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

; 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.Matrix = type { ptr, ptr, i32, i32 }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<CornerDescriptor *, std::allocator<CornerDescriptor *>>::_Vector_impl" }
%"struct.std::_Vector_base<CornerDescriptor *, std::allocator<CornerDescriptor *>>::_Vector_impl" = type { %"struct.std::_Vector_base<CornerDescriptor *, std::allocator<CornerDescriptor *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<CornerDescriptor *, std::allocator<CornerDescriptor *>>::_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 void @_ZN6MatrixC1Eii(ptr noundef nonnull align 8 dereferenceable(24), i32 noundef, i32 noundef) unnamed_addr #1

declare void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24), i32 noundef, i32 noundef) unnamed_addr #2 align 2

declare void @_ZNK6Matrix3svdERS_S0_S0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) #1

; Function Attrs: nounwind
declare void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3

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

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #4

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_Z9getHPointffP6MatrixRfS1_(float noundef, float noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) #6

; Function Attrs: nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #7

; 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 @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z13computeAffineSt6vectorIP16CornerDescriptorSaIS1_EES3_P6Matrix(ptr noundef, ptr noundef, ptr noundef) #8

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #8 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_Z9getAffMatP16CornerDescriptorP6MatrixRS1_(ptr noundef %0, ptr noundef %1, ptr noundef nonnull align 8 dereferenceable(24) %2) #8 personality ptr @__gxx_personality_v0 {
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca ptr, align 8
  %7 = alloca %class.Matrix, align 8
  %8 = alloca %class.Matrix, align 8
  %9 = alloca ptr, align 8
  %10 = alloca i32, align 4
  %11 = alloca %class.Matrix, align 8
  %12 = alloca %class.Matrix, align 8
  %13 = alloca %class.Matrix, align 8
  %14 = alloca float, align 4
  %15 = alloca float, align 4
  %16 = alloca float, align 4
  %17 = alloca float, align 4
  %18 = alloca float, align 4
  %19 = alloca %"class.std::vector", align 8
  %20 = alloca %"class.std::vector", align 8
  %21 = alloca float, align 4
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %24 = alloca float, align 4
  %25 = alloca float, align 4
  %26 = alloca float, align 4
  %27 = alloca float, align 4
  %28 = alloca i32, align 4
  %29 = alloca float, align 4
  %30 = alloca ptr, align 8
  %31 = alloca ptr, align 8
  %32 = alloca %"class.std::vector", align 8
  %33 = alloca %"class.std::vector", align 8
  store ptr %0, ptr %4, align 8, !tbaa !5
  store ptr %1, ptr %5, align 8, !tbaa !5
  store ptr %2, ptr %6, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 24, ptr %7) #9
  call void @_ZN6MatrixC1Eii(ptr noundef nonnull align 8 dereferenceable(24) %7, i32 noundef 2, i32 noundef 2)
  call void @llvm.lifetime.start.p0(i64 24, ptr %8) #9
  invoke void @_ZN6MatrixC1Eii(ptr noundef nonnull align 8 dereferenceable(24) %8, i32 noundef 2, i32 noundef 2)
          to label %34 unwind label %102

34:                                               ; preds = %3
  call void @llvm.lifetime.start.p0(i64 24, ptr %11) #9
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %35 unwind label %106

35:                                               ; preds = %34
  call void @llvm.lifetime.start.p0(i64 24, ptr %12) #9
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %12)
          to label %36 unwind label %110

36:                                               ; preds = %35
  call void @llvm.lifetime.start.p0(i64 24, ptr %13) #9
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %13)
          to label %37 unwind label %114

37:                                               ; preds = %36
  %38 = load ptr, ptr %4, align 8, !tbaa !5
  %39 = invoke noundef float @_ZNK6Corner7getMi11Ev(ptr noundef nonnull align 4 dereferenceable(88) %38)
          to label %40 unwind label %118

40:                                               ; preds = %37
  %41 = fpext float %39 to double
  %42 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %7, i32 noundef 1, i32 noundef 1)
          to label %43 unwind label %118

43:                                               ; preds = %40
  store double %41, ptr %42, align 8, !tbaa !9
  %44 = load ptr, ptr %4, align 8, !tbaa !5
  %45 = invoke noundef float @_ZNK6Corner7getMi12Ev(ptr noundef nonnull align 4 dereferenceable(88) %44)
          to label %46 unwind label %118

46:                                               ; preds = %43
  %47 = fpext float %45 to double
  %48 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %7, i32 noundef 1, i32 noundef 2)
          to label %49 unwind label %118

49:                                               ; preds = %46
  store double %47, ptr %48, align 8, !tbaa !9
  %50 = load ptr, ptr %4, align 8, !tbaa !5
  %51 = invoke noundef float @_ZNK6Corner7getMi21Ev(ptr noundef nonnull align 4 dereferenceable(88) %50)
          to label %52 unwind label %118

