// File: /workspace/github_c_makefile_star2_O2/zpole[P]IICV/vl/covdet.c
// Function: vl_refine_local_extreum_3
VL_EXPORT vl_bool
vl_refine_local_extreum_3 (VlCovDetExtremum3 * refined,
                           float const * map,
                           vl_size width, vl_size height, vl_size depth,
                           vl_index x, vl_index y, vl_index z)
{
  vl_size const xo = 1 ;
  vl_size const yo = width ;
  vl_size const zo = width * height ;

  double Dx=0,Dy=0,Dz=0,Dxx=0,Dyy=0,Dzz=0,Dxy=0,Dxz=0,Dyz=0 ;
  double A [3*3], b [3] ;

#define at(dx,dy,dz) (*(pt + (dx)*xo + (dy)*yo + (dz)*zo))
#define Aat(i,j) (A[(i)+(j)*3])

  float const * pt ;
  vl_index dx = 0 ;
  vl_index dy = 0 ;
  /*vl_index dz = 0 ;*/
  vl_index iter ;
  int err ;

  assert (map) ;
  assert (1 <= x && x <= (signed)width - 2) ;
  assert (1 <= y && y <= (signed)height - 2) ;
  assert (1 <= z && z <= (signed)depth - 2) ;

  for (iter = 0 ; iter < 5 ; ++iter) {
    x += dx ;
    y += dy ;
    pt = map + x*xo + y*yo + z*zo ;

    /* compute the gradient */
    Dx = 0.5 * (at(+1,0,0) - at(-1,0,0)) ;
    Dy = 0.5 * (at(0,+1,0) - at(0,-1,0));
    Dz = 0.5 * (at(0,0,+1) - at(0,0,-1)) ;

    /* compute the Hessian */
    Dxx = (at(+1,0,0) + at(-1,0,0) - 2.0 * at(0,0,0)) ;
    Dyy = (at(0,+1,0) + at(0,-1,0) - 2.0 * at(0,0,0)) ;
    Dzz = (at(0,0,+1) + at(0,0,-1) - 2.0 * at(0,0,0)) ;

    Dxy = 0.25 * (at(+1,+1,0) + at(-1,-1,0) - at(-1,+1,0) - at(+1,-1,0)) ;
    Dxz = 0.25 * (at(+1,0,+1) + at(-1,0,-1) - at(-1,0,+1) - at(+1,0,-1)) ;
    Dyz = 0.25 * (at(0,+1,+1) + at(0,-1,-1) - at(0,-1,+1) - at(0,+1,-1)) ;

    /* solve linear system */
    Aat(0,0) = Dxx ;
    Aat(1,1) = Dyy ;
    Aat(2,2) = Dzz ;
    Aat(0,1) = Aat(1,0) = Dxy ;
    Aat(0,2) = Aat(2,0) = Dxz ;
    Aat(1,2) = Aat(2,1) = Dyz ;

    b[0] = - Dx ;
    b[1] = - Dy ;
    b[2] = - Dz ;

    err = vl_solve_linear_system_3(b, A, b) ;

    if (err != VL_ERR_OK) {
      b[0] = 0 ;
      b[1] = 0 ;
      b[2] = 0 ;
      break ;
    }

    /* Keep going if there is sufficient translation */

    dx = (b[0] > 0.6 && x < (signed)width - 2 ?  1 : 0)
    + (b[0] < -0.6 && x > 1 ? -1 : 0) ;

    dy = (b[1] > 0.6 && y < (signed)height - 2 ?  1 : 0)
    + (b[1] < -0.6 && y > 1 ? -1 : 0) ;

    if (dx == 0 && dy == 0) break ;
  }

  /* check threshold and other conditions */
  {
    double peakScore = at(0,0,0)
    + 0.5 * (Dx * b[0] + Dy * b[1] + Dz * b[2]) ;
    double alpha = (Dxx+Dyy)*(Dxx+Dyy) / (Dxx*Dyy - Dxy*Dxy) ;
    double edgeScore ;

    if (alpha < 0) {
      /* not an extremum */
      edgeScore = VL_INFINITY_D ;
    } else {
      edgeScore = (0.5*alpha - 1) + sqrt(VL_MAX(0.25*alpha - 1,0)*alpha) ;
    }

    refined->xi = x ;
    refined->yi = y ;
    refined->zi = z ;
    refined->x = x + b[0] ;
    refined->y = y + b[1] ;
    refined->z = z + b[2] ;
    refined->peakScore = peakScore ;
    refined->edgeScore = edgeScore ;

    return
    err == VL_ERR_OK &&
    vl_abs_d(b[0]) < 1.5 &&
    vl_abs_d(b[1]) < 1.5 &&
    vl_abs_d(b[2]) < 1.5 &&
    0 <= refined->x && refined->x <= (signed)width - 1 &&
    0 <= refined->y && refined->y <= (signed)height - 1 &&
    0 <= refined->z && refined->z <= (signed)depth - 1 ;
  }
#undef Aat
#undef at
}

