; LLVM IR from ox-vgg/vise :: src/search_engine/relja_retrival/external/KMCode_relja/descriptor/CornerDetecto_327265c2 (EEff)

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.std::vector.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner8getAngleEv(ptr noundef nonnull align 4 dereferenceable(88)) #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_Z19searchSimilarPoint2P16CornerDescriptorSt6vectorIS0_SaIS0_EEff(ptr noundef %0, ptr noundef %1, float noundef %2, float noundef %3) #3 personality ptr @__gxx_personality_v0 {
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca float, align 4
  %8 = alloca float, align 4
  %9 = alloca float, align 4
  %10 = alloca %"class.std::vector.0", align 8
  %11 = alloca float, align 4
  %12 = alloca float, align 4
  %13 = alloca ptr, align 8
  %14 = alloca i32, align 4
  %15 = alloca i32, align 4
  %16 = alloca i32, align 4
  %17 = alloca i32, align 4
  %18 = alloca float, align 4
  %19 = alloca i32, align 4
  store ptr %0, ptr %5, align 8, !tbaa !5
  store ptr %1, ptr %6, align 8, !tbaa !5
  store float %2, ptr %7, align 4, !tbaa !9
  store float %3, ptr %8, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %9) #5
  call void @llvm.lifetime.start.p0(i64 24, ptr %10) #5
  call void @_ZNSt6vectorIiSaIiEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %11) #5
  call void @llvm.lifetime.start.p0(i64 4, ptr %12) #5
  %20 = load ptr, ptr %5, align 8, !tbaa !5
  %21 = invoke noundef float @_ZNK6Corner5getL2Ev(ptr noundef nonnull align 4 dereferenceable(88) %20)
          to label %22 unwind label %33

22:                                               ; preds = %4
  %23 = load ptr, ptr %5, align 8, !tbaa !5
  %24 = invoke noundef float @_ZNK6Corner5getL1Ev(ptr noundef nonnull align 4 dereferenceable(88) %23)
          to label %25 unwind label %33

25:                                               ; preds = %22
  %26 = fdiv float %21, %24
  store float %26, ptr %12, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #5
  store i32 0, ptr %15, align 4, !tbaa !11
  br label %27

27:                                               ; preds = %147, %25
  %28 = load i32, ptr %15, align 4, !tbaa !11
  %29 = zext i32 %28 to i64
  %30 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #5
  %31 = icmp ult i64 %29, %30
  br i1 %31, label %37, label %32

32:                                               ; preds = %27
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #5
  br label %151

33:                                               ; preds = %22, %4
  %34 = landingpad { ptr, i32 }
          cleanup
  %35 = extractvalue { ptr, i32 } %34, 0
  store ptr %35, ptr %13, align 8
  %36 = extractvalue { ptr, i32 } %34, 1
  store i32 %36, ptr %14, align 4
  br label %201

37:                                               ; preds = %27
  %38 = load float, ptr %7, align 4, !tbaa !9
  %39 = load i32, ptr %15, align 4, !tbaa !11
  %40 = zext i32 %39 to i64
  %41 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %40) #5
  %42 = load ptr, ptr %41, align 8, !tbaa !5
  %43 = invoke noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %42)
          to label %44 unwind label %135

44:                                               ; preds = %37
  %45 = fsub float %38, %43
  %46 = invoke noundef float @_ZSt4fabsf(float noundef %45)
          to label %47 unwind label %135

47:                                               ; preds = %44
  %48 = fpext float %46 to double
  %49 = fcmp olt double %48, 1.200000e-01
  br i1 %49, label %50, label %146

50:                                               ; preds = %47
  %51 = load ptr, ptr %5, align 8, !tbaa !5
  %52 = invoke noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %51)
          to label %53 unwind label %135

53:                                               ; preds = %50
  %54 = load i32, ptr %15, align 4, !tbaa !11
  %55 = zext i32 %54 to i64
  %56 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %55) #5
  %57 = load ptr, ptr %56, align 8, !tbaa !5
  %58 = invoke noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %57)
          to label %59 unwind label %135

59:                                               ; preds = %53
  %60 = fsub float %52, %58
  %61 = load ptr, ptr %5, align 8, !tbaa !5
  %62 = invoke noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %61)
          to label %63 unwind label %135

63:                                               ; preds = %59
  %64 = load i32, ptr %15, align 4, !tbaa !11
  %65 = zext i32 %64 to i64
  %66 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %65) #5
  %67 = load ptr, ptr %66, align 8, !tbaa !5
  %68 = invoke noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %67)
          to label %69 unwind label %135