52:                                               ; preds = %49
  %53 = fpext float %51 to double
  %54 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %7, i32 noundef 2, i32 noundef 1)
          to label %55 unwind label %118

55:                                               ; preds = %52
  store double %53, ptr %54, align 8, !tbaa !9
  %56 = load ptr, ptr %4, align 8, !tbaa !5
  %57 = invoke noundef float @_ZNK6Corner7getMi22Ev(ptr noundef nonnull align 4 dereferenceable(88) %56)
          to label %58 unwind label %118

58:                                               ; preds = %55
  %59 = fpext float %57 to double
  %60 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %7, i32 noundef 2, i32 noundef 2)
          to label %61 unwind label %118

61:                                               ; preds = %58
  store double %59, ptr %60, align 8, !tbaa !9
  invoke void @_ZNK6Matrix3svdERS_S0_S0_(ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 8 dereferenceable(24) %11, ptr noundef nonnull align 8 dereferenceable(24) %12, ptr noundef nonnull align 8 dereferenceable(24) %13)
          to label %62 unwind label %118

62:                                               ; preds = %61
  call void @llvm.lifetime.start.p0(i64 4, ptr %14) #9
  %63 = load ptr, ptr %4, align 8, !tbaa !5
  %64 = invoke noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %63)
          to label %65 unwind label %122

65:                                               ; preds = %62
  %66 = fmul float 3.000000e+00, %64
  store float %66, ptr %14, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %15) #9
  %67 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %12, i32 noundef 1, i32 noundef 1)
          to label %68 unwind label %126

68:                                               ; preds = %65
  %69 = load double, ptr %67, align 8, !tbaa !9
  %70 = load float, ptr %14, align 4, !tbaa !11
  %71 = fpext float %70 to double
  %72 = fmul double %69, %71
  %73 = fptrunc double %72 to float
  store float %73, ptr %15, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %16) #9
  %74 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %12, i32 noundef 2, i32 noundef 2)
          to label %75 unwind label %130

75:                                               ; preds = %68
  %76 = load double, ptr %74, align 8, !tbaa !9
  %77 = load float, ptr %14, align 4, !tbaa !11
  %78 = fpext float %77 to double
  %79 = fmul double %76, %78
  %80 = fptrunc double %79 to float
  store float %80, ptr %16, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %17) #9
  %81 = load ptr, ptr %4, align 8, !tbaa !5
  %82 = invoke noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %81)
          to label %83 unwind label %134

83:                                               ; preds = %75
  store float %82, ptr %17, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %18) #9
  %84 = load ptr, ptr %4, align 8, !tbaa !5
  %85 = invoke noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %84)
          to label %86 unwind label %138

86:                                               ; preds = %83
  store float %85, ptr %18, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 24, ptr %19) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #9
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #9
  %87 = load float, ptr %15, align 4, !tbaa !11
  %88 = fpext float %87 to double
  %89 = fdiv double %88, 5.000000e+00
  %90 = fptrunc double %89 to float
  store float %90, ptr %25, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #9
  %91 = load float, ptr %16, align 4, !tbaa !11
  %92 = fpext float %91 to double
  %93 = fdiv double %92, 5.000000e+00
  %94 = fptrunc double %93 to float
  store float %94, ptr %26, align 4, !tbaa !11
  call void @llvm.lifetime.start.p0(i64 4, ptr %27) #9
  %95 = load float, ptr %16, align 4, !tbaa !11
  %96 = fneg float %95
  store float %96, ptr %27, align 4, !tbaa !11
  br label %97

97:                                               ; preds = %224, %86
  %98 = load float, ptr %27, align 4, !tbaa !11
  %99 = load float, ptr %16, align 4, !tbaa !11
  %100 = fcmp ole float %98, %99
  br i1 %100, label %142, label %101

101:                                              ; preds = %97
  store i32 2, ptr %28, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #9
  br label %228

102:                                              ; preds = %3
  %103 = landingpad { ptr, i32 }
          cleanup
  %104 = extractvalue { ptr, i32 } %103, 0
  store ptr %104, ptr %9, align 8
  %105 = extractvalue { ptr, i32 } %103, 1
  store i32 %105, ptr %10, align 4
  br label %256

106:                                              ; preds = %34
  %107 = landingpad { ptr, i32 }
          cleanup
  %108 = extractvalue { ptr, i32 } %107, 0
  store ptr %108, ptr %9, align 8
  %109 = extractvalue { ptr, i32 } %107, 1
  store i32 %109, ptr %10, align 4
  br label %255

110:                                              ; preds = %35
  %111 = landingpad { ptr, i32 }
          cleanup
  %112 = extractvalue { ptr, i32 } %111, 0
  store ptr %112, ptr %9, align 8
  %113 = extractvalue { ptr, i32 } %111, 1
  store i32 %113, ptr %10, align 4
  br label %254