// Assembly:
pushq %rbp
pushq %r15
pushq %r14
pushq %r13
pushq %r12
pushq %rbx
subq $0xd8, %rsp
movq %r9, %r13
movq %r8, 0x40(%rsp)
movq %rsi, 0x78(%rsp)
movq %rdi, 0x50(%rsp)
movq 0x110(%rsp), %r12
movq %rcx, %rbp
imulq %rdx, %rbp
movq %rbp, %rax
imulq 0x118(%rsp), %rax
movq %rax, 0x70(%rsp)
movq %rdx, %rax
negq %rax
movq %rax, 0x68(%rsp)
movq %rbp, %r14
negq %r14
movq %rdx, 0x18(%rsp)
leal -0x2(%rdx), %eax
cltq
movq %rax, 0x60(%rsp)
movq %rcx, 0x48(%rsp)
leal -0x2(%rcx), %eax
cltq
movq %rax, 0x58(%rsp)
xorps %xmm0, %xmm0
movaps %xmm0, 0x20(%rsp)
pushq $0x6
popq %r15
xorpd %xmm2, %xmm2
movapd %xmm2, 0x80(%rsp)
movapd %xmm2, 0x30(%rsp)
xorl %eax, %eax
xorl %ecx, %ecx
decq %r15
je 0xb100
addq %rax, %r13
addq %rcx, %r12
movq 0x78(%rsp), %rax
leaq (%rax,%r13,4), %rax
movq %r12, %rcx
movq 0x18(%rsp), %rdx
imulq %rdx, %rcx
leaq (%rax,%rcx,4), %rax
movq 0x70(%rsp), %rcx
leaq (%rax,%rcx,4), %rbx
leaq (%rbx,%rdx,4), %rax
movq 0x68(%rsp), %rcx
leaq (%rbx,%rcx,4), %rcx
movss (%rbx,%rbp,4), %xmm4
movss (%rbx,%r14,4), %xmm1
cvtss2sd (%rbx), %xmm5
movss -0x4(%rbx), %xmm2
movss 0x4(%rbx), %xmm0
movss (%rax), %xmm3
unpcklps %xmm3, %xmm0            # xmm0 = xmm0[0],xmm3[0],xmm0[1],xmm3[1]
movss (%rcx), %xmm3
unpcklps %xmm3, %xmm2            # xmm2 = xmm2[0],xmm3[0],xmm2[1],xmm3[1]
movss 0x4(%rcx), %xmm6
movss 0x4(%rax), %xmm3
addss -0x4(%rcx), %xmm3
movaps %xmm4, %xmm7
subss -0x4(%rax), %xmm3
unpcklps %xmm3, %xmm4            # xmm4 = xmm4[0],xmm3[0],xmm4[1],xmm3[1]
movaps %xmm0, %xmm3
addps %xmm2, %xmm3
cvtps2pd %xmm3, %xmm8
addsd %xmm5, %xmm5
addss %xmm1, %xmm7
cvtss2sd %xmm7, %xmm3
subsd %xmm5, %xmm3
unpcklpd %xmm5, %xmm5            # xmm5 = xmm5[0,0]
movlhps %xmm4, %xmm0            # xmm0 = xmm0[0],xmm4[0]
unpcklps %xmm6, %xmm1            # xmm1 = xmm1[0],xmm6[0],xmm1[1],xmm6[1]
movlhps %xmm1, %xmm2            # xmm2 = xmm2[0],xmm1[0]
subps %xmm2, %xmm0
cvtps2pd %xmm0, %xmm6
subpd %xmm5, %xmm8
movhlps %xmm0, %xmm0            # xmm0 = xmm0[1,1]
cvtps2pd %xmm0, %xmm5
mulpd 0x22121(%rip), %xmm6    # 0x2d0b0
mulpd 0x22129(%rip), %xmm5    # 0x2d0c0
movapd %xmm5, %xmm0
movsd %xmm8, %xmm0            # xmm0 = xmm8[0],xmm0[1]
movss 0x4(%rbx,%rbp,4), %xmm1
