; 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.std::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%class.Matrix = type { ptr, ptr, i32, i32 }
%"class.__gnu_cxx::__normal_iterator.0" = type { ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.5 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [2 x i8], align 1

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

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

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nounwind
declare void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2

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

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) #3 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) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr) #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNK9__gnu_cxx17__normal_iteratorIPP16CornerDescriptorSt6vectorIS2_SaIS2_EEEplEl(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #5

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4sqrtf(float noundef) #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88)) #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4fabsf(float noundef) #6

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt5flushIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z9getAffMatP16CornerDescriptorP6MatrixRS1_(ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(24)) #3

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_Z17matchAffinePointsP16CornerDescriptorS0_6Matrix(ptr noundef, ptr noundef, ptr noundef) #3

declare void @_ZN6MatrixC1Eiid(ptr noundef nonnull align 8 dereferenceable(24), i32 noundef, i32 noundef, double noundef) unnamed_addr #1

declare void @_ZN6MatrixC1ERKS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_Z12float_squaref(float noundef) #4

; Function Attrs: mustprogress uwtable
define dso_local void @_Z17matchAffinePointsRSt6vectorIP16CornerDescriptorSaIS1_EES4_S4_S4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef nonnull align 8 dereferenceable(24) %2, ptr noundef nonnull align 8 dereferenceable(24) %3, ptr noundef %4, float noundef %5) #3 personality ptr @__gxx_personality_v0 {
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca float, align 4
  %13 = alloca %class.Matrix, align 8
  %14 = alloca %class.Matrix, align 8
  %15 = alloca ptr, align 8
  %16 = alloca i32, align 4
  %17 = alloca %class.Matrix, align 8
  %18 = alloca %class.Matrix, align 8
  %19 = alloca %class.Matrix, align 8
  %20 = alloca %class.Matrix, 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 ptr, align 8
  %28 = alloca ptr, align 8
  %29 = alloca %class.Matrix, align 8
  %30 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %31 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %32 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %33 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %34 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %35 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %36 = alloca i32, align 4
  %37 = alloca %class.Matrix, align 8
  %38 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %39 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %40 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %41 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %42 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %43 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %44 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %45 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %46 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %47 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %48 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %49 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %50 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %51 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %52 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %53 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  store ptr %0, ptr %7, align 8, !tbaa !5
  store ptr %1, ptr %8, align 8, !tbaa !5
  store ptr %2, ptr %9, align 8, !tbaa !5
  store ptr %3, ptr %10, align 8, !tbaa !5
  store ptr %4, ptr %11, align 8, !tbaa !5
  store float %5, ptr %12, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 24, ptr %13) #7
  call void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %13)
  call void @llvm.lifetime.start.p0(i64 24, ptr %14) #7
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %14)
          to label %54 unwind label %123

54:                                               ; preds = %6
  call void @llvm.lifetime.start.p0(i64 24, ptr %17) #7
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %17)
          to label %55 unwind label %127

55:                                               ; preds = %54
  call void @llvm.lifetime.start.p0(i64 24, ptr %18) #7
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %18)
          to label %56 unwind label %131

56:                                               ; preds = %55
  call void @llvm.lifetime.start.p0(i64 24, ptr %19) #7
  invoke void @_ZN6MatrixC1Eiid(ptr noundef nonnull align 8 dereferenceable(24) %19, i32 noundef 2, i32 noundef 2, double noundef 0.000000e+00)
          to label %57 unwind label %135

57:                                               ; preds = %56
  call void @llvm.lifetime.start.p0(i64 24, ptr %20) #7
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %20)
          to label %58 unwind label %139

58:                                               ; preds = %57
  call void @llvm.lifetime.start.p0(i64 4, ptr %21) #7
  store float 1.000000e+03, ptr %21, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %22) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %23) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %24) #7
  call void @llvm.lifetime.start.p0(i64 4, ptr %25) #7
  store float 1.000000e+02, ptr %25, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 4, ptr %26) #7
  store float 0.000000e+00, ptr %26, align 4, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %27) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %28) #7
  br label %59

59:                                               ; preds = %352, %58
  %60 = load ptr, ptr %7, align 8, !tbaa !5
  %61 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %60) #7
  %62 = icmp ugt i64 %61, 0
  br i1 %62, label %63, label %353

63:                                               ; preds = %59
  %64 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef @.str.17)
          to label %65 unwind label %143

65:                                               ; preds = %63
  %66 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %64, ptr noundef @.str.5)
          to label %67 unwind label %143

67:                                               ; preds = %65
  %68 = load ptr, ptr %7, align 8, !tbaa !5
  %69 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %68) #7
  %70 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %66, i64 noundef %69)
          to label %71 unwind label %143

71:                                               ; preds = %67
  %72 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %70, ptr noundef @_ZSt5flushIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %73 unwind label %143

73:                                               ; preds = %71
  %74 = load ptr, ptr %7, align 8, !tbaa !5
  %75 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %74, i64 noundef 0) #7
  %76 = load ptr, ptr %75, align 8, !tbaa !5
  %77 = load ptr, ptr %11, align 8, !tbaa !5
  invoke void @_Z9getAffMatP16CornerDescriptorP6MatrixRS1_(ptr noundef %76, ptr noundef %77, ptr noundef nonnull align 8 dereferenceable(24) %19)
          to label %78 unwind label %143

78:                                               ; preds = %73
  %79 = load ptr, ptr %7, align 8, !tbaa !5
  %80 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %79, i64 noundef 0) #7
  %81 = load ptr, ptr %80, align 8, !tbaa !5
  %82 = load ptr, ptr %8, align 8, !tbaa !5
  %83 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %82, i64 noundef 0) #7
  %84 = load ptr, ptr %83, align 8, !tbaa !5
  invoke void @_ZN6MatrixC1ERKS_(ptr noundef nonnull align 8 dereferenceable(24) %29, ptr noundef nonnull align 8 dereferenceable(24) %19)
          to label %85 unwind label %143