114:                                              ; preds = %36
  %115 = landingpad { ptr, i32 }
          cleanup
  %116 = extractvalue { ptr, i32 } %115, 0
  store ptr %116, ptr %9, align 8
  %117 = extractvalue { ptr, i32 } %115, 1
  store i32 %117, ptr %10, align 4
  br label %253

118:                                              ; preds = %61, %58, %55, %52, %49, %46, %43, %40, %37
  %119 = landingpad { ptr, i32 }
          cleanup
  %120 = extractvalue { ptr, i32 } %119, 0
  store ptr %120, ptr %9, align 8
  %121 = extractvalue { ptr, i32 } %119, 1
  store i32 %121, ptr %10, align 4
  br label %252

122:                                              ; preds = %62
  %123 = landingpad { ptr, i32 }
          cleanup
  %124 = extractvalue { ptr, i32 } %123, 0
  store ptr %124, ptr %9, align 8
  %125 = extractvalue { ptr, i32 } %123, 1
  store i32 %125, ptr %10, align 4
  br label %251

126:                                              ; preds = %65
  %127 = landingpad { ptr, i32 }
          cleanup
  %128 = extractvalue { ptr, i32 } %127, 0
  store ptr %128, ptr %9, align 8
  %129 = extractvalue { ptr, i32 } %127, 1
  store i32 %129, ptr %10, align 4
  br label %250

130:                                              ; preds = %68
  %131 = landingpad { ptr, i32 }
          cleanup
  %132 = extractvalue { ptr, i32 } %131, 0
  store ptr %132, ptr %9, align 8
  %133 = extractvalue { ptr, i32 } %131, 1
  store i32 %133, ptr %10, align 4
  br label %249

134:                                              ; preds = %75
  %135 = landingpad { ptr, i32 }
          cleanup
  %136 = extractvalue { ptr, i32 } %135, 0
  store ptr %136, ptr %9, align 8
  %137 = extractvalue { ptr, i32 } %135, 1
  store i32 %137, ptr %10, align 4
  br label %248

138:                                              ; preds = %83
  %139 = landingpad { ptr, i32 }
          cleanup
  %140 = extractvalue { ptr, i32 } %139, 0
  store ptr %140, ptr %9, align 8
  %141 = extractvalue { ptr, i32 } %139, 1
  store i32 %141, ptr %10, align 4
  br label %247

142:                                              ; preds = %97
  call void @llvm.lifetime.start.p0(i64 4, ptr %29) #9
  %143 = load float, ptr %15, align 4, !tbaa !11
  %144 = fneg float %143
  store float %144, ptr %29, align 4, !tbaa !11
  br label %145

145:                                              ; preds = %196, %142
  %146 = load float, ptr %29, align 4, !tbaa !11
  %147 = load float, ptr %15, align 4, !tbaa !11
  %148 = fcmp ole float %146, %147
  br i1 %148, label %150, label %149

149:                                              ; preds = %145
  store i32 5, ptr %28, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #9
  br label %223

150:                                              ; preds = %145
  %151 = load float, ptr %17, align 4, !tbaa !11
  %152 = fpext float %151 to double
  %153 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %13, i32 noundef 1, i32 noundef 1)
          to label %154 unwind label %200

154:                                              ; preds = %150
  %155 = load double, ptr %153, align 8, !tbaa !9
  %156 = load float, ptr %29, align 4, !tbaa !11
  %157 = fpext float %156 to double
  %158 = call double @llvm.fmuladd.f64(double %155, double %157, double %152)
  %159 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %13, i32 noundef 1, i32 noundef 2)
          to label %160 unwind label %200

160:                                              ; preds = %154
  %161 = load double, ptr %159, align 8, !tbaa !9
  %162 = load float, ptr %27, align 4, !tbaa !11
  %163 = fpext float %162 to double
  %164 = call double @llvm.fmuladd.f64(double %161, double %163, double %158)
  %165 = fptrunc double %164 to float
  store float %165, ptr %21, align 4, !tbaa !11
  %166 = load float, ptr %18, align 4, !tbaa !11
  %167 = fpext float %166 to double
  %168 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %13, i32 noundef 2, i32 noundef 1)
          to label %169 unwind label %200

169:                                              ; preds = %160
  %170 = load double, ptr %168, align 8, !tbaa !9
  %171 = load float, ptr %29, align 4, !tbaa !11
  %172 = fpext float %171 to double
  %173 = call double @llvm.fmuladd.f64(double %170, double %172, double %167)
  %174 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %13, i32 noundef 2, i32 noundef 2)
          to label %175 unwind label %200

