__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));
__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
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