85:                                               ; preds = %78
  %86 = invoke noundef float @_Z17matchAffinePointsP16CornerDescriptorS0_6Matrix(ptr noundef %81, ptr noundef %84, ptr noundef %29)
          to label %87 unwind label %147

87:                                               ; preds = %85
  store float %86, ptr %21, align 4, !tbaa !9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %29) #7
  %88 = load ptr, ptr %7, align 8, !tbaa !5
  %89 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %88, i64 noundef 0) #7
  %90 = load ptr, ptr %89, align 8, !tbaa !5
  store ptr %90, ptr %27, align 8, !tbaa !5
  %91 = load ptr, ptr %8, align 8, !tbaa !5
  %92 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %91, i64 noundef 0) #7
  %93 = load ptr, ptr %92, align 8, !tbaa !5
  store ptr %93, ptr %28, align 8, !tbaa !5
  %94 = load ptr, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %31) #7
  %95 = load ptr, ptr %7, align 8, !tbaa !5
  %96 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %95) #7
  %97 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %31, i32 0, i32 0
  store ptr %96, ptr %97, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %30, ptr noundef nonnull align 8 dereferenceable(8) %31) #7
  %98 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.0", ptr %30, i32 0, i32 0
  %99 = load ptr, ptr %98, align 8
  %100 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %94, ptr %99)
          to label %101 unwind label %151

101:                                              ; preds = %87
  %102 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %32, i32 0, i32 0
  store ptr %100, ptr %102, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #7
  %103 = load ptr, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %34) #7
  %104 = load ptr, ptr %8, align 8, !tbaa !5
  %105 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %104) #7
  %106 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %34, i32 0, i32 0
  store ptr %105, ptr %106, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %33, ptr noundef nonnull align 8 dereferenceable(8) %34) #7
  %107 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.0", ptr %33, i32 0, i32 0
  %108 = load ptr, ptr %107, align 8
  %109 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %103, ptr %108)
          to label %110 unwind label %155

110:                                              ; preds = %101
  %111 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %35, i32 0, i32 0
  store ptr %109, ptr %111, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #7
  %112 = load float, ptr %21, align 4, !tbaa !9
  %113 = load float, ptr %12, align 4, !tbaa !9
  %114 = fcmp olt float %112, %113
  br i1 %114, label %115, label %352

115:                                              ; preds = %110
  call void @llvm.lifetime.start.p0(i64 4, ptr %36) #7
  store i32 0, ptr %36, align 4, !tbaa !11
  br label %116

116:                                              ; preds = %322, %115
  %117 = load i32, ptr %36, align 4, !tbaa !11
  %118 = zext i32 %117 to i64
  %119 = load ptr, ptr %7, align 8, !tbaa !5
  %120 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %119) #7
  %121 = icmp ult i64 %118, %120
  br i1 %121, label %159, label %122

122:                                              ; preds = %116
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #7
  br label %326

123:                                              ; preds = %6
  %124 = landingpad { ptr, i32 }
          cleanup
  %125 = extractvalue { ptr, i32 } %124, 0
  store ptr %125, ptr %15, align 8
  %126 = extractvalue { ptr, i32 } %124, 1
  store i32 %126, ptr %16, align 4
  br label %359

127:                                              ; preds = %54
  %128 = landingpad { ptr, i32 }
          cleanup
  %129 = extractvalue { ptr, i32 } %128, 0
  store ptr %129, ptr %15, align 8
  %130 = extractvalue { ptr, i32 } %128, 1
  store i32 %130, ptr %16, align 4
  br label %358

131:                                              ; preds = %55
  %132 = landingpad { ptr, i32 }
          cleanup
  %133 = extractvalue { ptr, i32 } %132, 0
  store ptr %133, ptr %15, align 8
  %134 = extractvalue { ptr, i32 } %132, 1
  store i32 %134, ptr %16, align 4
  br label %357

135:                                              ; preds = %56
  %136 = landingpad { ptr, i32 }
          cleanup
  %137 = extractvalue { ptr, i32 } %136, 0
  store ptr %137, ptr %15, align 8
  %138 = extractvalue { ptr, i32 } %136, 1
  store i32 %138, ptr %16, align 4
  br label %356

139:                                              ; preds = %57
  %140 = landingpad { ptr, i32 }
          cleanup
  %141 = extractvalue { ptr, i32 } %140, 0
  store ptr %141, ptr %15, align 8
  %142 = extractvalue { ptr, i32 } %140, 1
  store i32 %142, ptr %16, align 4
  br label %355

143:                                              ; preds = %349, %347, %342, %336, %332, %326, %78, %73, %71, %67, %65, %63
  %144 = landingpad { ptr, i32 }
          cleanup
  %145 = extractvalue { ptr, i32 } %144, 0
  store ptr %145, ptr %15, align 8
  %146 = extractvalue { ptr, i32 } %144, 1
  store i32 %146, ptr %16, align 4
  br label %354

147:                                              ; preds = %85
  %148 = landingpad { ptr, i32 }
          cleanup
  %149 = extractvalue { ptr, i32 } %148, 0
  store ptr %149, ptr %15, align 8
  %150 = extractvalue { ptr, i32 } %148, 1
  store i32 %150, ptr %16, align 4
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %29) #7
  br label %354

151:                                              ; preds = %87
  %152 = landingpad { ptr, i32 }
          cleanup
  %153 = extractvalue { ptr, i32 } %152, 0
  store ptr %153, ptr %15, align 8
  %154 = extractvalue { ptr, i32 } %152, 1
  store i32 %154, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %31) #7
  br label %354

155:                                              ; preds = %101
  %156 = landingpad { ptr, i32 }
          cleanup
  %157 = extractvalue { ptr, i32 } %156, 0
  store ptr %157, ptr %15, align 8
  %158 = extractvalue { ptr, i32 } %156, 1
  store i32 %158, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %34) #7
  br label %354