175:                                              ; preds = %169
  %176 = load double, ptr %174, align 8, !tbaa !9
  %177 = load float, ptr %27, align 4, !tbaa !11
  %178 = fpext float %177 to double
  %179 = call double @llvm.fmuladd.f64(double %176, double %178, double %173)
  %180 = fptrunc double %179 to float
  store float %180, ptr %22, align 4, !tbaa !11
  %181 = load float, ptr %21, align 4, !tbaa !11
  %182 = load float, ptr %22, align 4, !tbaa !11
  %183 = load ptr, ptr %5, align 8, !tbaa !5
  call void @_Z9getHPointffP6MatrixRfS1_(float noundef %181, float noundef %182, ptr noundef %183, ptr noundef nonnull align 4 dereferenceable(4) %23, ptr noundef nonnull align 4 dereferenceable(4) %24)
  call void @llvm.lifetime.start.p0(i64 8, ptr %30) #9
  %184 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 120) #10
          to label %185 unwind label %204

185:                                              ; preds = %175
  %186 = load float, ptr %21, align 4, !tbaa !11
  %187 = load float, ptr %22, align 4, !tbaa !11
  invoke void @_ZN16CornerDescriptorC2Eff(ptr noundef nonnull align 8 dereferenceable(116) %184, float noundef %186, float noundef %187)
          to label %188 unwind label %208

188:                                              ; preds = %185
  store ptr %184, ptr %30, align 8, !tbaa !5
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %19, ptr noundef nonnull align 8 dereferenceable(8) %30)
          to label %189 unwind label %204

189:                                              ; preds = %188
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #9
  %190 = invoke noalias noundef nonnull ptr @_Znwm(i64 noundef 120) #10
          to label %191 unwind label %213

191:                                              ; preds = %189
  %192 = load float, ptr %23, align 4, !tbaa !11
  %193 = load float, ptr %24, align 4, !tbaa !11
  invoke void @_ZN16CornerDescriptorC2Eff(ptr noundef nonnull align 8 dereferenceable(116) %190, float noundef %192, float noundef %193)
          to label %194 unwind label %217

194:                                              ; preds = %191
  store ptr %190, ptr %31, align 8, !tbaa !5
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %20, ptr noundef nonnull align 8 dereferenceable(8) %31)
          to label %195 unwind label %213

195:                                              ; preds = %194
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #9
  br label %196

196:                                              ; preds = %195
  %197 = load float, ptr %25, align 4, !tbaa !11
  %198 = load float, ptr %29, align 4, !tbaa !11
  %199 = fadd float %198, %197
  store float %199, ptr %29, align 4, !tbaa !11
  br label %145, !llvm.loop !13

200:                                              ; preds = %169, %160, %154, %150
  %201 = landingpad { ptr, i32 }
          cleanup
  %202 = extractvalue { ptr, i32 } %201, 0
  store ptr %202, ptr %9, align 8
  %203 = extractvalue { ptr, i32 } %201, 1
  store i32 %203, ptr %10, align 4
  br label %222

204:                                              ; preds = %188, %175
  %205 = landingpad { ptr, i32 }
          cleanup
  %206 = extractvalue { ptr, i32 } %205, 0
  store ptr %206, ptr %9, align 8
  %207 = extractvalue { ptr, i32 } %205, 1
  store i32 %207, ptr %10, align 4
  br label %212

208:                                              ; preds = %185
  %209 = landingpad { ptr, i32 }
          cleanup
  %210 = extractvalue { ptr, i32 } %209, 0
  store ptr %210, ptr %9, align 8
  %211 = extractvalue { ptr, i32 } %209, 1
  store i32 %211, ptr %10, align 4
  call void @_ZdlPvm(ptr noundef %184, i64 noundef 120) #11
  br label %212

212:                                              ; preds = %208, %204
  call void @llvm.lifetime.end.p0(i64 8, ptr %30) #9
  br label %222

213:                                              ; preds = %194, %189
  %214 = landingpad { ptr, i32 }
          cleanup
  %215 = extractvalue { ptr, i32 } %214, 0
  store ptr %215, ptr %9, align 8
  %216 = extractvalue { ptr, i32 } %214, 1
  store i32 %216, ptr %10, align 4
  br label %221

217:                                              ; preds = %191
  %218 = landingpad { ptr, i32 }
          cleanup
  %219 = extractvalue { ptr, i32 } %218, 0
  store ptr %219, ptr %9, align 8
  %220 = extractvalue { ptr, i32 } %218, 1
  store i32 %220, ptr %10, align 4
  call void @_ZdlPvm(ptr noundef %190, i64 noundef 120) #11
  br label %221

221:                                              ; preds = %217, %213
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #9
  br label %222

222:                                              ; preds = %221, %212, %200
  call void @llvm.lifetime.end.p0(i64 4, ptr %29) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %27) #9
  br label %246

