((double)Sf(1,2) * Sf(2,0) - (double)Sf(1,0) * Sf(2,2)) * d);
+                        t[4] = (float)(((double)Sf(0,0) * Sf(2,2) - (double)Sf(0,2) * Sf(2,0)) * d);
+                        t[5] = (float)(((double)Sf(0,2) * Sf(1,0) - (double)Sf(0,0) * Sf(1,2)) * d);
+                       
+                        t[6] = (float)(((double)Sf(1,0) * Sf(2,1) - (double)Sf(1,1) * Sf(2,0)) * d);
+                        t[7] = (float)(((double)Sf(0,1) * Sf(2,0) - (double)Sf(0,0) * Sf(2,1)) * d);
+                        t[8] = (float)(((double)Sf(0,0) * Sf(1,1) - (double)Sf(0,1) * Sf(1,0)) * d);
+
+                        Df(0,0) = t[0]; Df(0,1) = t[1]; Df(0,2) = t[2];
+                        Df(1,0) = t[3]; Df(1,1) = t[4]; Df(1,2) = t[5];
+                        Df(2,0) = t[6]; Df(2,1) = t[7]; Df(2,2) = t[8];
+                    }
                 }
             }
             else