159:                                              ; preds = %116
  %160 = load ptr, ptr %7, align 8, !tbaa !5
  %161 = load i32, ptr %36, align 4, !tbaa !11
  %162 = zext i32 %161 to i64
  %163 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %160, i64 noundef %162) #7
  %164 = load ptr, ptr %163, align 8, !tbaa !5
  %165 = invoke noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %164)
          to label %166 unwind label %267

166:                                              ; preds = %159
  %167 = load ptr, ptr %27, align 8, !tbaa !5
  %168 = invoke noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %167)
          to label %169 unwind label %267

169:                                              ; preds = %166
  %170 = fsub float %165, %168
  %171 = call noundef float @_Z12float_squaref(float noundef %170)
  %172 = load ptr, ptr %7, align 8, !tbaa !5
  %173 = load i32, ptr %36, align 4, !tbaa !11
  %174 = zext i32 %173 to i64
  %175 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %172, i64 noundef %174) #7
  %176 = load ptr, ptr %175, align 8, !tbaa !5
  %177 = invoke noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %176)
          to label %178 unwind label %267

178:                                              ; preds = %169
  %179 = load ptr, ptr %27, align 8, !tbaa !5
  %180 = invoke noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %179)
          to label %181 unwind label %267

181:                                              ; preds = %178
  %182 = fsub float %177, %180
  %183 = call noundef float @_Z12float_squaref(float noundef %182)
  %184 = fadd float %171, %183
  %185 = invoke noundef float @_ZSt4sqrtf(float noundef %184)
          to label %186 unwind label %267

186:                                              ; preds = %181
  store float %185, ptr %23, align 4, !tbaa !9
  %187 = load ptr, ptr %7, align 8, !tbaa !5
  %188 = load i32, ptr %36, align 4, !tbaa !11
  %189 = zext i32 %188 to i64
  %190 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %187, i64 noundef %189) #7
  %191 = load ptr, ptr %190, align 8, !tbaa !5
  %192 = invoke noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %191)
          to label %193 unwind label %267

193:                                              ; preds = %186
  %194 = load ptr, ptr %27, align 8, !tbaa !5
  %195 = invoke noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %194)
          to label %196 unwind label %267

196:                                              ; preds = %193
  %197 = fsub float %192, %195
  %198 = invoke noundef float @_ZSt4fabsf(float noundef %197)
          to label %199 unwind label %267

199:                                              ; preds = %196
  %200 = load ptr, ptr %27, align 8, !tbaa !5
  %201 = invoke noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %200)
          to label %202 unwind label %267

202:                                              ; preds = %199
  %203 = fdiv float %198, %201
  store float %203, ptr %24, align 4, !tbaa !9
  %204 = load float, ptr %23, align 4, !tbaa !9
  %205 = fcmp olt float %204, 4.000000e+00
  br i1 %205, label %206, label %321

206:                                              ; preds = %202
  %207 = load float, ptr %24, align 4, !tbaa !9
  %208 = fpext float %207 to double
  %209 = fcmp olt double %208, 3.000000e-01
  br i1 %209, label %210, label %321

210:                                              ; preds = %206
  %211 = load ptr, ptr %7, align 8, !tbaa !5
  %212 = load i32, ptr %36, align 4, !tbaa !11
  %213 = zext i32 %212 to i64
  %214 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %211, i64 noundef %213) #7
  %215 = load ptr, ptr %214, align 8, !tbaa !5
  %216 = load ptr, ptr %8, align 8, !tbaa !5
  %217 = load i32, ptr %36, align 4, !tbaa !11
  %218 = zext i32 %217 to i64
  %219 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %216, i64 noundef %218) #7
  %220 = load ptr, ptr %219, align 8, !tbaa !5
  invoke void @_ZN6MatrixC1ERKS_(ptr noundef nonnull align 8 dereferenceable(24) %37, ptr noundef nonnull align 8 dereferenceable(24) %19)
          to label %221 unwind label %267

221:                                              ; preds = %210
  %222 = invoke noundef float @_Z17matchAffinePointsP16CornerDescriptorS0_6Matrix(ptr noundef %215, ptr noundef %220, ptr noundef %37)
          to label %223 unwind label %271

223:                                              ; preds = %221
  store float %222, ptr %22, align 4, !tbaa !9
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %37) #7
  %224 = load float, ptr %22, align 4, !tbaa !9
  %225 = load float, ptr %21, align 4, !tbaa !9
  %226 = fcmp olt float %224, %225
  br i1 %226, label %227, label %283

227:                                              ; preds = %223
  %228 = load ptr, ptr %7, align 8, !tbaa !5
  %229 = load i32, ptr %36, align 4, !tbaa !11
  %230 = zext i32 %229 to i64
  %231 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %228, i64 noundef %230) #7
  %232 = load ptr, ptr %231, align 8, !tbaa !5
  store ptr %232, ptr %27, align 8, !tbaa !5
  %233 = load ptr, ptr %8, align 8, !tbaa !5
  %234 = load i32, ptr %36, align 4, !tbaa !11
  %235 = zext i32 %234 to i64
  %236 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %233, i64 noundef %235) #7
  %237 = load ptr, ptr %236, align 8, !tbaa !5
  store ptr %237, ptr %28, align 8, !tbaa !5
  %238 = load ptr, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %39) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %40) #7
  %239 = load ptr, ptr %7, align 8, !tbaa !5
  %240 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %239) #7
  %241 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %40, i32 0, i32 0
  store ptr %240, ptr %241, align 8
  %242 = load i32, ptr %36, align 4, !tbaa !11
  %243 = zext i32 %242 to i64
  %244 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPP16CornerDescriptorSt6vectorIS2_SaIS2_EEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %40, i64 noundef %243) #7
  %245 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %39, i32 0, i32 0
  store ptr %244, ptr %245, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %38, ptr noundef nonnull align 8 dereferenceable(8) %39) #7
  %246 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.0", ptr %38, i32 0, i32 0
  %247 = load ptr, ptr %246, align 8
  %248 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %238, ptr %247)
          to label %249 unwind label %275