223:                                              ; preds = %149
  br label %224

224:                                              ; preds = %223
  %225 = load float, ptr %26, align 4, !tbaa !11
  %226 = load float, ptr %27, align 4, !tbaa !11
  %227 = fadd float %226, %225
  store float %227, ptr %27, align 4, !tbaa !11
  br label %97, !llvm.loop !15

228:                                              ; preds = %101
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %32, ptr noundef nonnull align 8 dereferenceable(24) %19)
          to label %229 unwind label %233

229:                                              ; preds = %228
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %33, ptr noundef nonnull align 8 dereferenceable(24) %20)
          to label %230 unwind label %237

230:                                              ; preds = %229
  %231 = load ptr, ptr %6, align 8, !tbaa !5
  invoke void @_Z13computeAffineSt6vectorIP16CornerDescriptorSaIS1_EES3_P6Matrix(ptr noundef %32, ptr noundef %33, ptr noundef %231)
          to label %232 unwind label %241

232:                                              ; preds = %230
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %33) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %32) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %19) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %20) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr %19) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr %12) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr %8) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr %7) #9
  ret void

233:                                              ; preds = %228
  %234 = landingpad { ptr, i32 }
          cleanup
  %235 = extractvalue { ptr, i32 } %234, 0
  store ptr %235, ptr %9, align 8
  %236 = extractvalue { ptr, i32 } %234, 1
  store i32 %236, ptr %10, align 4
  br label %246

237:                                              ; preds = %229
  %238 = landingpad { ptr, i32 }
          cleanup
  %239 = extractvalue { ptr, i32 } %238, 0
  store ptr %239, ptr %9, align 8
  %240 = extractvalue { ptr, i32 } %238, 1
  store i32 %240, ptr %10, align 4
  br label %245

241:                                              ; preds = %230
  %242 = landingpad { ptr, i32 }
          cleanup
  %243 = extractvalue { ptr, i32 } %242, 0
  store ptr %243, ptr %9, align 8
  %244 = extractvalue { ptr, i32 } %242, 1
  store i32 %244, ptr %10, align 4
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %33) #9
  br label %245

245:                                              ; preds = %241, %237
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %32) #9
  br label %246

246:                                              ; preds = %245, %233, %222
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr %19) #9
  br label %247

247:                                              ; preds = %246, %138
  call void @llvm.lifetime.end.p0(i64 4, ptr %18) #9
  br label %248

248:                                              ; preds = %247, %134
  call void @llvm.lifetime.end.p0(i64 4, ptr %17) #9
  br label %249

249:                                              ; preds = %248, %130
  call void @llvm.lifetime.end.p0(i64 4, ptr %16) #9
  br label %250

250:                                              ; preds = %249, %126
  call void @llvm.lifetime.end.p0(i64 4, ptr %15) #9
  br label %251

251:                                              ; preds = %250, %122
  call void @llvm.lifetime.end.p0(i64 4, ptr %14) #9
  br label %252

252:                                              ; preds = %251, %118
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #9
  br label %253

253:                                              ; preds = %252, %114
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #9
  br label %254

254:                                              ; preds = %253, %110
  call void @llvm.lifetime.end.p0(i64 24, ptr %12) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #9
  br label %255

255:                                              ; preds = %254, %106
  call void @llvm.lifetime.end.p0(i64 24, ptr %11) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #9
  br label %256

256:                                              ; preds = %255, %102
  call void @llvm.lifetime.end.p0(i64 24, ptr %8) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr %7) #9
  br label %257

257:                                              ; preds = %256
  %258 = load ptr, ptr %9, align 8
  %259 = load i32, ptr %10, align 4
  %260 = insertvalue { ptr, i32 } poison, ptr %258, 0
  %261 = insertvalue { ptr, i32 } %260, i32 %259, 1
  resume { ptr, i32 } %261
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner7getMi11Ev(ptr noundef nonnull align 4 dereferenceable(88)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner7getMi12Ev(ptr noundef nonnull align 4 dereferenceable(88)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner7getMi21Ev(ptr noundef nonnull align 4 dereferenceable(88)) #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner7getMi22Ev(ptr noundef nonnull align 4 dereferenceable(88)) #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #8 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN16CornerDescriptorC2Eff(ptr noundef nonnull align 8 dereferenceable(116), float noundef, float noundef) unnamed_addr #8 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "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 = { nounwind "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 = { nobuiltin allocsize(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 #5 = { nobuiltin nounwind "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 #6 = { 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 #7 = { nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { 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 #9 = { nounwind }
attributes #10 = { builtin allocsize(0) }
attributes #11 = { builtin 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 = !{!"double", !7, i64 0}
!11 = !{!12, !12, i64 0}
!12 = !{!"float", !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.Matrix = type { ptr, ptr, i32, i32 }
%"class.std::vector" = type { %"struct.std::_Vector_base" }
%"struct.std::_Vector_base" = type { %"struct.std::_Vector_base<CornerDescriptor *, std::allocator<CornerDescriptor *>>::_Vector_impl" }
%"struct.std::_Vector_base<CornerDescriptor *, std::allocator<CornerDescriptor *>>::_Vector_impl" = type { %"struct.std::_Vector_base<CornerDescriptor *, std::allocator<CornerDescriptor *>>::_Vector_impl_data" }
%"struct.std::_Vector_base<CornerDescriptor *, std::allocator<CornerDescriptor *>>::_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 void @_ZN6MatrixC1Eii(ptr noundef nonnull align 8 dereferenceable(24), i32 noundef, i32 noundef) unnamed_addr #1