69:                                               ; preds = %63
  %70 = fsub float %62, %68
  %71 = load ptr, ptr %5, align 8, !tbaa !5
  %72 = invoke noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %71)
          to label %73 unwind label %135

73:                                               ; preds = %69
  %74 = load i32, ptr %15, align 4, !tbaa !11
  %75 = zext i32 %74 to i64
  %76 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %75) #5
  %77 = load ptr, ptr %76, align 8, !tbaa !5
  %78 = invoke noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %77)
          to label %79 unwind label %135

79:                                               ; preds = %73
  %80 = fsub float %72, %78
  %81 = load ptr, ptr %5, align 8, !tbaa !5
  %82 = invoke noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %81)
          to label %83 unwind label %135

83:                                               ; preds = %79
  %84 = load i32, ptr %15, align 4, !tbaa !11
  %85 = zext i32 %84 to i64
  %86 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %85) #5
  %87 = load ptr, ptr %86, align 8, !tbaa !5
  %88 = invoke noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %87)
          to label %89 unwind label %135

89:                                               ; preds = %83
  %90 = fsub float %82, %88
  %91 = fmul float %80, %90
  %92 = call float @llvm.fmuladd.f32(float %60, float %70, float %91)
  store float %92, ptr %9, align 4, !tbaa !9
  %93 = load float, ptr %9, align 4, !tbaa !9
  %94 = load float, ptr %8, align 4, !tbaa !9
  %95 = fcmp olt float %93, %94
  br i1 %95, label %96, label %145

96:                                               ; preds = %89
  %97 = load float, ptr %12, align 4, !tbaa !9
  %98 = load i32, ptr %15, align 4, !tbaa !11
  %99 = zext i32 %98 to i64
  %100 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %99) #5
  %101 = load ptr, ptr %100, align 8, !tbaa !5
  %102 = invoke noundef float @_ZNK6Corner5getL2Ev(ptr noundef nonnull align 4 dereferenceable(88) %101)
          to label %103 unwind label %135

103:                                              ; preds = %96
  %104 = load i32, ptr %15, align 4, !tbaa !11
  %105 = zext i32 %104 to i64
  %106 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %105) #5
  %107 = load ptr, ptr %106, align 8, !tbaa !5
  %108 = invoke noundef float @_ZNK6Corner5getL1Ev(ptr noundef nonnull align 4 dereferenceable(88) %107)
          to label %109 unwind label %135

109:                                              ; preds = %103
  %110 = fdiv float %102, %108
  %111 = fsub float %97, %110
  %112 = invoke noundef float @_ZSt4fabsf(float noundef %111)
          to label %113 unwind label %135

113:                                              ; preds = %109
  store float %112, ptr %11, align 4, !tbaa !9
  %114 = load float, ptr %11, align 4, !tbaa !9
  %115 = fpext float %114 to double
  %116 = fcmp olt double %115, 1.000000e-01
  br i1 %116, label %117, label %144

117:                                              ; preds = %113
  %118 = load ptr, ptr %5, align 8, !tbaa !5
  %119 = invoke noundef float @_ZNK6Corner8getAngleEv(ptr noundef nonnull align 4 dereferenceable(88) %118)
          to label %120 unwind label %135

120:                                              ; preds = %117
  %121 = load i32, ptr %15, align 4, !tbaa !11
  %122 = zext i32 %121 to i64
  %123 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %122) #5
  %124 = load ptr, ptr %123, align 8, !tbaa !5
  %125 = invoke noundef float @_ZNK6Corner8getAngleEv(ptr noundef nonnull align 4 dereferenceable(88) %124)
          to label %126 unwind label %135

126:                                              ; preds = %120
  %127 = fsub float %119, %125
  %128 = invoke noundef float @_ZSt4fabsf(float noundef %127)
          to label %129 unwind label %135

129:                                              ; preds = %126
  %130 = fpext float %128 to double
  %131 = fcmp olt double %130, 2.500000e-01
  br i1 %131, label %132, label %143

132:                                              ; preds = %129
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #5
  %133 = load i32, ptr %15, align 4, !tbaa !11
  store i32 %133, ptr %16, align 4, !tbaa !11
  invoke void @_ZNSt6vectorIiSaIiEE9push_backEOi(ptr noundef nonnull align 8 dereferenceable(24) %10, ptr noundef nonnull align 4 dereferenceable(4) %16)
          to label %134 unwind label %139

134:                                              ; preds = %132
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #5
  br label %143