249:                                              ; preds = %227
  %250 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %41, i32 0, i32 0
  store ptr %248, ptr %250, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #7
  %251 = load ptr, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %43) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #7
  %252 = load ptr, ptr %8, align 8, !tbaa !5
  %253 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %252) #7
  %254 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %44, i32 0, i32 0
  store ptr %253, ptr %254, align 8
  %255 = load i32, ptr %36, align 4, !tbaa !11
  %256 = zext i32 %255 to i64
  %257 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPP16CornerDescriptorSt6vectorIS2_SaIS2_EEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %44, i64 noundef %256) #7
  %258 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %43, i32 0, i32 0
  store ptr %257, ptr %258, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %42, ptr noundef nonnull align 8 dereferenceable(8) %43) #7
  %259 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.0", ptr %42, i32 0, i32 0
  %260 = load ptr, ptr %259, align 8
  %261 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %251, ptr %260)
          to label %262 unwind label %279

262:                                              ; preds = %249
  %263 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %45, i32 0, i32 0
  store ptr %261, ptr %263, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #7
  %264 = load float, ptr %22, align 4, !tbaa !9
  store float %264, ptr %21, align 4, !tbaa !9
  %265 = load i32, ptr %36, align 4, !tbaa !11
  %266 = add i32 %265, -1
  store i32 %266, ptr %36, align 4, !tbaa !11
  br label %320

267:                                              ; preds = %210, %199, %196, %193, %186, %181, %178, %169, %166, %159
  %268 = landingpad { ptr, i32 }
          cleanup
  %269 = extractvalue { ptr, i32 } %268, 0
  store ptr %269, ptr %15, align 8
  %270 = extractvalue { ptr, i32 } %268, 1
  store i32 %270, ptr %16, align 4
  br label %325

271:                                              ; preds = %221
  %272 = landingpad { ptr, i32 }
          cleanup
  %273 = extractvalue { ptr, i32 } %272, 0
  store ptr %273, ptr %15, align 8
  %274 = extractvalue { ptr, i32 } %272, 1
  store i32 %274, ptr %16, align 4
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %37) #7
  br label %325

275:                                              ; preds = %227
  %276 = landingpad { ptr, i32 }
          cleanup
  %277 = extractvalue { ptr, i32 } %276, 0
  store ptr %277, ptr %15, align 8
  %278 = extractvalue { ptr, i32 } %276, 1
  store i32 %278, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %40) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %39) #7
  br label %325

279:                                              ; preds = %249
  %280 = landingpad { ptr, i32 }
          cleanup
  %281 = extractvalue { ptr, i32 } %280, 0
  store ptr %281, ptr %15, align 8
  %282 = extractvalue { ptr, i32 } %280, 1
  store i32 %282, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %43) #7
  br label %325

283:                                              ; preds = %223
  %284 = load ptr, ptr %7, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %47) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #7
  %285 = load ptr, ptr %7, align 8, !tbaa !5
  %286 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %285) #7
  %287 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %48, i32 0, i32 0
  store ptr %286, ptr %287, align 8
  %288 = load i32, ptr %36, align 4, !tbaa !11
  %289 = zext i32 %288 to i64
  %290 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPP16CornerDescriptorSt6vectorIS2_SaIS2_EEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %48, i64 noundef %289) #7
  %291 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %47, i32 0, i32 0
  store ptr %290, ptr %291, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %46, ptr noundef nonnull align 8 dereferenceable(8) %47) #7
  %292 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.0", ptr %46, i32 0, i32 0
  %293 = load ptr, ptr %292, align 8
  %294 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %284, ptr %293)
          to label %295 unwind label %312

295:                                              ; preds = %283
  %296 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %49, i32 0, i32 0
  store ptr %294, ptr %296, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #7
  %297 = load ptr, ptr %8, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %51) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr %52) #7
  %298 = load ptr, ptr %8, align 8, !tbaa !5
  %299 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %298) #7
  %300 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %52, i32 0, i32 0
  store ptr %299, ptr %300, align 8
  %301 = load i32, ptr %36, align 4, !tbaa !11
  %302 = zext i32 %301 to i64
  %303 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPP16CornerDescriptorSt6vectorIS2_SaIS2_EEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %52, i64 noundef %302) #7
  %304 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %51, i32 0, i32 0
  store ptr %303, ptr %304, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %50, ptr noundef nonnull align 8 dereferenceable(8) %51) #7
  %305 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator.0", ptr %50, i32 0, i32 0
  %306 = load ptr, ptr %305, align 8
  %307 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %297, ptr %306)
          to label %308 unwind label %316

308:                                              ; preds = %295
  %309 = getelementptr inbounds %"class.__gnu_cxx::__normal_iterator", ptr %53, i32 0, i32 0
  store ptr %307, ptr %309, align 8
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #7
  %310 = load i32, ptr %36, align 4, !tbaa !11
  %311 = add i32 %310, -1
  store i32 %311, ptr %36, align 4, !tbaa !11
  br label %320

312:                                              ; preds = %283
  %313 = landingpad { ptr, i32 }
          cleanup
  %314 = extractvalue { ptr, i32 } %313, 0
  store ptr %314, ptr %15, align 8
  %315 = extractvalue { ptr, i32 } %313, 1
  store i32 %315, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %47) #7
  br label %325

316:                                              ; preds = %295
  %317 = landingpad { ptr, i32 }
          cleanup
  %318 = extractvalue { ptr, i32 } %317, 0
  store ptr %318, ptr %15, align 8
  %319 = extractvalue { ptr, i32 } %317, 1
  store i32 %319, ptr %16, align 4
  call void @llvm.lifetime.end.p0(i64 8, ptr %52) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %51) #7
  br label %325

320:                                              ; preds = %308, %262
  br label %321

321:                                              ; preds = %320, %206, %202
  br label %322