declare void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1

declare i32 @__gxx_personality_v0(...)

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24), i32 noundef, i32 noundef) unnamed_addr #2 align 2

declare void @_ZNK6Matrix3svdERS_S0_S0_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #1

; Function Attrs: nounwind
declare void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #3

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

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) local_unnamed_addr #4

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #5

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_Z9getHPointffP6MatrixRfS1_(float noundef, float noundef, ptr noundef, ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #6

; Function Attrs: mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none)
declare double @llvm.fmuladd.f64(double, double, double) #7

; 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 @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z13computeAffineSt6vectorIP16CornerDescriptorSaIS1_EES3_P6Matrix(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #8

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #8 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_Z9getAffMatP16CornerDescriptorP6MatrixRS1_(ptr noundef %0, ptr noundef %1, ptr noundef nonnull align 8 dereferenceable(24) %2) local_unnamed_addr #8 personality ptr @__gxx_personality_v0 {
  %4 = alloca %class.Matrix, align 8
  %5 = alloca %class.Matrix, align 8
  %6 = alloca %class.Matrix, align 8
  %7 = alloca %class.Matrix, align 8
  %8 = alloca %class.Matrix, align 8
  %9 = alloca %"class.std::vector", align 8
  %10 = alloca %"class.std::vector", align 8
  %11 = alloca float, align 4
  %12 = alloca float, align 4
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca %"class.std::vector", align 8
  %16 = alloca %"class.std::vector", align 8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %4) #9
  call void @_ZN6MatrixC1Eii(ptr noundef nonnull align 8 dereferenceable(24) %4, i32 noundef 2, i32 noundef 2)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %5) #9
  invoke void @_ZN6MatrixC1Eii(ptr noundef nonnull align 8 dereferenceable(24) %5, i32 noundef 2, i32 noundef 2)
          to label %17 unwind label %55

17:                                               ; preds = %3
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %6) #9
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %6)
          to label %18 unwind label %57

18:                                               ; preds = %17
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #9
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %7)
          to label %19 unwind label %59

19:                                               ; preds = %18
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #9
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %8)
          to label %20 unwind label %61

20:                                               ; preds = %19
  %21 = call noundef float @_ZNK6Corner7getMi11Ev(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %22 = fpext float %21 to double
  %23 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %4, i32 noundef 1, i32 noundef 1)
  store double %22, ptr %23, align 8, !tbaa !5
  %24 = call noundef float @_ZNK6Corner7getMi12Ev(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %25 = fpext float %24 to double
  %26 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %4, i32 noundef 1, i32 noundef 2)
  store double %25, ptr %26, align 8, !tbaa !5
  %27 = call noundef float @_ZNK6Corner7getMi21Ev(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %28 = fpext float %27 to double
  %29 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %4, i32 noundef 2, i32 noundef 1)
  store double %28, ptr %29, align 8, !tbaa !5
  %30 = call noundef float @_ZNK6Corner7getMi22Ev(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %31 = fpext float %30 to double
  %32 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %4, i32 noundef 2, i32 noundef 2)
  store double %31, ptr %32, align 8, !tbaa !5
  invoke void @_ZNK6Matrix3svdERS_S0_S0_(ptr noundef nonnull align 8 dereferenceable(24) %4, ptr noundef nonnull align 8 dereferenceable(24) %6, ptr noundef nonnull align 8 dereferenceable(24) %7, ptr noundef nonnull align 8 dereferenceable(24) %8)
          to label %33 unwind label %63

33:                                               ; preds = %20
  %34 = call noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %35 = fmul float %34, 3.000000e+00
  %36 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %7, i32 noundef 1, i32 noundef 1)
  %37 = load double, ptr %36, align 8, !tbaa !5
  %38 = fpext float %35 to double
  %39 = fmul double %37, %38
  %40 = fptrunc double %39 to float
  %41 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %7, i32 noundef 2, i32 noundef 2)
  %42 = load double, ptr %41, align 8, !tbaa !5
  %43 = fmul double %42, %38
  %44 = fptrunc double %43 to float
  %45 = call noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %0)
  %46 = call noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %0)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #9
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %11) #9
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %12) #9
  %47 = fdiv float %40, 5.000000e+00
  %48 = fdiv float %44, 5.000000e+00
  %49 = fcmp ult float %44, 0.000000e+00
  br i1 %49, label %._crit_edge65, label %.lr.ph64