135:                                              ; preds = %126, %120, %117, %109, %103, %96, %83, %79, %73, %69, %63, %59, %53, %50, %44, %37
  %136 = landingpad { ptr, i32 }
          cleanup
  %137 = extractvalue { ptr, i32 } %136, 0
  store ptr %137, ptr %13, align 8
  %138 = extractvalue { ptr, i32 } %136, 1
  store i32 %138, ptr %14, align 4
  br label %150

139:                                              ; preds = %132
  %140 = landingpad { ptr, i32 }
          cleanup
  %141 = extractvalue { ptr, i32 } %140, 0
  store ptr %141, ptr %13, align 8
  %142 = extractvalue { ptr, i32 } %140, 1
  store i32 %142, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #5
  br label %150

143:                                              ; preds = %134, %129
  br label %144

144:                                              ; preds = %143, %113
  br label %145

145:                                              ; preds = %144, %89
  br label %146

146:                                              ; preds = %145, %47
  br label %147

147:                                              ; preds = %146
  %148 = load i32, ptr %15, align 4, !tbaa !11
  %149 = add i32 %148, 1
  store i32 %149, ptr %15, align 4, !tbaa !11
  br label %27, !llvm.loop !13

150:                                              ; preds = %139, %135
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #5
  br label %201

151:                                              ; preds = %32
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #5
  store i32 -1, ptr %17, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #5
  store float 0x3FBEB851E0000000, ptr %18, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %19) #5
  store i32 0, ptr %19, align 4, !tbaa !11
  br label %152

152:                                              ; preds = %196, %151
  %153 = load i32, ptr %19, align 4, !tbaa !11
  %154 = zext i32 %153 to i64
  %155 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %10) #5
  %156 = icmp ult i64 %154, %155
  br i1 %156, label %158, label %157

157:                                              ; preds = %152
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #5
  br label %199

158:                                              ; preds = %152
  %159 = load float, ptr %12, align 4, !tbaa !9
  %160 = load i32, ptr %19, align 4, !tbaa !11
  %161 = zext i32 %160 to i64
  %162 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %10, i64 noundef %161) #5
  %163 = load i32, ptr %162, align 4, !tbaa !11
  %164 = sext i32 %163 to i64
  %165 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %164) #5
  %166 = load ptr, ptr %165, align 8, !tbaa !5
  %167 = invoke noundef float @_ZNK6Corner5getL2Ev(ptr noundef nonnull align 4 dereferenceable(88) %166)
          to label %168 unwind label %191

168:                                              ; preds = %158
  %169 = load i32, ptr %19, align 4, !tbaa !11
  %170 = zext i32 %169 to i64
  %171 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %10, i64 noundef %170) #5
  %172 = load i32, ptr %171, align 4, !tbaa !11
  %173 = sext i32 %172 to i64
  %174 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %173) #5
  %175 = load ptr, ptr %174, align 8, !tbaa !5
  %176 = invoke noundef float @_ZNK6Corner5getL1Ev(ptr noundef nonnull align 4 dereferenceable(88) %175)
          to label %177 unwind label %191

177:                                              ; preds = %168
  %178 = fdiv float %167, %176
  %179 = fsub float %159, %178
  %180 = invoke noundef float @_ZSt4fabsf(float noundef %179)
          to label %181 unwind label %191

181:                                              ; preds = %177
  store float %180, ptr %11, align 4, !tbaa !9
  %182 = load float, ptr %11, align 4, !tbaa !9
  %183 = load float, ptr %18, align 4, !tbaa !9
  %184 = fcmp olt float %182, %183
  br i1 %184, label %185, label %195

185:                                              ; preds = %181
  %186 = load float, ptr %11, align 4, !tbaa !9
  store float %186, ptr %18, align 4, !tbaa !9
  %187 = load i32, ptr %19, align 4, !tbaa !11
  %188 = zext i32 %187 to i64
  %189 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %10, i64 noundef %188) #5
  %190 = load i32, ptr %189, align 4, !tbaa !11
  store i32 %190, ptr %17, align 4, !tbaa !11
  br label %195

191:                                              ; preds = %177, %168, %158
  %192 = landingpad { ptr, i32 }
          cleanup
  %193 = extractvalue { ptr, i32 } %192, 0
  store ptr %193, ptr %13, align 8
  %194 = extractvalue { ptr, i32 } %192, 1
  store i32 %194, ptr %14, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %19) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #5
  br label %201

195:                                              ; preds = %185, %181
  br label %196

196:                                              ; preds = %195
  %197 = load i32, ptr %19, align 4, !tbaa !11
  %198 = add i32 %197, 1
  store i32 %198, ptr %19, align 4, !tbaa !11
  br label %152, !llvm.loop !15