322:                                              ; preds = %321
  %323 = load i32, ptr %36, align 4, !tbaa !11
  %324 = add i32 %323, 1
  store i32 %324, ptr %36, align 4, !tbaa !11
  br label %116, !llvm.loop !13

325:                                              ; preds = %316, %312, %279, %275, %271, %267
  call void @llvm.lifetime.end.p0(i64 4, ptr %36) #7
  br label %354

326:                                              ; preds = %122
  %327 = load float, ptr %25, align 4, !tbaa !9
  %328 = load ptr, ptr %27, align 8, !tbaa !5
  %329 = invoke noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %328)
          to label %330 unwind label %143

330:                                              ; preds = %326
  %331 = fcmp ogt float %327, %329
  br i1 %331, label %332, label %336

332:                                              ; preds = %330
  %333 = load ptr, ptr %27, align 8, !tbaa !5
  %334 = invoke noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %333)
          to label %335 unwind label %143

335:                                              ; preds = %332
  store float %334, ptr %25, align 4, !tbaa !9
  br label %347

336:                                              ; preds = %330
  %337 = load float, ptr %26, align 4, !tbaa !9
  %338 = load ptr, ptr %27, align 8, !tbaa !5
  %339 = invoke noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %338)
          to label %340 unwind label %143

340:                                              ; preds = %336
  %341 = fcmp olt float %337, %339
  br i1 %341, label %342, label %346

342:                                              ; preds = %340
  %343 = load ptr, ptr %27, align 8, !tbaa !5
  %344 = invoke noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %343)
          to label %345 unwind label %143

345:                                              ; preds = %342
  store float %344, ptr %26, align 4, !tbaa !9
  br label %346

346:                                              ; preds = %345, %340
  br label %347

347:                                              ; preds = %346, %335
  %348 = load ptr, ptr %9, align 8, !tbaa !5
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %348, ptr noundef nonnull align 8 dereferenceable(8) %27)
          to label %349 unwind label %143

349:                                              ; preds = %347
  %350 = load ptr, ptr %10, align 8, !tbaa !5
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %350, ptr noundef nonnull align 8 dereferenceable(8) %28)
          to label %351 unwind label %143

351:                                              ; preds = %349
  br label %352

352:                                              ; preds = %351, %110
  br label %59, !llvm.loop !15

353:                                              ; preds = %59
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %19) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %18) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %18) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %17) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %17) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %14) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %14) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #7
  ret void

354:                                              ; preds = %325, %155, %151, %147, %143
  call void @llvm.lifetime.end.p0(i64 8, ptr %28) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr %27) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %26) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %25) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %24) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %23) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %22) #7
  call void @llvm.lifetime.end.p0(i64 4, ptr %21) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #7
  br label %355

355:                                              ; preds = %354, %139
  call void @llvm.lifetime.end.p0(i64 24, ptr %20) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %19) #7
  br label %356

356:                                              ; preds = %355, %135
  call void @llvm.lifetime.end.p0(i64 24, ptr %19) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %18) #7
  br label %357

357:                                              ; preds = %356, %131
  call void @llvm.lifetime.end.p0(i64 24, ptr %18) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %17) #7
  br label %358

358:                                              ; preds = %357, %127
  call void @llvm.lifetime.end.p0(i64 24, ptr %17) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %14) #7
  br label %359

359:                                              ; preds = %358, %123
  call void @llvm.lifetime.end.p0(i64 24, ptr %14) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %13) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr %13) #7
  br label %360

360:                                              ; preds = %359
  %361 = load ptr, ptr %15, align 8
  %362 = load i32, ptr %16, align 4
  %363 = insertvalue { ptr, i32 } poison, ptr %361, 0
  %364 = insertvalue { ptr, i32 } %363, i32 %362, 1
  resume { ptr, i32 } %364
}

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 = { 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 #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 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 #5 = { inlinehint 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 #6 = { 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 #7 = { 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::basic_ostream" = type { ptr, %"class.std::basic_ios" }
%"class.std::basic_ios" = type { %"class.std::ios_base", ptr, i8, i8, ptr, ptr, ptr, ptr }
%"class.std::ios_base" = type { ptr, i64, i64, i32, i32, i32, ptr, %"struct.std::ios_base::_Words", [8 x %"struct.std::ios_base::_Words"], i32, ptr, %"class.std::locale" }
%"struct.std::ios_base::_Words" = type { ptr, i64 }
%"class.std::locale" = type { ptr }
%class.Matrix = type { ptr, ptr, i32, i32 }
%"class.__gnu_cxx::__normal_iterator.0" = type { ptr }
%"class.__gnu_cxx::__normal_iterator" = type { ptr }

@_ZSt4cout = external global %"class.std::basic_ostream", align 8
@.str.5 = external hidden unnamed_addr constant [5 x i8], align 1
@.str.17 = external hidden unnamed_addr constant [2 x i8], align 1

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

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

declare i32 @__gxx_personality_v0(...)

; Function Attrs: nounwind
declare void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #2

; 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 uwtable
declare dso_local void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #3 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 #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress uwtable
declare dso_local ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24), ptr) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local ptr @_ZNK9__gnu_cxx17__normal_iteratorIPP16CornerDescriptorSt6vectorIS2_SaIS2_EEEplEl(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #4 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef nonnull align 8 dereferenceable(8)) unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #5

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #3 align 2

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #3 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4sqrtf(float noundef) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88)) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt4fabsf(float noundef) local_unnamed_addr #6

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt5flushIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #5

; Function Attrs: mustprogress uwtable
declare dso_local void @_Z9getAffMatP16CornerDescriptorP6MatrixRS1_(ptr noundef, ptr noundef, ptr noundef nonnull align 8 dereferenceable(24)) local_unnamed_addr #3