.lr.ph64:                                         ; preds = %33
  %50 = fneg float %40
  %51 = fcmp ult float %40, 0.000000e+00
  %52 = fpext float %45 to double
  %53 = fpext float %46 to double
  br i1 %51, label %._crit_edge65, label %.lr.ph.preheader

.lr.ph.preheader:                                 ; preds = %.lr.ph64
  %54 = fneg float %44
  br label %.lr.ph

._crit_edge65:                                    ; preds = %._crit_edge, %.lr.ph64, %33
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr noundef nonnull align 8 dereferenceable(24) %9)
          to label %106 unwind label %109

55:                                               ; preds = %3
  %56 = landingpad { ptr, i32 }
          cleanup
  br label %121

57:                                               ; preds = %17
  %58 = landingpad { ptr, i32 }
          cleanup
  br label %120

59:                                               ; preds = %18
  %60 = landingpad { ptr, i32 }
          cleanup
  br label %119

61:                                               ; preds = %19
  %62 = landingpad { ptr, i32 }
          cleanup
  br label %118

63:                                               ; preds = %20
  %64 = landingpad { ptr, i32 }
          cleanup
  br label %117

.lr.ph:                                           ; preds = %.lr.ph.preheader, %._crit_edge
  %.03462 = phi float [ %66, %._crit_edge ], [ %54, %.lr.ph.preheader ]
  %65 = fpext float %.03462 to double
  br label %68

._crit_edge:                                      ; preds = %93
  %66 = fadd float %48, %.03462
  %67 = fcmp ugt float %66, %44
  br i1 %67, label %._crit_edge65, label %.lr.ph, !llvm.loop !9

68:                                               ; preds = %.lr.ph, %93
  %.061 = phi float [ %50, %.lr.ph ], [ %94, %93 ]
  %69 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %8, i32 noundef 1, i32 noundef 1)
  %70 = load double, ptr %69, align 8, !tbaa !5
  %71 = fpext float %.061 to double
  %72 = call double @llvm.fmuladd.f64(double %70, double %71, double %52)
  %73 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %8, i32 noundef 1, i32 noundef 2)
  %74 = load double, ptr %73, align 8, !tbaa !5
  %75 = call double @llvm.fmuladd.f64(double %74, double %65, double %72)
  %76 = fptrunc double %75 to float
  %77 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %8, i32 noundef 2, i32 noundef 1)
  %78 = load double, ptr %77, align 8, !tbaa !5
  %79 = call double @llvm.fmuladd.f64(double %78, double %71, double %53)
  %80 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZN6MatrixclEii(ptr noundef nonnull align 8 dereferenceable(24) %8, i32 noundef 2, i32 noundef 2)
  %81 = load double, ptr %80, align 8, !tbaa !5
  %82 = call double @llvm.fmuladd.f64(double %81, double %65, double %79)
  %83 = fptrunc double %82 to float
  call void @_Z9getHPointffP6MatrixRfS1_(float noundef %76, float noundef %83, ptr noundef %1, ptr noundef nonnull align 4 dereferenceable(4) %11, ptr noundef nonnull align 4 dereferenceable(4) %12)
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #9
  %84 = invoke noalias noundef nonnull dereferenceable(120) ptr @_Znwm(i64 noundef 120) #10
          to label %85 unwind label %96

85:                                               ; preds = %68
  invoke void @_ZN16CornerDescriptorC2Eff(ptr noundef nonnull align 8 dereferenceable(116) %84, float noundef %76, float noundef %83)
          to label %86 unwind label %98

86:                                               ; preds = %85
  store ptr %84, ptr %13, align 8, !tbaa !11
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %9, ptr noundef nonnull align 8 dereferenceable(8) %13)
          to label %87 unwind label %96

87:                                               ; preds = %86
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #9
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #9
  %88 = invoke noalias noundef nonnull dereferenceable(120) ptr @_Znwm(i64 noundef 120) #10
          to label %89 unwind label %101

89:                                               ; preds = %87
  %90 = load float, ptr %11, align 4, !tbaa !13
  %91 = load float, ptr %12, align 4, !tbaa !13
  invoke void @_ZN16CornerDescriptorC2Eff(ptr noundef nonnull align 8 dereferenceable(116) %88, float noundef %90, float noundef %91)
          to label %92 unwind label %103