movss (%rax,%rbp,4), %xmm2
unpcklps %xmm1, %xmm2            # xmm2 = xmm2[0],xmm1[0],xmm2[1],xmm1[1]
movss -0x4(%rbx,%r14,4), %xmm1
movss (%rcx,%r14,4), %xmm4
unpcklps %xmm1, %xmm4            # xmm4 = xmm4[0],xmm1[0],xmm4[1],xmm1[1]
addps %xmm2, %xmm4
movss -0x4(%rbx,%rbp,4), %xmm1
movss (%rcx,%rbp,4), %xmm2
unpcklps %xmm1, %xmm2            # xmm2 = xmm2[0],xmm1[0],xmm2[1],xmm1[1]
subps %xmm2, %xmm4
movss 0x4(%rbx,%r14,4), %xmm1
movss (%rax,%r14,4), %xmm2
unpcklps %xmm1, %xmm2            # xmm2 = xmm2[0],xmm1[0],xmm2[1],xmm1[1]
subps %xmm2, %xmm4
movapd %xmm0, 0x90(%rsp)
movsd %xmm3, 0xd0(%rsp)
movapd %xmm5, %xmm0
movapd %xmm8, 0x30(%rsp)
unpckhpd %xmm8, %xmm0            # xmm0 = xmm0[1],xmm8[1]
movupd %xmm0, 0xa8(%rsp)
cvtps2pd %xmm4, %xmm0
mulpd 0x220b5(%rip), %xmm0    # 0x2d0d0
movhpd %xmm0, 0xa0(%rsp)
movupd %xmm0, 0xb8(%rsp)
movlpd %xmm0, 0xc8(%rsp)
movapd %xmm6, 0x20(%rsp)
movapd %xmm6, %xmm0
movapd 0x22058(%rip), %xmm1    # 0x2d0a0
xorpd %xmm1, %xmm0
movapd %xmm0, (%rsp)
movapd %xmm5, 0x80(%rsp)
movapd %xmm5, %xmm0
xorpd %xmm1, %xmm0
movlpd %xmm0, 0x10(%rsp)
movq %rsp, %rdi
leaq 0x90(%rsp), %rsi
movq %rdi, %rdx
callq 0x9430
testl %eax, %eax
jne 0xb10a
movsd (%rsp), %xmm1
movsd 0x22120(%rip), %xmm2    # 0x2d1b0
ucomisd %xmm2, %xmm1
movsd 0x8(%rsp), %xmm0
seta %al
cmpq 0x60(%rsp), %r13
setl %cl
andb %al, %cl
movsd 0x22109(%rip), %xmm3    # 0x2d1b8
ucomisd %xmm1, %xmm3
movzbl %cl, %eax
seta %cl
cmpq $0x2, %r13
setge %dl
andb %cl, %dl
movzbl %dl, %ecx
subq %rcx, %rax
ucomisd %xmm2, %xmm0
seta %cl
cmpq 0x58(%rsp), %r12
setl %dl
andb %cl, %dl
ucomisd %xmm0, %xmm3
seta %sil
movzbl %dl, %ecx
cmpq $0x2, %r12
setge %dl
andb %sil, %dl
movzbl %dl, %edx
subq %rdx, %rcx
movq %rcx, %rdx
orq %rax, %rdx
jne 0xaed0
movsd 0x10(%rsp), %xmm2
xorl %ebp, %ebp
jmp 0xb127
xorpd %xmm0, %xmm0
movapd %xmm0, (%rsp)
andq $0x0, 0x10(%rsp)
movb $0x1, %bpl
xorps %xmm2, %xmm2
xorpd %xmm0, %xmm0
xorpd %xmm1, %xmm1
cvtss2sd (%rbx), %xmm3
movapd 0x20(%rsp), %xmm5
movapd %xmm5, %xmm4
unpckhpd %xmm5, %xmm4            # xmm4 = xmm4[1],xmm5[1]
mulsd %xmm0, %xmm4
mulsd %xmm1, %xmm5
addsd %xmm4, %xmm5
movapd 0x80(%rsp), %xmm6
movapd %xmm6, %xmm7
mulsd %xmm2, %xmm7
addsd %xmm5, %xmm7