; Function Attrs: mustprogress uwtable
declare dso_local noundef float @_Z17matchAffinePointsP16CornerDescriptorS0_6Matrix(ptr noundef, ptr noundef, ptr noundef) local_unnamed_addr #3

declare void @_ZN6MatrixC1Eiid(ptr noundef nonnull align 8 dereferenceable(24), i32 noundef, i32 noundef, double noundef) unnamed_addr #1

declare void @_ZN6MatrixC1ERKS_(ptr noundef nonnull align 8 dereferenceable(24), ptr noundef nonnull align 8 dereferenceable(24)) unnamed_addr #1

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef float @_Z12float_squaref(float noundef) local_unnamed_addr #4

; Function Attrs: mustprogress uwtable
define dso_local void @_Z17matchAffinePointsRSt6vectorIP16CornerDescriptorSaIS1_EES4_S4_S4_P6Matrixf(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr noundef nonnull align 8 dereferenceable(24) %1, ptr noundef nonnull align 8 dereferenceable(24) %2, ptr noundef nonnull align 8 dereferenceable(24) %3, ptr noundef %4, float noundef %5) local_unnamed_addr #3 personality ptr @__gxx_personality_v0 {
  %7 = alloca %class.Matrix, align 8
  %8 = alloca %class.Matrix, align 8
  %9 = alloca %class.Matrix, align 8
  %10 = alloca %class.Matrix, align 8
  %11 = alloca %class.Matrix, align 8
  %12 = alloca %class.Matrix, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca %class.Matrix, align 8
  %16 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %17 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %18 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %19 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %20 = alloca %class.Matrix, align 8
  %21 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %22 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %23 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %24 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %25 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %26 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %27 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %28 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %29 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %30 = alloca %"class.__gnu_cxx::__normal_iterator.0", align 8
  %31 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  %32 = alloca %"class.__gnu_cxx::__normal_iterator", align 8
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %7) #7
  call void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %7)
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %8) #7
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %8)
          to label %33 unwind label %77

33:                                               ; preds = %6
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %9) #7
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %9)
          to label %34 unwind label %79

34:                                               ; preds = %33
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %10) #7
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %10)
          to label %35 unwind label %81

35:                                               ; preds = %34
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %11) #7
  invoke void @_ZN6MatrixC1Eiid(ptr noundef nonnull align 8 dereferenceable(24) %11, i32 noundef 2, i32 noundef 2, double noundef 0.000000e+00)
          to label %36 unwind label %83

36:                                               ; preds = %35
  call void @llvm.lifetime.start.p0(i64 24, ptr nonnull %12) #7
  invoke void @_ZN6MatrixC1Ev(ptr noundef nonnull align 8 dereferenceable(24) %12)
          to label %37 unwind label %85

37:                                               ; preds = %36
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %13) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %14) #7
  %38 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #7
  %.not89 = icmp eq i64 %38, 0
  br i1 %.not89, label %._crit_edge94, label %.lr.ph93

.lr.ph93:                                         ; preds = %37, %187
  %.06991 = phi float [ %.271, %187 ], [ 1.000000e+02, %37 ]
  %.07490 = phi float [ %.276, %187 ], [ 0.000000e+00, %37 ]
  %39 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) @_ZSt4cout, ptr noundef nonnull @.str.17)
          to label %40 unwind label %87

40:                                               ; preds = %.lr.ph93
  %41 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %39, ptr noundef nonnull @.str.5)
          to label %42 unwind label %87

42:                                               ; preds = %40
  %43 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #7
  %44 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEm(ptr noundef nonnull align 8 dereferenceable(8) %41, i64 noundef %43)
          to label %45 unwind label %87

45:                                               ; preds = %42
  %46 = invoke noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %44, ptr noundef nonnull @_ZSt5flushIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
          to label %47 unwind label %87

47:                                               ; preds = %45
  %48 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef 0) #7
  %49 = load ptr, ptr %48, align 8, !tbaa !5
  invoke void @_Z9getAffMatP16CornerDescriptorP6MatrixRS1_(ptr noundef %49, ptr noundef %4, ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %50 unwind label %87

50:                                               ; preds = %47
  %51 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef 0) #7
  %52 = load ptr, ptr %51, align 8, !tbaa !5
  %53 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef 0) #7
  %54 = load ptr, ptr %53, align 8, !tbaa !5
  invoke void @_ZN6MatrixC1ERKS_(ptr noundef nonnull align 8 dereferenceable(24) %15, ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %55 unwind label %87

55:                                               ; preds = %50
  %56 = invoke noundef float @_Z17matchAffinePointsP16CornerDescriptorS0_6Matrix(ptr noundef %52, ptr noundef %54, ptr noundef nonnull %15)
          to label %57 unwind label %89

57:                                               ; preds = %55
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %15) #7
  %58 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef 0) #7
  %59 = load ptr, ptr %58, align 8, !tbaa !5
  store ptr %59, ptr %13, align 8, !tbaa !5
  %60 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef 0) #7
  %61 = load ptr, ptr %60, align 8, !tbaa !5
  store ptr %61, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %17) #7
  %62 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #7
  store ptr %62, ptr %17, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %16, ptr noundef nonnull align 8 dereferenceable(8) %17) #7
  %63 = load ptr, ptr %16, align 8
  %64 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr %63)
          to label %65 unwind label %91

65:                                               ; preds = %57
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %19) #7
  %66 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #7
  store ptr %66, ptr %19, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %18, ptr noundef nonnull align 8 dereferenceable(8) %19) #7
  %67 = load ptr, ptr %18, align 8
  %68 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %1, ptr %67)
          to label %69 unwind label %93

69:                                               ; preds = %65
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #7
  %70 = fcmp olt float %56, %5
  br i1 %70, label %.preheader, label %187

.preheader:                                       ; preds = %69
  %71 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #7
  %.not95 = icmp eq i64 %71, 0
  br i1 %.not95, label %._crit_edge, label %.lr.ph