199:                                              ; preds = %157
  %200 = load i32, ptr %17, align 4, !tbaa !11
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #5
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %10) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #5
  ret i32 %200

201:                                              ; preds = %191, %150, %33
  call void @llvm.lifetime.end.p0(i64 4, ptr %12) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %11) #5
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr %10) #5
  call void @llvm.lifetime.end.p0(i64 4, ptr %9) #5
  br label %202

202:                                              ; preds = %201
  %203 = load ptr, ptr %13, align 8
  %204 = load i32, ptr %14, align 4
  %205 = insertvalue { ptr, i32 } poison, ptr %203, 0
  %206 = insertvalue { ptr, i32 } %205, i32 %204, 1
  resume { ptr, i32 } %206
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner5getL2Ev(ptr noundef nonnull align 4 dereferenceable(88)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner5getL1Ev(ptr noundef nonnull align 4 dereferenceable(88)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4fabsf(float noundef) #2

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEE9push_backEOi(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(4)) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #5 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"float", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"int", !7, i64 0}
!13 = distinct !{!13, !14}
!14 = !{!"llvm.loop.mustprogress"}
!15 = distinct !{!15, !14}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

%"class.std::vector.0" = type { %"struct.std::_Vector_base.1" }
%"struct.std::_Vector_base.1" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl" = type { %"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" }
%"struct.std::_Vector_base<int, std::allocator<int>>::_Vector_impl_data" = type { ptr, ptr, ptr }

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

declare i32 @__gxx_personality_v0(...)

; Function Attrs: mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner8getAngleEv(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef i32 @_Z19searchSimilarPoint2P16CornerDescriptorSt6vectorIS0_SaIS0_EEff(ptr noundef %0, ptr noundef %1, float noundef %2, float noundef %3) local_unnamed_addr #3 personality ptr @__gxx_personality_v0 {
  %5 = alloca %"class.std::vector.0", align 8
  %6 = alloca i32, align 4
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #5
  call void @_ZNSt6vectorIiSaIiEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  %7 = call noundef float @_ZNK6Corner5getL2Ev(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %8 = call noundef float @_ZNK6Corner5getL1Ev(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %9 = fdiv float %7, %8
  %10 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #5
  %.not = icmp eq i64 %10, 0
  br i1 %.not, label %.preheader, label %.lr.ph

.preheader:                                       ; preds = %68, %4
  %11 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  %.not46 = icmp eq i64 %11, 0
  br i1 %.not46, label %._crit_edge, label %.lr.ph45

.lr.ph:                                           ; preds = %4, %68
  %12 = phi i64 [ %70, %68 ], [ 0, %4 ]
  %.03741 = phi i32 [ %69, %68 ], [ 0, %4 ]
  %13 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %12) #5
  %14 = load ptr, ptr %13, align 8, !tbaa !5
  %15 = call noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %14)
  %16 = fsub float %2, %15
  %17 = call noundef float @_ZSt4fabsf(float noundef %16)
  %18 = fpext float %17 to double
  %19 = fcmp olt double %18, 1.200000e-01
  br i1 %19, label %20, label %68

20:                                               ; preds = %.lr.ph
  %21 = call noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %22 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %12) #5
  %23 = load ptr, ptr %22, align 8, !tbaa !5
  %24 = call noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %23)
  %25 = fsub float %21, %24
  %26 = call noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %27 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %12) #5
  %28 = load ptr, ptr %27, align 8, !tbaa !5
  %29 = call noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %28)
  %30 = fsub float %26, %29
  %31 = call noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %32 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %12) #5
  %33 = load ptr, ptr %32, align 8, !tbaa !5
  %34 = call noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %33)
  %35 = fsub float %31, %34
  %36 = call noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %37 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %12) #5
  %38 = load ptr, ptr %37, align 8, !tbaa !5
  %39 = call noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %38)
  %40 = fsub float %36, %39
  %41 = fmul float %35, %40
  %42 = call float @llvm.fmuladd.f32(float %25, float %30, float %41)
  %43 = fcmp olt float %42, %3
  br i1 %43, label %44, label %68

44:                                               ; preds = %20
  %45 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %12) #5
  %46 = load ptr, ptr %45, align 8, !tbaa !5
  %47 = call noundef float @_ZNK6Corner5getL2Ev(ptr noundef nonnull align 4 dereferenceable(88) %46)
  %48 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %12) #5
  %49 = load ptr, ptr %48, align 8, !tbaa !5
  %50 = call noundef float @_ZNK6Corner5getL1Ev(ptr noundef nonnull align 4 dereferenceable(88) %49)
  %51 = fdiv float %47, %50
  %52 = fsub float %9, %51
  %53 = call noundef float @_ZSt4fabsf(float noundef %52)
  %54 = fpext float %53 to double
  %55 = fcmp olt double %54, 1.000000e-01
  br i1 %55, label %56, label %68