mulsd 0x2205e(%rip), %xmm7    # 0x2d1c0
addsd %xmm3, %xmm7
movapd 0x30(%rsp), %xmm5
movapd %xmm5, %xmm4
unpckhpd %xmm5, %xmm4            # xmm4 = xmm4[1],xmm5[1]
movapd %xmm5, %xmm3
addsd %xmm4, %xmm3
mulsd %xmm3, %xmm3
unpckhpd %xmm6, %xmm6            # xmm6 = xmm6[1,1]
mulsd %xmm6, %xmm6
mulsd %xmm5, %xmm4
subsd %xmm6, %xmm4
divsd %xmm4, %xmm3
xorpd %xmm4, %xmm4
ucomisd %xmm3, %xmm4
jbe 0xb1a8
movss 0x220ca(%rip), %xmm6    # 0x2d270
jmp 0xb21a
movsd 0x22010(%rip), %xmm2    # 0x2d1c0
mulsd %xmm3, %xmm2
movsd 0x2200c(%rip), %xmm1    # 0x2d1c8
addsd %xmm1, %xmm2
movsd 0x22008(%rip), %xmm0    # 0x2d1d0
mulsd %xmm3, %xmm0
addsd %xmm1, %xmm0
maxsd %xmm4, %xmm0
mulsd %xmm3, %xmm0
ucomisd %xmm4, %xmm0
jb 0xb1e4
sqrtsd %xmm0, %xmm0
jmp 0xb201
movapd %xmm7, 0x30(%rsp)
movsd %xmm2, 0x20(%rsp)
callq 0x9a00
movsd 0x20(%rsp), %xmm2
movapd 0x30(%rsp), %xmm7
addsd %xmm0, %xmm2
cvtsd2ss %xmm2, %xmm6
movsd (%rsp), %xmm1
movsd 0x8(%rsp), %xmm0
movsd 0x10(%rsp), %xmm2
movq 0x50(%rsp), %rax
movq %r13, (%rax)
movq %r12, 0x8(%rax)
cvtsi2sd %r13, %xmm3
movq 0x118(%rsp), %rcx
movq %rcx, 0x10(%rax)
addsd %xmm1, %xmm3
cvtsd2ss %xmm3, %xmm5
movss %xmm5, 0x18(%rax)
cvtsi2sd %r12, %xmm3
addsd %xmm0, %xmm3
cvtsd2ss %xmm3, %xmm4
cvtsi2sd %rcx, %xmm3
addsd %xmm2, %xmm3
unpcklpd %xmm7, %xmm3            # xmm3 = xmm3[0],xmm7[0]
cvtpd2ps %xmm3, %xmm3
movss %xmm4, 0x1c(%rax)
movlpd %xmm3, 0x20(%rax)
movss %xmm6, 0x28(%rax)
movapd 0x21e67(%rip), %xmm6    # 0x2d0e0
andpd %xmm6, %xmm1
movsd 0x21f53(%rip), %xmm7    # 0x2d1d8
ucomisd %xmm1, %xmm7
setbe %cl
xorl %eax, %eax
orb %cl, %bpl
jne 0xb2f3
andpd %xmm6, %xmm0
ucomisd %xmm0, %xmm7
jbe 0xb2f3
andpd %xmm6, %xmm2
ucomisd %xmm2, %xmm7
jbe 0xb2f3
xorpd %xmm0, %xmm0
ucomiss %xmm0, %xmm5
jb 0xb2f3
movq 0x18(%rsp), %rcx
decl %ecx
cvtsi2ss %ecx, %xmm0
ucomiss %xmm5, %xmm0
jb 0xb2f3
xorps %xmm0, %xmm0
ucomiss %xmm0, %xmm4
jb 0xb2f3
movq 0x48(%rsp), %rcx
decl %ecx
cvtsi2ss %ecx, %xmm0
ucomiss %xmm4, %xmm0
jb 0xb2f3
xorps %xmm0, %xmm0
ucomiss %xmm0, %xmm3
jb 0xb2f3
movq 0x40(%rsp), %rax
decl %eax
cvtsi2ss %eax, %xmm0
xorl %eax, %eax
ucomiss %xmm3, %xmm0
setae %al
addq $0xd8, %rsp
popq %rbx
popq %r12
popq %r13
popq %r14
popq %r15
popq %rbp
retq