._crit_edge:                                      ; preds = %175, %.preheader
  %72 = load ptr, ptr %13, align 8, !tbaa !5
  %73 = call noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %72)
  %74 = fcmp ogt float %.06991, %73
  %75 = load ptr, ptr %13, align 8, !tbaa !5
  %76 = call noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %75)
  br i1 %74, label %185, label %180

77:                                               ; preds = %6
  %78 = landingpad { ptr, i32 }
          cleanup
  br label %194

79:                                               ; preds = %33
  %80 = landingpad { ptr, i32 }
          cleanup
  br label %193

81:                                               ; preds = %34
  %82 = landingpad { ptr, i32 }
          cleanup
  br label %192

83:                                               ; preds = %35
  %84 = landingpad { ptr, i32 }
          cleanup
  br label %191

85:                                               ; preds = %36
  %86 = landingpad { ptr, i32 }
          cleanup
  br label %190

87:                                               ; preds = %186, %185, %50, %47, %45, %42, %40, %.lr.ph93
  %88 = landingpad { ptr, i32 }
          cleanup
  br label %189

89:                                               ; preds = %55
  %90 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %15) #7
  br label %189

91:                                               ; preds = %57
  %92 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %17) #7
  br label %189

93:                                               ; preds = %65
  %94 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %19) #7
  br label %189

.lr.ph:                                           ; preds = %.preheader, %175
  %95 = phi i64 [ %177, %175 ], [ 0, %.preheader ]
  %.06788 = phi float [ %.168, %175 ], [ %56, %.preheader ]
  %.07287 = phi i32 [ %176, %175 ], [ 0, %.preheader ]
  %96 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %95) #7
  %97 = load ptr, ptr %96, align 8, !tbaa !5
  %98 = call noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %97)
  %99 = load ptr, ptr %13, align 8, !tbaa !5
  %100 = call noundef float @_ZNK6Corner4getXEv(ptr noundef nonnull align 4 dereferenceable(88) %99)
  %101 = fsub float %98, %100
  %102 = call noundef float @_Z12float_squaref(float noundef %101)
  %103 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %95) #7
  %104 = load ptr, ptr %103, align 8, !tbaa !5
  %105 = call noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %104)
  %106 = load ptr, ptr %13, align 8, !tbaa !5
  %107 = call noundef float @_ZNK6Corner4getYEv(ptr noundef nonnull align 4 dereferenceable(88) %106)
  %108 = fsub float %105, %107
  %109 = call noundef float @_Z12float_squaref(float noundef %108)
  %110 = fadd float %102, %109
  %111 = call noundef float @_ZSt4sqrtf(float noundef %110)
  %112 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %95) #7
  %113 = load ptr, ptr %112, align 8, !tbaa !5
  %114 = call noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %113)
  %115 = load ptr, ptr %13, align 8, !tbaa !5
  %116 = call noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %115)
  %117 = fsub float %114, %116
  %118 = call noundef float @_ZSt4fabsf(float noundef %117)
  %119 = load ptr, ptr %13, align 8, !tbaa !5
  %120 = call noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %119)
  %121 = fcmp olt float %111, 4.000000e+00
  br i1 %121, label %122, label %175

122:                                              ; preds = %.lr.ph
  %123 = fdiv float %118, %120
  %124 = fpext float %123 to double
  %125 = fcmp olt double %124, 3.000000e-01
  br i1 %125, label %126, label %175

126:                                              ; preds = %122
  %127 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %95) #7
  %128 = load ptr, ptr %127, align 8, !tbaa !5
  %129 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %95) #7
  %130 = load ptr, ptr %129, align 8, !tbaa !5
  invoke void @_ZN6MatrixC1ERKS_(ptr noundef nonnull align 8 dereferenceable(24) %20, ptr noundef nonnull align 8 dereferenceable(24) %11)
          to label %131 unwind label %151

131:                                              ; preds = %126
  %132 = invoke noundef float @_Z17matchAffinePointsP16CornerDescriptorS0_6Matrix(ptr noundef %128, ptr noundef %130, ptr noundef nonnull %20)
          to label %133 unwind label %153

133:                                              ; preds = %131
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #7
  %134 = fcmp olt float %132, %.06788
  br i1 %134, label %135, label %159

135:                                              ; preds = %133
  %136 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %0, i64 noundef %95) #7
  %137 = load ptr, ptr %136, align 8, !tbaa !5
  store ptr %137, ptr %13, align 8, !tbaa !5
  %138 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EEixEm(ptr noundef nonnull align 8 dereferenceable(24) %1, i64 noundef %95) #7
  %139 = load ptr, ptr %138, align 8, !tbaa !5
  store ptr %139, ptr %14, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %22) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %23) #7
  %140 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #7
  store ptr %140, ptr %23, align 8
  %141 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPP16CornerDescriptorSt6vectorIS2_SaIS2_EEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %23, i64 noundef %95) #7
  store ptr %141, ptr %22, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %21, ptr noundef nonnull align 8 dereferenceable(8) %22) #7
  %142 = load ptr, ptr %21, align 8
  %143 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr %142)
          to label %144 unwind label %155

144:                                              ; preds = %135
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %25) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %26) #7
  %145 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #7
  store ptr %145, ptr %26, align 8
  %146 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPP16CornerDescriptorSt6vectorIS2_SaIS2_EEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %26, i64 noundef %95) #7
  store ptr %146, ptr %25, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %24, ptr noundef nonnull align 8 dereferenceable(8) %25) #7
  %147 = load ptr, ptr %24, align 8
  %148 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %1, ptr %147)
          to label %149 unwind label %157

149:                                              ; preds = %144
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #7
  %150 = add i32 %.07287, -1
  br label %175

151:                                              ; preds = %126
  %152 = landingpad { ptr, i32 }
          cleanup
  br label %189

153:                                              ; preds = %131
  %154 = landingpad { ptr, i32 }
          cleanup
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %20) #7
  br label %189

155:                                              ; preds = %135
  %156 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %23) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %22) #7
  br label %189

157:                                              ; preds = %144
  %158 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %26) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %25) #7
  br label %189