56:                                               ; preds = %44
  %57 = call noundef float @_ZNK6Corner8getAngleEv(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %58 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %12) #5
  %59 = load ptr, ptr %58, align 8, !tbaa !5
  %60 = call noundef float @_ZNK6Corner8getAngleEv(ptr noundef nonnull align 4 dereferenceable(88) %59)
  %61 = fsub float %57, %60
  %62 = call noundef float @_ZSt4fabsf(float noundef %61)
  %63 = fcmp olt float %62, 2.500000e-01
  br i1 %63, label %64, label %68

64:                                               ; preds = %56
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %6) #5
  store i32 %.03741, ptr %6, align 4, !tbaa !9
  invoke void @_ZNSt6vectorIiSaIiEE9push_backEOi(ptr noundef nonnull align 8 dereferenceable(24) %5, ptr noundef nonnull align 4 dereferenceable(4) %6)
          to label %65 unwind label %66

65:                                               ; preds = %64
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %6) #5
  br label %68

66:                                               ; preds = %64
  %67 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %6) #5
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #5
  resume { ptr, i32 } %67

68:                                               ; preds = %.lr.ph, %44, %65, %56, %20
  %69 = add i32 %.03741, 1
  %70 = zext i32 %69 to i64
  %71 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #5
  %72 = icmp ugt i64 %71, %70
  br i1 %72, label %.lr.ph, label %.preheader, !llvm.loop !11

._crit_edge:                                      ; preds = %93, %.preheader
  %.035.lcssa = phi i32 [ -1, %.preheader ], [ %.136, %93 ]
  call void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #5
  ret i32 %.035.lcssa

.lr.ph45:                                         ; preds = %.preheader, %93
  %73 = phi i64 [ %95, %93 ], [ 0, %.preheader ]
  %.044 = phi i32 [ %94, %93 ], [ 0, %.preheader ]
  %.03443 = phi float [ %.1, %93 ], [ 0x3FBEB851E0000000, %.preheader ]
  %.03542 = phi i32 [ %.136, %93 ], [ -1, %.preheader ]
  %74 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %73) #5
  %75 = load i32, ptr %74, align 4, !tbaa !9
  %76 = sext i32 %75 to i64
  %77 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %76) #5
  %78 = load ptr, ptr %77, align 8, !tbaa !5
  %79 = call noundef float @_ZNK6Corner5getL2Ev(ptr noundef nonnull align 4 dereferenceable(88) %78)
  %80 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %73) #5
  %81 = load i32, ptr %80, align 4, !tbaa !9
  %82 = sext i32 %81 to i64
  %83 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %82) #5
  %84 = load ptr, ptr %83, align 8, !tbaa !5
  %85 = call noundef float @_ZNK6Corner5getL1Ev(ptr noundef nonnull align 4 dereferenceable(88) %84)
  %86 = fdiv float %79, %85
  %87 = fsub float %9, %86
  %88 = call noundef float @_ZSt4fabsf(float noundef %87)
  %89 = fcmp olt float %88, %.03443
  br i1 %89, label %90, label %93

90:                                               ; preds = %.lr.ph45
  %91 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24) %5, i64 noundef %73) #5
  %92 = load i32, ptr %91, align 4, !tbaa !9
  br label %93

93:                                               ; preds = %.lr.ph45, %90
  %.136 = phi i32 [ %92, %90 ], [ %.03542, %.lr.ph45 ]
  %.1 = phi float [ %88, %90 ], [ %.03443, %.lr.ph45 ]
  %94 = add i32 %.044, 1
  %95 = zext i32 %94 to i64
  %96 = call noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %5) #5
  %97 = icmp ugt i64 %96, %95
  br i1 %97, label %.lr.ph45, label %._crit_edge, !llvm.loop !13
}

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner5getL2Ev(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner5getL1Ev(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4fabsf(float noundef) local_unnamed_addr #2

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare float @llvm.fmuladd.f32(float, float, float) #4

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEE9push_backEOi(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIiSaIiEE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNSt6vectorIiSaIiEEixEm(ptr noundef nonnull align 8 dereferenceable(24), i64 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIiSaIiEED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #4 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #5 = { nounwind }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}
!13 = distinct !{!13, !12}


; Effective O3 passes: EarlyCSEPass,GVNPass,GlobalOptPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,SROAPass,SimplifyCFGPass