92:                                               ; preds = %89
  store ptr %88, ptr %14, align 8, !tbaa !11
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24) %10, ptr noundef nonnull align 8 dereferenceable(8) %14)
          to label %93 unwind label %101

93:                                               ; preds = %92
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #9
  %94 = fadd float %47, %.061
  %95 = fcmp ugt float %94, %40
  br i1 %95, label %._crit_edge, label %68, !llvm.loop !15

96:                                               ; preds = %86, %68
  %97 = landingpad { ptr, i32 }
          cleanup
  br label %100

98:                                               ; preds = %85
  %99 = landingpad { ptr, i32 }
          cleanup
  call void @_ZdlPvm(ptr noundef nonnull %84, i64 noundef 120) #11
  br label %100

100:                                              ; preds = %98, %96
  %.pn47 = phi { ptr, i32 } [ %97, %96 ], [ %99, %98 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #9
  br label %116

101:                                              ; preds = %92, %87
  %102 = landingpad { ptr, i32 }
          cleanup
  br label %105

103:                                              ; preds = %89
  %104 = landingpad { ptr, i32 }
          cleanup
  call void @_ZdlPvm(ptr noundef nonnull %88, i64 noundef 120) #11
  br label %105

105:                                              ; preds = %103, %101
  %.pn49 = phi { ptr, i32 } [ %102, %101 ], [ %104, %103 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #9
  br label %116

106:                                              ; preds = %._crit_edge65
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEC2ERKS3_(ptr noundef nonnull align 8 dereferenceable(24) %16, ptr noundef nonnull align 8 dereferenceable(24) %10)
          to label %107 unwind label %111

107:                                              ; preds = %106
  invoke void @_Z13computeAffineSt6vectorIP16CornerDescriptorSaIS1_EES3_P6Matrix(ptr noundef nonnull %15, ptr noundef nonnull %16, ptr noundef nonnull %2)
          to label %108 unwind label %113

108:                                              ; preds = %107
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %15) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %9) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5clearEv(ptr noundef nonnull align 8 dereferenceable(24) %10) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %11) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %6) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %6) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #9
  ret void

109:                                              ; preds = %._crit_edge65
  %110 = landingpad { ptr, i32 }
          cleanup
  br label %116

111:                                              ; preds = %106
  %112 = landingpad { ptr, i32 }
          cleanup
  br label %115

113:                                              ; preds = %107
  %114 = landingpad { ptr, i32 }
          cleanup
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %16) #9
  br label %115

115:                                              ; preds = %113, %111
  %.pn = phi { ptr, i32 } [ %114, %113 ], [ %112, %111 ]
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %15) #9
  br label %116

116:                                              ; preds = %100, %105, %115, %109
  %.pn49.pn.pn = phi { ptr, i32 } [ %.pn, %115 ], [ %110, %109 ], [ %.pn49, %105 ], [ %.pn47, %100 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %12) #9
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %11) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #9
  call void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EED2Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #9
  br label %117

117:                                              ; preds = %116, %63
  %.pn49.pn.pn.pn = phi { ptr, i32 } [ %.pn49.pn.pn, %116 ], [ %64, %63 ]
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #9
  br label %118

118:                                              ; preds = %117, %61
  %.pn49.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn49.pn.pn.pn, %117 ], [ %62, %61 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #9
  br label %119

119:                                              ; preds = %118, %59
  %.pn49.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn49.pn.pn.pn.pn, %118 ], [ %60, %59 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %6) #9
  br label %120

120:                                              ; preds = %119, %57
  %.pn49.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn49.pn.pn.pn.pn.pn, %119 ], [ %58, %57 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %6) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %5) #9
  br label %121

121:                                              ; preds = %120, %55
  %.pn49.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn49.pn.pn.pn.pn.pn.pn, %120 ], [ %56, %55 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %5) #9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %4) #9
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %4) #9
  resume { ptr, i32 } %.pn49.pn.pn.pn.pn.pn.pn.pn
}

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner7getMi11Ev(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner7getMi12Ev(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner7getMi21Ev(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner7getMi22Ev(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backEOS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #8 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN16CornerDescriptorC2Eff(ptr noundef nonnull align 8 dereferenceable(116), float noundef, float noundef) unnamed_addr #8 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { "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 = { nounwind "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 = { nobuiltin allocsize(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 #5 = { nobuiltin nounwind "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 #6 = { 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 #7 = { mustprogress nocallback nofree nosync nounwind speculatable willreturn memory(none) }
attributes #8 = { 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 #9 = { nounwind }
attributes #10 = { builtin allocsize(0) }
attributes #11 = { builtin 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 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}
!11 = !{!12, !12, i64 0}
!12 = !{!"any pointer", !7, i64 0}
!13 = !{!14, !14, i64 0}
!14 = !{!"float", !7, i64 0}
!15 = distinct !{!15, !10}


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