159:                                              ; preds = %133
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %28) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %29) #7
  %160 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #7
  store ptr %160, ptr %29, align 8
  %161 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPP16CornerDescriptorSt6vectorIS2_SaIS2_EEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %29, i64 noundef %95) #7
  store ptr %161, ptr %28, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %27, ptr noundef nonnull align 8 dereferenceable(8) %28) #7
  %162 = load ptr, ptr %27, align 8
  %163 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %0, ptr %162)
          to label %164 unwind label %171

164:                                              ; preds = %159
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %31) #7
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %32) #7
  %165 = call ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5beginEv(ptr noundef nonnull align 8 dereferenceable(24) %1) #7
  store ptr %165, ptr %32, align 8
  %166 = call ptr @_ZNK9__gnu_cxx17__normal_iteratorIPP16CornerDescriptorSt6vectorIS2_SaIS2_EEEplEl(ptr noundef nonnull align 8 dereferenceable(8) %32, i64 noundef %95) #7
  store ptr %166, ptr %31, align 8
  call void @_ZN9__gnu_cxx17__normal_iteratorIPKP16CornerDescriptorSt6vectorIS2_SaIS2_EEEC2IPS2_vEERKNS0_IT_S7_EE(ptr noundef nonnull align 8 dereferenceable(8) %30, ptr noundef nonnull align 8 dereferenceable(8) %31) #7
  %167 = load ptr, ptr %30, align 8
  %168 = invoke ptr @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE5eraseEN9__gnu_cxx17__normal_iteratorIPKS1_S3_EE(ptr noundef nonnull align 8 dereferenceable(24) %1, ptr %167)
          to label %169 unwind label %173

169:                                              ; preds = %164
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #7
  %170 = add i32 %.07287, -1
  br label %175

171:                                              ; preds = %159
  %172 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %29) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %28) #7
  br label %189

173:                                              ; preds = %164
  %174 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %32) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %31) #7
  br label %189

175:                                              ; preds = %.lr.ph, %122, %169, %149
  %.173 = phi i32 [ %150, %149 ], [ %170, %169 ], [ %.07287, %122 ], [ %.07287, %.lr.ph ]
  %.168 = phi float [ %132, %149 ], [ %.06788, %169 ], [ %.06788, %122 ], [ %.06788, %.lr.ph ]
  %176 = add i32 %.173, 1
  %177 = zext i32 %176 to i64
  %178 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #7
  %179 = icmp ugt i64 %178, %177
  br i1 %179, label %.lr.ph, label %._crit_edge, !llvm.loop !9

180:                                              ; preds = %._crit_edge
  %181 = fcmp olt float %.07490, %76
  br i1 %181, label %182, label %185

182:                                              ; preds = %180
  %183 = load ptr, ptr %13, align 8, !tbaa !5
  %184 = call noundef float @_ZNK6Corner14getCornerScaleEv(ptr noundef nonnull align 4 dereferenceable(88) %183)
  br label %185

185:                                              ; preds = %._crit_edge, %180, %182
  %.175 = phi float [ %184, %182 ], [ %.07490, %180 ], [ %.07490, %._crit_edge ]
  %.170 = phi float [ %.06991, %182 ], [ %.06991, %180 ], [ %76, %._crit_edge ]
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %2, ptr noundef nonnull align 8 dereferenceable(8) %13)
          to label %186 unwind label %87

186:                                              ; preds = %185
  invoke void @_ZNSt6vectorIP16CornerDescriptorSaIS1_EE9push_backERKS1_(ptr noundef nonnull align 8 dereferenceable(24) %3, ptr noundef nonnull align 8 dereferenceable(8) %14)
          to label %187 unwind label %87

187:                                              ; preds = %186, %69
  %.276 = phi float [ %.175, %186 ], [ %.07490, %69 ]
  %.271 = phi float [ %.170, %186 ], [ %.06991, %69 ]
  %188 = call noundef i64 @_ZNKSt6vectorIP16CornerDescriptorSaIS1_EE4sizeEv(ptr noundef nonnull align 8 dereferenceable(24) %0) #7
  %.not = icmp eq i64 %188, 0
  br i1 %.not, label %._crit_edge94, label %.lr.ph93, !llvm.loop !11

._crit_edge94:                                    ; preds = %187, %37
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #7
  ret void

189:                                              ; preds = %151, %153, %155, %157, %171, %173, %93, %91, %89, %87
  %.pn.pn = phi { ptr, i32 } [ %88, %87 ], [ %94, %93 ], [ %92, %91 ], [ %90, %89 ], [ %158, %157 ], [ %156, %155 ], [ %174, %173 ], [ %172, %171 ], [ %154, %153 ], [ %152, %151 ]
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %14) #7
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %13) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %12) #7
  br label %190

190:                                              ; preds = %189, %85
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %189 ], [ %86, %85 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %12) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %11) #7
  br label %191

191:                                              ; preds = %190, %83
  %.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn, %190 ], [ %84, %83 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %11) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %10) #7
  br label %192

192:                                              ; preds = %191, %81
  %.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn, %191 ], [ %82, %81 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %10) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %9) #7
  br label %193

193:                                              ; preds = %192, %79
  %.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn.pn, %192 ], [ %80, %79 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %9) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %8) #7
  br label %194

194:                                              ; preds = %193, %77
  %.pn.pn.pn.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn.pn.pn.pn, %193 ], [ %78, %77 ]
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %8) #7
  call void @_ZN6MatrixD1Ev(ptr noundef nonnull align 8 dereferenceable(24) %7) #7
  call void @llvm.lifetime.end.p0(i64 24, ptr nonnull %7) #7
  resume { ptr, i32 } %.pn.pn.pn.pn.pn.pn.pn
}

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 = { 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 #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 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 #5 = { inlinehint 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 #6 = { 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 #7 = { 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 = distinct !{!9, !10}
!10 = !{!"llvm.loop.mustprogress"}
!11 = distinct !{!11, !10}


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